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Added util3d::occupancy2DFromCloud3D() and util3d::create2DMapFromOccupancyLocalMaps() methods to create 2D occupancy maps from 3D clouds

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1899 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2014-10-20 02:14:31 +00:00
parent b97426c83d
commit d0325f3171
11 changed files with 910 additions and 91 deletions
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3
guilib/include/rtabmap/gui/MainWindow.h
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@@ -258,8 +258,9 @@ private:
QMap<int, int> _mapIds;
QMap<int, Transform> _localTransformsMap;
std::map<int, Transform> _currentPosesMap;
QMap<int, pcl::PointCloud<pcl::PointXYZRGB>::Ptr > _createdClouds;
std::map<int, pcl::PointCloud<pcl::PointXYZRGB>::Ptr > _createdClouds;
std::map<int, pcl::PointCloud<pcl::PointXYZ>::Ptr > _createdScans;
std::map<int, std::pair<cv::Mat, cv::Mat> > _occupancyLocalMaps; // <ground, obstacles>
Transform _odometryCorrection;
Transform _lastOdomPose;
bool _lastOdometryProcessed;

2
guilib/include/rtabmap/gui/PreferencesDialog.h
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@@ -145,6 +145,8 @@ public:
bool getGridMapShown() const;
double getGridMapResolution() const;
bool getGridMapFillEmptySpace() const;
bool isGridMapFrom3DCloud() const;
int getGridMapFillEmptyRadius() const;
double getGridMapOpacity() const;
QString getWorkingDirectory() const;