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Gui 3d rendering: added default color scheme option, added min and max range options for laser scans

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This commit is contained in:
matlabbe
2018-02-17 09:46:08 -05:00
parent 077b3ab59e
commit d181bedbfc
11 changed files with 615 additions and 227 deletions
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37
corelib/include/rtabmap/core/util3d_filtering.h
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@@ -48,8 +48,8 @@ namespace util3d
* operations like computing normals while the scan has already
* normals and voxel filtering is not used.
*/
void RTABMAP_EXP commonFiltering(
LaserScan & scan,
LaserScan RTABMAP_EXP commonFiltering(
const LaserScan & scan,
int downsamplingStep,
float rangeMin = 0.0f,
float rangeMax = 0.0f,
@@ -99,6 +99,10 @@ pcl::PointCloud<pcl::PointXYZI>::Ptr RTABMAP_EXP voxelize(
const pcl::PointCloud<pcl::PointXYZI>::Ptr & cloud,
const pcl::IndicesPtr & indices,
float voxelSize);
pcl::PointCloud<pcl::PointXYZINormal>::Ptr RTABMAP_EXP voxelize(
const pcl::PointCloud<pcl::PointXYZINormal>::Ptr & cloud,
const pcl::IndicesPtr & indices,
float voxelSize);
pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_EXP voxelize(
const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
float voxelSize);
@@ -114,6 +118,9 @@ pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr RTABMAP_EXP voxelize(
pcl::PointCloud<pcl::PointXYZI>::Ptr RTABMAP_EXP voxelize(
const pcl::PointCloud<pcl::PointXYZI>::Ptr & cloud,
float voxelSize);
pcl::PointCloud<pcl::PointXYZINormal>::Ptr RTABMAP_EXP voxelize(
const pcl::PointCloud<pcl::PointXYZINormal>::Ptr & cloud,
float voxelSize);
inline pcl::PointCloud<pcl::PointXYZ>::Ptr uniformSampling(
const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
@@ -157,6 +164,13 @@ pcl::IndicesPtr RTABMAP_EXP passThrough(
float min,
float max,
bool negative = false);
pcl::IndicesPtr RTABMAP_EXP passThrough(
const pcl::PointCloud<pcl::PointXYZI>::Ptr & cloud,
const pcl::IndicesPtr & indices,
const std::string & axis,
float min,
float max,
bool negative = false);
pcl::IndicesPtr RTABMAP_EXP passThrough(
const pcl::PointCloud<pcl::PointNormal>::Ptr & cloud,
const pcl::IndicesPtr & indices,
@@ -171,6 +185,13 @@ pcl::IndicesPtr RTABMAP_EXP passThrough(
float min,
float max,
bool negative = false);
pcl::IndicesPtr RTABMAP_EXP passThrough(
const pcl::PointCloud<pcl::PointXYZINormal>::Ptr & cloud,
const pcl::IndicesPtr & indices,
const std::string & axis,
float min,
float max,
bool negative = false);
pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_EXP passThrough(
const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
const std::string & axis,
@@ -183,6 +204,12 @@ pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_EXP passThrough(
float min,
float max,
bool negative = false);
pcl::PointCloud<pcl::PointXYZI>::Ptr RTABMAP_EXP passThrough(
const pcl::PointCloud<pcl::PointXYZI>::Ptr & cloud,
const std::string & axis,
float min,
float max,
bool negative = false);
pcl::PointCloud<pcl::PointNormal>::Ptr RTABMAP_EXP passThrough(
const pcl::PointCloud<pcl::PointNormal>::Ptr & cloud,
const std::string & axis,
@@ -195,6 +222,12 @@ pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr RTABMAP_EXP passThrough(
float min,
float max,
bool negative = false);
pcl::PointCloud<pcl::PointXYZINormal>::Ptr RTABMAP_EXP passThrough(
const pcl::PointCloud<pcl::PointXYZINormal>::Ptr & cloud,
const std::string & axis,
float min,
float max,
bool negative = false);
pcl::IndicesPtr RTABMAP_EXP cropBox(
const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,