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0.16.1: Added LaserScan class with new "format" field to distinguish easier between all kind of laser scans (XYZ, XYZRGB, XYZI, XYZNormal...)

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This commit is contained in:
matlabbe
2018-02-16 19:20:54 -05:00
parent bfb3a58c01
commit d24097f73d
49 changed files with 2097 additions and 998 deletions
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5
corelib/include/rtabmap/core/impl/util3d_mapping.hpp
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@@ -83,8 +83,6 @@ void segmentObstaclesFromGround(
normalKSearch,
viewPoint);
UDEBUG("cloud=%d, indices=%d flatSurfaces=%d", (int)cloud->size(), (int)indices->size(), (int)flatSurfaces->size());
if(segmentFlatObstacles && flatSurfaces->size())
{
int biggestFlatSurfaceIndex;
@@ -95,7 +93,6 @@ void segmentObstaclesFromGround(
minClusterSize,
std::numeric_limits<int>::max(),
&biggestFlatSurfaceIndex);
UDEBUG("clusteredFlatSurfaces=%d", (int)clusteredFlatSurfaces.size());
// cluster all surfaces for which the centroid is in the Z-range of the bigger surface
if(clusteredFlatSurfaces.size())
@@ -139,8 +136,6 @@ void segmentObstaclesFromGround(
ground = flatSurfaces;
}
UDEBUG("ground=%d", (int)ground->size());
if(ground->size() != cloud->size())
{
// Remove ground