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added subtractFiltering() method to filter point clouds by subtracting the previous cloud

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This commit is contained in:
matlabbe
2015-06-29 00:19:45 -04:00
parent 5269649661
commit fce1816c21
10 changed files with 341 additions and 64 deletions
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8
corelib/include/rtabmap/core/Graph.h
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@@ -156,6 +156,14 @@ std::multimap<int, int>::iterator RTABMAP_EXP findLink(
std::multimap<int, int> & links,
int from,
int to);
std::multimap<int, Link>::const_iterator RTABMAP_EXP findLink(
const std::multimap<int, Link> & links,
int from,
int to);
std::multimap<int, int>::const_iterator RTABMAP_EXP findLink(
const std::multimap<int, int> & links,
int from,
int to);
/**
* Get only the the most recent or older poses in the defined radius.

27
corelib/include/rtabmap/core/util3d_filtering.h
View File

@@ -115,6 +115,33 @@ pcl::IndicesPtr RTABMAP_EXP radiusFiltering(
float radiusSearch,
int minNeighborsInRadius);
/**
* For convenience.
*/
pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_EXP subtractFiltering(
const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & substractCloud,
float radiusSearch,
int minNeighborsInRadius = 0);
/**
* Subtract a cloud from another one using radius filtering.
* @param cloud the input cloud.
* @param indices the input indices of the cloud to check, if empty, all points in the cloud are checked.
* @param cloud the input cloud to subtract.
* @param indices the input indices of the subtracted cloud to check, if empty, all points in the cloud are checked.
* @param radiusSearch the radius in meter.
* @return the indices of the points satisfying the parameters.
*/
pcl::IndicesPtr RTABMAP_EXP subtractFiltering(
const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
const pcl::IndicesPtr & indices,
const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & substractCloud,
const pcl::IndicesPtr & substractIndices,
float radiusSearch,
int minNeighborsInRadius = 0);
/**
* For convenience.
*/