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

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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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2
guilib/include/rtabmap/gui/MainWindow.h
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@@ -206,7 +206,7 @@ signals:
private:
void update3DMapVisibility(bool cloudsShown, bool scansShown);
void updateMapCloud(const std::map<int, Transform> & poses, const Transform & pose, const std::multimap<int, Link> & constraints, const std::map<int, int> & mapIds, bool verboseProgress = false);
void createAndAddCloudToMap(int nodeId, const Transform & pose, int mapId);
void createAndAddCloudToMap(int nodeId, const Transform & pose, int mapId);
void createAndAddScanToMap(int nodeId, const Transform & pose, int mapId);
void drawKeypoints(const std::multimap<int, cv::KeyPoint> & refWords, const std::multimap<int, cv::KeyPoint> & loopWords);
void setupMainLayout(bool vertical);

2
guilib/include/rtabmap/gui/PreferencesDialog.h
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@@ -157,8 +157,10 @@ public:
double getMeshSmoothingRadius() const;
bool isCloudFiltering() const;
bool isSubtractFiltering() const;
double getCloudFilteringRadius() const;
double getCloudFilteringAngle() const;
int getSubstractFilteringMinPts() const;
bool getGridMapShown() const;
double getGridMapResolution() const;