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bibarz
2015-07-13 18:15:09 -07:00
parent 27dc3a1933
commit 0e4f7eaddc
1 changed files with 11 additions and 11 deletions
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src/nodelets/obstacles_detection.cpp
+11 -11
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@@ -198,9 +198,9 @@ private:
if(obstacles.get() && obstacles->size()) if(obstacles.get() && obstacles->size())
{ {
pcl::PointCloud<pcl::PointXYZ>::Ptr obstaclesNearFloorCloud(new pcl::PointCloud<pcl::PointXYZ>); pcl::PointCloud<pcl::PointXYZ>::Ptr obstaclesFloorCloud(new pcl::PointCloud<pcl::PointXYZ>);
pcl::copyPointCloud(*hypotheticalGroundCloud, *obstacles, *obstaclesNearFloorCloud); pcl::copyPointCloud(*hypotheticalGroundCloud, *obstacles, *obstaclesFloorCloud);
*obstaclesCloud += *obstaclesNearFloorCloud; *obstaclesCloud += *obstaclesFloorCloud;
} }
} }
@@ -218,7 +218,7 @@ private:
obstaclesCloud = rtabmap::util3d::passThrough(obstaclesCloud, "x", 0.8, std::numeric_limits<int>::max()); obstaclesCloud = rtabmap::util3d::passThrough(obstaclesCloud, "x", 0.8, std::numeric_limits<int>::max());
//STEP 1. // Part 1: segment floor and obstacles near the robot
rtabmap::util3d::segmentObstaclesFromGround<pcl::PointXYZ>(hypotheticalGroundCloud_near, rtabmap::util3d::segmentObstaclesFromGround<pcl::PointXYZ>(hypotheticalGroundCloud_near,
ground, obstacles, normalEstimationRadius_, groundNormalAngle_, minClusterSize_); ground, obstacles, normalEstimationRadius_, groundNormalAngle_, minClusterSize_);
@@ -230,12 +230,12 @@ private:
if(obstacles.get() && obstacles->size()) if(obstacles.get() && obstacles->size())
{ {
pcl::PointCloud<pcl::PointXYZ>::Ptr obstaclesNearFloorCloud(new pcl::PointCloud<pcl::PointXYZ>); pcl::PointCloud<pcl::PointXYZ>::Ptr obstaclesFloorCloud_near(new pcl::PointCloud<pcl::PointXYZ>);
pcl::copyPointCloud(*hypotheticalGroundCloud_near, *obstacles, *obstaclesNearFloorCloud); pcl::copyPointCloud(*hypotheticalGroundCloud_near, *obstacles, *obstaclesFloorCloud_near);
*obstaclesCloud += *obstaclesNearFloorCloud; *obstaclesCloud += *obstaclesFloorCloud_near;
} }
//STEP 2. // Part 2: segment floor and obstacles far from the robot
rtabmap::util3d::segmentObstaclesFromGround<pcl::PointXYZ>(hypotheticalGroundCloud_far, rtabmap::util3d::segmentObstaclesFromGround<pcl::PointXYZ>(hypotheticalGroundCloud_far,
ground, obstacles, 3.*normalEstimationRadius_, 2.*groundNormalAngle_, minClusterSize_); ground, obstacles, 3.*normalEstimationRadius_, 2.*groundNormalAngle_, minClusterSize_);
@@ -249,9 +249,9 @@ private:
if(obstacles.get() && obstacles->size()) if(obstacles.get() && obstacles->size())
{ {
pcl::PointCloud<pcl::PointXYZ>::Ptr obstaclesNearFloorBackCloud(new pcl::PointCloud<pcl::PointXYZ>); pcl::PointCloud<pcl::PointXYZ>::Ptr obstaclesFloorCloud_far(new pcl::PointCloud<pcl::PointXYZ>);
pcl::copyPointCloud(*hypotheticalGroundCloud_far, *obstacles, *obstaclesNearFloorBackCloud); pcl::copyPointCloud(*hypotheticalGroundCloud_far, *obstacles, *obstaclesFloorCloud_far);
*obstaclesCloud += *obstaclesNearFloorBackCloud; *obstaclesCloud += *obstaclesFloorCloud_far;
} }
} }