i/rtabmap_ros
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap_ros.git synced 2026-10-04 00:37:46 +08:00
Code Issues Packages Projects Releases Wiki Activity

3D Rendering: Added floor/ceiling filtering and normal estimation for scans

Browse Source
This commit is contained in:
matlabbe
2017-04-24 19:12:53 -04:00
parent c7deb5ed33
commit 13425e1ad4
6 changed files with 270 additions and 48 deletions
Download Patch File Download Diff File Expand all files Collapse all files
corelib/include/rtabmap/core/util3d_filtering.h
+6
View File
@@ -135,6 +135,12 @@ pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_EXP passThrough(
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,
float min,
float max,
bool negative = false);
pcl::IndicesPtr RTABMAP_EXP cropBox(
const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
corelib/src/util3d_filtering.cpp
+20
View File
@@ -341,6 +341,26 @@ pcl::PointCloud<pcl::PointXYZRGB>::Ptr passThrough(
return output;
}
pcl::PointCloud<pcl::PointNormal>::Ptr passThrough(
const pcl::PointCloud<pcl::PointNormal>::Ptr & cloud,
const std::string & axis,
float min,
float max,
bool negative)
{
UASSERT(max > min);
UASSERT(axis.compare("x") == 0 || axis.compare("y") == 0 || axis.compare("z") == 0);
pcl::PointCloud<pcl::PointNormal>::Ptr output(new pcl::PointCloud<pcl::PointNormal>);
pcl::PassThrough<pcl::PointNormal> filter;
filter.setNegative(negative);
filter.setFilterFieldName(axis);
filter.setFilterLimits(min, max);
filter.setInputCloud(cloud);
filter.filter(*output);
return output;
}
pcl::IndicesPtr cropBox(
const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
const pcl::IndicesPtr & indices,