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Merge branch 'floor_removal_with_simple_extraction_option' of github.com:braincorp/rtabmap_ros into floor_removal_with_simple_extraction_option

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Conflicts:
	src/nodelets/point_cloud_xyz.cpp
This commit is contained in:
Jean-Baptiste Passot
2015-07-13 14:54:04 -07:00
parent cd7e7bd37f b98cff41e3
commit 47a87638bf
2 changed files with 3 additions and 2 deletions
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src/nodelets/obstacles_detection.cpp
+1
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@@ -224,6 +224,7 @@ private:
pcl::PointCloud<pcl::PointXYZ>::Ptr hypotheticalGroundCloud_back = rtabmap::util3d::passThrough(originalCloud_back, "z", std::numeric_limits<int>::min(), maxFloorHeight_); pcl::PointCloud<pcl::PointXYZ>::Ptr hypotheticalGroundCloud_back = rtabmap::util3d::passThrough(originalCloud_back, "z", std::numeric_limits<int>::min(), maxFloorHeight_);
obstaclesCloud = rtabmap::util3d::passThrough(originalCloud, "z", maxFloorHeight_, maxObstaclesHeight_); obstaclesCloud = rtabmap::util3d::passThrough(originalCloud, "z", maxFloorHeight_, maxObstaclesHeight_);
obstaclesCloud = rtabmap::util3d::passThrough(obstaclesCloud, "x", 0.8, std::numeric_limits<int>::max());
//STEP 1. //STEP 1.
rtabmap::util3d::segmentObstaclesFromGround<pcl::PointXYZ>(hypotheticalGroundCloud_front, rtabmap::util3d::segmentObstaclesFromGround<pcl::PointXYZ>(hypotheticalGroundCloud_front,
src/nodelets/point_cloud_xyz.cpp
+2 -2
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@@ -168,8 +168,8 @@ private:
} }
if (special_filter_close_object_){ if (special_filter_close_object_){
//cv::Mat pRoi = image(cv::Rect(int(0.05*(float(cols))),int(0.05*(float(rows))),int(0.9*(float(cols))),int(0.9*float(rows)))); cv::Mat pRoi = image(cv::Rect(int(0.05*(float(cols))),int(0.05*(float(rows))),int(0.9*(float(cols))),int(0.9*float(rows))));
//cv::medianBlur(pRoi, pRoi, 3); cv::medianBlur(pRoi, pRoi, 3);
//Do filter of close objects //Do filter of close objects
pRoi = image(cv::Rect(int(cols/10),int(0.8*(float(rows))),int(0.8*(float(cols))),int(0.15*float(rows)))); pRoi = image(cv::Rect(int(cols/10),int(0.8*(float(rows))),int(0.8*(float(cols))),int(0.15*float(rows))));