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Increased database version to 0.10.7: added scan_max_range column. Create2DMap: updated unknown cells filling depending on max laser scan range. Added util3d::frustumFiltering() to filter points in a specified frustum.

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This commit is contained in:
matlabbe
2015-09-17 22:55:45 -04:00
parent 007c192b6a
commit 55834644cf
14 changed files with 181 additions and 21 deletions
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corelib/src/SensorData.cpp
+14 -2
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@@ -38,7 +38,8 @@ namespace rtabmap
SensorData::SensorData() :
_id(0),
_stamp(0.0),
_laserScanMaxPts(0)
_laserScanMaxPts(0),
_laserScanMaxRange(0.0f)
{
}
@@ -50,7 +51,8 @@ SensorData::SensorData(
const cv::Mat & userData) :
_id(id),
_stamp(stamp),
_laserScanMaxPts(0)
_laserScanMaxPts(0),
_laserScanMaxRange(0.0f)
{
if(image.rows == 1)
{
@@ -84,6 +86,7 @@ SensorData::SensorData(
_id(id),
_stamp(stamp),
_laserScanMaxPts(0),
_laserScanMaxRange(0.0f),
_cameraModels(std::vector<CameraModel>(1, cameraModel))
{
if(image.rows == 1)
@@ -119,6 +122,7 @@ SensorData::SensorData(
_id(id),
_stamp(stamp),
_laserScanMaxPts(0),
_laserScanMaxRange(0.0f),
_cameraModels(std::vector<CameraModel>(1, cameraModel))
{
if(rgb.rows == 1)
@@ -159,6 +163,7 @@ SensorData::SensorData(
SensorData::SensorData(
const cv::Mat & laserScan,
int laserScanMaxPts,
float laserScanMaxRange,
const cv::Mat & rgb,
const cv::Mat & depth,
const CameraModel & cameraModel,
@@ -168,6 +173,7 @@ SensorData::SensorData(
_id(id),
_stamp(stamp),
_laserScanMaxPts(laserScanMaxPts),
_laserScanMaxRange(laserScanMaxRange),
_cameraModels(std::vector<CameraModel>(1, cameraModel))
{
if(rgb.rows == 1)
@@ -224,6 +230,7 @@ SensorData::SensorData(
_id(id),
_stamp(stamp),
_laserScanMaxPts(0),
_laserScanMaxRange(0.0f),
_cameraModels(cameraModels)
{
if(rgb.rows == 1)
@@ -263,6 +270,7 @@ SensorData::SensorData(
SensorData::SensorData(
const cv::Mat & laserScan,
int laserScanMaxPts,
float laserScanMaxRange,
const cv::Mat & rgb,
const cv::Mat & depth,
const std::vector<CameraModel> & cameraModels,
@@ -272,6 +280,7 @@ SensorData::SensorData(
_id(id),
_stamp(stamp),
_laserScanMaxPts(laserScanMaxPts),
_laserScanMaxRange(laserScanMaxRange),
_cameraModels(cameraModels)
{
if(rgb.rows == 1)
@@ -328,6 +337,7 @@ SensorData::SensorData(
_id(id),
_stamp(stamp),
_laserScanMaxPts(0),
_laserScanMaxRange(0.0f),
_stereoCameraModel(cameraModel)
{
if(left.rows == 1)
@@ -367,6 +377,7 @@ SensorData::SensorData(
SensorData::SensorData(
const cv::Mat & laserScan,
int laserScanMaxPts,
float laserScanMaxRange,
const cv::Mat & left,
const cv::Mat & right,
const StereoCameraModel & cameraModel,
@@ -376,6 +387,7 @@ SensorData::SensorData(
_id(id),
_stamp(stamp),
_laserScanMaxPts(laserScanMaxPts),
_laserScanMaxRange(laserScanMaxRange),
_stereoCameraModel(cameraModel)
{
if(left.rows == 1)