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Merge branch 'devel' of github.com:introlab/rtabmap_ros

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This commit is contained in:
matlabbe
2016-05-20 19:18:26 -04:00
parent a300ae9532 486ecbbf62
commit 5c21dfe71d
1 changed files with 38 additions and 15 deletions
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src/nodelets/obstacles_detection.cpp
+38 -15
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@@ -160,6 +160,7 @@ private:
pcl::IndicesPtr ground, obstacles; pcl::IndicesPtr ground, obstacles;
pcl::PointCloud<pcl::PointXYZ>::Ptr obstaclesCloud(new pcl::PointCloud<pcl::PointXYZ>); pcl::PointCloud<pcl::PointXYZ>::Ptr obstaclesCloud(new pcl::PointCloud<pcl::PointXYZ>);
pcl::PointCloud<pcl::PointXYZ>::Ptr groundCloud(new pcl::PointCloud<pcl::PointXYZ>); pcl::PointCloud<pcl::PointXYZ>::Ptr groundCloud(new pcl::PointCloud<pcl::PointXYZ>);
pcl::PointCloud<pcl::PointXYZ>::Ptr obstaclesCloudWithoutFlatSurfaces(new pcl::PointCloud<pcl::PointXYZ>);
if(originalCloud->size()) if(originalCloud->size())
{ {
@@ -174,6 +175,7 @@ private:
if(!optimizeForCloseObjects_) if(!optimizeForCloseObjects_)
{ {
// This is the default strategy // This is the default strategy
pcl::IndicesPtr flatObstacles(new std::vector<int>);
rtabmap::util3d::segmentObstaclesFromGround<pcl::PointXYZ>( rtabmap::util3d::segmentObstaclesFromGround<pcl::PointXYZ>(
originalCloud, originalCloud,
ground, ground,
@@ -183,16 +185,47 @@ private:
clusterRadius_, clusterRadius_,
minClusterSize_, minClusterSize_,
segmentFlatObstacles_, segmentFlatObstacles_,
maxGroundHeight_); maxGroundHeight_,
&flatObstacles);
if(groundPub_.getNumSubscribers() && ground.get() && ground->size()) if(groundPub_.getNumSubscribers() &&
ground.get() && ground->size())
{ {
pcl::copyPointCloud(*originalCloud, *ground, *groundCloud); pcl::copyPointCloud(*originalCloud, *ground, *groundCloud);
} }
if((obstaclesPub_.getNumSubscribers() || projObstaclesPub_.getNumSubscribers()) && obstacles.get() && obstacles->size()) if((obstaclesPub_.getNumSubscribers() || projObstaclesPub_.getNumSubscribers()) &&
obstacles.get() && obstacles->size())
{ {
pcl::copyPointCloud(*originalCloud, *obstacles, *obstaclesCloud); // remove flat obstacles from obstacles
std::set<int> flatObstaclesSet;
if(projObstaclesPub_.getNumSubscribers())
{
flatObstaclesSet.insert(flatObstacles->begin(), flatObstacles->end());
}
obstaclesCloud->resize(obstacles->size());
obstaclesCloudWithoutFlatSurfaces->resize(obstacles->size());
int oi=0;
for(unsigned int i=0; i<obstacles->size(); ++i)
{
obstaclesCloud->points[i] = originalCloud->at(obstacles->at(i));
if(flatObstaclesSet.size() == 0 ||
flatObstaclesSet.find(obstacles->at(i))==flatObstaclesSet.end())
{
obstaclesCloudWithoutFlatSurfaces->points[oi] = obstaclesCloud->points[i];
obstaclesCloudWithoutFlatSurfaces->points[oi].z = 0;
++oi;
}
}
obstaclesCloudWithoutFlatSurfaces->resize(oi);
if(obstaclesCloudWithoutFlatSurfaces->size() && projVoxelSize_ > 0.0)
{
obstaclesCloudWithoutFlatSurfaces = rtabmap::util3d::voxelize(obstaclesCloudWithoutFlatSurfaces, projVoxelSize_);
}
} }
} }
else else
@@ -286,18 +319,8 @@ private:
if(projObstaclesPub_.getNumSubscribers()) if(projObstaclesPub_.getNumSubscribers())
{ {
for(unsigned int i=0; i<obstaclesCloud->size(); ++i)
{
obstaclesCloud->at(i).z = 0;
}
if(obstaclesCloud->size() && projVoxelSize_ > 0.0)
{
obstaclesCloud = rtabmap::util3d::voxelize(obstaclesCloud, projVoxelSize_);
}
sensor_msgs::PointCloud2 rosCloud; sensor_msgs::PointCloud2 rosCloud;
pcl::toROSMsg(*obstaclesCloud, rosCloud); pcl::toROSMsg(*obstaclesCloudWithoutFlatSurfaces, rosCloud);
rosCloud.header.stamp = cloudMsg->header.stamp; rosCloud.header.stamp = cloudMsg->header.stamp;
rosCloud.header.frame_id = frameId_; rosCloud.header.frame_id = frameId_;