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MapCloud display: floor and ceiling filtering can be negative

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matlabbe
2022-02-12 19:34:17 -05:00
parent e51962d82f
commit 5fa92ace31
1 changed files with 5 additions and 5 deletions
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src/rviz/MapCloudDisplay.cpp
+5 -5
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@@ -167,14 +167,14 @@ MapCloudDisplay::MapCloudDisplay()
"Filter the floor up to maximum height set here " "Filter the floor up to maximum height set here "
"(only appropriate for 2D mapping).", "(only appropriate for 2D mapping).",
this, SLOT( updateCloudParameters() ), this ); this, SLOT( updateCloudParameters() ), this );
cloud_filter_floor_height_->setMin( 0.0f ); cloud_filter_floor_height_->setMin( -999.0f );
cloud_filter_floor_height_->setMax( 999.0f ); cloud_filter_floor_height_->setMax( 999.0f );
cloud_filter_ceiling_height_ = new rviz::FloatProperty( "Filter ceiling (m)", 0.0f, cloud_filter_ceiling_height_ = new rviz::FloatProperty( "Filter ceiling (m)", 0.0f,
"Filter the ceiling at the specified height set here " "Filter the ceiling at the specified height set here "
"(only appropriate for 2D mapping).", "(only appropriate for 2D mapping).",
this, SLOT( updateCloudParameters() ), this ); this, SLOT( updateCloudParameters() ), this );
cloud_filter_ceiling_height_->setMin( 0.0f ); cloud_filter_ceiling_height_->setMin( -999.0f );
cloud_filter_ceiling_height_->setMax( 999.0f ); cloud_filter_ceiling_height_->setMax( 999.0f );
node_filtering_radius_ = new rviz::FloatProperty( "Node filtering radius (m)", 0.0f, node_filtering_radius_ = new rviz::FloatProperty( "Node filtering radius (m)", 0.0f,
@@ -320,13 +320,13 @@ void MapCloudDisplay::processMapData(const rtabmap_ros::MapData& map)
cloud = rtabmap::util3d::voxelize(cloud, validIndices, cloud_voxel_size_->getFloat()); cloud = rtabmap::util3d::voxelize(cloud, validIndices, cloud_voxel_size_->getFloat());
} }
if(cloud_filter_floor_height_->getFloat() > 0.0f || cloud_filter_ceiling_height_->getFloat() > 0.0f) if(cloud_filter_floor_height_->getFloat() != 0.0f || cloud_filter_ceiling_height_->getFloat() != 0.0f)
{ {
// convert in /odom frame // convert in /odom frame
cloud = rtabmap::util3d::transformPointCloud(cloud, s.getPose()); cloud = rtabmap::util3d::transformPointCloud(cloud, s.getPose());
cloud = rtabmap::util3d::passThrough(cloud, "z", cloud = rtabmap::util3d::passThrough(cloud, "z",
cloud_filter_floor_height_->getFloat()>0.0f?cloud_filter_floor_height_->getFloat():-999.0f, cloud_filter_floor_height_->getFloat()!=0.0f?cloud_filter_floor_height_->getFloat():-999.0f,
cloud_filter_ceiling_height_->getFloat()>0.0f && (cloud_filter_floor_height_->getFloat()<=0.0f || cloud_filter_ceiling_height_->getFloat()>cloud_filter_floor_height_->getFloat())?cloud_filter_ceiling_height_->getFloat():999.0f); cloud_filter_ceiling_height_->getFloat()!=0.0f && (cloud_filter_floor_height_->getFloat()==0.0f || cloud_filter_ceiling_height_->getFloat()>cloud_filter_floor_height_->getFloat())?cloud_filter_ceiling_height_->getFloat():999.0f);
// convert back in /base_link frame // convert back in /base_link frame
cloud = rtabmap::util3d::transformPointCloud(cloud, s.getPose().inverse()); cloud = rtabmap::util3d::transformPointCloud(cloud, s.getPose().inverse());
} }