i/rtabmap_ros
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap_ros.git synced 2026-10-04 08:47:45 +08:00
Code Issues Packages Projects Releases Wiki Activity

0.11.4: API change: added minDepth parameter to cloudFromXXXXX() methods and removed voxel parameter

Browse Source
This commit is contained in:
matlabbe
2016-04-12 15:14:04 -04:00
parent f185a4d739
commit 684e9fb8b9
19 changed files with 310 additions and 183 deletions
Download Patch File Download Diff File Expand all files Collapse all files
guilib/src/ExportCloudsDialog.cpp
+15 -3
View File
@@ -75,6 +75,7 @@ ExportCloudsDialog::ExportCloudsDialog(QWidget *parent) :
connect(_ui->groupBox_regenerate, SIGNAL(clicked(bool)), this, SIGNAL(configChanged()));
connect(_ui->spinBox_decimation, SIGNAL(valueChanged(int)), this, SIGNAL(configChanged()));
connect(_ui->doubleSpinBox_maxDepth, SIGNAL(valueChanged(double)), this, SIGNAL(configChanged()));
connect(_ui->doubleSpinBox_minDepth, SIGNAL(valueChanged(double)), this, SIGNAL(configChanged()));
connect(_ui->groupBox_filtering, SIGNAL(clicked(bool)), this, SIGNAL(configChanged()));
connect(_ui->doubleSpinBox_filteringRadius, SIGNAL(valueChanged(double)), this, SIGNAL(configChanged()));
@@ -143,6 +144,7 @@ void ExportCloudsDialog::saveSettings(QSettings & settings, const QString & grou
settings.setValue("regenerate", _ui->groupBox_regenerate->isChecked());
settings.setValue("regenerate_decimation", _ui->spinBox_decimation->value());
settings.setValue("regenerate_max_depth", _ui->doubleSpinBox_maxDepth->value());
settings.setValue("regenerate_min_depth", _ui->doubleSpinBox_minDepth->value());
settings.setValue("filtering", _ui->groupBox_filtering->isChecked());
@@ -197,6 +199,7 @@ void ExportCloudsDialog::loadSettings(QSettings & settings, const QString & grou
_ui->groupBox_regenerate->setChecked(settings.value("regenerate", _ui->groupBox_regenerate->isChecked()).toBool());
_ui->spinBox_decimation->setValue(settings.value("regenerate_decimation", _ui->spinBox_decimation->value()).toInt());
_ui->doubleSpinBox_maxDepth->setValue(settings.value("regenerate_max_depth", _ui->doubleSpinBox_maxDepth->value()).toDouble());
_ui->doubleSpinBox_minDepth->setValue(settings.value("regenerate_min_depth", _ui->doubleSpinBox_minDepth->value()).toDouble());
_ui->groupBox_filtering->setChecked(settings.value("filtering", _ui->groupBox_filtering->isChecked()).toBool());
_ui->doubleSpinBox_filteringRadius->setValue(settings.value("filtering_radius", _ui->doubleSpinBox_filteringRadius->value()).toDouble());
@@ -245,6 +248,7 @@ void ExportCloudsDialog::restoreDefaults()
_ui->groupBox_regenerate->setChecked(false);
_ui->spinBox_decimation->setValue(1);
_ui->doubleSpinBox_maxDepth->setValue(4);
_ui->doubleSpinBox_minDepth->setValue(0);
_ui->groupBox_filtering->setChecked(false);
_ui->doubleSpinBox_filteringRadius->setValue(0.02);
@@ -1015,11 +1019,19 @@ std::map<int, std::pair<pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr, pcl::Indic
d,
_ui->spinBox_decimation->value(),
_ui->doubleSpinBox_maxDepth->value(),
// Don't voxelize if we create organized mesh
_ui->comboBox_pipeline->currentIndex()==0 && _ui->groupBox_meshing->isChecked()?0:_ui->doubleSpinBox_voxelSize_assembled->value(),
0,
_ui->doubleSpinBox_minDepth->value(),
indices.get());
// Don't voxelize if we create organized mesh
if(!(_ui->comboBox_pipeline->currentIndex()==0 && _ui->groupBox_meshing->isChecked()))
{
cloudWithoutNormals = util3d::voxelize(cloudWithoutNormals, indices, _ui->doubleSpinBox_voxelSize_assembled->value());
indices->resize(cloudWithoutNormals->size());
for(unsigned int i=0; i<indices->size(); ++i)
{
indices->at(i) = i;
}
}
cloud = util3d::computeNormals(
cloudWithoutNormals,