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MapsManager: added "cloud_subtract_filtering" and "cloud_subtract_filtering_min_neighbors" parameters

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matlabbe
2016-08-31 12:45:54 -04:00
parent 2f6f874542
commit 7323e58e8d
3 changed files with 251 additions and 12 deletions
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include/rtabmap_ros/MapsManager.h
+7
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@@ -30,6 +30,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <rtabmap/core/Signature.h>
#include <rtabmap/core/Parameters.h>
#include <rtabmap/core/FlannIndex.h>
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
#include <ros/time.h>
@@ -77,6 +78,8 @@ public:
private:
// mapping stuff
bool cloudOutputVoxelized_;
bool cloudSubtractFiltering_;
int cloudSubtractFilteringMinNeighbors_;
double gridCellSize_;
bool gridIncremental_;
double gridSize_;
@@ -103,6 +106,10 @@ private:
std::map<int, rtabmap::Transform> assembledObstaclePoses_;
pcl::PointCloud<pcl::PointXYZRGB>::Ptr assembledObstacles_;
pcl::PointCloud<pcl::PointXYZRGB>::Ptr assembledGround_;
rtabmap::FlannIndex assembledGroundIndex_;
rtabmap::FlannIndex assembledObstacleIndex_;
std::map<int, pcl::PointCloud<pcl::PointXYZRGB>::Ptr > groundClouds_;
std::map<int, pcl::PointCloud<pcl::PointXYZRGB>::Ptr > obstacleClouds_;
std::map<int, rtabmap::Transform> gridPoses_;
cv::Mat gridMap_;