i/rtabmap_ros
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap_ros.git synced 2026-10-04 00:37:46 +08:00
Code Issues Packages Projects Releases Wiki Activity

Add comments

Browse Source
This commit is contained in:
Jean-Baptiste Passot
2015-07-13 14:57:41 -07:00
parent b98cff41e3
commit bd79616703
2 changed files with 11 additions and 8 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/nodelets/obstacles_detection.cpp
-5
View File
@@ -291,11 +291,6 @@ private:
ros::Duration process_duration = curtime - lasttime;
ros::Duration between_frames = curtime - this->_lastFrameTime;
this->_lastFrameTime = curtime;
//std::stringstream buffer;
//buffer << "cloud=" << originalCloud->size() << " ground=" << hypotheticalGroundCloud->size() << " floor=" << ground->size() << " obst=" << obstacles->size();
//buffer << " t=" << process_duration.toSec() << "s; " << (1./between_frames.toSec()) << "Hz";
//ROS_ERROR("3%s: %s", this->getName().c_str(), buffer.str().c_str());
}
private:
src/nodelets/point_cloud_xyz.cpp
+11 -3
View File
@@ -158,6 +158,10 @@ private:
int rows = image.rows;
int cols = image.cols;
//Cut left and cut right options to mask the image.
//If cut_left (resp. cut_right) is set to a positive value, we set the first (resp. last) columns
//of the depth image to 0, meaning that no depth reading has been received.
//Number of columns to be masked is equal to cut_left (resp. cut_right value)
if (cut_left_>0){
cv::Mat pRoi = image(cv::Rect(0, 0, cut_left_, rows));
pRoi.setTo(cv::Scalar(0.));
@@ -167,6 +171,13 @@ private:
pRoi.setTo(cv::Scalar(0.));
}
//This option enables a filter for close object.
//Fist, we do a median blur on the image to get rid of potential noise
//Second, we set all false reading that are likely due to an object sitting in front of the camera
// to a short distance estimation (here, 40cm).
//This hence make the assumption that the depth camera is looking forward and sees the floor on
// the bottom rows of the depth image
//This option is highly experimental and should be used with extreme care.
if (special_filter_close_object_){
cv::Mat pRoi = image(cv::Rect(int(0.05*(float(cols))),int(0.05*(float(rows))),int(0.9*(float(cols))),int(0.9*float(rows))));
cv::medianBlur(pRoi, pRoi, 3);
@@ -174,10 +185,7 @@ private:
//Do filter of close objects
pRoi = image(cv::Rect(int(cols/10),int(0.8*(float(rows))),int(0.8*(float(cols))),int(0.15*float(rows))));
cv::Mat bluredImage=pRoi.clone();
//Working Ok with 15 / 15
cv::GaussianBlur(pRoi, bluredImage, cv::Size(5, 5), 0, 0);
for(int y = 0; y < bluredImage.cols; y++)
for(int x = 0; x < bluredImage.rows; x++){
if (bluredImage.at<unsigned short>(x,y) == 0){