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allow a max range in registration #28

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allow a max range in registration #28

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9 changes: 6 additions & 3 deletions slam3d/sensor/pcl/PointCloudSensor.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -127,8 +127,8 @@ Transform align(PointCloudMeasurement::Ptr source,
PointCloud::Ptr filtered_target = target->getPointCloud();
if(config.point_cloud_density > 0)
{
filtered_source = PointCloudSensor::downsample(source->getPointCloud(), config.point_cloud_density);
filtered_target = PointCloudSensor::downsample(target->getPointCloud(), config.point_cloud_density);
filtered_source = PointCloudSensor::downsample(source->getPointCloud(), config.point_cloud_density, config.point_cloud_coord_limit);
filtered_target = PointCloudSensor::downsample(target->getPointCloud(), config.point_cloud_density, config.point_cloud_coord_limit);
}

// Make sure that there are enough points left (ICP will crash if not)
Expand Down Expand Up @@ -202,12 +202,15 @@ PointCloud::Ptr PointCloudSensor::crop(PointCloud::Ptr in, const Eigen::Vector4f
}
}

PointCloud::Ptr PointCloudSensor::downsample(PointCloud::Ptr in, double leaf_size)
PointCloud::Ptr PointCloudSensor::downsample(PointCloud::Ptr in, double leaf_size, double maxrange)
{
if(in->size() > 0 && leaf_size > 0)
{
PointCloud::Ptr out(new PointCloud);
pcl::VoxelGrid<PointType> grid;
if (maxrange>0) {
grid.setFilterLimits(-maxrange,maxrange);
}
grid.setLeafSize (leaf_size, leaf_size, leaf_size);
grid.setInputCloud(in);
grid.filter(*out);
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2 changes: 1 addition & 1 deletion slam3d/sensor/pcl/PointCloudSensor.hpp
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Expand Up @@ -179,7 +179,7 @@ namespace slam3d
* @param source
* @param resolution
*/
static PointCloud::Ptr downsample(PointCloud::Ptr source, double resolution);
static PointCloud::Ptr downsample(PointCloud::Ptr source, double resolution, double maxrange = -1.0);

/**
* @brief Crop the source cloud to a square box with given corners.
Expand Down
4 changes: 4 additions & 0 deletions slam3d/sensor/pcl/RegistrationParameters.hpp
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Expand Up @@ -44,6 +44,10 @@ namespace slam3d
// pointclouds will be downsampled to this density before the alignement
double point_cloud_density = 0.2;

// point with a coordinage higher than point_cloud_coord_limit or lower than
// -point_cloud_coord_limit are ignored, only active when point_cloud_density > 0
double point_cloud_coord_limit = 80;

// maximum fitness score (e.g., sum of squared distances from the source to the target)
// to accept the registration result
double max_fitness_score = 2.0;
Expand Down