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0.11.10: Database update with occupancy grid and laser scan info. Added class LaserScanInfo and OccupancyGrid (incremental 2d grid map). Gui: 2d grid and octomap are udpated using occupancy grids saved in nodes.

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matlabbe
2016-08-21 19:33:01 -04:00
parent af02e02978
commit 013eba1d58
49 changed files with 3376 additions and 1259 deletions
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6
corelib/src/StereoCameraModel.cpp
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@@ -344,6 +344,12 @@ void StereoCameraModel::scale(double scale)
right_ = right_.scaled(scale);
}
void StereoCameraModel::roi(const cv::Rect & roi)
{
left_ = left_.roi(roi);
right_ = right_.roi(roi);
}
float StereoCameraModel::computeDepth(float disparity) const
{
//depth = baseline * f / (disparity + cx1-cx0);