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Added some parameters for mesh reconstruction

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1315 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2014-06-03 19:28:59 +00:00
parent b875d8f7be
commit 0fc6228b4f
6 changed files with 395 additions and 81 deletions
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22
corelib/include/rtabmap/core/util3d.h
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@@ -247,7 +247,17 @@ Transform RTABMAP_EXP icp2D(
double & fitnessScore);
pcl::PointCloud<pcl::PointNormal>::Ptr RTABMAP_EXP computeNormals(
const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud);
const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
int normalKSearch = 20);
pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr RTABMAP_EXP computeNormals(
const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
int normalKSearch = 20);
pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr RTABMAP_EXP computeNormalsSmoothed(
const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
float smoothingSearchRadius = 0.025,
bool smoothingPolynomialFit = true);
int RTABMAP_EXP getCorrespondencesCount(const pcl::PointCloud<pcl::PointXYZ>::ConstPtr & cloud_source,
const pcl::PointCloud<pcl::PointXYZ>::ConstPtr & cloud_target,
@@ -343,7 +353,15 @@ pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_EXP get3DFASTKpts(
bool fastNonmaxSuppression=true,
float maxDepth = 5.0f);
pcl::PolygonMesh::Ptr RTABMAP_EXP createMesh(const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud, float maxEdgeLength = 0.025, bool smoothing = true);
pcl::PolygonMesh::Ptr RTABMAP_EXP createMesh(
const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloudWithNormals,
float gp3SearchRadius = 0.025,
float gp3Mu = 2.5,
int gp3MaximumNearestNeighbors = 100,
float gp3MaximumSurfaceAngle = M_PI/4,
float gp3MinimumAngle = M_PI/18,
float gp3MaximumAngle = 2*M_PI/3,
float gp3NormalConsistency = false);
void RTABMAP_EXP optimizeTOROGraph(
const std::map<int, Transform> & poses,