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3D Rendering: Added floor/ceiling filtering and normal estimation for scans

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matlabbe
2017-04-24 19:12:53 -04:00
parent c7deb5ed33
commit 13425e1ad4
6 changed files with 270 additions and 48 deletions
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6
corelib/include/rtabmap/core/util3d_filtering.h
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@@ -135,6 +135,12 @@ pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_EXP passThrough(
float min,
float max,
bool negative = false);
pcl::PointCloud<pcl::PointNormal>::Ptr RTABMAP_EXP passThrough(
const pcl::PointCloud<pcl::PointNormal>::Ptr & cloud,
const std::string & axis,
float min,
float max,
bool negative = false);
pcl::IndicesPtr RTABMAP_EXP cropBox(
const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,