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Fixed bug with proximity detection (with combined scans) giving wrong transform sometimes if RGBD/ProximityPathFilteringRadius was used (default true). Fixed util3d::computeNormalsComplexity() when scan has intensity.

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matlabbe
2019-02-07 11:19:55 -05:00
parent 6fc884b575
commit 1752b55678
6 changed files with 131 additions and 42 deletions
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5
corelib/include/rtabmap/core/LaserScan.h
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@@ -49,7 +49,8 @@ public:
kXYZINormal=9,
kXYZRGBNormal=10};
static int channels(Format format);
static std::string formatName(const Format & format);
static int channels(const Format & format);
static bool isScan2d(const Format & format);
static bool isScanHasNormals(const Format & format);
static bool isScanHasRGB(const Format & format);
@@ -86,6 +87,8 @@ public:
const cv::Mat & data() const {return data_;}
Format format() const {return format_;}
std::string formatName() const {return formatName(format_);}
int channels() const {return data_.channels();}
int maxPoints() const {return maxPoints_;}
float rangeMin() const {return rangeMin_;}
float rangeMax() const {return rangeMax_;}