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Depth calibration: move GetBinSize to clams namespace

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This commit is contained in:
Anton Onishchenko
2017-05-11 11:38:42 +03:00
parent df40b0b8d3
commit 197bb2179f
5 changed files with 62 additions and 60 deletions
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10
corelib/include/rtabmap/core/clams/discrete_depth_distortion_model.h
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@@ -66,6 +66,16 @@ namespace clams
class RTABMAP_EXP DiscreteDepthDistortionModel
{
public:
// returns all divisors of num
static std::set<size_t> getDivisors(const size_t &num);
// returns divisor from divisors closest to ref
static size_t getClosestToRef(const std::set<size_t> &divisors, const double &ref);
// sets bin_width and bin_height to appropriate values
static void getBinSize(const size_t &width, const size_t &height, size_t &bin_width, size_t &bin_height);
public:
DiscreteDepthDistortionModel() :
width_(0),

9
corelib/include/rtabmap/core/util3d.h
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@@ -319,15 +319,6 @@ pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_EXP loadCloud(
int downsampleStep = 1,
float voxelSize = 0.0f);
// returns all divisors of num
std::set<size_t> get_divisors(const size_t &num);
// returns divisor from divisors closest to ref
size_t GetClosestToRef(const std::set<size_t> &divisors, const double &ref);
// sets bin_width and bin_height to appropriate values
void GetBinSize(const size_t &width, const size_t &height, size_t &bin_width, size_t &bin_height);
} // namespace util3d
} // namespace rtabmap