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Tango #57: Added 720p option, Export PLY or OBJ, Added Rendering and Mapping menus, RtabmapThread: Fixed large covariance (9999) detection

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This commit is contained in:
matlabbe
2016-04-02 15:17:40 -04:00
parent d489cd48e9
commit 30e52b785a
15 changed files with 339 additions and 333 deletions
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10
corelib/include/rtabmap/core/util3d_surface.h
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@@ -78,6 +78,11 @@ void RTABMAP_EXP appendMesh(
std::vector<pcl::Vertices> & polygonsA,
const pcl::PointCloud<pcl::PointXYZRGBNormal> & cloudB,
const std::vector<pcl::Vertices> & polygonsB);
void RTABMAP_EXP appendMesh(
pcl::PointCloud<pcl::PointXYZRGB> & cloudA,
std::vector<pcl::Vertices> & polygonsA,
const pcl::PointCloud<pcl::PointXYZRGB> & cloudB,
const std::vector<pcl::Vertices> & polygonsB);
// return map from new to old polygon indices
std::map<int, int> RTABMAP_EXP filterNotUsedVerticesFromMesh(
@@ -85,6 +90,11 @@ std::map<int, int> RTABMAP_EXP filterNotUsedVerticesFromMesh(
const std::vector<pcl::Vertices> & polygons,
pcl::PointCloud<pcl::PointXYZRGBNormal> & outputCloud,
std::vector<pcl::Vertices> & outputPolygons);
std::map<int, int> RTABMAP_EXP filterNotUsedVerticesFromMesh(
const pcl::PointCloud<pcl::PointXYZRGB> & cloud,
const std::vector<pcl::Vertices> & polygons,
pcl::PointCloud<pcl::PointXYZRGB> & outputCloud,
std::vector<pcl::Vertices> & outputPolygons);
std::vector<pcl::Vertices> RTABMAP_EXP filterCloseVerticesFromMesh(
const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr cloud,