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Fixed util3d::laserScanToPointCloudRGB for 2 channels scan (added also default color param)

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matlabbe
2016-10-05 18:11:58 -04:00
parent 9e7b905c0b
commit 37192422be
2 changed files with 14 additions and 8 deletions
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8
corelib/include/rtabmap/core/util3d.h
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@@ -195,15 +195,15 @@ cv::Mat RTABMAP_EXP laserScan2dFromPointCloud(const pcl::PointCloud<pcl::PointXY
pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_EXP laserScanToPointCloud(const cv::Mat & laserScan, const Transform & transform = Transform());
// For laserScan of type CV_32FC2, CV_32FC3 and CV_32FC4, normals are set to null.
pcl::PointCloud<pcl::PointNormal>::Ptr RTABMAP_EXP laserScanToPointCloudNormal(const cv::Mat & laserScan, const Transform & transform = Transform());
// For laserScan of type CV_32FC2, CV_32FC3 and CV_32FC6, rgb is set to null.
pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_EXP laserScanToPointCloudRGB(const cv::Mat & laserScan, const Transform & transform = Transform());
// For laserScan of type CV_32FC2, CV_32FC3 and CV_32FC6, rgb is set to default r,g,b parameters.
pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_EXP laserScanToPointCloudRGB(const cv::Mat & laserScan, const Transform & transform = Transform(), unsigned char r = 255, unsigned char g = 255, unsigned char b = 255);
// For laserScan of type CV_32FC2, z is set to null.
pcl::PointXYZ RTABMAP_EXP laserScanToPoint(const cv::Mat & laserScan, int index);
// For laserScan of type CV_32FC2, CV_32FC3 and CV_32FC4, normals are set to null.
pcl::PointNormal RTABMAP_EXP laserScanToPointNormal(const cv::Mat & laserScan, int index);
// For laserScan of type CV_32FC2, CV_32FC3 and CV_32FC6, rgb is set to null.
pcl::PointXYZRGB RTABMAP_EXP laserScanToPointRGB(const cv::Mat & laserScan, int index);
// For laserScan of type CV_32FC2, CV_32FC3 and CV_32FC6, rgb is set to default r,g,b parameters.
pcl::PointXYZRGB RTABMAP_EXP laserScanToPointRGB(const cv::Mat & laserScan, int index, unsigned char r = 255, unsigned char g = 255, unsigned char b = 255);
cv::Point3f RTABMAP_EXP projectDisparityTo3D(