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0.15.3: util3d::computeVarianceAndCorrespondences(): added max angle parameters for normal type. util3d::downsample(): added Normal types support. OccupancyGrid: fixed 2d scan with 5 channels not handled correctly on update.

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This commit is contained in:
matlabbe
2017-12-13 18:12:40 -05:00
parent 7091406abc
commit 398ca1f8e4
7 changed files with 122 additions and 23 deletions
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6
corelib/include/rtabmap/core/util3d_filtering.h
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@@ -51,6 +51,12 @@ pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_EXP downsample(
pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_EXP downsample(
const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
int step);
pcl::PointCloud<pcl::PointNormal>::Ptr RTABMAP_EXP downsample(
const pcl::PointCloud<pcl::PointNormal>::Ptr & cloud,
int step);
pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr RTABMAP_EXP downsample(
const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
int step);
pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_EXP voxelize(
const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,

1
corelib/include/rtabmap/core/util3d_registration.h
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@@ -63,6 +63,7 @@ void RTABMAP_EXP computeVarianceAndCorrespondences(
const pcl::PointCloud<pcl::PointNormal>::ConstPtr & cloudA,
const pcl::PointCloud<pcl::PointNormal>::ConstPtr & cloudB,
double maxCorrespondenceDistance,
double maxCorrespondenceAngle, // <=0 means that we don't care about normal angle difference
double & variance,
int & correspondencesOut);
void RTABMAP_EXP computeVarianceAndCorrespondences(