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New 2d scan type: CV_32FC5 (x,y,normal_x,normal_y,normal_z)

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matlabbe
2017-08-28 16:40:08 -04:00
parent 52a4e8964f
commit 423b47a5ff
12 changed files with 292 additions and 206 deletions
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corelib/src/util3d_surface.cpp
+2 -1
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@@ -2011,12 +2011,13 @@ cv::Mat computeNormals(
if(laserScan.channels() == 2)
{
normals = util3d::computeNormals2D(cloud, searchK, searchRadius);
return util3d::laserScan2dFromPointCloud(*cloud, *normals);
}
else
{
normals = util3d::computeNormals(cloud, searchK, searchRadius);
return util3d::laserScanFromPointCloud(*cloud, *normals);
}
return util3d::laserScanFromPointCloud(*cloud, *normals);
}
else // 4 channels
{