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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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guilib/src/DatabaseViewer.cpp
+2 -2
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@@ -3757,7 +3757,7 @@ void DatabaseViewer::updateConstraintView(
constraintsViewer_->removeCloud("scan1");
if(!dataFrom.laserScanRaw().empty())
{
if(dataFrom.laserScanRaw().channels() == 6)
if(dataFrom.laserScanRaw().channels() >= 5)
{
pcl::PointCloud<pcl::PointNormal>::Ptr scan;
scan = rtabmap::util3d::laserScanToPointCloudNormal(dataFrom.laserScanRaw(), dataFrom.laserScanInfo().localTransform());
@@ -3780,7 +3780,7 @@ void DatabaseViewer::updateConstraintView(
}
if(!dataTo.laserScanRaw().empty())
{
if(dataTo.laserScanRaw().channels() == 6)
if(dataTo.laserScanRaw().channels() >= 5)
{
pcl::PointCloud<pcl::PointNormal>::Ptr scan;
scan = rtabmap::util3d::laserScanToPointCloudNormal(dataTo.laserScanRaw(), t*dataTo.laserScanInfo().localTransform());