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

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matlabbe
2017-08-27 19:58:49 -04:00
parent 52a4e8964f
commit 423b47a5ff
12 changed files with 292 additions and 206 deletions
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13
guilib/src/MainWindow.cpp
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@@ -2888,7 +2888,7 @@ void MainWindow::createAndAddScanToMap(int nodeId, const Transform & pose, int m
{
cloudRGBWithNormals = util3d::laserScanToPointCloudRGBNormal(scan, iter->sensorData().laserScanInfo().localTransform());
}
else if(scan.channels() == 6 && _preferencesDialog->getCloudVoxelSizeScan(0) <= 0.0)
else if((scan.channels() == 5 || scan.channels() == 6) && _preferencesDialog->getCloudVoxelSizeScan(0) <= 0.0)
{
cloudWithNormals = util3d::laserScanToPointCloudNormal(scan, iter->sensorData().laserScanInfo().localTransform());
}
@@ -2983,7 +2983,7 @@ void MainWindow::createAndAddScanToMap(int nodeId, const Transform & pose, int m
pcl::PointCloud<pcl::Normal>::Ptr normals;
if(cloud->size())
{
if(scan.channels() == 2)
if(scan.channels() == 2 || scan.channels() == 5)
{
normals = util3d::computeFastOrganizedNormals2D(cloud, _preferencesDialog->getScanNormalKSearch(), _preferencesDialog->getScanNormalRadiusSearch(), scanViewpoint);
}
@@ -3024,7 +3024,14 @@ void MainWindow::createAndAddScanToMap(int nodeId, const Transform & pose, int m
added = _cloudViewer->addCloud(scanName, cloudWithNormals, pose, color);
if(added && nodeId > 0)
{
scan = util3d::laserScanFromPointCloud(*cloudWithNormals);
if(scan.channels() == 5)
{
scan = util3d::laserScan2dFromPointCloud(*cloudWithNormals);
}
else
{
scan = util3d::laserScanFromPointCloud(*cloudWithNormals);
}
}
}
else if(cloudRGB.get())