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util3d: Refactored laserScanFromPointCloud() functions to return LaserScan with correct format instead of cv::Mat.

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This commit is contained in:
matlabbe
2021-02-07 17:27:55 -05:00
parent c42a4e3d7e
commit 481a140f84
14 changed files with 464 additions and 182 deletions
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corelib/src/Memory.cpp
+2 -3
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@@ -3173,7 +3173,7 @@ Transform Memory::computeIcpTransformMulti(
}
}
cv::Mat assembledScan;
LaserScan assembledScan;
if(assembledToNormalClouds->size())
{
assembledScan = fromScan.is2d()?util3d::laserScan2dFromPointCloud(*assembledToNormalClouds):util3d::laserScanFromPointCloud(*assembledToNormalClouds);
@@ -3212,14 +3212,13 @@ Transform Memory::computeIcpTransformMulti(
assembledScan = util3d::laserScanFromPointCloud(*assembledToRGBClouds);
}
}
UDEBUG("assembledScan=%d points", assembledScan.cols);
UDEBUG("assembledScan=%d points", assembledScan.size());
// scans are in base frame but for 2d scans, set the height so that correspondences matching works
assembledData.setLaserScan(
LaserScan(assembledScan,
fromScan.maxPoints()?fromScan.maxPoints():maxPoints,
fromScan.rangeMax(),
toScan.format(),
fromScan.is2d()?Transform(0,0,fromScan.localTransform().z(),0,0,0):Transform::getIdentity()));
t = _registrationIcpMulti->computeTransformation(fromS->sensorData(), assembledData, guess, info);