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

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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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guilib/src/DatabaseViewer.cpp
+5 -5
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@@ -3384,7 +3384,7 @@ void DatabaseViewer::updateOptimizedMesh()
else if(clouds.size())
{
dbDriver_->saveOptimizedPoses(optimizedPoses, lastlocalizationPose);
dbDriver_->saveOptimizedMesh(util3d::laserScanFromPointCloud(*clouds.at(0)));
dbDriver_->saveOptimizedMesh(util3d::laserScanFromPointCloud(*clouds.at(0)).data());
QMessageBox::information(this, tr("Update Optimized PointCloud"), tr("Updated!"));
ui_->actionView_optimized_mesh->setEnabled(true);
ui_->actionExport_optimized_mesh->setEnabled(true);
@@ -3597,7 +3597,7 @@ void DatabaseViewer::regenerateLocalMaps()
viewpoint = cv::Point3f(t.x(), t.y(), t.z());
}
grid.createLocalMap(LaserScan::backwardCompatibility(util3d::laserScanFromPointCloud(*cloud)), s.getPose(), ground, obstacles, empty, viewpoint);
grid.createLocalMap(util3d::laserScanFromPointCloud(*cloud), s.getPose(), ground, obstacles, empty, viewpoint);
}
}
else
@@ -3720,7 +3720,7 @@ void DatabaseViewer::regenerateCurrentLocalMaps()
viewpoint = cv::Point3f(t.x(), t.y(), t.z());
}
grid.createLocalMap(LaserScan::backwardCompatibility(util3d::laserScanFromPointCloud(*cloud)), s.getPose(), ground, obstacles, empty, viewpoint);
grid.createLocalMap(util3d::laserScanFromPointCloud(*cloud), s.getPose(), ground, obstacles, empty, viewpoint);
}
}
else
@@ -7246,7 +7246,7 @@ void DatabaseViewer::refineConstraint(int from, int to, bool silent)
}
}
cv::Mat assembledScan;
LaserScan assembledScan;
if(assembledToNormalClouds->size())
{
assembledScan = fromScan.is2d()?util3d::laserScan2dFromPointCloud(*assembledToNormalClouds):util3d::laserScanFromPointCloud(*assembledToNormalClouds);
@@ -7283,7 +7283,7 @@ void DatabaseViewer::refineConstraint(int from, int to, bool silent)
assembledScan,
fromScan.maxPoints()?fromScan.maxPoints():maxPoints,
fromScan.rangeMax(),
fromScan.format(),
assembledScan.format(),
fromScan.is2d()?Transform(0,0,fromScan.localTransform().z(),0,0,0):Transform::getIdentity()));
toS = new Signature(assembledData);