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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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2
tools/Export/main.cpp
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@@ -507,7 +507,7 @@ int main(int argc, char * argv[])
if(saveInDb)
{
printf("Saving in db... (%d points)\n", (int)mergedClouds->size());
driver->saveOptimizedMesh(util3d::laserScanFromPointCloud(*mergedClouds, Transform(), false));
driver->saveOptimizedMesh(util3d::laserScanFromPointCloud(*mergedClouds, Transform(), false).data());
printf("Saving in db... done!\n");
}
else

2
tools/KittiDataset/main.cpp
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@@ -402,7 +402,7 @@ int main(int argc, char * argv[])
scanVoxel,
scanNormalK,
scanNormalRadius,
true);
0.8f);
}
float detectionRate = Parameters::defaultRtabmapDetectionRate();