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util3d::downsample() added intensity type support

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This commit is contained in:
matlabbe
2019-02-20 17:53:53 -05:00
parent 2863060ded
commit 49a41d7e46
2 changed files with 14 additions and 0 deletions
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6
corelib/include/rtabmap/core/util3d_filtering.h
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@@ -72,12 +72,18 @@ pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_EXP downsample(
pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_EXP downsample(
const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
int step);
pcl::PointCloud<pcl::PointXYZI>::Ptr RTABMAP_EXP downsample(
const pcl::PointCloud<pcl::PointXYZI>::Ptr & cloud,
int step);
pcl::PointCloud<pcl::PointNormal>::Ptr RTABMAP_EXP downsample(
const pcl::PointCloud<pcl::PointNormal>::Ptr & cloud,
int step);
pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr RTABMAP_EXP downsample(
const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
int step);
pcl::PointCloud<pcl::PointXYZINormal>::Ptr RTABMAP_EXP downsample(
const pcl::PointCloud<pcl::PointXYZINormal>::Ptr & cloud,
int step);
pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_EXP voxelize(
const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,

8
corelib/src/util3d_filtering.cpp
View File

@@ -411,6 +411,10 @@ pcl::PointCloud<pcl::PointXYZRGB>::Ptr downsample(const pcl::PointCloud<pcl::Poi
{
return downsampleImpl<pcl::PointXYZRGB>(cloud, step);
}
pcl::PointCloud<pcl::PointXYZI>::Ptr downsample(const pcl::PointCloud<pcl::PointXYZI>::Ptr & cloud, int step)
{
return downsampleImpl<pcl::PointXYZI>(cloud, step);
}
pcl::PointCloud<pcl::PointNormal>::Ptr downsample(const pcl::PointCloud<pcl::PointNormal>::Ptr & cloud, int step)
{
return downsampleImpl<pcl::PointNormal>(cloud, step);
@@ -419,6 +423,10 @@ pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr downsample(const pcl::PointCloud<pc
{
return downsampleImpl<pcl::PointXYZRGBNormal>(cloud, step);
}
pcl::PointCloud<pcl::PointXYZINormal>::Ptr downsample(const pcl::PointCloud<pcl::PointXYZINormal>::Ptr & cloud, int step)
{
return downsampleImpl<pcl::PointXYZINormal>(cloud, step);
}
template<typename PointT>
typename pcl::PointCloud<PointT>::Ptr voxelizeImpl(