i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-02 09:30:25 +08:00
Code Issues Packages Projects Releases Wiki Activity

Fixed cloudFromDepth() method when depth image is not the same size as the calibration file. That fixes projection map created from Tango databases (where depth size != rgb size)

Browse Source
This commit is contained in:
matlabbe
2016-07-08 12:47:23 -04:00
parent c8cd2545d3
commit 4cd8705710
8 changed files with 239 additions and 178 deletions
Download Patch File Download Diff File Expand all files Collapse all files

8
guilib/include/rtabmap/gui/MainWindow.h
View File

@@ -204,6 +204,7 @@ private slots:
void dataRecorder();
void dataRecorderDestroyed();
void updateNodeVisibility(int, bool);
void updateGraphView();
signals:
void statsReceived(const rtabmap::Statistics &);
@@ -233,7 +234,12 @@ private:
const std::map<int, std::string> & labels,
const std::map<int, Transform> & groundTruths,
bool verboseProgress = false);
void createAndAddCloudToMap(int nodeId, const Transform & pose, int mapId);
std::pair<pcl::PointCloud<pcl::PointXYZRGB>::Ptr, pcl::IndicesPtr> createAndAddCloudToMap(int nodeId, const Transform & pose, int mapId);
void createAndAddProjectionMap(
const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
const pcl::IndicesPtr & indices,
int nodeId,
const Transform & pose);
void createAndAddScanToMap(int nodeId, const Transform & pose, int mapId);
void createAndAddFeaturesToMap(int nodeId, const Transform & pose, int mapId);
Transform alignPosesToGroundTruth(std::map<int, Transform> & poses, const std::map<int, Transform> & groundTruth);