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0.13.3: scan2d with normals support/registration

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This commit is contained in:
matlabbe
2017-08-25 18:02:40 -04:00
parent 964a052be1
commit 52a4e8964f
28 changed files with 1029 additions and 337 deletions
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6
corelib/src/CameraRGB.cpp
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@@ -70,6 +70,7 @@ CameraImages::CameraImages() :
_scanDownsampleStep(1),
_scanVoxelSize(0.0f),
_scanNormalsK(0),
_scanNormalsRadius(0),
_depthFromScan(false),
_depthFromScanFillHoles(1),
_depthFromScanFillHolesFromBorder(false),
@@ -99,6 +100,7 @@ CameraImages::CameraImages(const std::string & path,
_scanDownsampleStep(1),
_scanVoxelSize(0.0f),
_scanNormalsK(0),
_scanNormalsRadius(0),
_depthFromScan(false),
_depthFromScanFillHoles(1),
_depthFromScanFillHolesFromBorder(false),
@@ -685,9 +687,9 @@ SensorData CameraImages::captureImage(CameraInfo * info)
cloud = util3d::voxelize(cloud, _scanVoxelSize);
UDEBUG("Voxel filtering scan (voxel=%f m): %d -> %d", _scanVoxelSize, previousSize, (int)cloud->size());
}
if(_scanNormalsK > 0 && cloud->size())
if((_scanNormalsK > 0 || _scanNormalsRadius) && cloud->size())
{
pcl::PointCloud<pcl::Normal>::Ptr normals = util3d::computeNormals(cloud, _scanNormalsK);
pcl::PointCloud<pcl::Normal>::Ptr normals = util3d::computeNormals(cloud, _scanNormalsK, _scanNormalsRadius);
pcl::PointCloud<pcl::PointNormal>::Ptr cloudNormals(new pcl::PointCloud<pcl::PointNormal>);
pcl::concatenateFields(*cloud, *normals, *cloudNormals);
scan = util3d::laserScanFromPointCloud(*cloudNormals, _scanLocalTransform.inverse());