i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-10-07 18:47:48 +08:00
Code Issues Packages Projects Releases Wiki Activity

Increased database version to 0.10.7: added scan_max_range column. Create2DMap: updated unknown cells filling depending on max laser scan range. Added util3d::frustumFiltering() to filter points in a specified frustum.

Browse Source
This commit is contained in:
matlabbe
2015-09-17 22:55:45 -04:00
parent 007c192b6a
commit 55834644cf
14 changed files with 181 additions and 21 deletions
Download Patch File Download Diff File Expand all files Collapse all files
corelib/include/rtabmap/core/CameraModel.h
+4
View File
@@ -96,6 +96,7 @@ public:
void setLocalTransform(const Transform & transform) {localTransform_ = transform;}
const Transform & localTransform() const {return localTransform_;}
void setImageSize(const cv::Size & size) {imageSize_ = size;}
const cv::Size & imageSize() const {return imageSize_;}
int imageWidth() const {return imageSize_.width;}
int imageHeight() const {return imageSize_.height;}
@@ -105,6 +106,9 @@ public:
void scale(double scale);
double horizontalFOV() const; // in degrees
double verticalFOV() const; // in degrees
// For depth images, your should use cv::INTER_NEAREST
cv::Mat rectifyImage(const cv::Mat & raw, int interpolation = cv::INTER_LINEAR) const;
cv::Mat rectifyDepth(const cv::Mat & raw) const;