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Added util3d::segmentObstaclesFromGround() method, templated some PCL methods (new rtabmap/core/impl/util3d.hpp)

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1921 f169173b-cf89-36c8-b27e-44dbe73f0c83
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matlabbe
2014-10-24 16:58:32 +00:00
parent 2bd32e5a95
commit 60b0fd2e98
12 changed files with 658 additions and 626 deletions
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4
guilib/src/OdometryViewer.cpp
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@@ -119,10 +119,10 @@ void OdometryViewer::processData()
if(voxelSize_ > 0.0f)
{
cloud = util3d::voxelize(cloud, voxelSize_);
cloud = util3d::voxelize<pcl::PointXYZRGB>(cloud, voxelSize_);
}
cloud = util3d::transformPointCloud(cloud, data.localTransform());
cloud = util3d::transformPointCloud<pcl::PointXYZRGB>(cloud, data.localTransform());
if(!data.pose().isNull())
{