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0.11.4: API change: added minDepth parameter to cloudFromXXXXX() methods and removed voxel parameter

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matlabbe
2016-04-12 15:14:04 -04:00
parent f185a4d739
commit 684e9fb8b9
19 changed files with 310 additions and 183 deletions
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corelib/src/CameraThread.cpp
+2 -1
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@@ -53,6 +53,7 @@ CameraThread::CameraThread(Camera * camera, const ParametersMap & parameters) :
_scanFromDepth(false),
_scanDecimation(4),
_scanMaxDepth(4.0f),
_scanMinDepth(0.0f),
_scanVoxelSize(0.0f),
_scanNormalsK(0),
_stereoDense(new StereoBM(parameters))
@@ -174,7 +175,7 @@ void CameraThread::mainLoop()
UASSERT(_scanDecimation >= 1);
UTimer timer;
pcl::IndicesPtr validIndices(new std::vector<int>);
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud = util3d::cloudFromSensorData(data, _scanDecimation, _scanMaxDepth, 0.0f, 0, validIndices.get());
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud = util3d::cloudFromSensorData(data, _scanDecimation, _scanMaxDepth, _scanMinDepth, validIndices.get());
float maxPoints = (data.depthRaw().rows/_scanDecimation)*(data.depthRaw().cols/_scanDecimation);
if(_scanVoxelSize>0.0f)
{