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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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13
guilib/src/OdometryViewer.cpp
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@@ -234,12 +234,19 @@ void OdometryViewer::processData(const rtabmap::OdometryEvent & odom)
// visualization: buffering the clouds
// Create the new cloud
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud;
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud;
pcl::IndicesPtr validIndices(new std::vector<int>);
cloud = util3d::cloudRGBFromSensorData(
odom.data(),
validDecimationValue_,
0.0f,
voxelSpin_->value());
0,
0,
validIndices.get());
if(voxelSpin_->value())
{
cloud = util3d::voxelize(cloud, validIndices, voxelSpin_->value());
}
if(cloud->size())
{