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0.11.7: Added ZED sdk support

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matlabbe
2016-05-31 19:09:49 -04:00
parent b2bb421063
commit 6f1f490370
31 changed files with 711 additions and 131 deletions
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6
guilib/src/LoopClosureViewer.cpp
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@@ -67,7 +67,7 @@ void LoopClosureViewer::setData(const Signature & sA, const Signature & sB)
}
}
void LoopClosureViewer::updateView(const Transform & transform)
void LoopClosureViewer::updateView(const Transform & transform, const ParametersMap & parameters)
{
if(sA_.id()>0 && sB_.id()>0)
{
@@ -106,8 +106,8 @@ void LoopClosureViewer::updateView(const Transform & transform)
if(!t.isNull())
{
//cloud 3d
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloudA, cloudB;
cloudA = util3d::cloudRGBFromSensorData(sA_.sensorData(), decimation, maxDepth, minDepth);
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloudA, cloudB;
cloudA = util3d::cloudRGBFromSensorData(sA_.sensorData(), decimation, maxDepth, minDepth, 0, parameters);
cloudB = util3d::cloudRGBFromSensorData(sB_.sensorData(), decimation, maxDepth, minDepth, 0, parameters);
//cloud 2d