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Added new options to filter source laser scans.

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SensorData can support laser scans CV_32FC6 format (point cloud with normals). Refactored RegistrationICP and updated CloudViewer to show PointNormal data.
Fixed bug with stereo clouds deterioration if decimation is set (CameraModel::scale()).
This commit is contained in:
matlabbe
2016-01-08 19:15:49 -05:00
parent e7565db5d0
commit 75f85f6b2a
31 changed files with 866 additions and 371 deletions
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corelib/src/Memory.cpp
+2 -2
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@@ -3013,7 +3013,7 @@ Signature * Memory::createSignature(const SensorData & data, const Transform & p
data.depthOrRightRaw().rows,
data.depthOrRightRaw().type(),
CV_16UC1, CV_32FC1, CV_8UC1).c_str());
UASSERT(data.laserScanRaw().empty() || data.laserScanRaw().type() == CV_32FC2 || data.laserScanRaw().type() == CV_32FC3);
UASSERT(data.laserScanRaw().empty() || data.laserScanRaw().type() == CV_32FC2 || data.laserScanRaw().type() == CV_32FC3 || data.laserScanRaw().type() == CV_32FC(6));
if(!data.depthOrRightRaw().empty() &&
data.cameraModels().size() == 0 &&
@@ -3247,7 +3247,7 @@ Signature * Memory::createSignature(const SensorData & data, const Transform & p
depthOrRightImage = util2d::decimate(depthOrRightImage, _imageDecimation);
for(unsigned int i=0; i<cameraModels.size(); ++i)
{
cameraModels[i].scale(1.0/double(_imageDecimation));
cameraModels[i] = cameraModels[i].scaled(1.0/double(_imageDecimation));
}
if(stereoCameraModel.isValid())
{