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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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4
corelib/src/StereoCameraModel.cpp
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@@ -162,8 +162,8 @@ bool StereoCameraModel::save(const std::string & directory, bool ignoreStereoTra
void StereoCameraModel::scale(double scale)
{
left_.scale(scale);
right_.scale(scale);
left_ = left_.scaled(scale);
right_ = right_.scaled(scale);
}
float StereoCameraModel::computeDepth(float disparity) const