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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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33
guilib/src/CloudViewer.cpp
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@@ -357,6 +357,26 @@ bool CloudViewer::updateCloud(
return false;
}
bool CloudViewer::updateCloud(
const std::string & id,
const pcl::PointCloud<pcl::PointNormal>::Ptr & cloud,
const Transform & pose,
const QColor & color)
{
if(_addedClouds.contains(id))
{
UDEBUG("Updating %s with %d points", id.c_str(), (int)cloud->size());
int index = _visualizer->getColorHandlerIndex(id);
this->removeCloud(id);
if(this->addCloud(id, cloud, pose, color))
{
_visualizer->updateColorHandlerIndex(id, index);
return true;
}
}
return false;
}
bool CloudViewer::updateCloud(
const std::string & id,
const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
@@ -403,6 +423,19 @@ bool CloudViewer::addOrUpdateCloud(
return true;
}
bool CloudViewer::addOrUpdateCloud(
const std::string & id,
const pcl::PointCloud<pcl::PointNormal>::Ptr & cloud,
const Transform & pose,
const QColor & color)
{
if(!updateCloud(id, cloud, pose, color))
{
return addCloud(id, cloud, pose, color);
}
return true;
}
bool CloudViewer::addOrUpdateCloud(
const std::string & id,
const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,