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Moved some util3d methods to Transform.h, Graph.h and Compression.h

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Added computePath() method implementating A star on graph
GUI: SetWindowModified() and user should explicitly save the GUI config to keep them
Calibration: added mirror checkbox, added device id argument
This commit is contained in:
Mathieu Labbe
2015-01-23 11:17:42 -05:00
parent fdf7f69783
commit 7a6bf630ca
34 changed files with 1817 additions and 1282 deletions
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4
corelib/include/rtabmap/core/impl/util3d.hpp
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@@ -127,7 +127,7 @@ typename pcl::PointCloud<PointT>::Ptr transformPointCloud(
typedef typename pcl::PointCloud<PointT> PointCloud;
typedef typename PointCloud::Ptr PointCloudPtr;
PointCloudPtr output(new PointCloud);
pcl::transformPointCloud<PointT>(*cloud, *output, transformToEigen4f(transform));
pcl::transformPointCloud<PointT>(*cloud, *output, transform.toEigen4f());
return output;
}
@@ -136,7 +136,7 @@ PointT transformPoint(
const PointT & pt,
const Transform & transform)
{
return pcl::transformPoint(pt, transformToEigen3f(transform));
return pcl::transformPoint(pt, transform.toEigen3f());
}
template<typename PointT>