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Fixed normals update with corresponding cameras

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matlabbe
2015-08-24 18:35:24 -04:00
parent 58e3da18c2
commit 8ea1fa06ef
5 changed files with 36 additions and 21 deletions
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4
corelib/include/rtabmap/core/util3d_surface.h
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@@ -80,7 +80,9 @@ pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr RTABMAP_EXP mls(
int dilationIterations = 0); // VOXEL_GRID_DILATION
void RTABMAP_EXP adjustNormalsToViewPoints(
const pcl::PointCloud<pcl::PointXYZ>::Ptr & viewpoints,
const std::map<int, Transform> & poses,
const pcl::PointCloud<pcl::PointXYZ>::Ptr & rawCloud,
const std::vector<int> & rawCameraIndices,
pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
int k = 0); // optional: recompute normal with k neighbors (min k=3)