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Added util3d::laserScan2dFromPointCloud()

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matlabbe
2015-11-26 14:34:06 -05:00
parent ba6733411a
commit 991a603648
2 changed files with 26 additions and 0 deletions
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3
corelib/include/rtabmap/core/util3d.h
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@@ -127,7 +127,10 @@ pcl::PointCloud<pcl::PointXYZ> RTABMAP_EXP laserScanFromDepthImage(
float maxDepth = 0,
const Transform & localTransform = Transform::getIdentity());
// return CV_32FC3
cv::Mat RTABMAP_EXP laserScanFromPointCloud(const pcl::PointCloud<pcl::PointXYZ> & cloud, const Transform & transform = Transform());
// return CV_32FC2
cv::Mat RTABMAP_EXP laserScan2dFromPointCloud(const pcl::PointCloud<pcl::PointXYZ> & cloud, const Transform & transform = Transform());
pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_EXP laserScanToPointCloud(const cv::Mat & laserScan, const Transform & transform = Transform());
pcl::PointXYZ RTABMAP_EXP projectDisparityTo3D(