i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-02 01:20:25 +08:00
Code Issues Packages Projects Releases Wiki Activity

Refactored texture projection (avoid saving image on disk at this step)

Browse Source
This commit is contained in:
matlabbe
2017-01-16 18:29:14 -05:00
parent 2b8f40e505
commit a011a6af64
7 changed files with 208 additions and 127 deletions
Download Patch File Download Diff File Expand all files Collapse all files

8
corelib/include/rtabmap/core/GainCompensator.h
View File

@@ -73,18 +73,18 @@ public:
void apply(
int id,
pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud);
pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud) const;
void apply(
int id,
pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
const pcl::IndicesPtr & indices);
const pcl::IndicesPtr & indices) const;
void apply(
int id,
pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
const pcl::IndicesPtr & indices);
const pcl::IndicesPtr & indices) const;
void apply(
int id,
cv::Mat & image);
cv::Mat & image) const;
double getGain(int id) const;
int getIndex(int id) const;

2
corelib/include/rtabmap/core/util3d_surface.h
View File

@@ -136,8 +136,6 @@ pcl::TextureMesh::Ptr RTABMAP_EXP createTextureMesh(
const pcl::PolygonMesh::Ptr & mesh,
const std::map<int, Transform> & poses,
const std::map<int, CameraModel> & cameraModels,
const std::map<int, cv::Mat> & images,
const std::string & tmpDirectory = ".",
int kNormalSearch = 20); // if mesh doesn't have normals, compute them with k neighbors
pcl::PointCloud<pcl::Normal>::Ptr RTABMAP_EXP computeNormals(