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0.20.13: templated laserScanFromPointCloud() version with PCLPointCloud2 to be also used with sensor_msgs/PointCloud2 class (for rtabmap_ros).

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matlabbe
2021-06-27 20:07:00 -04:00
parent 2b9ae3a2ad
commit a921d615c5
6 changed files with 341 additions and 285 deletions
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corelib/src/Memory.cpp
+1 -1
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@@ -4288,7 +4288,7 @@ Signature * Memory::createSignature(const SensorData & inputData, const Transfor
preUpdateThread.start();
}
int preDecimation = 1;
unsigned int preDecimation = 1;
std::vector<cv::Point3f> keypoints3D;
SensorData decimatedData;
UDEBUG("Received kpts=%d kpts3D=%d, descriptors=%d _useOdometryFeatures=%s",