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Added util3d::laserScanFomrDepthImage() and some refactoring

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Mathieu Labbe
2015-05-31 01:26:57 -04:00
parent 9e13642a47
commit bd9fb1027b
14 changed files with 177 additions and 226 deletions
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corelib/src/util3d_features.cpp
+3 -2
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@@ -82,8 +82,9 @@ pcl::PointCloud<pcl::PointXYZ>::Ptr generateKeypoints3DDepth(
cameraModels.at(cameraIndex).fy(),
true);
if(!cameraModels.at(cameraIndex).localTransform().isNull() &&
!cameraModels.at(cameraIndex).localTransform().isIdentity())
if(pcl::isFinite(pt) &&
!cameraModels.at(cameraIndex).localTransform().isNull() &&
!cameraModels.at(cameraIndex).localTransform().isIdentity())
{
pt = util3d::transformPoint(pt, cameraModels.at(cameraIndex).localTransform());
}