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

TextureMapping: added maximum camera distance

Browse Source
This commit is contained in:
matlabbe
2017-01-31 23:26:35 -05:00
parent 8e0e04eae9
commit bfb9feaf07
6 changed files with 1715 additions and 85 deletions
Download Patch File Download Diff File Expand all files Collapse all files

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

@@ -136,7 +136,7 @@ pcl::TextureMesh::Ptr RTABMAP_EXP createTextureMesh(
const pcl::PolygonMesh::Ptr & mesh,
const std::map<int, Transform> & poses,
const std::map<int, CameraModel> & cameraModels,
int kNormalSearch = 20); // if mesh doesn't have normals, compute them with k neighbors
float maxDistance = 0.0f); // max camera distance to polygon to apply texture
pcl::PointCloud<pcl::Normal>::Ptr RTABMAP_EXP computeNormals(
const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,