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Fixed PCL extract indices filter workaround for PointNormal type (not defined in current released PCL). Compression: Fixed OpenCV memory leak when converting uncompressed depth image to 32F format.

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matlabbe
2018-02-13 12:36:23 -05:00
parent 4c0a612ab5
commit c6e5f1c9f8
6 changed files with 32 additions and 25 deletions
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2
corelib/include/rtabmap/core/SensorData.h
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@@ -125,7 +125,7 @@ public:
double stamp = 0.0,
const cv::Mat & userData = cv::Mat());
virtual ~SensorData() {}
virtual ~SensorData();
bool isValid() const {
return !(_id == 0 &&

20
corelib/include/rtabmap/core/util3d_filtering.h
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@@ -564,10 +564,11 @@ pcl::IndicesPtr RTABMAP_EXP extractIndices(
const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
const pcl::IndicesPtr & indices,
bool negative);
pcl::IndicesPtr RTABMAP_EXP extractIndices(
const pcl::PointCloud<pcl::PointNormal>::Ptr & cloud,
const pcl::IndicesPtr & indices,
bool negative);
// PCL default lacks of pcl::PointNormal type support
//pcl::IndicesPtr RTABMAP_EXP extractIndices(
// const pcl::PointCloud<pcl::PointNormal>::Ptr & cloud,
// const pcl::IndicesPtr & indices,
// bool negative);
pcl::IndicesPtr RTABMAP_EXP extractIndices(
const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
const pcl::IndicesPtr & indices,
@@ -587,11 +588,12 @@ pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_EXP extractIndices(
const pcl::IndicesPtr & indices,
bool negative,
bool keepOrganized);
pcl::PointCloud<pcl::PointNormal>::Ptr RTABMAP_EXP extractIndices(
const pcl::PointCloud<pcl::PointNormal>::Ptr & cloud,
const pcl::IndicesPtr & indices,
bool negative,
bool keepOrganized);
// PCL default lacks of pcl::PointNormal type support
//pcl::PointCloud<pcl::PointNormal>::Ptr RTABMAP_EXP extractIndices(
// const pcl::PointCloud<pcl::PointNormal>::Ptr & cloud,
// const pcl::IndicesPtr & indices,
// bool negative,
// bool keepOrganized);
pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr RTABMAP_EXP extractIndices(
const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
const pcl::IndicesPtr & indices,