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API achange (0.11.8): computeNormals returns only pcl::Normal cloud, not pcl::PointNormal or pcl::PointXYZRGBNormal types. MainWindow: Normals are not kept in cache to save RAM. ProgressDialog: check if auto-close is still checked when close() slot is called.

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matlabbe
2016-06-12 13:51:49 -04:00
parent 9f296c67b2
commit cb7c76889d
19 changed files with 342 additions and 287 deletions
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6
corelib/src/CameraRGB.cpp
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@@ -42,6 +42,8 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <rtabmap/core/util3d_filtering.h>
#include <rtabmap/core/util3d_surface.h>
#include <pcl/common/io.h>
#include <iostream>
#include <fstream>
#include <cmath>
@@ -661,7 +663,9 @@ SensorData CameraImages::captureImage()
}
if(_scanNormalsK > 0 && cloud->size())
{
pcl::PointCloud<pcl::PointNormal>::Ptr cloudNormals = util3d::computeNormals(cloud, _scanNormalsK);
pcl::PointCloud<pcl::Normal>::Ptr normals = util3d::computeNormals(cloud, _scanNormalsK);
pcl::PointCloud<pcl::PointNormal>::Ptr cloudNormals(new pcl::PointCloud<pcl::PointNormal>);
pcl::concatenateFields(*cloud, *normals, *cloudNormals);
scan = util3d::laserScanFromPointCloud(*cloudNormals);
}
else