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OctoMap::createCloud() added cloud probability output option.

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CameraRealSense2: added new warnings to debug easier timestamps problems.
GUI: added gravity visualization.
DbViewer: empty clouds in OctoMap mode have color depending on probability of occupancy.
Brought general changes from local xvision branch.
This commit is contained in:
matlabbe
2020-01-22 10:34:21 -05:00
parent f9e818c900
commit ccc5a5be5a
14 changed files with 367 additions and 65 deletions
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3
corelib/include/rtabmap/core/OctoMap.h
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@@ -195,7 +195,8 @@ public:
std::vector<int> * emptyIndices = 0,
std::vector<int> * groundIndices = 0,
bool originalRefPoints = true,
std::vector<int> * frontierIndices = 0) const;
std::vector<int> * frontierIndices = 0,
std::vector<double> * cloudProb = 0) const;
cv::Mat createProjectionMap(
float & xMin,