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0.16.1: Added LaserScan class with new "format" field to distinguish easier between all kind of laser scans (XYZ, XYZRGB, XYZI, XYZNormal...)

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matlabbe
2018-02-16 19:20:54 -05:00
parent bfb3a58c01
commit d24097f73d
49 changed files with 2097 additions and 998 deletions
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corelib/src/util3d_mapping.cpp
+2 -2
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@@ -580,8 +580,8 @@ cv::Mat create2DMap(const std::map<int, Transform> & poses,
if(jter!=scans.end() && (jter->second.first.cols || jter->second.second.cols))
{
UASSERT(!iter->second.isNull());
cv::Mat hit = util3d::transformLaserScan(jter->second.first, iter->second);
cv::Mat noHit = util3d::transformLaserScan(jter->second.second, iter->second);
cv::Mat hit = util3d::transformLaserScan(LaserScan::backwardCompatibility(jter->second.first), iter->second).data();
cv::Mat noHit = util3d::transformLaserScan(LaserScan::backwardCompatibility(jter->second.second), iter->second).data();
pcl::PointXYZ min, max;
if(!hit.empty())
{