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Texturing: add distanceToCamPolicy option

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matlabbe
2020-11-03 16:11:37 -05:00
parent 596cd10b69
commit e269067d4c
7 changed files with 61 additions and 28 deletions
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6
corelib/include/rtabmap/core/util3d_surface.h
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@@ -148,7 +148,8 @@ pcl::TextureMesh::Ptr RTABMAP_EXP createTextureMesh(
int minClusterSize = 50, // minimum size of polygons clusters textured
const std::vector<float> & roiRatios = std::vector<float>(), // [left, right, top, bottom] region of interest (in ratios) of the image projected.
const ProgressState * state = 0,
std::vector<std::map<int, pcl::PointXY> > * vertexToPixels = 0);
std::vector<std::map<int, pcl::PointXY> > * vertexToPixels = 0,
bool distanceToCamPolicy = false);
pcl::TextureMesh::Ptr RTABMAP_EXP createTextureMesh(
const pcl::PolygonMesh::Ptr & mesh,
const std::map<int, Transform> & poses,
@@ -160,7 +161,8 @@ pcl::TextureMesh::Ptr RTABMAP_EXP createTextureMesh(
int minClusterSize = 50, // minimum size of polygons clusters textured
const std::vector<float> & roiRatios = std::vector<float>(), // [left, right, top, bottom] region of interest (in ratios) of the image projected.
const ProgressState * state = 0,
std::vector<std::map<int, pcl::PointXY> > * vertexToPixels = 0);
std::vector<std::map<int, pcl::PointXY> > * vertexToPixels = 0,
bool distanceToCamPolicy = false);
/**
* Remove not textured polygon clusters. If minClusterSize<0, only the largest cluster is kept.