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Tango: Added ICP refining option, mesh vs texture vs point cloud options, show/hide grid option, drift correction option

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This commit is contained in:
matlabbe
2016-09-02 22:37:12 -04:00
parent 4bd9e4f847
commit e5074afdeb
17 changed files with 350 additions and 121 deletions
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corelib/src/util3d.cpp
+4 -4
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@@ -699,7 +699,7 @@ pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_EXP cloudFromSensorData(
float maxDepth,
float minDepth,
std::vector<int> * validIndices,
const ParametersMap & parameters,
const ParametersMap & stereoParameters,
const std::vector<float> & roiRatios)
{
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);
@@ -815,7 +815,7 @@ pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_EXP cloudFromSensorData(
}
cloud = cloudFromDisparity(
util2d::disparityFromStereoImages(leftMono, sensorData.rightRaw(), parameters),
util2d::disparityFromStereoImages(leftMono, sensorData.rightRaw(), stereoParameters),
sensorData.stereoCameraModel(),
decimation,
maxDepth,
@@ -839,7 +839,7 @@ pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_EXP cloudRGBFromSensorData(
float maxDepth,
float minDepth,
std::vector<int> * validIndices,
const ParametersMap & parameters,
const ParametersMap & stereoParameters,
const std::vector<float> & roiRatios)
{
UASSERT(!sensorData.imageRaw().empty());
@@ -961,7 +961,7 @@ pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_EXP cloudRGBFromSensorData(
maxDepth,
minDepth,
validIndices,
parameters);
stereoParameters);
if(cloud->size())
{