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RegistrationICP: fixed local scan transform issue

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matlabbe
2016-08-24 12:15:32 -04:00
parent 48f54cf2f2
commit edee909324
6 changed files with 66 additions and 26 deletions
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5
corelib/include/rtabmap/core/util3d.h
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@@ -176,6 +176,11 @@ pcl::PointCloud<pcl::PointXYZ> RTABMAP_EXP laserScanFromDepthImage(
float maxDepth = 0,
float minDepth = 0,
const Transform & localTransform = Transform::getIdentity());
pcl::PointCloud<pcl::PointXYZ> RTABMAP_EXP laserScanFromDepthImages(
const cv::Mat & depthImages,
const std::vector<CameraModel> & cameraModels,
float maxDepth,
float minDepth);
// return CV_32FC3
cv::Mat RTABMAP_EXP laserScanFromPointCloud(const pcl::PointCloud<pcl::PointXYZ> & cloud, const Transform & transform = Transform());