i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-02 17:40:23 +08:00
Code Issues Packages Projects Releases Wiki Activity

Export: Added blending option, gain compensation performance increased when exporting with textures

Browse Source
This commit is contained in:
matlabbe
2017-04-09 19:16:50 -04:00
parent 2509a842f0
commit f1d96a30a4
9 changed files with 495 additions and 75 deletions
Download Patch File Download Diff File Expand all files Collapse all files

3
corelib/include/rtabmap/core/util3d_surface.h
View File

@@ -139,7 +139,8 @@ pcl::TextureMesh::Ptr RTABMAP_EXP createTextureMesh(
const std::map<int, CameraModel> & cameraModels,
float maxDistance = 0.0f, // max camera distance to polygon to apply texture
int minClusterSize = 50, // minimum size of polygons clusters textured
const ProgressState * state = 0);
const ProgressState * state = 0,
std::vector<std::map<int, pcl::PointXY> > * vertexToPixels = 0);
pcl::PointCloud<pcl::Normal>::Ptr RTABMAP_EXP computeNormals(
const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,