Added support for input scan cloud with normals and add parameter "scan_cloud_normal_k" for convenience to compute normals from scan cloud (if they don't have normals)

2026-10-04 16:57:46 +08:00 · 2016-05-20 16:13:56 -04:00
parent c571cde862
commit 0c1a4ae070
2 changed files with 66 additions and 6 deletions
@@ -277,6 +277,7 @@ private:
 	double genScanMaxDepth_;
 	double genScanMinDepth_;
 	int scanCloudMaxPoints_;
+	int scanCloudNormalK_;

 	rtabmap::Transform mapToOdom_;
 	boost::mutex mapToOdomMutex_;