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0.13.3: scan2d with normals support/registration

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matlabbe
2017-08-28 16:40:07 -04:00
parent 964a052be1
commit 52a4e8964f
28 changed files with 1029 additions and 337 deletions
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guilib/include/rtabmap/gui/PreferencesDialog.h
+3
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@@ -164,9 +164,11 @@ public:
double getCeilingFilteringHeight() const;
double getFloorFilteringHeight() const;
int getNormalKSearch() const;
double getNormalRadiusSearch() const;
double getScanCeilingFilteringHeight() const;
double getScanFloorFilteringHeight() const;
int getScanNormalKSearch() const;
double getScanNormalRadiusSearch() const;
bool isCloudsShown(int index) const; // 0=map, 1=odom
bool isOctomapUpdated() const;
bool isOctomapShown() const;
@@ -241,6 +243,7 @@ public:
double getSourceScanFromDepthMaxDepth() const;
double getSourceScanVoxelSize() const;
int getSourceScanNormalsK() const;
double getSourceScanNormalsRadius() const;
Transform getSourceLocalTransform() const; //Openni group
Transform getLaserLocalTransform() const; // directory images
Camera * createCamera(bool useRawImages = false, bool useColor = true); // return camera should be deleted if not null