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Added util3d::segmentObstaclesFromGround() method, templated some PCL methods (new rtabmap/core/impl/util3d.hpp)

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1921 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2014-10-24 16:58:32 +00:00
parent 2bd32e5a95
commit 60b0fd2e98
12 changed files with 658 additions and 626 deletions
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examples/RGBDMapping/MapBuilder.h
+4 -4
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@@ -111,10 +111,10 @@ private slots:
2); // decimation // high definition
if(cloud->size())
{
cloud = util3d::passThrough(cloud, "z", 0, 4.0f);
cloud = util3d::passThrough<pcl::PointXYZRGB>(cloud, "z", 0, 4.0f);
if(cloud->size())
{
cloud = util3d::transformPointCloud(cloud, data.localTransform());
cloud = util3d::transformPointCloud<pcl::PointXYZRGB>(cloud, data.localTransform());
}
}
if(!cloudViewer_->addOrUpdateCloud("cloudOdom", cloud, pose))
@@ -184,10 +184,10 @@ private slots:
if(cloud->size())
{
cloud = util3d::passThrough(cloud, "z", 0, 4.0f);
cloud = util3d::passThrough<pcl::PointXYZRGB>(cloud, "z", 0, 4.0f);
if(cloud->size())
{
cloud = util3d::transformPointCloud(cloud, localTransform);
cloud = util3d::transformPointCloud<pcl::PointXYZRGB>(cloud, localTransform);
}
}
if(!cloudViewer_->addOrUpdateCloud(cloudName, cloud, iter->second))