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0.11.4: API change: added minDepth parameter to cloudFromXXXXX() methods and removed voxel parameter

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matlabbe
2016-04-12 15:14:04 -04:00
parent f185a4d739
commit 684e9fb8b9
19 changed files with 310 additions and 183 deletions
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guilib/src/LoopClosureViewer.cpp
+6 -6
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@@ -44,7 +44,7 @@ LoopClosureViewer::LoopClosureViewer(QWidget * parent) :
QWidget(parent),
decimation_(1),
maxDepth_(0),
samples_(0)
minDepth_(0)
{
ui_ = new Ui_loopClosureViewer();
ui_->setupUi(this);
@@ -73,17 +73,17 @@ void LoopClosureViewer::updateView(const Transform & transform)
{
int decimation = 1;
float maxDepth = 0;
int samples = 0;
float minDepth = 0;
if(!ui_->checkBox_rawCloud->isChecked())
{␍ decimation = decimation_;
maxDepth = maxDepth_;
samples = samples_;
minDepth = minDepth_;
}
UDEBUG("decimation = %d", decimation);
UDEBUG("maxDepth = %f", maxDepth);
UDEBUG("samples = %d", samples);
UDEBUG("minDepth = %d", minDepth);
Transform t;
if(!transform.isNull())
@@ -106,8 +106,8 @@ void LoopClosureViewer::updateView(const Transform & transform)
{
//cloud 3d
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloudA, cloudB;
cloudA = util3d::cloudRGBFromSensorData(sA_.sensorData(), decimation, maxDepth, 0.0f, samples);
cloudB = util3d::cloudRGBFromSensorData(sB_.sensorData(), decimation, maxDepth, 0.0f, samples);
cloudA = util3d::cloudRGBFromSensorData(sA_.sensorData(), decimation, maxDepth, minDepth);
cloudB = util3d::cloudRGBFromSensorData(sB_.sensorData(), decimation, maxDepth, minDepth);
//cloud 2d
pcl::PointCloud<pcl::PointXYZ>::Ptr scanA, scanB;