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

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This commit is contained in:
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/MainWindow.cpp
+2 -6
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@@ -861,8 +861,7 @@ void MainWindow::processOdometry(const rtabmap::OdometryEvent & odom)
cloud = util3d::cloudRGBFromSensorData(odom.data(),
_preferencesDialog->getCloudDecimation(1),
_preferencesDialog->getCloudMaxDepth(1),
0,
0,
_preferencesDialog->getCloudMinDepth(1),
indices.get());
if(indices->size())
{
@@ -1726,8 +1725,6 @@ void MainWindow::updateMapCloud(
float radius = _preferencesDialog->getCloudFilteringRadius();
float angle = _preferencesDialog->getCloudFilteringAngle()*CV_PI/180.0; // convert to rad
poses = rtabmap::graph::radiusPosesFiltering(posesIn, radius, angle);
// make sure the last is here
poses.insert(*posesIn.rbegin());
for(std::map<int, Transform>::iterator iter= poses.begin(); iter!=poses.end(); ++iter)
{
std::map<int, int>::const_iterator jter = mapIdsIn.find(iter->first);
@@ -2167,8 +2164,7 @@ void MainWindow::createAndAddCloudToMap(int nodeId, const Transform & pose, int
cloudWithoutNormals = util3d::cloudRGBFromSensorData(data,
_preferencesDialog->getCloudDecimation(0),
_preferencesDialog->getCloudMaxDepth(0),
0,
0,
_preferencesDialog->getCloudMinDepth(0),
indices.get());
//compute normals