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Added new options to filter source laser scans.

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SensorData can support laser scans CV_32FC6 format (point cloud with normals). Refactored RegistrationICP and updated CloudViewer to show PointNormal data.
Fixed bug with stereo clouds deterioration if decimation is set (CameraModel::scale()).
This commit is contained in:
matlabbe
2016-01-08 19:15:49 -05:00
parent e7565db5d0
commit 75f85f6b2a
31 changed files with 866 additions and 371 deletions
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corelib/src/OdometryF2F.cpp
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@@ -179,6 +179,7 @@ Transform OdometryF2F::computeTransform(
info->type = 1;
info->variance = regInfo.variance;
info->inliers = regInfo.inliers;
info->icpInliersRatio = regInfo.icpInliersRatio;
info->matches = regInfo.matches;
}