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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/SensorData.cpp
+5 -5
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@@ -159,7 +159,7 @@ SensorData::SensorData(
}
}
// RGB-D constructor + 2d laser scan
// RGB-D constructor + laser scan
SensorData::SensorData(
const cv::Mat & laserScan,
int laserScanMaxPts,
@@ -199,7 +199,7 @@ SensorData::SensorData(
_depthOrRightRaw = depth;
}
if(laserScan.type() == CV_32FC2 || laserScan.type() == CV_32FC3)
if(laserScan.type() == CV_32FC2 || laserScan.type() == CV_32FC3 || laserScan.type() == CV_32FC(6))
{
_laserScanRaw = laserScan;
}
@@ -266,7 +266,7 @@ SensorData::SensorData(
}
}
// Multi-cameras RGB-D constructor + 2d laser scan
// Multi-cameras RGB-D constructor + laser scan
SensorData::SensorData(
const cv::Mat & laserScan,
int laserScanMaxPts,
@@ -306,7 +306,7 @@ SensorData::SensorData(
_depthOrRightRaw = depth;
}
if(laserScan.type() == CV_32FC2 || laserScan.type() == CV_32FC3)
if(laserScan.type() == CV_32FC2 || laserScan.type() == CV_32FC3 || laserScan.type() == CV_32FC(6))
{
_laserScanRaw = laserScan;
}
@@ -412,7 +412,7 @@ SensorData::SensorData(
_depthOrRightRaw = right;
}
if(laserScan.type() == CV_32FC2 || laserScan.type() == CV_32FC3)
if(laserScan.type() == CV_32FC2 || laserScan.type() == CV_32FC3 || laserScan.type() == CV_32FC(6))
{
_laserScanRaw = laserScan;
}