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OdomF2M: added support to laser scan

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matlabbe
2016-03-06 15:11:09 -05:00
parent eefd557ab4
commit 7a1cf84b08
22 changed files with 696 additions and 226 deletions
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corelib/src/util3d.cpp
+1 -2
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@@ -1025,7 +1025,6 @@ pcl::PointCloud<pcl::PointNormal>::Ptr laserScanToPointCloudNormal(const cv::Mat
pcl::PointCloud<pcl::PointNormal>::Ptr output(new pcl::PointCloud<pcl::PointNormal>);
output->resize(laserScan.cols);
bool nullTransform = transform.isNull();
Eigen::Affine3f transform3f = transform.toEigen3f();
for(int i=0; i<laserScan.cols; ++i)
{
if(laserScan.type() == CV_32FC2)
@@ -1051,7 +1050,7 @@ pcl::PointCloud<pcl::PointNormal>::Ptr laserScanToPointCloudNormal(const cv::Mat
if(!nullTransform)
{
output->at(i) = pcl::transformPoint(output->at(i), transform3f);
output->at(i) = util3d::transformPoint(output->at(i), transform);
}
}
return output;