i/rtabmap_ros
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap_ros.git synced 2026-10-05 17:27:46 +08:00
Code Issues Packages Projects Releases Wiki Activity

ros-pkg: updated with new RTAB-Map stereo features

Browse Source 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/ros-pkg@1862 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2014-10-16 00:17:11 +00:00
parent 2599e3ecfb
commit 8bd2447ca8
10 changed files with 364 additions and 315 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/MapAssemblerNode.cpp
+9 -1
View File
@@ -130,7 +130,15 @@ public:
if(!image.empty() && !depth.empty() && depthFx > 0.0f && depthFy > 0.0f && depthCx >= 0.0f && depthCy >= 0.0f)
{
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud = util3d::cloudFromDepthRGB(image, depth, depthCx, depthCy, depthFx, depthFy, cloudDecimation_);
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud;
if(depth.type() == CV_8UC1)
{
cloud = util3d::cloudFromStereoImages(image, depth, depthCx, depthCy, depthFx, depthFy, cloudDecimation_);
}
else
{
cloud = util3d::cloudFromDepthRGB(image, depth, depthCx, depthCy, depthFx, depthFy, cloudDecimation_);
}
if(cloudMaxDepth_ > 0)
{