i/rtabmap_ros
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap_ros.git synced 2026-10-04 08:47:45 +08:00
Code Issues Packages Projects Releases Wiki Activity

Tango: added Noise Filtering post-processing option, set RGBD/MaxLocalRetrieved to 0 (avoiding some high processing time peaks), fill depth holes up to 5 pixels

Browse Source
This commit is contained in:
matlabbe
2016-09-03 20:38:27 -04:00
parent 7f2c118f8d
commit 91da92346d
9 changed files with 89 additions and 17 deletions
Download Patch File Download Diff File Expand all files Collapse all files
app/android/jni/point_cloud_drawable.cpp
+21 -15
View File
@@ -138,21 +138,7 @@ PointCloudDrawable::PointCloudDrawable(
nPoints_ = cloud->size();
if(polygons.size())
{
int polygonSize = polygons[0].vertices.size();
UASSERT(polygonSize == 3);
polygons_.resize(polygons.size() * polygonSize);
int oi = 0;
for(unsigned int i=0; i<polygons.size(); ++i)
{
UASSERT((int)polygons[i].vertices.size() == polygonSize);
for(int j=0; j<polygonSize; ++j)
{
polygons_[oi++] = (unsigned short)polygons[i].vertices[j];
}
}
}
updatePolygons(polygons);
}
PointCloudDrawable::~PointCloudDrawable()
@@ -173,6 +159,26 @@ PointCloudDrawable::~PointCloudDrawable()
}
}
void PointCloudDrawable::updatePolygons(const std::vector<pcl::Vertices> & polygons)
{
polygons_.clear();
if(polygons.size())
{
int polygonSize = polygons[0].vertices.size();
UASSERT(polygonSize == 3);
polygons_.resize(polygons.size() * polygonSize);
int oi = 0;
for(unsigned int i=0; i<polygons.size(); ++i)
{
UASSERT((int)polygons[i].vertices.size() == polygonSize);
for(int j=0; j<polygonSize; ++j)
{
polygons_[oi++] = (unsigned short)polygons[i].vertices[j];
}
}
}
}
void PointCloudDrawable::setPose(const rtabmap::Transform & pose)
{
UASSERT(!pose.isNull());