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Added util3d::transformLaserScan(). OdomF2F: filling local scan map field with key frame scane in odom info. DbViewer: Print database parameters in Info view.

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matlabbe
2016-08-08 14:35:39 -04:00
parent 6ef9034a67
commit a824b24058
7 changed files with 80 additions and 3 deletions
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corelib/src/util3d.cpp
+1 -2
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@@ -948,12 +948,11 @@ cv::Mat laserScanFromPointCloud(const pcl::PointCloud<pcl::PointNormal> & cloud,
{
cv::Mat laserScan(1, (int)cloud.size(), CV_32FC(6));
bool nullTransform = transform.isNull() || transform.isIdentity();
Eigen::Affine3f transform3f = transform.toEigen3f();
for(unsigned int i=0; i<cloud.size(); ++i)
{
if(!nullTransform)
{
pcl::PointNormal pt = pcl::transformPoint(cloud.at(i), transform3f);
pcl::PointNormal pt = util3d::transformPoint(cloud.at(i), transform);
laserScan.at<cv::Vec6f>(i)[0] = pt.x;
laserScan.at<cv::Vec6f>(i)[1] = pt.y;
laserScan.at<cv::Vec6f>(i)[2] = pt.z;