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Added Occupancy class. Database SQL: added ground_cells, obstacle_cells and cell_size fields to Node table (updated Signature too).

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matlabbe
2016-08-31 12:43:53 -04:00
parent b947bde3db
commit af02e02978
12 changed files with 418 additions and 2 deletions
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corelib/src/util3d_transforms.cpp
+37
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@@ -121,6 +121,43 @@ pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr transformPointCloud(
return output;
}
pcl::PointCloud<pcl::PointXYZ>::Ptr transformPointCloud(
const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
const pcl::IndicesPtr & indices,
const Transform & transform)
{
pcl::PointCloud<pcl::PointXYZ>::Ptr output(new pcl::PointCloud<pcl::PointXYZ>);
pcl::transformPointCloud(*cloud, *indices, *output, transform.toEigen4f());
return output;
}
pcl::PointCloud<pcl::PointXYZRGB>::Ptr transformPointCloud(
const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
const pcl::IndicesPtr & indices,
const Transform & transform)
{
pcl::PointCloud<pcl::PointXYZRGB>::Ptr output(new pcl::PointCloud<pcl::PointXYZRGB>);
pcl::transformPointCloud(*cloud, *indices, *output, transform.toEigen4f());
return output;
}
pcl::PointCloud<pcl::PointNormal>::Ptr transformPointCloud(
const pcl::PointCloud<pcl::PointNormal>::Ptr & cloud,
const pcl::IndicesPtr & indices,
const Transform & transform)
{
pcl::PointCloud<pcl::PointNormal>::Ptr output(new pcl::PointCloud<pcl::PointNormal>);
pcl::transformPointCloudWithNormals(*cloud, *indices, *output, transform.toEigen4f());
return output;
}
pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr transformPointCloud(
const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
const pcl::IndicesPtr & indices,
const Transform & transform)
{
pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr output(new pcl::PointCloud<pcl::PointXYZRGBNormal>);
pcl::transformPointCloudWithNormals(*cloud, *indices, *output, transform.toEigen4f());
return output;
}
cv::Point3f transformPoint(
const cv::Point3f & point,
const Transform & transform)