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creating 2d scan+normal type (CV_32FC5) when normals are computed

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This commit is contained in:
matlabbe
2017-09-09 22:46:37 -04:00
parent 4d0423c538
commit bf17e7368f
5 changed files with 30 additions and 10 deletions
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src/CoreWrapper.cpp
+1 -1
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@@ -996,7 +996,7 @@ void CoreWrapper::commonDepthCallbackImpl(
pcl::PointCloud<pcl::Normal>::Ptr normals = rtabmap::util3d::computeFastOrganizedNormals2D(scanCloud2d, scanCloudNormalK_, scanCloudNormalRadius_);
pcl::PointCloud<pcl::PointNormal>::Ptr pclScanNormal(new pcl::PointCloud<pcl::PointNormal>);
pcl::concatenateFields(*scanCloud2d, *normals, *pclScanNormal);
scan = rtabmap::util3d::laserScanFromPointCloud(*pclScanNormal);
scan = rtabmap::util3d::laserScan2dFromPointCloud(*pclScanNormal);
}
else
{
src/MsgConversion.cpp
+1 -1
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@@ -1428,7 +1428,7 @@ bool convertScanMsg(
pcl::PointCloud<pcl::Normal>::Ptr normals = rtabmap::util3d::computeFastOrganizedNormals2D(pclScan, scanCloudNormalK, scanCloudNormalRadius);
pcl::PointCloud<pcl::PointNormal>::Ptr pclScanNormal(new pcl::PointCloud<pcl::PointNormal>);
pcl::concatenateFields(*pclScan, *normals, *pclScanNormal);
scan = rtabmap::util3d::laserScanFromPointCloud(*rtabmap::util3d::removeNaNNormalsFromPointCloud(pclScanNormal), laserToOdom); // put back in laser frame
scan = rtabmap::util3d::laserScan2dFromPointCloud(*pclScanNormal, laserToOdom); // put back in laser frame
}
else
{
src/nodelets/icp_odometry.cpp
+1 -1
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@@ -118,7 +118,7 @@ private:
pcl::PointCloud<pcl::Normal>::Ptr normals = util3d::computeFastOrganizedNormals2D(pclScan, scanCloudNormalK_, scanCloudNormalRadius_);
pcl::PointCloud<pcl::PointNormal>::Ptr pclScanNormal(new pcl::PointCloud<pcl::PointNormal>);
pcl::concatenateFields(*pclScan, *normals, *pclScanNormal);
scan = util3d::laserScanFromPointCloud(*pclScanNormal);
scan = util3d::laserScan2dFromPointCloud(*pclScanNormal);
}
else
{
src/nodelets/rgbdicp_odometry.cpp
+1 -1
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@@ -300,7 +300,7 @@ private:
pcl::PointCloud<pcl::Normal>::Ptr normals = util3d::computeFastOrganizedNormals2D(pclScan, scanCloudNormalK_, scanCloudNormalRadius_);
pcl::PointCloud<pcl::PointNormal>::Ptr pclScanNormal(new pcl::PointCloud<pcl::PointNormal>);
pcl::concatenateFields(*pclScan, *normals, *pclScanNormal);
scan = util3d::laserScanFromPointCloud(*pclScanNormal);
scan = util3d::laserScan2dFromPointCloud(*pclScanNormal);
}
else
{