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3D Rendering: Added option to show graph's frustums, added option to filter floor and/or ceiling.

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This commit is contained in:
matlabbe
2017-02-09 18:32:44 -05:00
parent e4629cc740
commit 0d0577a886
10 changed files with 1324 additions and 1048 deletions
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4
corelib/src/RegistrationVis.cpp
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@@ -1208,8 +1208,8 @@ Transform RegistrationVis::computeTransformationImpl(
matches[dir] = matchesV;
if(transforms[dir].isNull())
{
msg = uFormat("Not enough inliers %d/%d between %d and %d",
(int)inliers[dir].size(), _minInliers, signatureA->id(), signatureB->id());
msg = uFormat("Not enough inliers %d/%d (matches=%d) between %d and %d",
(int)inliers[dir].size(), _minInliers, (int)matches[dir].size(), signatureA->id(), signatureB->id());
UINFO(msg.c_str());
}
}

24
corelib/src/util3d_motion_estimation.cpp
View File

@@ -227,9 +227,9 @@ Transform estimateMotion3DTo3D(
*varianceOut = 1.0;
}
std::vector<int> inliers;
if((int)inliers1.size() >= minInliers)
{
std::vector<int> inliers;
pcl::PointCloud<pcl::PointXYZ>::Ptr inliers1cloud(new pcl::PointCloud<pcl::PointXYZ>);
pcl::PointCloud<pcl::PointXYZ>::Ptr inliers2cloud(new pcl::PointCloud<pcl::PointXYZ>);
inliers1cloud->resize(inliers1.size());
@@ -257,21 +257,21 @@ Transform estimateMotion3DTo3D(
{
transform = t;
}
}
if(matchesOut)
if(matchesOut)
{
*matchesOut = matches;
}
if(inliersOut)
{
inliersOut->resize(inliers.size());
for(unsigned int i=0; i<inliers.size(); ++i)
{
*matchesOut = matches;
}
if(inliersOut)
{
inliersOut->resize(inliers.size());
for(unsigned int i=0; i<inliers.size(); ++i)
{
inliersOut->at(i) = matches[inliers[i]];
}
inliersOut->at(i) = matches[inliers[i]];
}
}
return transform;
}