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Added Ground truth import GPS format. Alignement between estimated and ground truth poses is done with SVD.

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matlabbe
2016-01-15 17:05:55 -05:00
parent 2d6965aa4b
commit 35b722ba08
9 changed files with 175 additions and 63 deletions
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corelib/src/util3d_registration.cpp
+14
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@@ -33,6 +33,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <pcl/registration/icp.h>
#include <pcl/registration/transformation_estimation_2D.h>
#include <pcl/registration/transformation_estimation_svd.h>
#include <pcl/sample_consensus/sac_model_registration.h>
#include <pcl/sample_consensus/ransac.h>
#include <rtabmap/utilite/ULogger.h>
@@ -43,6 +44,19 @@ namespace rtabmap
namespace util3d
{
// Get transform from cloud2 to cloud1
Transform transformFromXYZCorrespondencesSVD(
const pcl::PointCloud<pcl::PointXYZ> & cloud1,
const pcl::PointCloud<pcl::PointXYZ> & cloud2)
{
pcl::registration::TransformationEstimationSVD<pcl::PointXYZ, pcl::PointXYZ> svd;
// Perform the alignment
Eigen::Matrix4f matrix;
svd.estimateRigidTransformation(cloud1, cloud2, matrix);
return Transform::fromEigen4f(matrix);
}
// Get transform from cloud2 to cloud1
Transform transformFromXYZCorrespondences(
const pcl::PointCloud<pcl::PointXYZ>::ConstPtr & cloud1,