i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-02 01:20:25 +08:00
Code Issues Packages Projects Releases Wiki Activity

RegistrationICP: adjusting maxLaserScans if voxel filtering is done

Browse Source
This commit is contained in:
matlabbe
2016-03-11 20:13:24 -05:00
parent 152d47e62a
commit 3cb3524aa2
1 changed files with 4 additions and 0 deletions
Download Patch File Download Diff File Expand all files Collapse all files

4
corelib/src/RegistrationIcp.cpp
View File

@@ -187,9 +187,13 @@ Transform RegistrationIcp::computeTransformationImpl(
if(_voxelSize > 0.0f)
{
fromCloudFiltered = util3d::voxelize(fromCloudFiltered, _voxelSize);
int pointsBeforeFiltering = toCloudFiltered->size();
toCloudFiltered = util3d::voxelize(toCloudFiltered, _voxelSize);
filtered = true;
UDEBUG("Voxel filtering time (voxel=%f m) = %f s", _voxelSize, timer.ticks());
//Adjust maxLaserScans
maxLaserScans = maxLaserScans * toCloudFiltered->size() / pointsBeforeFiltering;
}
bool correspondencesComputed = false;