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RegistrationICP: adjusting maxLaserScans if voxel filtering is done

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matlabbe
2016-03-11 20:13:24 -05:00
parent 152d47e62a
commit 3cb3524aa2
1 changed files with 4 additions and 0 deletions
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4
corelib/src/RegistrationIcp.cpp
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@@ -187,9 +187,13 @@ Transform RegistrationIcp::computeTransformationImpl(
if(_voxelSize > 0.0f) if(_voxelSize > 0.0f)
{ {
fromCloudFiltered = util3d::voxelize(fromCloudFiltered, _voxelSize); fromCloudFiltered = util3d::voxelize(fromCloudFiltered, _voxelSize);
int pointsBeforeFiltering = toCloudFiltered->size();
toCloudFiltered = util3d::voxelize(toCloudFiltered, _voxelSize); toCloudFiltered = util3d::voxelize(toCloudFiltered, _voxelSize);
filtered = true; filtered = true;
UDEBUG("Voxel filtering time (voxel=%f m) = %f s", _voxelSize, timer.ticks()); UDEBUG("Voxel filtering time (voxel=%f m) = %f s", _voxelSize, timer.ticks());
//Adjust maxLaserScans
maxLaserScans = maxLaserScans * toCloudFiltered->size() / pointsBeforeFiltering;
} }
bool correspondencesComputed = false; bool correspondencesComputed = false;