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Memory::computeTransform(): fixed null guess sent to pure ICP registration

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matlabbe
2016-06-21 16:42:21 -04:00
parent 530919c531
commit 42c3186a53
1 changed files with 8 additions and 2 deletions
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10
corelib/src/Memory.cpp
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@@ -2169,9 +2169,15 @@ Transform Memory::computeTransform(
UDEBUG(""); UDEBUG("");
// no visual in the pipeline, make visual registration for guess // no visual in the pipeline, make visual registration for guess
guess = regVis.computeTransformation(tmpFrom, tmpTo, guess, info); guess = regVis.computeTransformation(tmpFrom, tmpTo, guess, info);
if(!guess.isNull())
{
transform = _registrationPipeline->computeTransformation(tmpFrom, tmpTo, guess, info);
}
}
else
{
transform = _registrationPipeline->computeTransformation(tmpFrom, tmpTo, guess, info);
} }
transform = _registrationPipeline->computeTransformation(tmpFrom, tmpTo, guess, info);
if(!transform.isNull()) if(!transform.isNull())
{ {