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fixed compilation error on Windows (on util3d::removeNaNFromPointCloud() method)

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increased stability of new actions added (New/Open/Close database).

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1933 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2014-10-28 04:16:36 +00:00
parent d950c88373
commit 4340748fec
10 changed files with 60 additions and 89 deletions
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corelib/src/util3d.cpp
+5 -5
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@@ -1443,7 +1443,7 @@ Transform transformFromXYZCorrespondences(
std::vector<int> target_indices (cloud1->size());
// Copy the query-match indices
for (size_t i = 0; i < cloud1->size(); ++i)
for (int i = 0; i < (int)cloud1->size(); ++i)
{
source_indices[i] = i;
target_indices[i] = i;
@@ -1486,8 +1486,8 @@ Transform transformFromXYZCorrespondences(
// Select the new inliers based on the optimized coefficients and new threshold
model->selectWithinDistance (new_model_coefficients, error_threshold, new_inliers);
UDEBUG("RANSAC refineModel: Number of inliers found (before/after): %zu/%zu, with an error threshold of %g.",
prev_inliers.size (), new_inliers.size (), error_threshold);
UDEBUG("RANSAC refineModel: Number of inliers found (before/after): %d/%d, with an error threshold of %f.",
(int)prev_inliers.size (), (int)new_inliers.size (), error_threshold);
if (new_inliers.empty ())
{
@@ -1503,7 +1503,7 @@ Transform transformFromXYZCorrespondences(
double variance = model->computeVariance ();
error_threshold = sqrt (std::min (inlier_distance_threshold_sqr, sigma_sqr * variance));
UDEBUG ("RANSAC refineModel: New estimated error threshold: %g on iteration %d out of %d.",
UDEBUG ("RANSAC refineModel: New estimated error threshold: %f on iteration %d out of %d.",
error_threshold, refine_iterations, refineModelIterations);
inlier_changed = false;
std::swap (prev_inliers, new_inliers);
@@ -1568,7 +1568,7 @@ Transform transformFromXYZCorrespondences(
bestTransformation.row (3) = model_coefficients.segment<4>(12);
transform = util3d::transformFromEigen4f(bestTransformation);
UDEBUG("RANSAC inliers=%zu/%zu tf=%s", inliers.size(), cloud1->size(), transform.prettyPrint().c_str());
UDEBUG("RANSAC inliers=%d/%d tf=%s", (int)inliers.size(), (int)cloud1->size(), transform.prettyPrint().c_str());
return transform.inverse(); // inverse to get actual pose transform (not correspondences transform)
}