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Added cloud smoothing (MLS) to save clouds

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Modified saving questions to yes for merging clouds before saving or meshing

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1335 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2014-06-08 05:16:14 +00:00
parent df0f9d60d5
commit 4fa947b7a6
5 changed files with 106 additions and 22 deletions
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10
corelib/src/Memory.cpp
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@@ -1777,10 +1777,10 @@ Transform Memory::computeIcpTransform(const Signature & oldS, const Signature &
UWARN("Clouds empty ?!?");
}
//pcl::io::savePCDFile("old.pcd", *oldCloud);
//pcl::io::savePCDFile("newguess.pcd", *newCloud);
//newCloud = util3d::transformPointCloud(newCloud, icpT);
//pcl::io::savePCDFile("newicp.pcd", *newCloud);
//pcl::io::savePCDFile("old.pcd", *oldCloudXYZ);
//pcl::io::savePCDFile("newguess.pcd", *newCloudXYZ);
//newCloudXYZ = util3d::transformPointCloud(newCloudXYZ, icpT);
//pcl::io::savePCDFile("newicp.pcd", *newCloudXYZ);
UDEBUG("fitness=%f", fitness);
@@ -1886,6 +1886,8 @@ Transform Memory::computeIcpTransform(const Signature & oldS, const Signature &
UERROR("Depths 2D empty?!?");
}
}
UDEBUG("New transform = %s", transform.prettyPrint().c_str());
return transform;
}

4
corelib/src/Odometry.cpp
View File

@@ -493,6 +493,10 @@ Transform OdometryBOW::computeTransform(Image & image, int * quality)
transform.setNull();
UWARN("Transform not valid (inliers = %d/%d)", inliers, correspondences);
}
//else if(!transform.isNull() && true)
//{
// transform = _memory->computeIcpTransform(*newSignature, *previousSignature, transform, true);
//}
}
else
{