i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-10-04 00:57:46 +08:00
Code Issues Packages Projects Releases Wiki Activity

Added cloud smoothing (MLS) to save clouds

Browse Source 
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
Download Patch File Download Diff File Expand all files Collapse all files
corelib/src/Memory.cpp
+6 -4
View File
@@ -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;
}