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0.13.3: scan2d with normals support/registration

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This commit is contained in:
matlabbe
2017-08-25 18:02:40 -04:00
parent 964a052be1
commit 52a4e8964f
28 changed files with 1029 additions and 337 deletions
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21
tools/KittiDataset/main.cpp
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@@ -60,6 +60,7 @@ void showUsage()
" --scan_step # Scan downsample step (default=10).\n"
" --scan_voxel #.# Scan voxel size (default 0.3 m).\n"
" --scan_k Scan normal K (default 20).\n"
" --scan_radius Scan normal radius (default 0).\n"
" --map_update # Do map update each X odometry frames (default=10, which\n"
" gives 1 Hz map update assuming images are at 10 Hz).\n\n"
"%s\n"
@@ -104,6 +105,7 @@ int main(int argc, char * argv[])
int scanStep = 10;
float scanVoxel = 0.3f;
int scanNormalK = 20;
float scanNormalRadius = 0.0f;
std::string gtPath;
if(argc < 2)
{
@@ -153,6 +155,15 @@ int main(int argc, char * argv[])
showUsage();
}
}
else if(std::strcmp(argv[i], "--scan_radius") == 0)
{
scanNormalRadius = atof(argv[++i]);
if(scanNormalRadius < 0.0f)
{
printf("scanNormalRadius should be >= 0\n");
showUsage();
}
}
else if(std::strcmp(argv[i], "--gt") == 0)
{
gtPath = argv[++i];
@@ -233,10 +244,11 @@ int main(int argc, char * argv[])
if(scan)
{
pathScan = path+"/velodyne";
printf(" Scan: %s\n", pathScan.c_str());
printf(" Scan step: %d\n", scanStep);
printf(" Scan voxel: %fm\n", scanVoxel);
printf(" Scan normal k: %d\n", scanNormalK);
printf(" Scan: %s\n", pathScan.c_str());
printf(" Scan step: %d\n", scanStep);
printf(" Scan voxel: %fm\n", scanVoxel);
printf(" Scan normal k: %d\n", scanNormalK);
printf(" Scan normal radius: %f\n", scanNormalRadius);
}
if(!parameters.empty())
{
@@ -338,6 +350,7 @@ int main(int argc, char * argv[])
scanStep,
scanVoxel,
scanNormalK,
scanNormalRadius,
Transform(-0.27f, 0.0f, 0.08, 0.0f, 0.0f, 0.0f));
}