i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-10-06 18:17:47 +08:00
Code Issues Packages Projects Releases Wiki Activity

Rtabmap::detectMoreLoopClosures: added clusterRadiusMin parameter and update optimized poses after each accepted loop closure (also in MainWindow) like in DbViewer. Added graph::computeMinMax(poses). OdometryInfo: added guess transform. Export: added min/max axis ranges to filter nodes before expoting clouds.

Browse Source
This commit is contained in:
matlabbe
2021-03-13 18:42:13 -05:00
parent f6e17be2b4
commit 752509fb15
14 changed files with 815 additions and 326 deletions
Download Patch File Download Diff File Expand all files Collapse all files
corelib/src/Graph.cpp
+27
View File
@@ -2334,6 +2334,33 @@ std::list<std::map<int, Transform> > getPaths(
return paths;
}
void computeMinMax(const std::map<int, Transform> & poses,
cv::Vec3f & min,
cv::Vec3f & max)
{
if(!poses.empty())
{
min[0] = max[0] = poses.begin()->second.x();
min[1] = max[1] = poses.begin()->second.y();
min[2] = max[2] = poses.begin()->second.z();
for(std::map<int, Transform>::const_iterator iter=poses.begin(); iter!=poses.end(); ++iter)
{
if(min[0] > iter->second.x())
min[0] = iter->second.x();
if(max[0] < iter->second.x())
max[0] = iter->second.x();
if(min[1] > iter->second.y())
min[1] = iter->second.y();
if(max[1] < iter->second.y())
max[1] = iter->second.y();
if(min[2] > iter->second.z())
min[2] = iter->second.z();
if(max[2] < iter->second.z())
max[2] = iter->second.z();
}
}
}
} /* namespace graph */
} /* namespace rtabmap */