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Added new options to filter source laser scans.

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SensorData can support laser scans CV_32FC6 format (point cloud with normals). Refactored RegistrationICP and updated CloudViewer to show PointNormal data.
Fixed bug with stereo clouds deterioration if decimation is set (CameraModel::scale()).
This commit is contained in:
matlabbe
2016-01-08 19:15:49 -05:00
parent e7565db5d0
commit 75f85f6b2a
31 changed files with 866 additions and 371 deletions
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corelib/src/Registration.cpp
+6 -2
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@@ -181,6 +181,10 @@ Transform Registration::computeTransformationMod(
RegistrationInfo * infoOut) const
{
RegistrationInfo info;
if(infoOut)
{
info = *infoOut;
}
Transform t = computeTransformationImpl(from, to, guess, info);
if(child_)
{
@@ -196,9 +200,9 @@ Transform Registration::computeTransformationMod(
if(varianceFromInliersCount_)
{
if(info.inliersRatio)
if(info.icpInliersRatio)
{
info.variance = info.inliersRatio > 0?1.0/double(info.inliersRatio):1.0;
info.variance = info.icpInliersRatio > 0?1.0/double(info.icpInliersRatio):1.0;
}
else
{