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Updated version to 0.8.11. Added param RGBD/LocalLoopDetectionPathOdomPosesUsed. DatabaseViewer: export option at a specified framerate. DBReader: option to read database at a rate specified by the stamps saved. Database: Added new column "data2d_max_pts" in Depth table

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This commit is contained in:
Mathieu Labbe
2015-05-01 07:30:09 -04:00
parent d09e8f237a
commit abb7eb15ac
29 changed files with 622 additions and 275 deletions
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36
corelib/src/util3d.cpp
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@@ -1933,7 +1933,7 @@ Transform icp(const pcl::PointCloud<pcl::PointXYZ>::ConstPtr & cloud_source,
int maximumIterations,
bool * hasConvergedOut,
double * variance,
int * inliers)
int * correspondencesOut)
{
pcl::IterativeClosestPoint<pcl::PointXYZ, pcl::PointXYZ> icp;
// Set the input source and target
@@ -1956,7 +1956,7 @@ Transform icp(const pcl::PointCloud<pcl::PointXYZ>::ConstPtr & cloud_source,
bool hasConverged = icp.hasConverged();
// compute variance
if((inliers || variance) && hasConverged)
if((correspondencesOut || variance) && hasConverged)
{
pcl::registration::CorrespondenceEstimation<pcl::PointXYZ, pcl::PointXYZ>::Ptr est;
est.reset(new pcl::registration::CorrespondenceEstimation<pcl::PointXYZ, pcl::PointXYZ>);
@@ -1986,16 +1986,16 @@ Transform icp(const pcl::PointCloud<pcl::PointXYZ>::ConstPtr & cloud_source,
}
}
if(inliers)
if(correspondencesOut)
{
*inliers = (int)correspondences.size();
*correspondencesOut = (int)correspondences.size();
}
}
else
{
if(inliers)
if(correspondencesOut)
{
*inliers = 0;
*correspondencesOut = 0;
}
if(variance)
{
@@ -2019,7 +2019,7 @@ Transform icpPointToPlane(
int maximumIterations,
bool * hasConvergedOut,
double * variance,
int * inliers)
int * correspondencesOut)
{
pcl::IterativeClosestPoint<pcl::PointNormal, pcl::PointNormal> icp;
// Set the input source and target
@@ -2046,7 +2046,7 @@ Transform icpPointToPlane(
bool hasConverged = icp.hasConverged();
// compute variance
if((inliers || variance) && hasConverged)
if((correspondencesOut || variance) && hasConverged)
{
pcl::registration::CorrespondenceEstimation<pcl::PointNormal, pcl::PointNormal>::Ptr est;
est.reset(new pcl::registration::CorrespondenceEstimation<pcl::PointNormal, pcl::PointNormal>);
@@ -2076,16 +2076,16 @@ Transform icpPointToPlane(
}
}
if(inliers)
if(correspondencesOut)
{
*inliers = (int)correspondences.size();
*correspondencesOut = (int)correspondences.size();
}
}
else
{
if(inliers)
if(correspondencesOut)
{
*inliers = 0;
*correspondencesOut = 0;
}
if(variance)
{
@@ -2108,7 +2108,7 @@ Transform icp2D(const pcl::PointCloud<pcl::PointXYZ>::ConstPtr & cloud_source,
int maximumIterations,
bool * hasConvergedOut,
double * variance,
int * inliers)
int * correspondencesOut)
{
pcl::IterativeClosestPoint<pcl::PointXYZ, pcl::PointXYZ> icp;
// Set the input source and target
@@ -2135,7 +2135,7 @@ Transform icp2D(const pcl::PointCloud<pcl::PointXYZ>::ConstPtr & cloud_source,
bool hasConverged = icp.hasConverged();
// compute variance
if((inliers || variance) && hasConverged)
if((correspondencesOut || variance) && hasConverged)
{
pcl::registration::CorrespondenceEstimation<pcl::PointXYZ, pcl::PointXYZ>::Ptr est;
est.reset(new pcl::registration::CorrespondenceEstimation<pcl::PointXYZ, pcl::PointXYZ>);
@@ -2165,16 +2165,16 @@ Transform icp2D(const pcl::PointCloud<pcl::PointXYZ>::ConstPtr & cloud_source,
}
}
if(inliers)
if(correspondencesOut)
{
*inliers = (int)correspondences.size();
*correspondencesOut = (int)correspondences.size();
}
}
else
{
if(inliers)
if(correspondencesOut)
{
*inliers = 0;
*correspondencesOut = 0;
}
if(variance)
{