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Version 0.11.0: Refactored Visual/ICP transformation estimation approaches, Added Registration classes for convenience, Added Parameters migration approach, 3D laser scans can be used

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matlabbe
2015-11-22 18:08:32 -05:00
parent 1e5bcfded8
commit ae9f21acd7
46 changed files with 4934 additions and 4547 deletions
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corelib/src/util3d_registration.cpp
+4 -5
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@@ -306,7 +306,7 @@ Transform icp(const pcl::PointCloud<pcl::PointXYZ>::ConstPtr & cloud_source,
// Set the maximum number of iterations (criterion 1)
icp.setMaximumIterations (maximumIterations);
// Set the transformation epsilon (criterion 2)
//icp.setTransformationEpsilon (transformationEpsilon);
//icp.setTransformationEpsilon (1e-8);
// Set the euclidean distance difference epsilon (criterion 3)
//icp.setEuclideanFitnessEpsilon (1);
//icp.setRANSACOutlierRejectionThreshold(maxCorrespondenceDistance);
@@ -340,7 +340,7 @@ Transform icpPointToPlane(
// Set the maximum number of iterations (criterion 1)
icp.setMaximumIterations (maximumIterations);
// Set the transformation epsilon (criterion 2)
//icp.setTransformationEpsilon (transformationEpsilon);
//icp.setTransformationEpsilon (1e-8);
// Set the euclidean distance difference epsilon (criterion 3)
//icp.setEuclideanFitnessEpsilon (1);
//icp.setRANSACOutlierRejectionThreshold(maxCorrespondenceDistance);
@@ -373,7 +373,7 @@ Transform icp2D(const pcl::PointCloud<pcl::PointXYZ>::ConstPtr & cloud_source,
// Set the maximum number of iterations (criterion 1)
icp.setMaximumIterations (maximumIterations);
// Set the transformation epsilon (criterion 2)
//icp.setTransformationEpsilon (transformationEpsilon);
//icp.setTransformationEpsilon (1e-8);
// Set the euclidean distance difference epsilon (criterion 3)
//icp.setEuclideanFitnessEpsilon (1);
//icp.setRANSACOutlierRejectionThreshold(maxCorrespondenceDistance);
@@ -423,7 +423,7 @@ pcl::PointCloud<pcl::PointXYZ>::Ptr getICPReadyCloud(
}
else if(samples>0 && (int)cloud->size() > samples)
{
cloud = sampling(cloud, samples);
cloud = randomSampling(cloud, samples);
}
if(cloud->size())
@@ -439,7 +439,6 @@ pcl::PointCloud<pcl::PointXYZ>::Ptr getICPReadyCloud(
return cloud;
}
}
}