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fixed multi scans matching with normals, removed some debug logs

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matlabbe
2017-08-28 16:40:08 -04:00
parent 423b47a5ff
commit b70ffb6331
8 changed files with 135 additions and 103 deletions
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corelib/src/RegistrationIcp.cpp
+3 -3
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@@ -425,8 +425,8 @@ Transform RegistrationIcp::computeTransformationImpl(
if( _pointToPlane &&
_voxelSize == 0.0f &&
fromScan.channels() >= 6 &&
toScan.channels() >= 6 &&
fromScan.channels() >= 5 &&
toScan.channels() >= 5 &&
!((fromScan.channels() == 5 || toScan.channels() == 5) && !_libpointmatcher)) // PCL crashes if 2D)
{
//special case if we have already normals computed and there is no filtering
@@ -454,8 +454,8 @@ Transform RegistrationIcp::computeTransformationImpl(
PM::ICP & icp = *((PM::ICP*)_libpointmatcherICP);
UDEBUG("libpointmatcher icp... (if there is a seg fault here, make sure all third party libraries are built with same Eigen version.)");
T = icp(data, ref);
UDEBUG("libpointmatcher icp...done!");
icpT = Transform::fromEigen3d(Eigen::Affine3d(Eigen::Matrix4d(eigenMatrixToDim<double>(T.template cast<double>(), 4))));
UDEBUG("libpointmatcher icp...done! T=%s", icpT.prettyPrint().c_str());
float matchRatio = icp.errorMinimizer->getWeightedPointUsedRatio();
UDEBUG("match ratio: %f", matchRatio);