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Added Icp/PMForce4DoF parameter (works only with libpointmatcher > April 2020). Fixed some deprecated warnings.

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This commit is contained in:
matlabbe
2021-02-24 09:43:22 -05:00
parent d61e463595
commit cad184e82b
8 changed files with 47 additions and 31 deletions
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20
guilib/src/MainWindow.cpp
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@@ -3742,7 +3742,7 @@ void MainWindow::createAndAddScanToMap(int nodeId, const Transform & pose, int m
added = _cloudViewer->addCloud(scanName, cloudRGBWithNormals, pose, color);
if(added && nodeId > 0)
{
scan = LaserScan(util3d::laserScanFromPointCloud(*cloudRGBWithNormals, scan.localTransform().inverse()), scan.maxPoints(), scan.rangeMax(), LaserScan::kXYZRGBNormal, scan.localTransform());
scan = LaserScan(util3d::laserScanFromPointCloud(*cloudRGBWithNormals, scan.localTransform().inverse()), scan.maxPoints(), scan.rangeMax(), scan.localTransform());
}
}
else if(cloudIWithNormals.get())
@@ -3752,11 +3752,11 @@ void MainWindow::createAndAddScanToMap(int nodeId, const Transform & pose, int m
{
if(scan.is2d())
{
scan = LaserScan(util3d::laserScan2dFromPointCloud(*cloudIWithNormals, scan.localTransform().inverse()), scan.maxPoints(), scan.rangeMax(), LaserScan::kXYINormal, scan.localTransform());
scan = LaserScan(util3d::laserScan2dFromPointCloud(*cloudIWithNormals, scan.localTransform().inverse()), scan.maxPoints(), scan.rangeMax(), scan.localTransform());
}
else
{
scan = LaserScan(util3d::laserScanFromPointCloud(*cloudIWithNormals, scan.localTransform().inverse()), scan.maxPoints(), scan.rangeMax(), LaserScan::kXYZINormal, scan.localTransform());
scan = LaserScan(util3d::laserScanFromPointCloud(*cloudIWithNormals, scan.localTransform().inverse()), scan.maxPoints(), scan.rangeMax(), scan.localTransform());
}
}
}
@@ -3767,11 +3767,11 @@ void MainWindow::createAndAddScanToMap(int nodeId, const Transform & pose, int m
{
if(scan.is2d())
{
scan = LaserScan(util3d::laserScan2dFromPointCloud(*cloudWithNormals, scan.localTransform().inverse()), scan.maxPoints(), scan.rangeMax(), LaserScan::kXYNormal, scan.localTransform());
scan = LaserScan(util3d::laserScan2dFromPointCloud(*cloudWithNormals, scan.localTransform().inverse()), scan.maxPoints(), scan.rangeMax(), scan.localTransform());
}
else
{
scan = LaserScan(util3d::laserScanFromPointCloud(*cloudWithNormals, scan.localTransform().inverse()), scan.maxPoints(), scan.rangeMax(), LaserScan::kXYZNormal, scan.localTransform());
scan = LaserScan(util3d::laserScanFromPointCloud(*cloudWithNormals, scan.localTransform().inverse()), scan.maxPoints(), scan.rangeMax(), scan.localTransform());
}
}
}
@@ -3780,7 +3780,7 @@ void MainWindow::createAndAddScanToMap(int nodeId, const Transform & pose, int m
added = _cloudViewer->addCloud(scanName, cloudRGB, pose, color);
if(added && nodeId > 0)
{
scan = LaserScan(util3d::laserScanFromPointCloud(*cloudRGB, scan.localTransform().inverse()), scan.maxPoints(), scan.rangeMax(), LaserScan::kXYZRGB, scan.localTransform());
scan = LaserScan(util3d::laserScanFromPointCloud(*cloudRGB, scan.localTransform().inverse()), scan.maxPoints(), scan.rangeMax(), scan.localTransform());
}
}
else if(cloudI.get())
@@ -3790,11 +3790,11 @@ void MainWindow::createAndAddScanToMap(int nodeId, const Transform & pose, int m
{
if(scan.is2d())
{
scan = LaserScan(util3d::laserScan2dFromPointCloud(*cloudI, scan.localTransform().inverse()), scan.maxPoints(), scan.rangeMax(), LaserScan::kXYI, scan.localTransform());
scan = LaserScan(util3d::laserScan2dFromPointCloud(*cloudI, scan.localTransform().inverse()), scan.maxPoints(), scan.rangeMax(), scan.localTransform());
}
else
{
scan = LaserScan(util3d::laserScanFromPointCloud(*cloudI, scan.localTransform().inverse()), scan.maxPoints(), scan.rangeMax(), LaserScan::kXYZI, scan.localTransform());
scan = LaserScan(util3d::laserScanFromPointCloud(*cloudI, scan.localTransform().inverse()), scan.maxPoints(), scan.rangeMax(), scan.localTransform());
}
}
}
@@ -3806,11 +3806,11 @@ void MainWindow::createAndAddScanToMap(int nodeId, const Transform & pose, int m
{
if(scan.is2d())
{
scan = LaserScan(util3d::laserScan2dFromPointCloud(*cloud, scan.localTransform().inverse()), scan.maxPoints(), scan.rangeMax(), LaserScan::kXY, scan.localTransform());
scan = LaserScan(util3d::laserScan2dFromPointCloud(*cloud, scan.localTransform().inverse()), scan.maxPoints(), scan.rangeMax(), scan.localTransform());
}
else
{
scan = LaserScan(util3d::laserScanFromPointCloud(*cloud, scan.localTransform().inverse()), scan.maxPoints(), scan.rangeMax(), LaserScan::kXYZ, scan.localTransform());
scan = LaserScan(util3d::laserScanFromPointCloud(*cloud, scan.localTransform().inverse()), scan.maxPoints(), scan.rangeMax(), scan.localTransform());
}
}
}