i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-02 01:20:25 +08:00
Code Issues Packages Projects Releases Wiki Activity

RegICP: Updated warning when complexity is too low. LoopClosureViewer: fixed scan transform.

Browse Source
This commit is contained in:
matlabbe
2019-06-02 12:38:09 -04:00
parent 8cb923b332
commit cdbdc36c94
2 changed files with 5 additions and 5 deletions
Download Patch File Download Diff File Expand all files Collapse all files

6
guilib/src/LoopClosureViewer.cpp
View File

@@ -111,9 +111,8 @@ void LoopClosureViewer::updateView(const Transform & transform, const Parameters
cloudB = util3d::cloudRGBFromSensorData(sB_.sensorData(), decimation, maxDepth, minDepth, 0, parameters);
//cloud 2d
pcl::PointCloud<pcl::PointXYZ>::Ptr scanA, scanB;
scanA = util3d::laserScanToPointCloud(sA_.sensorData().laserScanRaw());
scanB = util3d::laserScanToPointCloud(sB_.sensorData().laserScanRaw());
pcl::PointCloud<pcl::PointXYZ>::Ptr scanA, scanB;
scanA = util3d::laserScanToPointCloud(sA_.sensorData().laserScanRaw(), sA_.sensorData().laserScanRaw().localTransform());
scanB = util3d::laserScanToPointCloud(sB_.sensorData().laserScanRaw(), sB_.sensorData().laserScanRaw().localTransform());
ui_->label_idA->setText(QString("[%1 (%2) -> %3 (%4)]").arg(sB_.id()).arg(cloudB->size()).arg(sA_.id()).arg(cloudA->size()));
@@ -132,6 +131,7 @@ void LoopClosureViewer::updateView(const Transform & transform, const Parameters
ui_->cloudViewerTransform->addCloud("scan0", scanA);
}
if(scanB->size())
{
scanB = util3d::transformPointCloud(scanB, t);
ui_->cloudViewerTransform->addCloud("scan1", scanB);
}