i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-10-03 16:47:47 +08:00
Code Issues Packages Projects Releases Wiki Activity

0.16.1: Added LaserScan class with new "format" field to distinguish easier between all kind of laser scans (XYZ, XYZRGB, XYZI, XYZNormal...)

Browse Source
This commit is contained in:
matlabbe
2018-02-16 19:20:54 -05:00
parent bfb3a58c01
commit d24097f73d
49 changed files with 2097 additions and 998 deletions
Download Patch File Download Diff File Expand all files Collapse all files
corelib/src/Rtabmap.cpp
+3 -3
View File
@@ -1109,7 +1109,7 @@ bool Rtabmap::process(
//============================================================
// Refine neighbor links
//============================================================
if(!signature->sensorData().laserScanCompressed().empty())
if(!signature->sensorData().laserScanCompressed().isEmpty())
{
UINFO("Odometry refining: guess = %s", guess.prettyPrint().c_str());
RegistrationInfo info;
@@ -1156,7 +1156,7 @@ bool Rtabmap::process(
statistics_.addStatistic(Statistics::kNeighborLinkRefiningICP_rotation(), info.icpRotation);
statistics_.addStatistic(Statistics::kNeighborLinkRefiningICP_translation(), info.icpTranslation);
statistics_.addStatistic(Statistics::kNeighborLinkRefiningICP_complexity(), info.icpStructuralComplexity);
statistics_.addStatistic(Statistics::kNeighborLinkRefiningPts(), signature->sensorData().laserScanRaw().cols);
statistics_.addStatistic(Statistics::kNeighborLinkRefiningPts(), signature->sensorData().laserScanRaw().size());
}
}
timeNeighborLinkRefining = timer.ticks();
@@ -2014,7 +2014,7 @@ bool Rtabmap::process(
//
UDEBUG("Proximity detection (local loop closure in SPACE with scan matching)");
if( _proximityMaxNeighbors > 0 &&
!signature->sensorData().laserScanCompressed().empty() &&
!signature->sensorData().laserScanCompressed().isEmpty() &&
(_memory->isIncremental() || lastProximitySpaceClosureId == 0))
{
// In localization mode, no need to check local loop