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DBViewer: fixed grid cell size in 3D View. Memory/Grid, using Icp/PointToPlaneGroundNormalsUp parameter when normals are computed. Grid: fixed 2D noHit ray tracing.

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matlabbe
2022-01-25 18:10:43 -05:00
parent 2dc7b59b05
commit d56692640e
11 changed files with 91 additions and 42 deletions
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corelib/src/Memory.cpp
+4 -1
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@@ -98,6 +98,7 @@ Memory::Memory(const ParametersMap & parameters) :
_laserScanVoxelSize(Parameters::defaultMemLaserScanVoxelSize()),
_laserScanNormalK(Parameters::defaultMemLaserScanNormalK()),
_laserScanNormalRadius(Parameters::defaultMemLaserScanNormalRadius()),
_laserScanGroundNormalsUp(Parameters::defaultIcpPointToPlaneGroundNormalsUp()),
_reextractLoopClosureFeatures(Parameters::defaultRGBDLoopClosureReextractFeatures()),
_localBundleOnLoopClosure(Parameters::defaultRGBDLocalBundleOnLoopClosure()),
_rehearsalMaxDistance(Parameters::defaultRGBDLinearUpdate()),
@@ -565,6 +566,7 @@ void Memory::parseParameters(const ParametersMap & parameters)
Parameters::parse(params, Parameters::kMemLaserScanVoxelSize(), _laserScanVoxelSize);
Parameters::parse(params, Parameters::kMemLaserScanNormalK(), _laserScanNormalK);
Parameters::parse(params, Parameters::kMemLaserScanNormalRadius(), _laserScanNormalRadius);
Parameters::parse(params, Parameters::kIcpPointToPlaneGroundNormalsUp(), _laserScanGroundNormalsUp);
Parameters::parse(params, Parameters::kRGBDLoopClosureReextractFeatures(), _reextractLoopClosureFeatures);
Parameters::parse(params, Parameters::kRGBDLocalBundleOnLoopClosure(), _localBundleOnLoopClosure);
Parameters::parse(params, Parameters::kRGBDLinearUpdate(), _rehearsalMaxDistance);
@@ -5480,7 +5482,8 @@ Signature * Memory::createSignature(const SensorData & inputData, const Transfor
0,
_laserScanVoxelSize,
_laserScanNormalK,
_laserScanNormalRadius);
_laserScanNormalRadius,
_laserScanGroundNormalsUp);
t = timer.ticks();
if(stats) stats->addStatistic(Statistics::kTimingMemScan_filtering(), t*1000.0f);
UDEBUG("time normals scan = %fs", t);