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Increased version to 0.20.7. OdometryF2M: added support for intensity field, removed ignored key frames when there is low scan complexity. RegistrationIcp: added Icp/PMMatcherIntensity, Icp/PointToPlaneGroundNormalsUp and Icp/PointToPlaneLowComplexityStrategy parameters. Rtabmap: when graph optimized from end, increased optimization error before warning that resulting map correction is not identity (this could happen with GTSAM as the root is not perfectly fixed). CloudViewer: added coordinate frame scaling option, added rainbow colormap option for scan intensity. DBViewer: fixed local proximity merged scans not shown modified after refining those links, show intensity, fixed constraints view not updated after rejecting a link. MainWindow: added intesity support with odometry scans.

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matlabbe
2020-11-28 17:28:34 -05:00
parent 7859313beb
commit d733029565
24 changed files with 1032 additions and 237 deletions
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corelib/src/Odometry.cpp
+5 -2
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@@ -308,8 +308,11 @@ Transform Odometry::process(SensorData & data, const Transform & guessIn, Odomet
}
if(stereoModel_.isRectificationMapInitialized())
{
data.setImageRaw(stereoModel_.left().rectifyImage(data.imageRaw()));
data.setDepthOrRightRaw(stereoModel_.right().rectifyImage(data.rightRaw()));
data.setStereoImage(
stereoModel_.left().rectifyImage(data.imageRaw()),
stereoModel_.right().rectifyImage(data.rightRaw()),
stereoModel_,
false);
}
}
else