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Gui: fixed default color for scans from odom in MainWindow and constraint view in dbviewer. Recovery/reprocess: fixed triggering new map on covariance >=9999. Reg: repeatOnce not done if it has a child. Statistics: added time proximity by space visual info.

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This commit is contained in:
matlabbe
2018-02-20 17:33:48 -05:00
parent 5c04ce257b
commit db1139e89e
8 changed files with 56 additions and 27 deletions
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corelib/src/Registration.cpp
+23 -17
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@@ -207,10 +207,32 @@ Transform Registration::computeTransformationMod(
}
Transform t = computeTransformationImpl(from, to, guess, info);
if(repeatOnce_ && guess.isNull() && !t.isNull() && this->canUseGuess())
if(child_)
{
if(!t.isNull())
{
t = child_->computeTransformationMod(from, to, force3DoF_?t.to3DoF():t, &info);
}
else if(!guess.isNull())
{
UDEBUG("This registration approach failed, continue with the guess for the next registration");
t = child_->computeTransformationMod(from, to, guess, &info);
}
}
else if(repeatOnce_ && guess.isNull() && !t.isNull() && this->canUseGuess())
{
// redo with guess to get a more accurate transform
t = computeTransformationImpl(from, to, t, info);
if(!t.isNull() && force3DoF_)
{
t = t.to3DoF();
}
}
else if(!t.isNull() && force3DoF_)
{
t = t.to3DoF();
}
if(info.covariance.empty())
@@ -231,22 +253,6 @@ Transform Registration::computeTransformationMod(
if(info.covariance.at<double>(5,5)<=COVARIANCE_EPSILON)
info.covariance.at<double>(5,5) = COVARIANCE_EPSILON; // epsilon if exact transform
if(child_)
{
if(!t.isNull())
{
t = child_->computeTransformationMod(from, to, force3DoF_?t.to3DoF():t, &info);
}
else if(!guess.isNull())
{
UDEBUG("This registration approach failed, continue with the guess for the next registration");
t = child_->computeTransformationMod(from, to, guess, &info);
}
}
else if(!t.isNull() && force3DoF_)
{
t = t.to3DoF();
}
if(infoOut)
{