i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-12 14:30:19 +08:00
Code Issues Packages Projects Releases Wiki Activity

RegistrationICP: fixed local scan transform issue

Browse Source
This commit is contained in:
matlabbe
2016-08-31 12:43:54 -04:00
parent 48f54cf2f2
commit edee909324
6 changed files with 66 additions and 26 deletions
Download Patch File Download Diff File Expand all files Collapse all files
guilib/src/DatabaseViewer.cpp
+3 -3
View File
@@ -1705,7 +1705,7 @@ void DatabaseViewer::view3DLaserScans()
{
scan = util3d::downsample(scan, downsamplingStepSize);
}
cloud = util3d::laserScanToPointCloud(scan);
cloud = util3d::laserScanToPointCloud(scan, data.laserScanInfo().localTransform());
if(cloud->size())
{
@@ -1947,7 +1947,7 @@ void DatabaseViewer::generate3DLaserScans()
{
scan = util3d::downsample(scan, downsamplingStepSize);
}
cloud = util3d::laserScanToPointCloud(scan);
cloud = util3d::laserScanToPointCloud(scan, data.laserScanInfo().localTransform());
if(cloud->size())
{
@@ -3280,7 +3280,7 @@ void DatabaseViewer::updateConstraintView(
data.uncompressDataConst(0, 0, &scan, 0);
if(!scan.empty())
{
pcl::PointCloud<pcl::PointXYZ>::Ptr scanCloud = util3d::laserScanToPointCloud(scan);
pcl::PointCloud<pcl::PointXYZ>::Ptr scanCloud = util3d::laserScanToPointCloud(scan, data.laserScanInfo().localTransform());
if(assembledScans->size() == 0)
{
assembledScans = util3d::transformPointCloud(scanCloud, iter->second);