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

Odometry: added force2D option

Browse Source 
Changed parameter RGBD/ScanMatchingSize to RGBD/PoseScanMatching

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@2050 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2014-11-19 23:38:15 +00:00
parent 89bcea3057
commit faf43cc82c
9 changed files with 127 additions and 88 deletions
Download Patch File Download Diff File Expand all files Collapse all files
corelib/src/Memory.cpp
+3 -1
View File
@@ -2036,6 +2036,7 @@ Transform Memory::computeIcpTransform(const Signature & oldS, const Signature &
hasConverged,
fitness);
//UWARN("saving ICP2D clouds!");
//pcl::io::savePCDFile("lccold.pcd", *oldCloud);
//pcl::io::savePCDFile("lccnewguess.pcd", *newCloud);
newCloud = util3d::transformPointCloud<pcl::PointXYZ>(newCloud, icpT);
@@ -2147,6 +2148,7 @@ Transform Memory::computeScanMatchingTransform(
newCloud = util3d::voxelize<pcl::PointXYZ>(newCloud, _icp2VoxelSize);
}
//UWARN("local scan matching pcd saved!");
//pcl::io::savePCDFile("old.pcd", *assembledOldClouds);
//pcl::io::savePCDFile("new.pcd", *newCloud);
@@ -2183,7 +2185,7 @@ Transform Memory::computeScanMatchingTransform(
{
transform = poses.at(newId).inverse()*icpT.inverse() * poses.at(oldId);
//newCloud = util3d::cvMat2Cloud(util3d::uncompressData(newS->getDepth2D()), poses.at(oldId)*transform.inverse());
//newCloud = util3d::cvMat2Cloud(util3d::uncompressData(newS->getDepth2DCompressed()), poses.at(oldId)*transform.inverse());
//pcl::io::savePCDFile("newFinal.pcd", *newCloud);
}
else