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Added RGBD/ProximityMergedScanCovFactor parameter. Localization: fixed output height when Reg/Force3DoF=true but input poses are 6DoF. Transform: added is3DoF() and is4DoF() functions. GTSAM: when Reg/Force3DoF=true, copy input roll,pitch,z values for output poses. RegIcp: fixed working memory dir '~' conversion. RGBD/ProximityGlobalScanMap: fixed map::at error when some nodes don't have scans.

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matlabbe
2022-01-12 16:14:42 -05:00
parent a4ec95963e
commit fcec98105d
14 changed files with 122 additions and 43 deletions
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corelib/src/Graph.cpp
+1 -1
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@@ -1336,7 +1336,7 @@ std::map<int, Transform> radiusPosesFiltering(
//pcl::IndicesPtr indicesOut(new std::vector<int>);
//indicesOut->insert(indicesOut->end(), indicesKept.begin(), indicesKept.end());
UINFO("Cloud filtered In = %d, Out = %d", cloud->size(), indicesKept.size());
UINFO("Cloud filtered In = %d, Out = %d (radius=%f angle=%f keepLatest=%d)", cloud->size(), indicesKept.size(), radius, angle, keepLatest?1:0);
//pcl::io::savePCDFile("duplicateIn.pcd", *cloud);
//pcl::io::savePCDFile("duplicateOut.pcd", *cloud, *indicesOut);