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Tango: Added "Adjust colors" post-processing option. Updated ICP parameters. Added "Mem/LaserScanNormalK" parameter for convenience.

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matlabbe
2016-09-07 17:19:21 -04:00
parent ce1acd9d44
commit 4a072b3dfc
18 changed files with 501 additions and 351 deletions
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corelib/src/Memory.cpp
+14 -1
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@@ -86,6 +86,7 @@ Memory::Memory(const ParametersMap & parameters) :
_imagePreDecimation(Parameters::defaultMemImagePreDecimation()),
_imagePostDecimation(Parameters::defaultMemImagePostDecimation()),
_laserScanDownsampleStepSize(Parameters::defaultMemLaserScanDownsampleStepSize()),
_laserScanNormalK(Parameters::defaultMemLaserScanNormalK()),
_reextractLoopClosureFeatures(Parameters::defaultRGBDLoopClosureReextractFeatures()),
_rehearsalMaxDistance(Parameters::defaultRGBDLinearUpdate()),
_rehearsalMaxAngle(Parameters::defaultRGBDAngularUpdate()),
@@ -407,6 +408,7 @@ void Memory::parseParameters(const ParametersMap & parameters)
Parameters::parse(parameters, Parameters::kMemImagePreDecimation(), _imagePreDecimation);
Parameters::parse(parameters, Parameters::kMemImagePostDecimation(), _imagePostDecimation);
Parameters::parse(parameters, Parameters::kMemLaserScanDownsampleStepSize(), _laserScanDownsampleStepSize);
Parameters::parse(parameters, Parameters::kMemLaserScanNormalK(), _laserScanNormalK);
Parameters::parse(parameters, Parameters::kRGBDLoopClosureReextractFeatures(), _reextractLoopClosureFeatures);
Parameters::parse(parameters, Parameters::kRGBDLinearUpdate(), _rehearsalMaxDistance);
Parameters::parse(parameters, Parameters::kRGBDAngularUpdate(), _rehearsalMaxAngle);
@@ -3495,9 +3497,20 @@ Signature * Memory::createSignature(const SensorData & data, const Transform & p
maxLaserScanMaxPts /= _laserScanDownsampleStepSize;
t = timer.ticks();
if(stats) stats->addStatistic(Statistics::kTimingMemDownsampling_scan(), t*1000.0f);
if(stats) stats->addStatistic(Statistics::kTimingMemScan_downsampling(), t*1000.0f);
UDEBUG("time downsampling scan = %fs", t);
}
if(!laserScan.empty() && _laserScanNormalK > 0 && laserScan.channels() == 3)
{
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud = util3d::laserScanToPointCloud(laserScan);
float x,y,z;
data.laserScanInfo().localTransform().getTranslation(x,y,z);
pcl::PointCloud<pcl::Normal>::Ptr normals = util3d::computeNormals(cloud, _laserScanNormalK, Eigen::Vector3f(x,y,z));
laserScan = util3d::laserScanFromPointCloud(*cloud, *normals);
t = timer.ticks();
if(stats) stats->addStatistic(Statistics::kTimingMemScan_normals(), t*1000.0f);
UDEBUG("time normals scan = %fs", t);
}
Signature * s;
if(this->isBinDataKept())