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Added cloud smoothing (MLS) to save clouds

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Modified saving questions to yes for merging clouds before saving or meshing

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1335 f169173b-cf89-36c8-b27e-44dbe73f0c83
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matlabbe
2014-06-08 05:16:14 +00:00
parent df0f9d60d5
commit 4fa947b7a6
5 changed files with 106 additions and 22 deletions
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corelib/src/Odometry.cpp
+4
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@@ -493,6 +493,10 @@ Transform OdometryBOW::computeTransform(Image & image, int * quality)
transform.setNull();
UWARN("Transform not valid (inliers = %d/%d)", inliers, correspondences);
}
//else if(!transform.isNull() && true)
//{
// transform = _memory->computeIcpTransform(*newSignature, *previousSignature, transform, true);
//}
}
else
{