i/rtabmap_ros
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap_ros.git synced 2026-10-04 08:47:45 +08:00
Code Issues Packages Projects Releases Wiki Activity

Added new options to filter source laser scans.

Browse Source 
SensorData can support laser scans CV_32FC6 format (point cloud with normals). Refactored RegistrationICP and updated CloudViewer to show PointNormal data.
Fixed bug with stereo clouds deterioration if decimation is set (CameraModel::scale()).
This commit is contained in:
matlabbe
2016-01-08 19:15:49 -05:00
parent e7565db5d0
commit 75f85f6b2a
31 changed files with 866 additions and 371 deletions
Download Patch File Download Diff File Expand all files Collapse all files
corelib/src/Rtabmap.cpp
+1 -1
View File
@@ -1048,7 +1048,7 @@ bool Rtabmap::process(
}
statistics_.addStatistic(Statistics::kNeighborLinkRefiningAccepted(), !t.isNull()?1.0f:0);
statistics_.addStatistic(Statistics::kNeighborLinkRefiningInliers(), info.inliers);
statistics_.addStatistic(Statistics::kNeighborLinkRefiningInliers_ratio(), info.inliersRatio);
statistics_.addStatistic(Statistics::kNeighborLinkRefiningInliers_ratio(), info.icpInliersRatio);
statistics_.addStatistic(Statistics::kNeighborLinkRefiningVariance(), info.variance);
statistics_.addStatistic(Statistics::kNeighborLinkRefiningPts(), signature->sensorData().laserScanRaw().cols);
}