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Local scan matching: set larger scan points for max scan points when it is not set. Fixed missing scan Ids in links' user data to correctly visualize proximity links by space in DatabaseViewer. CloudViewer: using line instead of arrow between the referential and the frustum. removed parameter "RGBD/ProximityPathScansMerged" as visual proximity by space already does that.

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This commit is contained in:
matlabbe
2016-05-20 11:44:50 -04:00
parent b29ce28877
commit 9f6af75f79
11 changed files with 109 additions and 108 deletions
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corelib/src/RegistrationIcp.cpp
+8 -3
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@@ -113,7 +113,7 @@ Transform RegistrationIcp::computeTransformationImpl(
if(!guess.isNull() && !dataFrom.laserScanRaw().empty() && !dataTo.laserScanRaw().empty())
{
// ICP with guess transform
int maxLaserScans = dataTo.laserScanMaxPts();
int maxLaserScans = dataTo.laserScanMaxPts()?dataTo.laserScanMaxPts():dataFrom.laserScanMaxPts();
cv::Mat fromScan = dataFrom.laserScanRaw();
cv::Mat toScan = dataTo.laserScanRaw();
if(_downsamplingStep>1)
@@ -309,8 +309,13 @@ Transform RegistrationIcp::computeTransformationImpl(
}
else
{
UWARN("Maximum laser scans points not set for signature %d, correspondences ratio set relative instead of absolute!",
dataTo.id());
static bool warningShown = false;
if(!warningShown)
{
UWARN("Maximum laser scans points not set for signature %d, correspondences ratio set relative instead of absolute! This message will only appear once.",
dataTo.id());
warningShown = true;
}
correspondencesRatio = float(correspondences)/float(toScan.cols>fromScan.cols?toScan.cols:fromScan.cols);
}