C++ (Cpp) ICPSequence::setMap Beispiele

Beispiel #1

Datei: mapper.cpp Projekt: anuraj-rp/ethzasl_icp_mapping

void Mapper::setMap(DP* newPointCloud)
{
	// delete old map
	if (mapPointCloud)
		delete mapPointCloud;
	
	// set new map
	mapPointCloud = newPointCloud;
	icp.setMap(*mapPointCloud);
	
	// Publish map point cloud
	// FIXME this crash when used without descriptor
	if (mapPub.getNumSubscribers())
		mapPub.publish(PointMatcher_ros::pointMatcherCloudToRosMsg<float>(*mapPointCloud, mapFrame, mapCreationTime));
}

Beispiel #2

Datei: utest.cpp Projekt: NahomKidane/libpointmatcher

TEST(icpTest, icpSequenceTest)
{
	DP pts0 = DP::load(dataPath + "cloud.00000.vtk");
	DP pts1 = DP::load(dataPath + "cloud.00001.vtk");
	DP pts2 = DP::load(dataPath + "cloud.00002.vtk");
	
	PM::TransformationParameters Ticp   = PM::Matrix::Identity(4,4);

	PM::ICPSequence icpSequence;

	std::ifstream ifs((dataPath + "default.yaml").c_str());
	icpSequence.loadFromYaml(ifs);

	EXPECT_FALSE(icpSequence.hasMap());

	DP map = icpSequence.getInternalMap();
	EXPECT_EQ(map.getNbPoints(), 0u);
	EXPECT_EQ(map.getHomogeneousDim(), 0u);
	
	map = icpSequence.getMap();
	EXPECT_EQ(map.getNbPoints(), 0u);
	EXPECT_EQ(map.getHomogeneousDim(), 0u);

	icpSequence.setMap(pts0);
	map = icpSequence.getInternalMap();
	EXPECT_EQ(map.getNbPoints(), pts0.getNbPoints());
	EXPECT_EQ(map.getHomogeneousDim(), pts0.getHomogeneousDim());

	Ticp = icpSequence(pts1);
	map = icpSequence.getMap();
	EXPECT_EQ(map.getNbPoints(), pts0.getNbPoints());
	EXPECT_EQ(map.getHomogeneousDim(), pts0.getHomogeneousDim());
	
	Ticp = icpSequence(pts2);
	map = icpSequence.getMap();
	EXPECT_EQ(map.getNbPoints(), pts0.getNbPoints());
	EXPECT_EQ(map.getHomogeneousDim(), pts0.getHomogeneousDim());

	icpSequence.clearMap();
	map = icpSequence.getInternalMap();
	EXPECT_EQ(map.getNbPoints(), 0u);
	EXPECT_EQ(map.getHomogeneousDim(), 0u);



}

Beispiel #3

Datei: dynamic_mapper.cpp Projekt: Jinqiang/ethzasl_icp_mapping

void Mapper::setMap(DP* newPointCloud)
{
	// delete old map
	if (mapPointCloud)
		delete mapPointCloud;
	
	// set new map
	mapPointCloud = newPointCloud;
	cerr << "copying map to ICP" << endl;
  //FIXME: this is taking the all map instead of the small part we need
	icp.setMap(*mapPointCloud); // This do a full copy...
	
	
	cerr << "publishing map" << endl;
	// Publish map point cloud
	// FIXME this crash when used without descriptor
	if (mapPub.getNumSubscribers())
		mapPub.publish(PointMatcher_ros::pointMatcherCloudToRosMsg<float>(*mapPointCloud, mapFrame, mapCreationTime));
}