Problems with drawing a 3"D cloud. I copied a RGBA point cloud to a RGB point cloud.
Either the original cloud was fully black, or the copy did not work as expected.
I must printout the color of both clouds.
timestamps added. still need to output all timestamps to files
I implemented a histogram of normals, and used it to identify planes, using both radius
search and search of k closest neighbors. Dirty code in ge_icp.cpp
There are also plots created with the points, the normals and the features. .
More experimentation with histograms. Search ge_icp.cpp
added timestamps. Problem: only last timestamp is saved to output file
(updated) file descriptions
new code with time stamps for study by Brandon.
Written by Erlebacher.
Code is probably working. Brandon, check it out.
Description at the end of multi_grab_frame_time.cpp to aid in interleaving the timestreams.
Note that the Kinects are not synchronized. We are using itmers to reconstruct the
correspondances between the two streams.
I could not get registration_visualizer class to work. I copied the files in my working
directory to allow me to debut. Error occurs on spinOnce. Perhaps try on Ubuntu.
ia_ransac_vis.* : subclass of ia_ransac* created to overcome the problem of the
registration visualization callback not functionning. I will introduce a new function
called visualize(), and call it from computeTransformation(), which is a slightly
enhanced copy of the corresponding virtual function in ia_ransac.
Code Development.
Visualizer: my own subclass. Does not compile.
Working on registration visualizer that will work on the mac. Difficult problem. Compiles. Problems with execution.
Visualizer actually works. Print the "q" key to exit an interative visualization window.
In *_vis.hpp, there is a visualizer method.
This method displays the correspondances used to establish the registration using ransac. Right now, I only draw
the original clouds. I will redo this by drawing the target cloud, and the input cloud transformed to the target cloud.
See what happens.
Dynamic visualization is working, but I am not convinced the code is working correctly.
Must look at computation of transformation more accurately. Perhaps convergence is not implemented
properly?
forgotten file.
Working on visualizer for manual registration. Difficulty is that the visualizer
is in a thread.
Forgotten file.
Try to register two clouds manually by interactive rotation to get a coarse
initial position.