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general minor cleanup #906

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Merged
merged 1 commit into from
Aug 25, 2022
Merged

general minor cleanup #906

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10 changes: 5 additions & 5 deletions src/3rdParty/_PCL/services/ICP_Simple.jl
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Original file line number Diff line number Diff line change
Expand Up @@ -249,11 +249,11 @@ function alignICP_Simple(
#
size(X_fix)[2] == 3 || error(""""X_fix" must have 3 columns""")
size(X_mov)[2] == 3 || error(""""X_mov" must have 3 columns""")
correspondences >= 10 || error(""""correspondences" must be >= 10""")
min_planarity >= 0 && min_planarity < 1 || error(""""min_planarity" must be >= 0 and < 1""")
neighbors >= 2 || error(""""neighbors" must be >= 2""")
min_change > 0 || error(""""min_change" must be > 0""")
max_iterations > 0 || error(""""max_iterations" must be > 0""")
10 <= correspondences || error(""""correspondences" must be >= 10""")
0 <= min_planarity < 1 || error(""""min_planarity" must be >= 0 and < 1""")
2 <= neighbors || error(""""neighbors" must be >= 2""")
0 < min_change || error(""""min_change" must be > 0""")
0 < max_iterations || error(""""max_iterations" must be > 0""")

dt = @elapsed begin
verbose && @info "Create point cloud objects ..."
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11 changes: 11 additions & 0 deletions src/3rdParty/_PCL/services/PointCloud.jl
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Expand Up @@ -359,6 +359,17 @@ function PCLPointCloud2(cloud::PointCloud{T,P,R}; datatype = _PCL_FLOAT32) where
)
end

## =========================================================================================================
## Useful utils
## =========================================================================================================


function _filterMinRange(pts, minrange, maxrange)
# filter pointcloud section of interest
msk = findall(x-> minrange < norm(x) < maxrange, pts)
pts[msk]
end


## =========================================================================================================
## Custom printing
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