From 2bff8c9fb6578de04045c8fdefbc4c4d4cbd6331 Mon Sep 17 00:00:00 2001
From: Nicolas Pope <nwpope@utu.fi>
Date: Mon, 20 May 2019 16:33:52 +0300
Subject: [PATCH] Allow for missing registration file, use identity by default
---
reconstruct/src/main.cpp | 13 ++++++++++++-
1 file changed, 12 insertions(+), 1 deletion(-)
diff --git a/reconstruct/src/main.cpp b/reconstruct/src/main.cpp
index d38d13f9a..9c9400e3a 100644
--- a/reconstruct/src/main.cpp
+++ b/reconstruct/src/main.cpp
@@ -135,6 +135,14 @@ public:
std::map<string, Eigen::Matrix4f> loadRegistration() {
std::map<string, Eigen::Matrix4f> registration;
std::ifstream file(string(FTL_LOCAL_CONFIG_ROOT) + "/registration.json");
+
+ // Use identity transform if no registration
+ if (!file.is_open()) {
+ Eigen::Matrix4f T;
+ registration["default"] = T.setIdentity();
+ return registration;
+ }
+
nlohmann::json load;
file >> load;
@@ -327,7 +335,10 @@ static void run() {
registration = loadRegistration();
}
vector<Eigen::Matrix4f> T;
- for (auto &input : inputs) { T.push_back(registration[input.getURI()]); }
+ for (auto &input : inputs) {
+ Eigen::Matrix4f RT = (registration.count(input.getURI()) > 0) ? registration[input.getURI()] : registration["default"];
+ T.push_back(RT);
+ }
//
vector<PointCloud<PointXYZRGB>::Ptr> clouds(inputs.size());
--
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