Removing existing correspondences from LuM.

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Removing existing correspondences from LuM.

CortexReaver
Hello. I'm experimenting with using the lum.setPointCloud and lum.setPose functions to replace existing point clouds with new ones.  The problem with doing this, is that correspondences between the replaced clouds and the old clouds may no longer exist. I was wondering if there was a way of deleting existing correspondences.

I guess one way of doing it would be to make an empty correspondences object and then do lum.setCorrespondences(oldPointCloudIndex,removedPointCloudIndex,emptyCorrespondences); However that will cause LuM to throw a yellow warning saying there aren't enough correspondences, and I was hoping to avoid that.
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Re: Removing existing correspondences from LuM.

Jochen Sprickerhof
Administrator
Hi CortexReaver,

* CortexReaver <[hidden email]> [2013-11-12 14:25]:
> Hello. I'm experimenting with using the lum.setPointCloud and lum.setPose
> functions to replace existing point clouds with new ones.  The problem with
> doing this, is that correspondences between the replaced clouds and the old
> clouds may no longer exist. I was wondering if there was a way of deleting
> existing correspondences.

Why don't you just create a new lum object? Otherwise, if you think
deleting is needed, you need to remove the edge from the slam_graph_
object.

Cheers Jochen
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Re: Removing existing correspondences from LuM.

CortexReaver
Thanks! Removing the edge seems to have worked. The crash that I was getting before went away, and the scene is still fine.