Re-activating radius option for sparse and dense filtering

Author: nils-hamel

src/framework-database.cpp

@@ -593,8 +593,7 @@ void Database::filterRadialRange(int pipeState){ /* param not needed */
     # pragma omp parallel for schedule(dynamic)
     for(unsigned int i=rangeSlow; i<=rangeShigh; i++){
         if(structures[i]->getState()>=stateStructure){
-            //structures[i]->filterRadialRange(0.,25.,rangeVlow);
-            structures[i]->filterRadialRange(0.,50.,rangeVlow);
+            structures[i]->filterRadialRange(0.,configRadius,rangeVlow);
         }
     }
 

src/framework.cpp

@@ -287,7 +287,7 @@ int main(int argc, char ** argv){
 
         }
 
-        // Major iteration exportation : model, odometry and transformation
+        // Major iteration exportation : model, odometry, transformation and constraint
         database.exportStructure     (yamlExport["path"].as<std::string>(),yamlFrontend["type"].as<std::string>(),loopMajor,yamlExport["group"].as<unsigned int>());
         database.exportPosition      (yamlExport["path"].as<std::string>(),yamlFrontend["type"].as<std::string>(),loopMajor);
         database.exportTransformation(yamlExport["path"].as<std::string>(),yamlFrontend["type"].as<std::string>(),loopMajor);