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ICP: when max laser scan max pts is not set, use relative correspondence ratio (backward compatibility)

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matlabbe
2015-08-05 20:32:33 -04:00
parent a88e8dd013
commit 0350e475b2
1 changed files with 5 additions and 3 deletions
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8
corelib/src/Memory.cpp
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@@ -2346,7 +2346,7 @@ Transform Memory::computeIcpTransform(
bool hasConverged = false; bool hasConverged = false;
Transform icpT; Transform icpT;
int correspondences = 0; int correspondences = 0;
float correspondencesRatio = -1.0f; float correspondencesRatio = 0.0f;
double variance = 1; double variance = 1;
if(_icpPointToPlane) if(_icpPointToPlane)
{ {
@@ -2561,8 +2561,9 @@ Transform Memory::computeIcpTransform(
} }
else else
{ {
UWARN("Maximum laser scans points not set for signature %d, correspondences ratio set to 0!", UWARN("Maximum laser scans points not set for signature %d, correspondences ratio set relative instead of absolute!",
newS.id()); newS.id());
correspondencesRatio = float(correspondences)/float(newCloud->size()>oldCloud->size()?newCloud->size():oldCloud->size());
} }
UDEBUG("%d->%d hasConverged=%s, variance=%f, correspondences=%d/%d (%f%%)", UDEBUG("%d->%d hasConverged=%s, variance=%f, correspondences=%d/%d (%f%%)",
@@ -2756,8 +2757,9 @@ Transform Memory::computeScanMatchingTransform(
} }
else else
{ {
UWARN("Maximum laser scans points not set for signature %d, correspondences ratio set to 0!", UWARN("Maximum laser scans points not set for signature %d, correspondences ratio set relative instead of absolute!",
newS->id()); newS->id());
correspondencesRatio = float(correspondences)/float(newCloud->size());
} }
UDEBUG("variance=%f, correspondences=%d/%d (%f%%) %f", UDEBUG("variance=%f, correspondences=%d/%d (%f%%) %f",