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Lidar low complexity update. util3d::computeNormalsComplexity(): added optional transform (used in RegistrationIcp to get normal vectors in right coordinate frame). RegistrationIcp: Fixed PointToPoint ICP not used with PM when recomputing transform from low complexity. Added more info in warning messages when low complexity happens. OdometryF2M: avoid adding key frame when scan has low complexity. Same for the first frame to init the local scan map.

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This commit is contained in:
matlabbe
2020-03-28 16:25:27 -04:00
parent 5122d9ac02
commit 06caa328a4
6 changed files with 205 additions and 51 deletions
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1
corelib/include/rtabmap/core/OdometryInfo.h
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@@ -81,6 +81,7 @@ public:
output.transform = transform;
output.transformFiltered = transformFiltered;
output.transformGroundTruth = transformGroundTruth;
output.guessVelocity = guessVelocity;
output.distanceTravelled = distanceTravelled;
output.memoryUsage = memoryUsage;
output.type = type;

4
corelib/include/rtabmap/core/util3d_surface.h
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@@ -339,20 +339,24 @@ pcl::PointCloud<pcl::Normal>::Ptr RTABMAP_EXP computeFastOrganizedNormals(
float RTABMAP_EXP computeNormalsComplexity(
const LaserScan & scan,
const Transform & t = Transform::getIdentity(),
cv::Mat * pcaEigenVectors = 0,
cv::Mat * pcaEigenValues = 0);
float RTABMAP_EXP computeNormalsComplexity(
const pcl::PointCloud<pcl::Normal> & normals,
const Transform & t = Transform::getIdentity(),
bool is2d = false,
cv::Mat * pcaEigenVectors = 0,
cv::Mat * pcaEigenValues = 0);
float RTABMAP_EXP computeNormalsComplexity(
const pcl::PointCloud<pcl::PointNormal> & cloud,
const Transform & t = Transform::getIdentity(),
bool is2d = false,
cv::Mat * pcaEigenVectors = 0,
cv::Mat * pcaEigenValues = 0);
float RTABMAP_EXP computeNormalsComplexity(
const pcl::PointCloud<pcl::PointXYZRGBNormal> & cloud,
const Transform & t = Transform::getIdentity(),
bool is2d = false,
cv::Mat * pcaEigenVectors = 0,
cv::Mat * pcaEigenValues = 0);