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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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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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3
corelib/src/optimizer/OptimizerGTSAM.cpp
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@@ -152,7 +152,8 @@ std::map<int, Transform> OptimizerGTSAM::optimize(
}
}
UDEBUG("fill poses to gtsam... rootId=%d", rootId);
UDEBUG("fill poses to gtsam... rootId=%d (priorsIgnored=%d gpsPriorOnly=%d landmarksIgnored=%d)",
rootId, priorsIgnored()?1:0, gpsPriorOnly?1:0, landmarksIgnored()?1:0);
gtsam::Values initialEstimate;
std::map<int, bool> isLandmarkWithRotation;
for(std::map<int, Transform>::const_iterator iter = poses.begin(); iter!=poses.end(); ++iter)