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OdomF2M: fixed complexity check on 2d scans (https://github.com/introlab/rtabmap_ros/issues/412)

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matlabbe
2020-05-25 20:07:58 -04:00
parent b40d9610ed
commit 208f1e5b7c
2 changed files with 2 additions and 2 deletions
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2
corelib/src/odometry/OdometryF2M.cpp
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@@ -1276,7 +1276,7 @@ Transform OdometryF2M::computeTransform(
Parameters::parse(parameters_, Parameters::kIcpPointToPlaneMinComplexity(), minComplexity); Parameters::parse(parameters_, Parameters::kIcpPointToPlaneMinComplexity(), minComplexity);
if(p2n && minComplexity>0.0f) if(p2n && minComplexity>0.0f)
{ {
complexity = util3d::computeNormalsComplexity(*mapCloudNormals); complexity = util3d::computeNormalsComplexity(*mapCloudNormals, Transform::getIdentity(), lastFrame_->sensorData().laserScanRaw().is2d());
if(complexity > minComplexity) if(complexity > minComplexity)
{ {
frameValid = true; frameValid = true;

2
corelib/src/util3d_surface.cpp
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@@ -2993,7 +2993,7 @@ float computeNormalsComplexity(
int oi = 0; int oi = 0;
bool doTransform = false; bool doTransform = false;
Transform tn; Transform tn;
if(!t.isIdentity()) if(!t.isIdentity() && !t.isNull())
{ {
tn = t.rotation(); tn = t.rotation();
doTransform = true; doTransform = true;