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Docker updated artful image. Memory: fixed 2x icp correspondence ratio error (>1.0) when creating registration for icp proximity detection

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matlabbe
2018-03-22 11:22:47 -04:00
parent ef017c9e9d
commit 420fecad51
2 changed files with 15 additions and 16 deletions
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17
corelib/src/Memory.cpp
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@@ -121,7 +121,13 @@ Memory::Memory(const ParametersMap & parameters) :
float corRatio = Parameters::defaultIcpCorrespondenceRatio();
Parameters::parse(parameters, Parameters::kIcpCorrespondenceRatio(), corRatio);
ParametersMap paramsMulti = parameters;
paramsMulti.insert(ParametersPair(Parameters::kIcpCorrespondenceRatio(), uNumber2Str(corRatio*2.0f)));
paramsMulti.insert(ParametersPair(Parameters::kIcpCorrespondenceRatio(), uNumber2Str(corRatio>=0.5f?1.0f:corRatio*2.0f)));
if(corRatio >= 0.5)
{
UWARN( "%s is >=0.5, which sets correspondence ratio for proximity detection using "
"laser scans to 100% (2 x Ratio). You may lower the ratio to accept proximity "
"detection with not full scans overlapping.");
}
_registrationIcpMulti = new RegistrationIcp(paramsMulti);
_occupancy = new OccupancyGrid(parameters);
@@ -569,12 +575,17 @@ void Memory::parseParameters(const ParametersMap & parameters)
{
if(uContains(params, Parameters::kIcpCorrespondenceRatio()))
{
// for local scan matching, correspondences ratio should be two times higher as we expect more matches
// for local scan matching, correspondences ratio should be two times higher as we expect more matches
float corRatio = Parameters::defaultIcpCorrespondenceRatio();
Parameters::parse(parameters, Parameters::kIcpCorrespondenceRatio(), corRatio);
ParametersMap paramsMulti = params;
paramsMulti.at(Parameters::kIcpCorrespondenceRatio()) = uNumber2Str(corRatio*2.0f);
paramsMulti.insert(ParametersPair(Parameters::kIcpCorrespondenceRatio(), uNumber2Str(corRatio>=0.5f?1.0f:corRatio*2.0f)));
if(corRatio >= 0.5)
{
UWARN( "%s is >=0.5, which sets correspondence ratio for proximity detection using "
"laser scans to 100% (2 x Ratio). You may lower the ratio to accept proximity "
"detection with not full scans overlapping.");
}
_registrationIcpMulti->parseParameters(paramsMulti);
}
else