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Added OdomLOAM/LocalMapping parameter

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matlabbe
2018-06-28 11:30:21 -04:00
parent d447329bf1
commit 675da6201a
5 changed files with 34 additions and 6 deletions
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1
corelib/include/rtabmap/core/OdometryLOAM.h
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@@ -65,6 +65,7 @@ private:
float scanPeriod_;
float linVar_;
float angVar_;
bool localMapping_;
bool lost_;
#endif
};

1
corelib/include/rtabmap/core/Parameters.h
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@@ -497,6 +497,7 @@ class RTABMAP_EXP Parameters
RTABMAP_PARAM(OdomLOAM, ScanPeriod, float, 0.1, "Scan period (s)");
RTABMAP_PARAM(OdomLOAM, LinVar, float, 0.01, "Linear output variance.");
RTABMAP_PARAM(OdomLOAM, AngVar, float, 0.01, "Angular output variance.");
RTABMAP_PARAM(OdomLOAM, LocalMapping, bool, true, "Local mapping. It adds more time to compute odometry, but accuracy is significantly improved.");
// Common registration parameters
RTABMAP_PARAM(Reg, RepeatOnce, bool, true, "Do a second registration with the output of the first registration as guess. Only done if no guess was provided for the first registration (like on loop closure). It can be useful if the registration approach used can use a guess to get better matches.");

15
corelib/src/OdometryLOAM.cpp
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@@ -49,6 +49,7 @@ OdometryLOAM::OdometryLOAM(const ParametersMap & parameters) :
,scanPeriod_(Parameters::defaultOdomLOAMScanPeriod())
,linVar_(Parameters::defaultOdomLOAMLinVar())
,angVar_(Parameters::defaultOdomLOAMAngVar())
,localMapping_(Parameters::defaultOdomLOAMLocalMapping())
,lost_(false)
#endif
{
@@ -61,6 +62,7 @@ OdometryLOAM::OdometryLOAM(const ParametersMap & parameters) :
UASSERT(linVar_>0.0f);
Parameters::parse(parameters, Parameters::kOdomLOAMAngVar(), angVar_);
UASSERT(angVar_>0.0f);
Parameters::parse(parameters, Parameters::kOdomLOAMLocalMapping(), localMapping_);
if(velodyneType == 1)
{
scanMapper_ = loam::MultiScanMapper::Velodyne_HDL_32();
@@ -230,11 +232,14 @@ Transform OdometryLOAM::computeTransform(
laserOdometry_->updateIMU(imuTrans);
laserOdometry_->process();
laserMapping_->laserCloudCornerLast() = *laserOdometry_->lastCornerCloud();
laserMapping_->laserCloudSurfLast() = *laserOdometry_->lastSurfaceCloud();
laserMapping_->laserCloud() = *laserOdometry_->laserCloud();
laserMapping_->updateOdometry(laserOdometry_->transformSum());
laserMapping_->process(scanTime);
if(localMapping_)
{
laserMapping_->laserCloudCornerLast() = *laserOdometry_->lastCornerCloud();
laserMapping_->laserCloudSurfLast() = *laserOdometry_->lastSurfaceCloud();
laserMapping_->laserCloud() = *laserOdometry_->laserCloud();
laserMapping_->updateOdometry(laserOdometry_->transformSum());
laserMapping_->process(scanTime);
}
transformMaintenance_.updateOdometry(
laserOdometry_->transformSum().rot_x.rad(),