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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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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(),