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Updated default RGBD/LocalLoopDetectionPathFilteringRadius to 0.25

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This commit is contained in:
Mathieu Labbe
2015-04-27 18:16:04 -04:00
parent 242c3e5f1b
commit a4f11b7a3b
5 changed files with 42 additions and 31 deletions
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corelib/src/Memory.cpp
+20 -19
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@@ -2179,11 +2179,11 @@ Transform Memory::computeIcpTransform(
// verify if there are enough correspondences
correspondencesRatio = float(correspondences)/float(oldCloudXYZ->size()>newCloudXYZ->size()?oldCloudXYZ->size():newCloudXYZ->size());
UDEBUG("hasConverged=%s, variance=%f, correspondences=%d/%d (%f%%)",
UDEBUG("%d->%d hasConverged=%s, variance=%f, correspondences=%d/%d (%f%%)",
hasConverged?"true":"false",
variance?*variance:-1,
correspondences,
(int)oldCloudXYZ->size(),
(int)(oldCloudXYZ->size()>newCloudXYZ->size()?oldCloudXYZ->size():newCloudXYZ->size()),
correspondencesRatio*100.0f);
if(inliers)
@@ -2197,14 +2197,14 @@ Transform Memory::computeIcpTransform(
float x,y,z, roll,pitch,yaw;
icpT.getTranslationAndEulerAngles(x,y,z,roll,pitch,yaw);
if((_icpMaxTranslation>0.0f &&
(x > _icpMaxTranslation ||
y > _icpMaxTranslation ||
z > _icpMaxTranslation))
(fabs(x) > _icpMaxTranslation ||
fabs(y) > _icpMaxTranslation ||
fabs(z) > _icpMaxTranslation))
||
(_icpMaxRotation>0.0f &&
(roll > _icpMaxRotation ||
pitch > _icpMaxRotation ||
yaw > _icpMaxRotation)))
(fabs(roll) > _icpMaxRotation ||
fabs(pitch) > _icpMaxRotation ||
fabs(yaw) > _icpMaxRotation)))
{
msg = uFormat("Cannot compute transform (ICP correction too large)");
UINFO(msg.c_str());
@@ -2278,11 +2278,12 @@ Transform Memory::computeIcpTransform(
// verify if there are enough correspondences
correspondencesRatio = float(correspondences)/float(oldCloud->size()>newCloud->size()?oldCloud->size():newCloud->size());
UDEBUG("hasConverged=%s, variance=%f, correspondences=%d/%d (%f%%)",
UDEBUG("%d->%d hasConverged=%s, variance=%f, correspondences=%d/%d (%f%%)",
newS.id(), oldS.id(),
hasConverged?"true":"false",
variance?*variance:-1,
correspondences,
(int)oldCloud->size(),
(int)(oldCloud->size()>newCloud->size()?oldCloud->size():newCloud->size()),
correspondencesRatio*100.0f);
//pcl::io::savePCDFile("oldCloud.pcd", *oldCloud);
@@ -2302,17 +2303,17 @@ Transform Memory::computeIcpTransform(
if(!icpT.isNull() && hasConverged && correspondencesRatio >= _icp2CorrespondenceRatio)
{
float x,y,z, roll,pitch,yaw;
icpT.getTranslationAndEulerAngles(x,y,z,roll,pitch,yaw);
float ix,iy,iz, iroll,ipitch,iyaw;
icpT.getTranslationAndEulerAngles(ix,iy,iz,iroll,ipitch,iyaw);
if((_icpMaxTranslation>0.0f &&
(x > _icpMaxTranslation ||
y > _icpMaxTranslation ||
z > _icpMaxTranslation))
(fabs(ix) > _icpMaxTranslation ||
fabs(iy) > _icpMaxTranslation ||
fabs(iz) > _icpMaxTranslation))
||
(_icpMaxRotation>0.0f &&
(roll > _icpMaxRotation ||
pitch > _icpMaxRotation ||
yaw > _icpMaxRotation)))
(fabs(iroll) > _icpMaxRotation ||
fabs(ipitch) > _icpMaxRotation ||
fabs(iyaw) > _icpMaxRotation)))
{
msg = uFormat("Cannot compute transform (ICP correction too large)");
UINFO(msg.c_str());
@@ -2439,7 +2440,7 @@ Transform Memory::computeScanMatchingTransform(
variance?*variance:-1,
correspondences,
(int)newCloud->size(),
correspondencesRatio);
correspondencesRatio*100.0f);
if(inliers)
{