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ICP correspondence ratio set to 0 when maximum laser scan count is not set

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matlabbe
2015-08-05 20:16:27 -04:00
parent b90b46e5ac
commit a88e8dd013
3 changed files with 3 additions and 3 deletions
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2
corelib/include/rtabmap/core/Link.h
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@@ -130,7 +130,7 @@ public:
from_, from_,
link.to(), link.to(),
type_, type_,
transform_ * link.transform(), transform_ * link.transform(), // FIXME, should be inf1^-1(inf1*t1 + inf2*t2)
infMatrix_ + link.infMatrix()); infMatrix_ + link.infMatrix());
} }

2
corelib/src/Memory.cpp
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@@ -2495,7 +2495,7 @@ Transform Memory::computeIcpTransform(
{ {
Transform icpT; Transform icpT;
bool hasConverged = false; bool hasConverged = false;
float correspondencesRatio = -1.0f; float correspondencesRatio = 0.0f;
int correspondences = 0; int correspondences = 0;
double variance = 1; double variance = 1;
pcl::PointCloud<pcl::PointXYZ>::Ptr newCloudRegistered(new pcl::PointCloud<pcl::PointXYZ>()); pcl::PointCloud<pcl::PointXYZ>::Ptr newCloudRegistered(new pcl::PointCloud<pcl::PointXYZ>());

2
corelib/src/Rtabmap.cpp
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@@ -1107,7 +1107,7 @@ bool Rtabmap::process(
if(!transform.isNull() && _globalLoopClosureIcpType > 0) if(!transform.isNull() && _globalLoopClosureIcpType > 0)
{ {
transform = _memory->computeIcpTransform(*iter, signature->id(), transform, _globalLoopClosureIcpType==1, &rejectedMsg, 0, &variance); transform = _memory->computeIcpTransform(*iter, signature->id(), transform, _globalLoopClosureIcpType==1, &rejectedMsg, 0, &variance);
variance = 1.0f; // ICP, set variance to 1 variance = 1.0f; // ICP, set variance to 1 // FIXME why? all other links based on visual keep the variance
} }
if(!transform.isNull()) if(!transform.isNull())
{ {