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DBReader: set calibrated true when only scans in db. RegIcp: added intensity matching option when complexity is low. OdomF2M: accept first key frame on low complexity if a guess is provided. DbViewer: added gravity visualization in 3D view.

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matlabbe
2021-02-01 11:31:45 -05:00
parent 6b119c1f90
commit b759b1b4d1
5 changed files with 75 additions and 19 deletions
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10
corelib/src/odometry/OdometryF2M.cpp
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@@ -1322,6 +1322,16 @@ Transform OdometryF2M::computeTransform(
{
frameValid = true;
}
else if(!guess.isNull() && !guess.isIdentity())
{
UWARN("Scan complexity too low (%f) to init robustly the first "
"keyframe. Make sure the lidar is seeing enough "
"geometry in all axes for good initialization. "
"Accepting as an initial guess (%s) is provided.",
complexity,
guess.prettyPrint().c_str());
frameValid = true;
}
}
else
{