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Added Icp/PMForce4DoF parameter (works only with libpointmatcher > April 2020). Fixed some deprecated warnings.

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This commit is contained in:
matlabbe
2021-02-24 09:43:22 -05:00
parent d61e463595
commit cad184e82b
8 changed files with 47 additions and 31 deletions
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6
corelib/src/odometry/OdometryF2M.cpp
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@@ -1093,12 +1093,12 @@ Transform OdometryF2M::computeTransform(
if(mapScan.is2d())
{
Transform mapViewpoint(-newFramePose.x(), -newFramePose.y(),0,0,0,0);
mapScan = LaserScan(util3d::laserScan2dFromPointCloud(*mapCloudNormals, mapViewpoint), 0, 0.0f, LaserScan::kXYINormal);
mapScan = LaserScan(util3d::laserScan2dFromPointCloud(*mapCloudNormals, mapViewpoint), 0, 0.0f);
}
else
{
Transform mapViewpoint(-newFramePose.x(), -newFramePose.y(), -newFramePose.z(),0,0,0);
mapScan = LaserScan(util3d::laserScanFromPointCloud(*mapCloudNormals, mapViewpoint), 0, 0.0f, LaserScan::kXYZINormal);
mapScan = LaserScan(util3d::laserScanFromPointCloud(*mapCloudNormals, mapViewpoint), 0, 0.0f);
}
modified=true;
}
@@ -1360,7 +1360,6 @@ Transform OdometryF2M::computeTransform(
util3d::laserScan2dFromPointCloud(*mapCloudNormals, mapViewpoint),
0,
0.0f,
LaserScan::kXYINormal,
Transform(newFramePose.x(), newFramePose.y(), lastFrame_->sensorData().laserScanRaw().localTransform().z(),0,0,0)));
}
else
@@ -1371,7 +1370,6 @@ Transform OdometryF2M::computeTransform(
util3d::laserScanFromPointCloud(*mapCloudNormals, mapViewpoint),
0,
0.0f,
LaserScan::kXYZINormal,
newFramePose.translation()));
}