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RegICP: Updated warning when complexity is too low. LoopClosureViewer: fixed scan transform.

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matlabbe
2019-06-02 12:38:09 -04:00
parent 8cb923b332
commit cdbdc36c94
2 changed files with 5 additions and 5 deletions
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4
corelib/src/RegistrationIcp.cpp
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@@ -604,7 +604,7 @@ Transform RegistrationIcp::computeTransformationImpl(
{
tooLowComplexityForPlaneToPlane = true;
complexityVectors = fromComplexity<toComplexity?complexityVectorsFrom:complexityVectorsTo;
UWARN("ICP PointToPlane ignored as structural complexity is too low (corridor-like environment): %f < %f (%s). PointToPoint is done instead.", complexity, _pointToPlaneMinComplexity, Parameters::kIcpPointToPlaneMinComplexity().c_str());
UWARN("ICP PointToPlane ignored as structural complexity is too low (corridor-like environment): %f < %f (%s). PointToPoint is done instead, orientation is still optimized but translation will be limited to direction of normals.", complexity, _pointToPlaneMinComplexity, Parameters::kIcpPointToPlaneMinComplexity().c_str());
}
else
{
@@ -777,7 +777,7 @@ Transform RegistrationIcp::computeTransformationImpl(
{
tooLowComplexityForPlaneToPlane = true;
complexityVectors = fromComplexity<toComplexity?complexityVectorsFrom:complexityVectorsTo;
UWARN("ICP PointToPlane ignored as structural complexity is too low (corridor-like environment): %f < %f (%s). PointToPoint is done instead.", complexity, _pointToPlaneMinComplexity, Parameters::kIcpPointToPlaneMinComplexity().c_str());
UWARN("ICP PointToPlane ignored as structural complexity is too low (corridor-like environment): %f < %f (%s). PointToPoint is done instead, orientation is still optimized but translation will be limited to direction of normals.", complexity, _pointToPlaneMinComplexity, Parameters::kIcpPointToPlaneMinComplexity().c_str());
}
else
{