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Increased version to 0.20.7. OdometryF2M: added support for intensity field, removed ignored key frames when there is low scan complexity. RegistrationIcp: added Icp/PMMatcherIntensity, Icp/PointToPlaneGroundNormalsUp and Icp/PointToPlaneLowComplexityStrategy parameters. Rtabmap: when graph optimized from end, increased optimization error before warning that resulting map correction is not identity (this could happen with GTSAM as the root is not perfectly fixed). CloudViewer: added coordinate frame scaling option, added rainbow colormap option for scan intensity. DBViewer: fixed local proximity merged scans not shown modified after refining those links, show intensity, fixed constraints view not updated after rejecting a link. MainWindow: added intesity support with odometry scans.

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matlabbe
2020-11-28 17:28:34 -05:00
parent 7859313beb
commit d733029565
24 changed files with 1032 additions and 237 deletions
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corelib/src/optimizer/OptimizerGTSAM.cpp
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@@ -138,6 +138,7 @@ std::map<int, Transform> OptimizerGTSAM::optimize(
{
UASSERT(uContains(poses, rootId));
const Transform & initialPose = poses.at(rootId);
UDEBUG("hasPriorPoses=%s, gpsPriorOnly=%s", hasPriorPoses?"true":"false", gpsPriorOnly?"true":"false");
if(isSlam2d())
{
gtsam::noiseModel::Diagonal::shared_ptr priorNoise = gtsam::noiseModel::Diagonal::Variances(gtsam::Vector3(0.01, 0.01, hasPriorPoses?1e-2:std::numeric_limits<double>::min()));