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Fixed OdomF2M ICP local scan transform bug (was not in 0.11.8)

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This commit is contained in:
matlabbe
2016-11-03 17:27:01 -04:00
parent a7971373a6
commit fe19d277ac
2 changed files with 3 additions and 3 deletions
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2
corelib/src/OdometryF2F.cpp
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@@ -133,7 +133,7 @@ Transform OdometryF2F::computeTransform(
info->words = newFrame.getWords();
info->localScanMapSize = tmpRefFrame.sensorData().laserScanRaw().cols;
info->localScanMap = util3d::transformLaserScan(tmpRefFrame.sensorData().laserScanRaw(), tmpRefFrame.sensorData().laserScanInfo().localTransform()*t);
info->localScanMap = util3d::transformLaserScan(tmpRefFrame.sensorData().laserScanRaw(), t*tmpRefFrame.sensorData().laserScanInfo().localTransform());
}
}
else

4
corelib/src/OdometryF2M.cpp
View File

@@ -334,7 +334,7 @@ Transform OdometryF2M::computeTransform(
if(lastFrame_->sensorData().laserScanRaw().cols)
{
pcl::PointCloud<pcl::PointNormal>::Ptr mapCloudNormals = util3d::laserScanToPointCloudNormal(mapScan);
pcl::PointCloud<pcl::PointNormal>::Ptr frameCloudNormals = util3d::laserScanToPointCloudNormal(lastFrame_->sensorData().laserScanRaw(), lastFrame_->sensorData().laserScanInfo().localTransform() * newFramePose);
pcl::PointCloud<pcl::PointNormal>::Ptr frameCloudNormals = util3d::laserScanToPointCloudNormal(lastFrame_->sensorData().laserScanRaw(), newFramePose * lastFrame_->sensorData().laserScanInfo().localTransform());
pcl::IndicesPtr frameCloudNormalsIndices(new std::vector<int>);
int newPoints;
@@ -534,7 +534,7 @@ Transform OdometryF2M::computeTransform(
frameValid = true;
if (fixedMapPath_.empty())
{
pcl::PointCloud<pcl::PointNormal>::Ptr mapCloudNormals = util3d::laserScanToPointCloudNormal(lastFrame_->sensorData().laserScanRaw(), lastFrame_->sensorData().laserScanInfo().localTransform() * newFramePose);
pcl::PointCloud<pcl::PointNormal>::Ptr mapCloudNormals = util3d::laserScanToPointCloudNormal(lastFrame_->sensorData().laserScanRaw(), newFramePose * lastFrame_->sensorData().laserScanInfo().localTransform());
scansBuffer_.push_back(std::make_pair(mapCloudNormals, pcl::IndicesPtr(new std::vector<int>)));
map_->sensorData().setLaserScanRaw(util3d::laserScanFromPointCloud(*mapCloudNormals), LaserScanInfo(0,0));
}