4 Commits

Author	SHA1	Message	Date
matlabbe	315350dbfc	CCCorelib: updated wrong output check. Updated RGBD/MaxOdomCacheSize approach to work properly with Rtabmap/CreateIntermediateNodes=true.	2022-01-28 14:48:32 -05:00
matlabbe	11e9837b82	Added RGBD/ProximityGlobalScanMap for proximity detection using the whole scan map in localization mode. Added Icp RMS statistics (CCCorelib). Updated how localization is corrected with gravity when available (simply use roll and pitch of current gravity constraint).	2021-06-23 17:13:07 -04:00
matlabbe	a58ec494d1	icpCC: when force3DoF is true, set z to 0 in data conversion	2021-03-28 09:28:55 -04:00
matlabbe	06e85e140c	Refactored RegistrationIcp: libpointmatcher yaml config usage / integrated CCCoreLib (#704) ... * Refactored RegistrationIcp so that libpointmatcher yaml can work with icp odometry (we can then avoid refiltering data with local map of F2M). All data filtering (including libpointmatcher DataFilters) are done at the beginning of the function. * ICP: Restored ref and data scans order for libpointmatcher (seems more stable this way). * Fixed compilation error without libpointmatcher * CCCoreLib integration (Icp/Strategy=2). Icp/PMForce4DoF is now Icp/Force4DoF. Icp/PM is now Icp/Strategy. Icp/PMOutlierRatio is now Icp/OutlierRatio. * Fixed build without CCCoreLib * Cleanup RegistrationIcp from third party functions. * Preferences: disable libpointmatcher and cccorlib options if not available	2021-03-27 15:11:20 -04:00