mirror of
https://github.com/introlab/rtabmap_ros.git
synced 2026-10-04 00:37:46 +08:00
55 lines
1.4 KiB
Diff
55 lines
1.4 KiB
Diff
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diff --git a/ethzasl_icp_mapper/launch/2D_scans/icp.yaml b/ethzasl_icp_mapper/launch/2D_scans/icp.yaml
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index 67820e7..aec1839 100644
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--- a/ethzasl_icp_mapper/launch/2D_scans/icp.yaml
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+++ b/ethzasl_icp_mapper/launch/2D_scans/icp.yaml
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@@ -1,12 +1,12 @@
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matcher:
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KDTreeMatcher:
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- maxDist: 1.0
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+ maxDist: 1
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knn: 5
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epsilon: 3.16
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outlierFilters:
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- TrimmedDistOutlierFilter:
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- ratio: 0.85
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+ ratio: 0.95
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- SurfaceNormalOutlierFilter:
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maxAngle: 0.42
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@@ -25,7 +25,11 @@ transformationCheckers:
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maxTranslationNorm: 5.00
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inspector:
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-# VTKFileInspector
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+# VTKFileInspector:
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+# baseFileName : debug--
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+# dumpDataLinks : 1
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+# dumpReading : 1
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+# dumpReference : 1
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NullInspector
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logger:
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diff --git a/libpointmatcher_ros/src/point_cloud.cpp b/libpointmatcher_ros/src/point_cloud.cpp
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index b77651d..8eb1f6c 100644
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--- a/libpointmatcher_ros/src/point_cloud.cpp
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+++ b/libpointmatcher_ros/src/point_cloud.cpp
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@@ -449,7 +449,7 @@ namespace PointMatcher_ros
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try
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{
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listener->transformPoint(
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- fixedFrame,
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+ pin.header.frame_id,
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rosMsg.header.stamp,
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pin,
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fixedFrame,
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@@ -459,7 +459,7 @@ namespace PointMatcher_ros
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if(addObservationDirection)
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{
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listener->transformPoint(
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- fixedFrame,
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+ s_in.header.frame_id,
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curTime,
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s_in,
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fixedFrame,
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