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Added uSyd campus dataset example, icp_odom: added option to explicitly set max scan points to zero

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This commit is contained in:
matlabbe
2023-04-05 22:23:56 -07:00
parent 70359c5bd9
commit 3a64c5506f
2 changed files with 190 additions and 12 deletions
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rtabmap_odom/src/nodelets/icp_odometry.cpp
+19 -12
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@@ -61,7 +61,7 @@ class ICPOdometry : public OdometryROS
public:
ICPOdometry() :
OdometryROS(false, false, true),
scanCloudMaxPoints_(0),
scanCloudMaxPoints_(-1),
scanCloudIs2d_(false),
scanDownsamplingStep_(1),
scanRangeMin_(0),
@@ -697,19 +697,26 @@ private:
}
}
if(scanCloudMaxPoints_ == 0 && cloudMsg->height > 1)
{
scanCloudMaxPoints_ = cloudMsg->height * cloudMsg->width;
NODELET_WARN("IcpOdometry: \"scan_cloud_max_points\" is not set but input "
"cloud is not dense, for convenience it will be set to %d (%dx%d)",
scanCloudMaxPoints_, cloudMsg->width, cloudMsg->height);
if(cloudMsg->height > 1) // organized cloud
{
if(scanCloudMaxPoints_ == -1)
{
scanCloudMaxPoints_ = cloudMsg->height * cloudMsg->width;
NODELET_WARN("IcpOdometry: \"scan_cloud_max_points\" is not set but input "
"cloud is not dense, for convenience it will be set to %d (%dx%d)",
scanCloudMaxPoints_, cloudMsg->width, cloudMsg->height);
}
else if(scanCloudMaxPoints_ > 0 && scanCloudMaxPoints_ < cloudMsg->height * cloudMsg->width)
{
NODELET_WARN("IcpOdometry: \"scan_cloud_max_points\" is set to %d but input "
"cloud is not dense and has a size of %d (%dx%d), setting to this later size.",
scanCloudMaxPoints_, cloudMsg->width *cloudMsg->height, cloudMsg->width, cloudMsg->height);
scanCloudMaxPoints_ = cloudMsg->width *cloudMsg->height;
}
}
else if(cloudMsg->height > 1 && scanCloudMaxPoints_ < cloudMsg->height * cloudMsg->width)
if(scanCloudMaxPoints_ == -1)
{
NODELET_WARN("IcpOdometry: \"scan_cloud_max_points\" is set to %d but input "
"cloud is not dense and has a size of %d (%dx%d), setting to this later size.",
scanCloudMaxPoints_, cloudMsg->width *cloudMsg->height, cloudMsg->width, cloudMsg->height);
scanCloudMaxPoints_ = cloudMsg->width *cloudMsg->height;
scanCloudMaxPoints_ = 0;
}
int maxLaserScans = scanCloudMaxPoints_;