i/rtabmap_ros
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap_ros.git synced 2026-10-05 01:07:49 +08:00
Code Issues Packages Projects Releases Wiki Activity

MacOSX: (g2o) Fixed cholmod library not found. New ICP parameter: "Icp/Epsilon". Fixed null ICP_inliers_ratio with odometry statistics.

Browse Source
This commit is contained in:
matlabbe
2016-01-12 11:37:50 -05:00
parent 42e1590abe
commit 5136b38111
15 changed files with 82 additions and 34 deletions
Download Patch File Download Diff File Expand all files Collapse all files
corelib/src/RegistrationIcp.cpp
+4
View File
@@ -48,6 +48,7 @@ RegistrationIcp::RegistrationIcp(const ParametersMap & parameters, Registration
_downsamplingStep(Parameters::defaultIcpDownsamplingStep()),
_maxCorrespondenceDistance(Parameters::defaultIcpMaxCorrespondenceDistance()),
_maxIterations(Parameters::defaultIcpIterations()),
_epsilon(Parameters::defaultIcpEpsilon()),
_correspondenceRatio(Parameters::defaultIcpCorrespondenceRatio()),
_pointToPlane(Parameters::defaultIcpPointToPlane()),
_pointToPlaneNormalNeighbors(Parameters::defaultIcpPointToPlaneNormalNeighbors())
@@ -65,6 +66,7 @@ void RegistrationIcp::parseParameters(const ParametersMap & parameters)
Parameters::parse(parameters, Parameters::kIcpDownsamplingStep(), _downsamplingStep);
Parameters::parse(parameters, Parameters::kIcpMaxCorrespondenceDistance(), _maxCorrespondenceDistance);
Parameters::parse(parameters, Parameters::kIcpIterations(), _maxIterations);
Parameters::parse(parameters, Parameters::kIcpEpsilon(), _epsilon);
Parameters::parse(parameters, Parameters::kIcpCorrespondenceRatio(), _correspondenceRatio);
Parameters::parse(parameters, Parameters::kIcpPointToPlane(), _pointToPlane);
Parameters::parse(parameters, Parameters::kIcpPointToPlaneNormalNeighbors(), _pointToPlaneNormalNeighbors);
@@ -73,6 +75,7 @@ void RegistrationIcp::parseParameters(const ParametersMap & parameters)
UASSERT_MSG(_downsamplingStep >= 0, uFormat("value=%d", _downsamplingStep).c_str());
UASSERT_MSG(_maxCorrespondenceDistance > 0.0f, uFormat("value=%f", _maxCorrespondenceDistance).c_str());
UASSERT_MSG(_maxIterations > 0, uFormat("value=%d", _maxIterations).c_str());
UASSERT(_epsilon >= 0.0f);
UASSERT_MSG(_correspondenceRatio >=0.0f && _correspondenceRatio <=1.0f, uFormat("value=%f", _correspondenceRatio).c_str());
UASSERT_MSG(_pointToPlaneNormalNeighbors > 0, uFormat("value=%d", _pointToPlaneNormalNeighbors).c_str());
}
@@ -219,6 +222,7 @@ Transform RegistrationIcp::computeTransformationImpl(
_maxIterations,
hasConverged,
*fromCloudRegistered,
_epsilon,
!this->force3DoF()); // icp2D
}