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icp_odometry: auto set scan_cloud_max_points if received cloud is organized (we know full dimension)

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matlabbe
2019-03-14 19:12:56 -04:00
parent 627b6e78bd
commit 6bd420bc54
2 changed files with 13 additions and 5 deletions
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launch/tests/test_ouster.launch
+6 -4
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@@ -5,14 +5,16 @@
Hand-held 3D lidar mapping example using only a Ouster OS-1 (no camera). Hand-held 3D lidar mapping example using only a Ouster OS-1 (no camera).
Prerequisities: rtabmap should be built with libpointmatcher Prerequisities: rtabmap should be built with libpointmatcher
Example: Example:
$ roslaunch rtabmap_ros test_ouster.launch $ roslaunch rtabmap_ros test_ouster.launch os1_hostname:=os1-XXXXXXXXXXXX.local os1_udp_dest:=192.168.1.XXX
$ rosrun rviz rviz -f map $ rosrun rviz rviz -f map
$ Show TF and /rtabmap/cloud_map topics $ Show TF and /rtabmap/cloud_map topics
ISSUE: You may have to reset odometry after receiving the first cloud if the map looks tilted. The problem seems
coming from the first cloud sent by os1_cloud_node, which may be poorly synchronized with IMU data.
--> -->
<!-- Required: --> <!-- Required: -->
<arg name="os1_hostname" default=""/> <arg name="os1_hostname"/>
<arg name="os1_udp_dest" default=""/> <arg name="os1_udp_dest"/>
<arg name="frame_id" default="os1_sensor"/> <arg name="frame_id" default="os1_sensor"/>
<arg name="rtabmapviz" default="true"/> <arg name="rtabmapviz" default="true"/>
@@ -107,7 +109,7 @@
<param name="Grid/GroundIsObstacle" type="string" value="true"/> <param name="Grid/GroundIsObstacle" type="string" value="true"/>
<!-- ICP parameters --> <!-- ICP parameters -->
<param name="Icp/VoxelSize" type="string" value="0.3"/> <param name="Icp/VoxelSize" type="string" value="0.2"/>
<param name="Icp/PointToPlaneK" type="string" value="20"/> <param name="Icp/PointToPlaneK" type="string" value="20"/>
<param name="Icp/PointToPlaneRadius" type="string" value="0"/> <param name="Icp/PointToPlaneRadius" type="string" value="0"/>
<param name="Icp/PointToPlane" type="string" value="false"/> <param name="Icp/PointToPlane" type="string" value="false"/>
src/nodelets/icp_odometry.cpp
+7 -1
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@@ -291,7 +291,13 @@ private:
ROS_ERROR("TF of received scan cloud at time %fs is not set, aborting rtabmap update.", cloudMsg->header.stamp.toSec()); ROS_ERROR("TF of received scan cloud at time %fs is not set, aborting rtabmap update.", cloudMsg->header.stamp.toSec());
return; return;
} }
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);
}
int maxLaserScans = scanCloudMaxPoints_; int maxLaserScans = scanCloudMaxPoints_;
if(containNormals) if(containNormals)
{ {