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Fixed ICP-only odometry when guess from motion is enabled

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matlabbe
2016-08-07 20:54:56 -04:00
parent 93f1ae501c
commit 6ef9034a67
7 changed files with 11 additions and 17 deletions
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corelib/src/OdometryF2F.cpp
+2 -1
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@@ -96,7 +96,8 @@ Transform OdometryF2F::computeTransform(
output = registrationPipeline_->computeTransformationMod(
tmpRefFrame,
newFrame,
!guess.isNull()?motionSinceLastKeyFrame*guess:Transform(),
// special case for ICP-only odom, set guess to identity if we just started
!guess.isNull()?motionSinceLastKeyFrame*guess:!registrationPipeline_->isImageRequired()&&this->getPose().isIdentity()?Transform::getIdentity():Transform(),
&regInfo);
if(info && this->isInfoDataFilled())