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Fixed bug where very long paths (over maxGraphDepth) were used for scan matching. Added "RGBD/ProximityMaxPaths" parameter (default 3) to limit the number of path comparisons for proximity detection.

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matlabbe
2016-08-12 18:43:12 -04:00
parent a0d76eabe5
commit ae7436a41b
8 changed files with 132 additions and 136 deletions
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corelib/src/RegistrationIcp.cpp
+4 -2
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@@ -348,13 +348,15 @@ Transform RegistrationIcp::computeTransformationImpl(
correspondencesRatio = float(correspondences)/float(toScan.cols>fromScan.cols?toScan.cols:fromScan.cols);
}
UDEBUG("%d->%d hasConverged=%s, variance=%f, correspondences=%d/%d (%f%%)",
UDEBUG("%d->%d hasConverged=%s, variance=%f, correspondences=%d/%d (%f%%), from guess: trans=%f rot=%f",
dataTo.id(), dataFrom.id(),
hasConverged?"true":"false",
variance,
correspondences,
maxLaserScans>0?maxLaserScans:(int)(toScan.cols>fromScan.cols?toScan.cols:fromScan.cols),
correspondencesRatio*100.0f);
correspondencesRatio*100.0f,
info.icpTranslation,
info.icpRotation);
info.variance = variance>0.0f?variance:0.0001; // epsilon if exact transform
info.icpInliersRatio = correspondencesRatio;