mirror of
https://github.com/introlab/rtabmap_ros.git
synced 2026-10-04 00:37:46 +08:00
55 lines
1.4 KiB
Diff
55 lines
1.4 KiB
Diff
diff --git a/ethzasl_icp_mapper/launch/2D_scans/icp.yaml b/ethzasl_icp_mapper/launch/2D_scans/icp.yaml
|
|
index 67820e7..aec1839 100644
|
|
--- a/ethzasl_icp_mapper/launch/2D_scans/icp.yaml
|
|
+++ b/ethzasl_icp_mapper/launch/2D_scans/icp.yaml
|
|
@@ -1,12 +1,12 @@
|
|
matcher:
|
|
KDTreeMatcher:
|
|
- maxDist: 1.0
|
|
+ maxDist: 1
|
|
knn: 5
|
|
epsilon: 3.16
|
|
|
|
outlierFilters:
|
|
- TrimmedDistOutlierFilter:
|
|
- ratio: 0.85
|
|
+ ratio: 0.95
|
|
- SurfaceNormalOutlierFilter:
|
|
maxAngle: 0.42
|
|
|
|
@@ -25,7 +25,11 @@ transformationCheckers:
|
|
maxTranslationNorm: 5.00
|
|
|
|
inspector:
|
|
-# VTKFileInspector
|
|
+# VTKFileInspector:
|
|
+# baseFileName : debug--
|
|
+# dumpDataLinks : 1
|
|
+# dumpReading : 1
|
|
+# dumpReference : 1
|
|
NullInspector
|
|
|
|
logger:
|
|
diff --git a/libpointmatcher_ros/src/point_cloud.cpp b/libpointmatcher_ros/src/point_cloud.cpp
|
|
index b77651d..8eb1f6c 100644
|
|
--- a/libpointmatcher_ros/src/point_cloud.cpp
|
|
+++ b/libpointmatcher_ros/src/point_cloud.cpp
|
|
@@ -449,7 +449,7 @@ namespace PointMatcher_ros
|
|
try
|
|
{
|
|
listener->transformPoint(
|
|
- fixedFrame,
|
|
+ pin.header.frame_id,
|
|
rosMsg.header.stamp,
|
|
pin,
|
|
fixedFrame,
|
|
@@ -459,7 +459,7 @@ namespace PointMatcher_ros
|
|
if(addObservationDirection)
|
|
{
|
|
listener->transformPoint(
|
|
- fixedFrame,
|
|
+ s_in.header.frame_id,
|
|
curTime,
|
|
s_in,
|
|
fixedFrame,
|