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Bug in creating reference pointcloud for ICP registration #22

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Bug in creating reference pointcloud for ICP registration #22

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6bc5e3b
Bug in creating reference pointcloud for ICP registration
huawei-sai Jan 30, 2023
95b6b1c
change the loopFindNearKeyframesCloud function to be more clear
huawei-sai Jan 30, 2023
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8 changes: 4 additions & 4 deletions src/laserPosegraphOptimization.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -468,7 +468,7 @@ pcl::PointCloud<PointType>::Ptr transformPointCloud(pcl::PointCloud<PointType>::
return cloudOut;
} // transformPointCloud

void loopFindNearKeyframesCloud( pcl::PointCloud<PointType>::Ptr& nearKeyframes, const int& key, const int& submap_size, const int& root_idx)
void loopFindNearKeyframesCloud( pcl::PointCloud<PointType>::Ptr& nearKeyframes, const int& key, const int& submap_size)
{
// extract and stacking near keyframes (in global coord)
nearKeyframes->clear();
Expand All @@ -478,7 +478,7 @@ void loopFindNearKeyframesCloud( pcl::PointCloud<PointType>::Ptr& nearKeyframes,
continue;

mKF.lock();
*nearKeyframes += * local2global(keyframeLaserClouds[keyNear], keyframePosesUpdated[root_idx]);
*nearKeyframes += * local2global(keyframeLaserClouds[keyNear], keyframePosesUpdated[keyNear]);
mKF.unlock();
}

Expand All @@ -499,8 +499,8 @@ std::optional<gtsam::Pose3> doICPVirtualRelative( int _loop_kf_idx, int _curr_kf
int historyKeyframeSearchNum = 25; // enough. ex. [-25, 25] covers submap length of 50x1 = 50m if every kf gap is 1m
pcl::PointCloud<PointType>::Ptr cureKeyframeCloud(new pcl::PointCloud<PointType>());
pcl::PointCloud<PointType>::Ptr targetKeyframeCloud(new pcl::PointCloud<PointType>());
loopFindNearKeyframesCloud(cureKeyframeCloud, _curr_kf_idx, 0, _loop_kf_idx); // use same root of loop kf idx
loopFindNearKeyframesCloud(targetKeyframeCloud, _loop_kf_idx, historyKeyframeSearchNum, _loop_kf_idx);
loopFindNearKeyframesCloud(cureKeyframeCloud, _curr_kf_idx, 0); // use same root of loop kf idx
loopFindNearKeyframesCloud(targetKeyframeCloud, _loop_kf_idx, historyKeyframeSearchNum);

// loop verification
sensor_msgs::PointCloud2 cureKeyframeCloudMsg;
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