No transform for Lidar Scans
alre5639 opened this issue · comments
I am attempting to use this ICP algorithm as part of my SLAM model but every H found states my robot is not moving (H = I).
Setup: I have 2D Lidar with a 180 degree FOV that publishes a 150 point pointcloud @ 10Hz. I would like to find some H between each Lidar Scan (or at least between some) to correct my dynamics model.
Attached are 2 lidar scans taken consecutively (I had to change them to txt for upload). I have noticed that after the reject() function there are no differences left so pehaps I just need to tune the parameters? I have tried messing with the parameters a bit (like setting min_planarity arbitrarily high) but have had no luck.
I appreciate the help!
test_point_cloud (copy).txt
test_point_cloud_minus_one (copy).txt
The issue is that your point clouds are 2D only (z coordinate is always = 0).
simpleICP works on 3D point clouds only at the moment.
It should be fairly easy to just drop the third dimension in the code.
@pglira suppose i want to detect presence of a mug, how can i do that with 2d scanner?
I close this issue as the discussion is off topic now.
(However, if you want to detect a mug in a point cloud it might help to estimate the curvature attribute of the points, e.g. using PDAL)