Major undistortion refactoring
- Feb 08, 2021
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Nicolas Cadart authoredAfter PGO, frames were only rigidly aggregated. Now, it is possible to undistort them using optimized motion. This also fixes a small time duration display as timers should only be reset on a hard reset.
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Nicolas Cadart authored
ONCE: undistortion is done ony once at the beginning of localization step. REFINED: ONCE + undistortion refined at the end of each ICP-LM iteration. Current*Keypoints become CurrentRaw*Keypoints, raw extracted keypoints in BASE without undistortion. Current*Keypoints are the keypoints clouds in BASE, with undistortion (if enabled). Remove check in AddFrames verifying if we deal with first frame or not. We need to run Localization step to update Current*Keypoints from CurrentRaw*Keypoints. EgoMotion and Localization steps are safe if previous pointclouds are empty.
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- Feb 04, 2021
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Nicolas Cadart authored
This greatly simplifies code organization. WithinFrameMotion is now expressed in BASE coordinates, and can be used to undistort clouds into BASE at frame header timestamp.
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- Feb 02, 2021
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Nicolas Cadart authored
This mode is rarely used as it lead to much slower and unstabler optimization. Tests have shown that the results with this mode are always worse than with the APPROXIMATED mode. State of the art papers always use simple undistortion such as the APPROXIMATED mode.
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