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Constrain transform increment directionally #503
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Here is my current yaml configuration
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There is currently no option to limit the degrees of freedom to be minimized beyond 2D (x, y, yaw) and 4D (x, y, z, yaw). Looking at your yaml file and your example images, you might want to explore these points:
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Thank you, how can I limit the minimization to 4D (x, y, z, yaw)? |
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Hello,
I'm just getting started with libpointmatcher so I apologize if this is already documented somewhere but I could not find a way to do what I want.
I have a set of scans where the orientation is very accurate but the translation has significantly more drift. I would like a way to constrain the ICP to be mostly or only translational. My current problem is that around corners if there is not much overlap, libpointmatcher will perform very large rotations to fit the reading pointcloud. But I know this is wrong and want to limit the rotations. I have attached a figure to illustrate the problem.
Is there any way I can achieve this in the parameters of libpointmatcher? Thank you
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