VTR3 Extractor Comparison #229
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ElliotP-K
commented
Dec 17, 2024
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ElliotP-K
commented
- Added all extractors corresponding to the extractor comparison paper
- Added ICP failure/skip frame conditions:
- STEAM solver fails unexpectedly
- Difference in estimated velocity between frames is not reasonable (translational, rotational, combined)
- Comment if I should add this code to the odometry_icp_module under the vtr_radar_lidar directory as well
- Added point-cloud visualization utility for extractors. Merging this code with the new gyro update, I see there are also flags for "save_raw_point_cloud" and "save_radar_images". My addition specifically outputs the point cloud overlaid onto the current radar scan in cartesian form. LMK if this feature should be removed because of redundancy.
- See radar_topometric_localization PR for testing details
…o be set by config files
a-krawciw
approved these changes
Jan 6, 2025
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The PR overall looks good.
I think that the sanity checks on velocity before accepting a new frame can be added to lidar as well, however, I haven't actually encountered a scenario when they would be activated.
The existing image saving features apply only to each vertex not every frame. Additionally, we are already including support for online and offline modes already. I think you should leave it as is and include both.
main/src/vtr_radar/src/modules/preprocessing/extraction/radar_extraction_module.cpp
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main/src/vtr_radar/src/modules/odometry/odometry_icp_module.cpp
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...src/vtr_radar/include/vtr_radar/modules/preprocessing/extraction/radar_extraction_module.hpp
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main/src/vtr_radar/include/vtr_radar/modules/odometry/odometry_icp_module.hpp
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lisusdaniil
reviewed
Jan 10, 2025
main/src/vtr_radar/src/modules/preprocessing/extraction/radar_extraction_module.cpp
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added 6 commits
January 11, 2025 11:55
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