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Fixed Memory::computeScanMatchingTransform() (now named computeIcpTransformMulti())

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matlabbe
2015-11-26 16:03:03 -05:00
parent 991a603648
commit 148504dabd
4 changed files with 48 additions and 48 deletions
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corelib/src/Rtabmap.cpp
+1 -1
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@@ -1916,7 +1916,7 @@ bool Rtabmap::process(
if(signature->getLinks().find(nearestId) == signature->getLinks().end())
{
float variance = 1.0f;
Transform transform = _memory->computeScanMatchingTransform(signature->id(), nearestId, path, 0, 0, &variance);
Transform transform = _memory->computeIcpTransformMulti(signature->id(), nearestId, path, 0, 0, &variance);
if(!transform.isNull())
{
if(_proximityFilteringRadius <= 0 || transform.getNormSquared() <= _proximityFilteringRadius*_proximityFilteringRadius)