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Neigbor refining can be done with any Registration approach. Memory::computeIcpTransformMulti(): correspondences ratio increased by two times to accept transform

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matlabbe
2018-02-21 12:23:12 -05:00
parent 489ab86ac7
commit 1bfde1f9f0
4 changed files with 75 additions and 108 deletions
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3
corelib/include/rtabmap/core/Memory.h
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@@ -223,7 +223,6 @@ public:
Transform computeTransform(Signature & fromS, Signature & toS, Transform guess, RegistrationInfo * info = 0, bool useKnownCorrespondencesIfPossible = false) const;
Transform computeTransform(int fromId, int toId, Transform guess, RegistrationInfo * info = 0, bool useKnownCorrespondencesIfPossible = false);
Transform computeIcpTransform(int fromId, int toId, Transform guess, RegistrationInfo * info = 0);
Transform computeIcpTransformMulti(
int newId,
int oldId,
@@ -320,7 +319,7 @@ private:
bool _parallelized;
Registration * _registrationPipeline;
RegistrationIcp * _registrationIcp;
RegistrationIcp * _registrationIcpMulti;
OccupancyGrid * _occupancy;
};