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icp: enabled setting param "icp.setRANSACOutlierRejectionThreshold()" with the same maxCorrespondenceDistance used already for "icp.setMaxCorrespondenceDistance()"

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1594 f169173b-cf89-36c8-b27e-44dbe73f0c83
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matlabbe
2014-07-23 22:34:46 +00:00
parent ab1d4eb232
commit 38f967e10f
1 changed files with 3 additions and 3 deletions
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6
corelib/src/util3d.cpp
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@@ -1183,7 +1183,7 @@ Transform icp(const pcl::PointCloud<pcl::PointXYZ>::ConstPtr & cloud_source,
//icp.setTransformationEpsilon (transformationEpsilon);
// Set the euclidean distance difference epsilon (criterion 3)
//icp.setEuclideanFitnessEpsilon (1);
//icp.setRANSACOutlierRejectionThreshold(maxCorrespondenceDistance);
icp.setRANSACOutlierRejectionThreshold(maxCorrespondenceDistance);
// Perform the alignment
pcl::PointCloud<pcl::PointXYZ> cloud_source_registered;
@@ -1220,7 +1220,7 @@ Transform icpPointToPlane(
//icp.setTransformationEpsilon (transformationEpsilon);
// Set the euclidean distance difference epsilon (criterion 3)
//icp.setEuclideanFitnessEpsilon (1);
//icp.setRANSACOutlierRejectionThreshold(maxCorrespondenceDistance);
icp.setRANSACOutlierRejectionThreshold(maxCorrespondenceDistance);
// Perform the alignment
pcl::PointCloud<pcl::PointNormal> cloud_source_registered;
@@ -1256,7 +1256,7 @@ Transform icp2D(const pcl::PointCloud<pcl::PointXYZ>::ConstPtr & cloud_source,
//icp.setTransformationEpsilon (transformationEpsilon);
// Set the euclidean distance difference epsilon (criterion 3)
//icp.setEuclideanFitnessEpsilon (1);
//icp.setRANSACOutlierRejectionThreshold(maxCorrespondenceDistance);
icp.setRANSACOutlierRejectionThreshold(maxCorrespondenceDistance);
// Perform the alignment
pcl::PointCloud<pcl::PointXYZ> cloud_source_registered;