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RegistrationIcp: libpointmatcher setting PointToPLane force2D parameter

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matlabbe
2017-09-01 18:12:19 -04:00
parent 4f55b56d6b
commit 39283a5526
1 changed files with 8 additions and 2 deletions
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10
corelib/src/RegistrationIcp.cpp
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@@ -331,9 +331,15 @@ void RegistrationIcp::parseParameters(const ParametersMap & parameters)
params["maxAngle"] = uNumber2Str(_maxRotation<=0.0f?M_PI:_maxRotation);
icp->outlierFilters.push_back(PM::get().OutlierFilterRegistrar.create("SurfaceNormalOutlierFilter", params));
params.clear();
}
icp->errorMinimizer.reset(PM::get().ErrorMinimizerRegistrar.create(_pointToPlane?"PointToPlaneErrorMinimizer":"PointToPointErrorMinimizer"));
params["force2D"] = force3DoF()?"1":"0";
icp->errorMinimizer.reset(PM::get().ErrorMinimizerRegistrar.create("PointToPlaneErrorMinimizer", params));
params.clear();
}
else
{
icp->errorMinimizer.reset(PM::get().ErrorMinimizerRegistrar.create("PointToPointErrorMinimizer"));
}
icp->transformationCheckers.clear();
params["maxIterationCount"] = uNumber2Str(_maxIterations);