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OdomInfo: added icpCorrespondences. Stats: using norm instead of x for distance/speed. Added odometry speed statistic in mph

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matlabbe
2020-03-28 17:07:22 -04:00
parent 06caa328a4
commit 451211cfb1
3 changed files with 21 additions and 7 deletions
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corelib/src/RegistrationIcp.cpp
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@@ -1222,6 +1222,7 @@ Transform RegistrationIcp::computeTransformationImpl(
info.covariance = cv::Mat::eye(6,6,CV_64FC1)*variance;
}
info.icpInliersRatio = correspondencesRatio;
info.icpCorrespondences = correspondences;
if(correspondencesRatio <= _correspondenceRatio)
{