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Fixed build with latest libpointmatcher version

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This commit is contained in:
matlabbe
2018-11-09 10:12:30 -05:00
parent c5057eb6b3
commit 5159171bf3
1 changed files with 4 additions and 4 deletions
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8
corelib/src/RegistrationIcp.cpp
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@@ -468,7 +468,7 @@ void RegistrationIcp::parseParameters(const ParametersMap & parameters)
params["maxDist"] = uNumber2Str(_maxCorrespondenceDistance);
params["knn"] = uNumber2Str(_libpointmatcherKnn);
params["epsilon"] = uNumber2Str(_libpointmatcherEpsilon);
icp->matcher.reset(PM::get().MatcherRegistrar.create("KDTreeMatcher", params));
icp->matcher = PM::get().MatcherRegistrar.create("KDTreeMatcher", params);
params.clear();
params["ratio"] = uNumber2Str(_libpointmatcherOutlierRatio);
@@ -482,12 +482,12 @@ void RegistrationIcp::parseParameters(const ParametersMap & parameters)
params.clear();
params["force2D"] = force3DoF()?"1":"0";
icp->errorMinimizer.reset(PM::get().ErrorMinimizerRegistrar.create("PointToPlaneErrorMinimizer", params));
icp->errorMinimizer = PM::get().ErrorMinimizerRegistrar.create("PointToPlaneErrorMinimizer", params);
params.clear();
}
else
{
icp->errorMinimizer.reset(PM::get().ErrorMinimizerRegistrar.create("PointToPointErrorMinimizer"));
icp->errorMinimizer = PM::get().ErrorMinimizerRegistrar.create("PointToPointErrorMinimizer");
}
icp->transformationCheckers.clear();
@@ -961,7 +961,7 @@ Transform RegistrationIcp::computeTransformationImpl(
{
// temporary set PointToPointErrorMinimizer
PM::ICP & icpTmp = icp;
icpTmp.errorMinimizer.reset(PM::get().ErrorMinimizerRegistrar.create("PointToPointErrorMinimizer"));
icpTmp.errorMinimizer = PM::get().ErrorMinimizerRegistrar.create("PointToPointErrorMinimizer");
for(PM::OutlierFilters::iterator iter=icpTmp.outlierFilters.begin(); iter!=icpTmp.outlierFilters.end();)
{