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OdometryICP: added p2p (point to point) option

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1631 f169173b-cf89-36c8-b27e-44dbe73f0c83
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matlabbe
2014-08-05 00:35:21 +00:00
parent a0da05a352
commit 52af62394e
3 changed files with 88 additions and 36 deletions
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5
corelib/include/rtabmap/core/Odometry.h
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@@ -99,6 +99,7 @@ public:
float maxCorrespondenceDistance = 0.05f,
int maxIterations = 30,
float maxFitness = 0.01f,
bool pointToPlane = true,
const ParametersMap & odometryParameter = rtabmap::ParametersMap());
void reset();
@@ -112,8 +113,10 @@ private:
float _maxCorrespondenceDistance;
int _maxIterations;
float _maxFitness;
bool _pointToPlane;
pcl::PointCloud<pcl::PointNormal>::Ptr _previousCloud;
pcl::PointCloud<pcl::PointNormal>::Ptr _previousCloudNormal; // for point ot plane
pcl::PointCloud<pcl::PointXYZ>::Ptr _previousCloud; // for point to point
};
// return true if odometry is correctly computed