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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
This commit is contained in:
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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10
tools/OdometryViewer/main.cpp
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@@ -45,6 +45,7 @@ void showUsage()
" -v # ICP voxel size (default 0.005)\n"
" -s # ICP samples (default 0, not used if voxel is set.)\n"
" -f #.# ICP fitness (default 0.01)\n"
" -p2p ICP point to point (default point to plane)"
"\n"
" -debug Log debug messages\n"
"\n"
@@ -88,6 +89,7 @@ int main (int argc, char * argv[])
float sec = 0.0f;
bool gpu = false;
int localHistory = 0;
bool p2p = false;
for(int i=1; i<argc; ++i)
{
@@ -493,6 +495,11 @@ int main (int argc, char * argv[])
icp = true;
continue;
}
if(strcmp(argv[i], "-p2p") == 0)
{
p2p = true;
continue;
}
if(strcmp(argv[i], "-debug") == 0)
{
ULogger::setLevel(ULogger::kDebug);
@@ -642,8 +649,9 @@ int main (int argc, char * argv[])
UINFO("Cloud voxel size = %f", voxel);
UINFO("Cloud samples = %d", samples);
UINFO("Cloud fitness = %f", fitness);
UINFO("Cloud point to plane = %s", p2p?"false":"true");
odom = new rtabmap::OdometryICP(decimation, voxel, samples, distance, iterations, fitness);
odom = new rtabmap::OdometryICP(decimation, voxel, samples, distance, iterations, fitness, !p2p);
}
rtabmap::OdometryThread odomThread(odom);
rtabmap::OdometryViewer odomViewer(maxClouds, 2, 0.0, 50);