i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-03 01:50:24 +08:00
Code Issues Packages Projects Releases Wiki Activity

0.19.5: added Icp/RangeMin and Icp/RangeMax parameters

Browse Source
This commit is contained in:
matlabbe
2019-08-01 16:21:01 -04:00
parent 487caab349
commit 6767c2ade2
6 changed files with 101 additions and 24 deletions
Download Patch File Download Diff File Expand all files Collapse all files

2
corelib/include/rtabmap/core/Parameters.h
View File

@@ -608,6 +608,8 @@ class RTABMAP_EXP Parameters
RTABMAP_PARAM(Icp, MaxRotation, float, 0.78, "Maximum ICP rotation correction accepted (rad).");
RTABMAP_PARAM(Icp, VoxelSize, float, 0.0, "Uniform sampling voxel size (0=disabled).");
RTABMAP_PARAM(Icp, DownsamplingStep, int, 1, "Downsampling step size (1=no sampling). This is done before uniform sampling.");
RTABMAP_PARAM(Icp, RangeMin, float, 0, "Minimum range filtering (0=disabled).");
RTABMAP_PARAM(Icp, RangeMax, float, 0, "Maximum range filtering (0=disabled).");
#ifdef RTABMAP_POINTMATCHER
RTABMAP_PARAM(Icp, MaxCorrespondenceDistance, float, 0.1, "Max distance for point correspondences.");
#else

2
corelib/include/rtabmap/core/RegistrationIcp.h
View File

@@ -60,6 +60,8 @@ private:
float _maxRotation;
float _voxelSize;
int _downsamplingStep;
float _rangeMin;
float _rangeMax;
float _maxCorrespondenceDistance;
int _maxIterations;
float _epsilon;