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Refactoring Odometry

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This commit is contained in:
matlabbe
2016-01-07 13:59:21 -05:00
parent 923ba78bfa
commit 6d399b6fb9
18 changed files with 255 additions and 268 deletions
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corelib/src/Registration.cpp
+28
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@@ -115,6 +115,34 @@ bool Registration::isUserDataRequired() const
return val;
}
int Registration::getMinVisualCorrespondences() const
{
int min = this->getMinVisualCorrespondencesImpl();
if(child_)
{
int childMin = child_->getMinVisualCorrespondences();
if(min == 0 || childMin > min)
{
min = childMin;
}
}
return min;
}
float Registration::getMinGeometryCorrespondencesRatio() const
{
float min = this->getMinGeometryCorrespondencesRatioImpl();
if(child_)
{
float childMin = child_->getMinGeometryCorrespondencesRatio();
if(min == 0 || childMin > min)
{
min = childMin;
}
}
return min;
}
void Registration::setChildRegistration(Registration * child)
{
if(child_)