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Fixed Force4DoF param not used exception on older libpointmatcher versions

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matlabbe
2021-03-02 17:27:25 -05:00
parent 4e4207a6dd
commit 98c69c4578
1 changed files with 5 additions and 1 deletions
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corelib/src/RegistrationIcp.cpp
+5 -1
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@@ -615,7 +615,11 @@ void RegistrationIcp::parseParameters(const ParametersMap & parameters)
params.clear(); params.clear();
params["force2D"] = force3DoF()?"1":"0"; params["force2D"] = force3DoF()?"1":"0";
params["force4DOF"] = !force3DoF()&&_libpointmatcherForce4DoF?"1":"0";
if(!force3DoF()&&_libpointmatcherForce4DoF)
{
params["force4DOF"] = "1";
}
#if POINTMATCHER_VERSION_INT >= 10300 #if POINTMATCHER_VERSION_INT >= 10300
icp->errorMinimizer = PM::get().ErrorMinimizerRegistrar.create("PointToPlaneErrorMinimizer", params); icp->errorMinimizer = PM::get().ErrorMinimizerRegistrar.create("PointToPlaneErrorMinimizer", params);
#else #else