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Refactored OdometryBOW class

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1846 f169173b-cf89-36c8-b27e-44dbe73f0c83
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matlabbe
2014-10-08 00:32:43 +00:00
parent ae57ea6ae5
commit a3f7415821
4 changed files with 74 additions and 107 deletions
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4
corelib/src/util3d.cpp
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@@ -1149,12 +1149,12 @@ Transform transformFromXYZCorrespondences(
crsc.setInputTarget(cloud1);
crsc.setMaximumIterations(iterations);
crsc.setInlierThreshold(inlierThreshold);
crsc.setRefineModel(true);
pcl::Correspondences correspondencesInliers;
crsc.getCorrespondences(correspondencesInliers);
UDEBUG("RANSAC inliers=%d outliers=%d", (int)correspondencesInliers.size(), (int)correspondences->size()-(int)correspondencesInliers.size());
transform = util3d::transformFromEigen4f(crsc.getBestTransformation());
/*UDEBUG("RANSAC=%s", transform.prettyPrint().c_str());
pcl::registration::TransformationEstimationSVD<pcl::PointXYZ, pcl::PointXYZ> trans_est;