Added parameter "IcpPointToPlaneMaxComplexity". Added util3d::computeNormalsComplexity(). OdomInfo has now RegistrationInfo field to avoid duplicating members.

2026-10-09 19:39:50 +08:00 · 2017-09-11 13:17:53 -04:00
parent 380fc2cbde
commit aca005c287
25 changed files with 581 additions and 354 deletions
@@ -66,6 +66,7 @@ private:
 	bool _pointToPlane;
 	int _pointToPlaneK;
 	float _pointToPlaneRadius;
+	float _pointToPlaneMinComplexity;
 	bool _libpointmatcher;
 	std::string _libpointmatcherConfig;
 	float _libpointmatcherOutlierRatio;