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Fixed backward compatibility error with libpointmatcher < 1.3.0

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This commit is contained in:
matlabbe
2018-11-09 16:06:44 -05:00
parent 5159171bf3
commit c43bd6cd3f
1 changed files with 16 additions and 1 deletions
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17
corelib/src/RegistrationIcp.cpp
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@@ -468,7 +468,11 @@ void RegistrationIcp::parseParameters(const ParametersMap & parameters)
params["maxDist"] = uNumber2Str(_maxCorrespondenceDistance);
params["knn"] = uNumber2Str(_libpointmatcherKnn);
params["epsilon"] = uNumber2Str(_libpointmatcherEpsilon);
#if POINTMATCHER_VERSION_INT >= 10300
icp->matcher = PM::get().MatcherRegistrar.create("KDTreeMatcher", params);
#else
icp->matcher.reset(PM::get().MatcherRegistrar.create("KDTreeMatcher", params));
#endif
params.clear();
params["ratio"] = uNumber2Str(_libpointmatcherOutlierRatio);
@@ -482,12 +486,20 @@ void RegistrationIcp::parseParameters(const ParametersMap & parameters)
params.clear();
params["force2D"] = force3DoF()?"1":"0";
#if POINTMATCHER_VERSION_INT >= 10300
icp->errorMinimizer = PM::get().ErrorMinimizerRegistrar.create("PointToPlaneErrorMinimizer", params);
#else
icp->errorMinimizer.reset(PM::get().ErrorMinimizerRegistrar.create("PointToPlaneErrorMinimizer", params));
#endif
params.clear();
}
else
{
#if POINTMATCHER_VERSION_INT >= 10300
icp->errorMinimizer = PM::get().ErrorMinimizerRegistrar.create("PointToPointErrorMinimizer");
#else
icp->errorMinimizer.reset(PM::get().ErrorMinimizerRegistrar.create("PointToPointErrorMinimizer"));
#endif
}
icp->transformationCheckers.clear();
@@ -961,8 +973,11 @@ Transform RegistrationIcp::computeTransformationImpl(
{
// temporary set PointToPointErrorMinimizer
PM::ICP & icpTmp = icp;
#if POINTMATCHER_VERSION_INT >= 10300
icpTmp.errorMinimizer = PM::get().ErrorMinimizerRegistrar.create("PointToPointErrorMinimizer");
#else
icpTmp.errorMinimizer.reset(PM::get().ErrorMinimizerRegistrar.create("PointToPointErrorMinimizer"));
#endif
for(PM::OutlierFilters::iterator iter=icpTmp.outlierFilters.begin(); iter!=icpTmp.outlierFilters.end();)
{
if((*iter)->className.compare("SurfaceNormalOutlierFilter") == 0)