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Added Icp/PMForce4DoF parameter (works only with libpointmatcher > April 2020). Fixed some deprecated warnings.

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matlabbe
2021-02-24 09:43:22 -05:00
parent d61e463595
commit cad184e82b
8 changed files with 47 additions and 31 deletions
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1
corelib/include/rtabmap/core/Parameters.h
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@@ -672,6 +672,7 @@ class RTABMAP_EXP Parameters
RTABMAP_PARAM(Icp, PMMatcherEpsilon, float, 0.0, "KDTreeMatcher/epsilon: approximation to use for the nearest-neighbor search. For convenience when configuration file is not set.");
RTABMAP_PARAM(Icp, PMMatcherIntensity, bool, false, uFormat("KDTreeMatcher: among nearest neighbors, keep only the one with the most similar intensity. This only work with %s>1.", kIcpPMMatcherKnn().c_str()));
RTABMAP_PARAM(Icp, PMOutlierRatio, float, 0.85, "TrimmedDistOutlierFilter/ratio: For convenience when configuration file is not set. For kinect-like point cloud, use 0.65.");
RTABMAP_PARAM(Icp, PMForce4DoF, bool, false, "Limit ICP to x, y, z and yaw DoF.");
// Stereo disparity
RTABMAP_PARAM(Stereo, WinWidth, int, 15, "Window width.");

1
corelib/include/rtabmap/core/RegistrationIcp.h
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@@ -78,6 +78,7 @@ private:
float _libpointmatcherEpsilon;
bool _libpointmatcherIntensity;
float _libpointmatcherOutlierRatio;
bool _libpointmatcherForce4DoF;
void * _libpointmatcherICP;
};