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https://github.com/introlab/rtabmap.git
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libpointmatcher integration
This commit is contained in:
matlabbe
@@ -63,25 +63,16 @@
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@@ -4530,16 +4521,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
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@@ -11561,22 +11543,6 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
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@@ -11625,6 +11591,22 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
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<string>libpointmatcher</string>
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<string><html><head/><body><p>libpointmatcher: <a href="https://github.com/ethz-asl/libpointmatcher"><span style=" text-decoration: underline; color:#0000ff;">https://github.com/ethz-asl/libpointmatcher</span></a></p><p>libpointmatcher is a modular library implementing the Iterative Closest Point (ICP) algorithm for aligning point clouds. It has applications in robotics and computer vision. When enabled, libpointmatcher is used for ICP registration instead of PCL's implementation.</p><p>Below we can set a <a href="https://github.com/ethz-asl/libpointmatcher/blob/master/doc/Configuration.md"><span style=" text-decoration: underline; color:#0000ff;">configuration file</span></a> (*.yaml) used by libpointmatcher. Note that data filters set for libpointmatcher are done after filtering done by rtabmap (i.e., voxel filtering or downsampling above), so make sure to disable those in rtabmap if you want to use only those from libpointmatcher. Maximum iterations, epsilon and max correspondence distance parameters are also ignored if configuration file is set.<br/></p></body></html></string>
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<string>Configuration file (*.yaml).</string>
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