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

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matlabbe
2017-09-11 13:17:53 -04:00
parent 380fc2cbde
commit aca005c287
25 changed files with 581 additions and 354 deletions
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corelib/src/OdometryF2F.cpp
+9 -5
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@@ -246,13 +246,17 @@ Transform OdometryF2F::computeTransform(
if(info)
{
info->type = 1;
info->covariance = regInfo.covariance;
info->inliers = regInfo.inliers;
info->icpInliersRatio = regInfo.icpInliersRatio;
info->matches = regInfo.matches;
info->type = kTypeF2F;
info->features = newFrame.sensorData().keypoints().size();
info->keyFrameAdded = addKeyFrame;
if(this->isInfoDataFilled())
{
info->reg = regInfo;
}
else
{
info->reg = regInfo.copyWithoutData();
}
}
UINFO("Odom update time = %fs lost=%s inliers=%d, ref frame corners=%d, transform accepted=%s",