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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/OdometryViso2.cpp
+3 -3
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@@ -273,11 +273,11 @@ Transform OdometryViso2::computeTransform(
{
info->type = (int)kTypeViso2;
info->keyFrameAdded = !keep_reference_frame_;
info->matches = viso2_->getNumberOfMatches();
info->inliers = viso2_->getNumberOfInliers();
info->reg.matches = viso2_->getNumberOfMatches();
info->reg.inliers = viso2_->getNumberOfInliers();
if(covariance.cols == 6 && covariance.rows == 6 && covariance.type() == CV_64FC1)
{
info->covariance = covariance;
info->reg.covariance = covariance;
}
if(this->isInfoDataFilled())