Skip to content
Snippets Groups Projects
Commit 1cc6ff58 authored by Pep Martí Saumell's avatar Pep Martí Saumell
Browse files

Minor changes

parent 9f4262ad
No related branches found
No related tags found
1 merge request!1Resolve "icp: develop matching tools"
......@@ -92,7 +92,10 @@ icpOutput ICP::matchPC(LaserScan &_last_ls, LaserScan &_origin_ls, LaserScanPara
result.res_transf(2) = csm_output.x[2];
result.nvalid = csm_output.nvalid;
result.error = csm_output.error;
result.error = csm_output.error;
std::cout << "ICP: add covariance!" << '\n';
// result.res_covar = Eigen::Zeros();
// std::cout << "Number of valid correspondences: " << csm_output.nvalid << '\n';
// std::cout << "Number of iterations: " << csm_output.iterations << '\n';
......
......@@ -3,15 +3,17 @@
#include <random>
#include "laser_scan.h"
#include <csm/csm_all.h>
#include <Eigen
// using namespace CSM;
namespace laserscanutils{
struct icpOutput{
int valid; /** 1 if the result is valid */
Eigen::Vector3s res_transf;
Eigen::Matrix3s res_covar;
int nvalid; /** Number of valid correspondence in the end */
double error; /** Total correspondence error */
double error; /** Total correspondence error */
};
struct icpParams{
......
0% Loading or .
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment