From 9f4262add8bd40c9925b10147fbf079d4668d8b1 Mon Sep 17 00:00:00 2001
From: PepMS <jmarti@iri.upc.edu>
Date: Wed, 26 Jun 2019 17:39:57 +0200
Subject: [PATCH] Output struct changed
---
src/icp.cpp | 3 +++
src/icp.h | 6 ++++--
2 files changed, 7 insertions(+), 2 deletions(-)
diff --git a/src/icp.cpp b/src/icp.cpp
index b22a1ae..a2ca9a9 100644
--- a/src/icp.cpp
+++ b/src/icp.cpp
@@ -91,6 +91,9 @@ icpOutput ICP::matchPC(LaserScan &_last_ls, LaserScan &_origin_ls, LaserScanPara
result.res_transf(1) = csm_output.x[1];
result.res_transf(2) = csm_output.x[2];
+ result.nvalid = csm_output.nvalid;
+ result.error = csm_output.error;
+
// std::cout << "Number of valid correspondences: " << csm_output.nvalid << '\n';
// std::cout << "Number of iterations: " << csm_output.iterations << '\n';
// std::cout << "Error: " << csm_output.error << '\n';
diff --git a/src/icp.h b/src/icp.h
index 939565d..eb58cac 100644
--- a/src/icp.h
+++ b/src/icp.h
@@ -10,9 +10,10 @@ namespace laserscanutils{
struct icpOutput{
Eigen::Vector3s res_transf;
- int num_points;
- int error_points;
+ int nvalid; /** Number of valid correspondence in the end */
+ double error; /** Total correspondence error */
};
+
struct icpParams{
int use_point_to_line_distance;
int max_correspondence_dist;
@@ -22,6 +23,7 @@ struct icpParams{
double outliers_adaptive_order;
double outliers_adaptive_mult;
};
+
class ICP
{
public:
--
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