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Commit 9f4262ad authored by Pep Martí Saumell's avatar Pep Martí Saumell
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Output struct changed

parent c199ff5a
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1 merge request!1Resolve "icp: develop matching tools"
This commit is part of merge request !1. Comments created here will be created in the context of that merge request.
...@@ -91,6 +91,9 @@ icpOutput ICP::matchPC(LaserScan &_last_ls, LaserScan &_origin_ls, LaserScanPara ...@@ -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(1) = csm_output.x[1];
result.res_transf(2) = csm_output.x[2]; 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 valid correspondences: " << csm_output.nvalid << '\n';
// std::cout << "Number of iterations: " << csm_output.iterations << '\n'; // std::cout << "Number of iterations: " << csm_output.iterations << '\n';
// std::cout << "Error: " << csm_output.error << '\n'; // std::cout << "Error: " << csm_output.error << '\n';
......
...@@ -10,9 +10,10 @@ namespace laserscanutils{ ...@@ -10,9 +10,10 @@ namespace laserscanutils{
struct icpOutput{ struct icpOutput{
Eigen::Vector3s res_transf; Eigen::Vector3s res_transf;
int num_points; int nvalid; /** Number of valid correspondence in the end */
int error_points; double error; /** Total correspondence error */
}; };
struct icpParams{ struct icpParams{
int use_point_to_line_distance; int use_point_to_line_distance;
int max_correspondence_dist; int max_correspondence_dist;
...@@ -22,6 +23,7 @@ struct icpParams{ ...@@ -22,6 +23,7 @@ struct icpParams{
double outliers_adaptive_order; double outliers_adaptive_order;
double outliers_adaptive_mult; double outliers_adaptive_mult;
}; };
class ICP class ICP
{ {
public: public:
......
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