From ffbed96cc1a5184de88e8ad43142ade63ced954c Mon Sep 17 00:00:00 2001
From: joanvallve <jvallve@iri.upc.edu>
Date: Wed, 22 Dec 2021 12:37:15 +0100
Subject: [PATCH] undef CSM macros interfering with std
---
src/icp.h | 26 ++++++++++++--------------
1 file changed, 12 insertions(+), 14 deletions(-)
diff --git a/src/icp.h b/src/icp.h
index d93e738..0b0863d 100644
--- a/src/icp.h
+++ b/src/icp.h
@@ -26,29 +26,27 @@
#include <chrono>
#include <random>
#include <csm/csm_all.h>
-// using namespace CSM;
+#undef max //undefine macro of csm that may interfere with std::max
+#undef min //undefine macro of csm that may interfere with std::min
namespace laserscanutils{
struct icpOutput{
- bool valid; /** 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 */
+ bool valid; // If the result is valid
+ Eigen::Vector3s res_transf; // Transformation found
+ Eigen::Matrix3s res_covar; // Covariance of the transformation
+ int nvalid; // Number of valid correspondences in the match
+ double error; // Total correspondence error
};
struct icpParams
{
- bool verbose; // prints debug messages
+ bool verbose; // prints debug messages
// Algorithm options ---------------------------------------------------
bool use_point_to_line_distance; // use PlICP (true) or use vanilla ICP (false).
-
- /** Maximum angular displacement between scans (deg)*/
- double max_angular_correction_deg;
- /** Maximum translation between scans (m) */
- double max_linear_correction;
+ double max_angular_correction_deg; // Maximum angular displacement between scans (deg)
+ double max_linear_correction; // Maximum translation between scans (m)
// Stopping criteria
int max_iterations; // maximum iterations
@@ -63,12 +61,12 @@ struct icpParams
bool debug_verify_tricks;
// Restart algorithm
- bool restart;
+ bool restart; // Enable restarting
double restart_threshold_mean_error; // Threshold for restarting
double restart_dt; // Displacement for restarting
double restart_dtheta; // Displacement for restarting
- // Discarding points or correpondences ---------------------------------------------------
+ // Discarding points or correspondences ---------------------------------------------------
/** discard rays outside of this interval */
double min_reading, max_reading;
/** Percentage of correspondences to consider: if 0.9,
--
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