Resolve "icp: develop matching tools"
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2- Pep Martí Saumell authored
See comments in the code and in the csm library
+ 34
− 5
@@ -18,7 +18,7 @@ public:
@@ -18,7 +18,7 @@ public:
@@ -53,7 +53,8 @@ ICP::~ICP()
@@ -53,7 +53,8 @@ ICP::~ICP()
icp_output ICP::matchPC(LaserScan &_last_ls, LaserScan &_origin_ls, LaserScanParams& params, Eigen::Vector3s &_last_transf)
@@ -73,15 +74,43 @@ icp_output ICP::matchPC(LaserScan &_last_ls, LaserScan &_origin_ls, LaserScanPar
@@ -73,15 +74,43 @@ icp_output ICP::matchPC(LaserScan &_last_ls, LaserScan &_origin_ls, LaserScanPar
// std::cout << "My solution " << csm_output.x[0] << "," << csm_output.x[1] << "," << csm_output.x[2] << std::endl;