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Commit c2fcca8f authored by Joaquim Casals Buñuel's avatar Joaquim Casals Buñuel
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Adapt closeloop_icp to new factory keys

parent c27429f0
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2 merge requests!30Release after RAL,!29After 2nd RAL submission
......@@ -159,13 +159,13 @@ std::map<Scalar, CapturesAligned> ProcessorCloseLoopICP::evaluateCandidates(Fram
for(const auto& capture_own : _keyframe_own->getCaptureList())
{
WOLF_INFO("CAPTURE TYPE OWN", capture_own->getType());
if(capture_own->getType() == "LASER 2D")
if(capture_own->getType() == "CaptureLaser2D")
{
CaptureLaser2DPtr capture_laser_own = std::static_pointer_cast<wolf::CaptureLaser2D>(capture_own);
WOLF_INFO("CANDIDATES SIZE ", _keyframe_candidates.size());
for (const auto &_keyframe_other : _keyframe_candidates)
for (const auto &capture_other : _keyframe_other->getCaptureList()) {
if (capture_other->getType() == "LASER 2D") {
if (capture_other->getType() == "CaptureLaser2D") {
CaptureLaser2DPtr capture_laser_other = std::static_pointer_cast<wolf::CaptureLaser2D>(capture_other);
// Initial guess for alignment
......@@ -237,4 +237,4 @@ FactorBasePtr ProcessorCloseLoopICP::emplaceFeatureAndFactor(CapturesAligned &_c
namespace wolf {
WOLF_REGISTER_PROCESSOR("ProcessorCloseloopIcp", ProcessorCloseLoopICP)
WOLF_REGISTER_PROCESSOR_AUTO("ProcessorCloseloopIcp", ProcessorCloseLoopICP)
} /* namespace wolf */
\ No newline at end of file
} /* namespace wolf */
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