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Gepetto
aicp_mapping
Commits
014bccb8
Commit
014bccb8
authored
Mar 17, 2020
by
Guilhem Saurel
Browse files
create() provides an std::shared_ptr instead of a ptr.
parent
ad70c109
Changes
2
Hide whitespace changes
Inline
Side-by-side
aicp_core/src/registration/pointmatcher_registration.cpp
View file @
014bccb8
...
...
@@ -72,7 +72,7 @@ namespace aicp{
{
PM
::
TransformationParameters
init_transform
=
parseTransformationDeg
(
params_
.
pointmatcher
.
initialTransform
,
3
);
PM
::
Transformation
*
rigid_transform
=
PM
::
get
().
REG
(
Transformation
).
create
(
"RigidTransformation"
);
auto
rigid_transform
=
PM
::
get
().
REG
(
Transformation
).
create
(
"RigidTransformation"
);
if
(
!
rigid_transform
->
checkParameters
(
init_transform
))
{
cerr
<<
endl
...
...
aicp_core/src/utils/icpMonitor.cpp
View file @
014bccb8
...
...
@@ -26,7 +26,7 @@ float hausdorffDistance(DP &ref, DP &out, const char *filename)
params
[
"knn"
]
=
toParam
(
1
);
// for Hausdorff distance, we only need the first closest point
params
[
"epsilon"
]
=
toParam
(
0
);
PM
::
Matcher
*
matcherHausdorff
=
PM
::
get
().
MatcherRegistrar
.
create
(
"KDTreeMatcher"
,
params
);
auto
matcherHausdorff
=
PM
::
get
().
MatcherRegistrar
.
create
(
"KDTreeMatcher"
,
params
);
float
quantile
=
0.60
;
...
...
@@ -102,7 +102,7 @@ PM::Matrix distancesKNN(DP &A, DP &B, const char *filename)
params
[
"knn"
]
=
toParam
(
1
);
// for Hausdorff distance, we only need the first closest point
params
[
"epsilon"
]
=
toParam
(
0
);
PM
::
Matcher
*
matcher
=
PM
::
get
().
MatcherRegistrar
.
create
(
"KDTreeMatcher"
,
params
);
auto
matcher
=
PM
::
get
().
MatcherRegistrar
.
create
(
"KDTreeMatcher"
,
params
);
// from reading to reference
matcher
->
init
(
A
);
...
...
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