From 475d08dd96666757b9011ec4b647b7eb11eaf6f9 Mon Sep 17 00:00:00 2001 From: tizianoGuadagnino Date: Thu, 9 Jan 2025 17:51:00 +0100 Subject: [PATCH] Revert "Merge branch 'main' into tiziano/bonxai_minimal" This reverts commit da104ce5aa51cc7273c3eda4ff796c3d2d15c0bb, reversing changes made to 9b842863040d239f4480ef8333af35dcf040e559. --- cpp/kinematic_icp/pipeline/KinematicICP.hpp | 16 +++++----------- 1 file changed, 5 insertions(+), 11 deletions(-) diff --git a/cpp/kinematic_icp/pipeline/KinematicICP.hpp b/cpp/kinematic_icp/pipeline/KinematicICP.hpp index 8523ff8..fa5ff82 100644 --- a/cpp/kinematic_icp/pipeline/KinematicICP.hpp +++ b/cpp/kinematic_icp/pipeline/KinematicICP.hpp @@ -75,7 +75,9 @@ class KinematicICP { config.use_adaptive_threshold, config.fixed_threshold), config_(config), - local_map_(config.voxel_size, config.max_range, config.max_points_per_voxel) {} + local_map_(config.voxel_size, config.max_range, config.max_points_per_voxel), + preprocessor_(config.max_range, config.min_range, config.deskew, config.max_num_threads) { + } Vector3dVectorTuple RegisterFrame(const std::vector &frame, const std::vector ×tamps, @@ -98,21 +100,13 @@ class KinematicICP { protected: Sophus::SE3d last_pose_; - // Kinematic module + // Kinematic Modules KinematicRegistration registration_; CorrespondenceThreshold correspondence_threshold_; Config config_; -<<<<<<< HEAD SparseVoxelGrid local_map_; -======= -<<<<<<< HEAD - // KISS-ICP pipeline modules + // Kiss Module kiss_icp::Preprocessor preprocessor_; - kiss_icp::VoxelHashMap local_map_; -======= - SparseVoxelGrid local_map_; ->>>>>>> 01188b4 (At least replicate the functionalities of kiss map, need to test and) ->>>>>>> 7630bc5 (At least replicate the functionalities of kiss map, need to test and) }; } // namespace kinematic_icp::pipeline