Freeskylover

I have a problem about the relpose.

3

double InformationMatrixCalculator::calc_fitness_score(const pcl::PointCloud::ConstPtr& cloud1, const pcl::PointCloud::ConstPtr& cloud2, const Eigen::Isometry3d& relpose, double max_range) { pcl::search::KdTree::Ptr tree_(new pcl::search::KdTree()); tree_->setInputCloud(cloud1); double fitness_score = 0.0; // Transform the input dataset using the final transformation...