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UNFINISHED: get rid of pointers

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This commit is contained in:
Bence Magyar
2014-09-02 18:03:51 +02:00
parent 3f620fd19f
commit a8a4524ddb
9 changed files with 73 additions and 89 deletions
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8
modules/surface_matching/samples/ppf_load_match.cpp
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@@ -104,7 +104,7 @@ int main(int argc, char** argv)
// Match the model to the scene and get the pose
cout << endl << "Starting matching..." << endl;
vector < Pose3D* > results;
vector<Pose3DPtr> results;
tick1 = cv::getTickCount();
detector.match(pcTest, results, 1.0/40.0, 0.05);
tick2 = cv::getTickCount();
@@ -113,9 +113,7 @@ int main(int argc, char** argv)
// Get only first N results
int N = 2;
vector<Pose3D*>::const_iterator first = results.begin();
vector<Pose3D*>::const_iterator last = results.begin() + N;
vector<Pose3D*> resultsSub(first, last);
vector<Pose3DPtr> resultsSub(results.begin(),results.begin()+N);
// Create an instance of ICP
ICP icp(100, 0.005f, 2.5f, 8);
@@ -133,7 +131,7 @@ int main(int argc, char** argv)
// debug first five poses
for (size_t i=0; i<resultsSub.size(); i++)
{
Pose3D* result = resultsSub[i];
Pose3DPtr result = resultsSub[i];
cout << "Pose Result " << i << endl;
result->printPose();
if (i==0)