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OodmetryF2M: Added getter to last frame

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matlabbe
2016-02-23 11:46:07 -05:00
parent 9e446aab7a
commit 061211b1b6
3 changed files with 27 additions and 26 deletions
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4
corelib/include/rtabmap/core/OdometryF2M.h
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@@ -42,7 +42,8 @@ public:
virtual ~OdometryF2M();
virtual void reset(const Transform & initialPose = Transform::getIdentity());
const std::multimap<int, cv::Point3f> & getLocalMap() const;
const Signature & getMap() const {return *map_;}
const Signature & getLastFrame() const {return *lastFrame_;}
private:
virtual Transform computeTransform(SensorData & data, OdometryInfo * info = 0);
@@ -54,6 +55,7 @@ private:
RegistrationVis * regVis_;
Signature * map_;
Signature * lastFrame_;
};
}