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0.18.3: added landmarks (graph optimization, localization, navigation)

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matlabbe
2018-12-07 18:29:41 -05:00
parent b771aa00e0
commit 200ec8e5db
35 changed files with 1509 additions and 709 deletions
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4
examples/WifiMapping/MapBuilder.h
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@@ -170,7 +170,7 @@ protected Q_SLOTS:
//============================
const std::map<int, Transform> & poses = stats.poses();
QMap<std::string, Transform> clouds = cloudViewer_->getAddedClouds();
for(std::map<int, Transform>::const_iterator iter = poses.begin(); iter!=poses.end(); ++iter)
for(std::map<int, Transform>::const_iterator iter = poses.lower_bound(1); iter!=poses.end(); ++iter)
{
if(!iter->second.isNull())
{
@@ -229,7 +229,7 @@ protected Q_SLOTS:
// Set graph
pcl::PointCloud<pcl::PointXYZ>::Ptr graph(new pcl::PointCloud<pcl::PointXYZ>);
pcl::PointCloud<pcl::PointXYZ>::Ptr graphNodes(new pcl::PointCloud<pcl::PointXYZ>);
for(std::map<int, Transform>::const_iterator iter=poses.begin(); iter!=poses.end(); ++iter)
for(std::map<int, Transform>::const_iterator iter=poses.lower_bound(1); iter!=poses.end(); ++iter)
{
graph->push_back(pcl::PointXYZ(iter->second.x(), iter->second.y(), iter->second.z()));
}