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0.19.2: Refactored SensorData interface. DBReader: Fixed GPS not published. #345: both g2o and gtsam working with GPS. g2o: added gravity edges.

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matlabbe
2019-04-09 20:05:24 -04:00
parent e7b3a7735d
commit 77ae8e108a
24 changed files with 878 additions and 480 deletions
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corelib/src/RegistrationIcp.cpp
+8 -8
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@@ -794,7 +794,7 @@ Transform RegistrationIcp::computeTransformationImpl(
// update output scans
if(fromScan.is2d())
{
fromSignature.sensorData().setLaserScanRaw(
fromSignature.sensorData().setLaserScan(
LaserScan(
util3d::laserScan2dFromPointCloud(*fromCloudNormals, fromScan.localTransform().inverse()),
maxLaserScansFrom,
@@ -804,7 +804,7 @@ Transform RegistrationIcp::computeTransformationImpl(
}
else
{
fromSignature.sensorData().setLaserScanRaw(
fromSignature.sensorData().setLaserScan(
LaserScan(
util3d::laserScanFromPointCloud(*fromCloudNormals, fromScan.localTransform().inverse()),
maxLaserScansFrom,
@@ -814,7 +814,7 @@ Transform RegistrationIcp::computeTransformationImpl(
}
if(toScan.is2d())
{
toSignature.sensorData().setLaserScanRaw(
toSignature.sensorData().setLaserScan(
LaserScan(
util3d::laserScan2dFromPointCloud(*toCloudNormals, (guess*toScan.localTransform()).inverse()),
maxLaserScansTo,
@@ -824,7 +824,7 @@ Transform RegistrationIcp::computeTransformationImpl(
}
else
{
toSignature.sensorData().setLaserScanRaw(
toSignature.sensorData().setLaserScan(
LaserScan(
util3d::laserScanFromPointCloud(*toCloudNormals, (guess*toScan.localTransform()).inverse()),
maxLaserScansTo,
@@ -913,7 +913,7 @@ Transform RegistrationIcp::computeTransformationImpl(
// update output scans
if(fromScan.is2d())
{
fromSignature.sensorData().setLaserScanRaw(
fromSignature.sensorData().setLaserScan(
LaserScan(
util3d::laserScan2dFromPointCloud(*fromCloudFiltered, fromScan.localTransform().inverse()),
maxLaserScansFrom,
@@ -923,7 +923,7 @@ Transform RegistrationIcp::computeTransformationImpl(
}
else
{
fromSignature.sensorData().setLaserScanRaw(
fromSignature.sensorData().setLaserScan(
LaserScan(
util3d::laserScanFromPointCloud(*fromCloudFiltered, fromScan.localTransform().inverse()),
maxLaserScansFrom,
@@ -933,7 +933,7 @@ Transform RegistrationIcp::computeTransformationImpl(
}
if(toScan.is2d())
{
toSignature.sensorData().setLaserScanRaw(
toSignature.sensorData().setLaserScan(
LaserScan(
util3d::laserScan2dFromPointCloud(*toCloudFiltered, (guess*toScan.localTransform()).inverse()),
maxLaserScansTo,
@@ -943,7 +943,7 @@ Transform RegistrationIcp::computeTransformationImpl(
}
else
{
toSignature.sensorData().setLaserScanRaw(
toSignature.sensorData().setLaserScan(
LaserScan(
util3d::laserScanFromPointCloud(*toCloudFiltered, (guess*toScan.localTransform()).inverse()),
maxLaserScansTo,