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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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This commit is contained in:
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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8
corelib/src/odometry/OdometryF2M.cpp
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@@ -957,7 +957,7 @@ Transform OdometryF2M::computeTransform(
if(mapScan.is2d())
{
map_->sensorData().setLaserScanRaw(
map_->sensorData().setLaserScan(
LaserScan(
mapScan.data(),
0,
@@ -967,7 +967,7 @@ Transform OdometryF2M::computeTransform(
}
else
{
map_->sensorData().setLaserScanRaw(
map_->sensorData().setLaserScan(
LaserScan(
mapScan.data(),
0,
@@ -1137,7 +1137,7 @@ Transform OdometryF2M::computeTransform(
if(lastFrame_->sensorData().laserScanRaw().is2d())
{
Transform mapViewpoint(-newFramePose.x(), -newFramePose.y(),0,0,0,0);
map_->sensorData().setLaserScanRaw(
map_->sensorData().setLaserScan(
LaserScan(
util3d::laserScan2dFromPointCloud(*mapCloudNormals, mapViewpoint),
0,
@@ -1148,7 +1148,7 @@ Transform OdometryF2M::computeTransform(
else
{
Transform mapViewpoint(-newFramePose.x(), -newFramePose.y(), -newFramePose.z(),0,0,0);
map_->sensorData().setLaserScanRaw(
map_->sensorData().setLaserScan(
LaserScan(
util3d::laserScanFromPointCloud(*mapCloudNormals, mapViewpoint),
0,