i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-12 14:30:19 +08:00
Code Issues Packages Projects Releases Wiki Activity

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

Browse Source
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
Download Patch File Download Diff File Expand all files Collapse all files
guilib/src/DatabaseViewer.cpp
+3 -3
View File
@@ -6506,7 +6506,7 @@ void DatabaseViewer::refineConstraint(int from, int to, bool silent)
}
SensorData assembledData;
// scans are in base frame but for 2d scans, set the height so that correspondences matching works
assembledData.setLaserScanRaw(LaserScan(
assembledData.setLaserScan(LaserScan(
assembledScan,
fromScan.maxPoints()?fromScan.maxPoints():maxPoints,
fromScan.rangeMax(),
@@ -6549,8 +6549,8 @@ void DatabaseViewer::refineConstraint(int from, int to, bool silent)
0,
ui_->parameters_toolbox->getParameters());
int maxLaserScans = cloudFrom->size();
dataFrom.setLaserScanRaw(LaserScan(util3d::laserScanFromPointCloud(*util3d::removeNaNFromPointCloud(cloudFrom), Transform()), maxLaserScans, 0, LaserScan::kXYZ));
dataTo.setLaserScanRaw(LaserScan(util3d::laserScanFromPointCloud(*util3d::removeNaNFromPointCloud(cloudTo), Transform()), maxLaserScans, 0, LaserScan::kXYZ));
dataFrom.setLaserScan(LaserScan(util3d::laserScanFromPointCloud(*util3d::removeNaNFromPointCloud(cloudFrom), Transform()), maxLaserScans, 0, LaserScan::kXYZ));
dataTo.setLaserScan(LaserScan(util3d::laserScanFromPointCloud(*util3d::removeNaNFromPointCloud(cloudTo), Transform()), maxLaserScans, 0, LaserScan::kXYZ));
if(!dataFrom.laserScanCompressed().isEmpty() || !dataTo.laserScanCompressed().isEmpty())
{