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OdomF2M: added support to laser scan

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matlabbe
2016-03-06 15:11:09 -05:00
parent eefd557ab4
commit 7a1cf84b08
22 changed files with 696 additions and 226 deletions
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corelib/src/util3d_mapping.cpp
+1 -1
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@@ -401,7 +401,7 @@ cv::Mat create2DMap(const std::map<int, Transform> & poses,
float minMapSize,
float scanMaxRange)
{
UDEBUG("poses=%d, scans = %d", poses.size(), scans.size());
UDEBUG("poses=%d, scans = %d scanMaxRange=%f", poses.size(), scans.size(), scanMaxRange);
std::map<int, pcl::PointCloud<pcl::PointXYZ>::Ptr > localScans;
// For computation issue, the maximum scan range allowed is 6 meters