i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-10 21:40:19 +08:00
Code Issues Packages Projects Releases Wiki Activity

Added parameter "RGBD/OptimizeRobust" (default true) to use Vertigo robust graph optimization (only for g2o and GTSAM optimization strategies). Added GTSAM support.

Browse Source
This commit is contained in:
matlabbe
2015-09-02 17:51:43 -04:00
parent a2b9c9f9a0
commit 7a721105ae
40 changed files with 2125 additions and 158 deletions
Download Patch File Download Diff File Expand all files Collapse all files
corelib/src/Transform.cpp
+6
View File
@@ -66,6 +66,12 @@ Transform::Transform(float x, float y, float z, float roll, float pitch, float y
*this = fromEigen3f(t);
}
Transform::Transform(float x, float y, float theta)
{
Eigen::Affine3f t = pcl::getTransformation (x, y, 0, 0, 0, theta);
*this = fromEigen3f(t);
}
bool Transform::isNull() const
{
return (data()[0] == 0.0f &&