i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-02 01:20:25 +08:00
Code Issues Packages Projects Releases Wiki Activity

Fixed localization bug when virtual links are added

Browse Source
This commit is contained in:
matlabbe
2016-05-26 17:28:06 -04:00
parent 0fa41d317a
commit be13a9b967
3 changed files with 45 additions and 5 deletions
Download Patch File Download Diff File Expand all files Collapse all files

7
corelib/include/rtabmap/core/Graph.h
View File

@@ -79,6 +79,13 @@ std::multimap<int, int>::const_iterator RTABMAP_EXP findLink(
int to,
bool checkBothWays = true);
std::multimap<int, Link> RTABMAP_EXP filterLinks(
const std::multimap<int, Link> & links,
Link::Type filteredType);
std::map<int, Link> RTABMAP_EXP filterLinks(
const std::map<int, Link> & links,
Link::Type filteredType);
//Note: This assumes a coordinate system where X is forward, * Y is up, and Z is right.
std::map<int, Transform> RTABMAP_EXP frustumPosesFiltering(
const std::map<int, Transform> & poses,