i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-02 09:30:25 +08:00
Code Issues Packages Projects Releases Wiki Activity

DBViewer: refactored how poses are aligned with GPS to be able to make KMZ files (OBJ/DAE origin matching with first KML pose)

Browse Source
This commit is contained in:
matlabbe
2025-02-02 15:09:59 -08:00
parent fcfadfe489
commit ddaf2f5271
3 changed files with 189 additions and 163 deletions
Download Patch File Download Diff File Expand all files Collapse all files

7
corelib/src/Graph.cpp
View File

@@ -783,7 +783,8 @@ Transform calcRMSE (
float & rotational_median,
float & rotational_std,
float & rotational_min,
float & rotational_max)
float & rotational_max,
bool align2D)
{
translational_rmse = 0.0f;
@@ -815,8 +816,8 @@ Transform calcRMSE (
{
idFirst = iter->first;
}
cloud1[oi] = pcl::PointXYZ(jter->second.x(), jter->second.y(), jter->second.z());
cloud2[oi++] = pcl::PointXYZ(iter->second.x(), iter->second.y(), iter->second.z());
cloud1[oi] = pcl::PointXYZ(jter->second.x(), jter->second.y(), align2D?0:jter->second.z());
cloud2[oi++] = pcl::PointXYZ(iter->second.x(), iter->second.y(), align2D?0:iter->second.z());
}
}