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Added ground_truth_frame_id to rtabmap node (to save ground truth in nodes)

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matlabbe
2016-01-12 16:07:15 -05:00
parent dc81f2446d
commit 352010cd2d
3 changed files with 48 additions and 17 deletions
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src/MapAssemblerNode.cpp
+1 -1
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@@ -89,7 +89,7 @@ public:
Signature tmpS = nodes_.at(poses.rbegin()->first);
SensorData tmpData = tmpS.sensorData();
tmpData.setId(-1);
uInsert(nodes_, std::make_pair(-1, Signature(-1, -1, 0, tmpS.getStamp(), "", tmpS.getPose(), tmpS.getGroundTruthPose(), tmpData)));
uInsert(nodes_, std::make_pair(-1, Signature(-1, -1, 0, tmpS.getStamp(), "", tmpS.getPose(), Transform(), tmpData)));
poses.insert(std::make_pair(-1, poses.rbegin()->second));
}