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Added groundTruthPose field to NodeData msg

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matlabbe
2016-01-12 12:39:23 -05:00
parent e877c543ac
commit 8dacddb110
4 changed files with 10 additions and 3 deletions
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src/CoreWrapper.cpp
+1 -1
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@@ -1269,7 +1269,7 @@ void CoreWrapper::process(
std::map<int, rtabmap::Signature> tmpSignature;
SensorData tmpData = data;
tmpData.setId(-1);
tmpSignature.insert(std::make_pair(-1, Signature(-1, -1, 0, data.stamp(), "", odom, tmpData)));
tmpSignature.insert(std::make_pair(-1, Signature(-1, -1, 0, data.stamp(), "", odom, Transform(), tmpData)));
filteredPoses.insert(std::make_pair(-1, rtabmap_.getMapCorrection()*odom));
// Update maps