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0.18.3: added apriltags2 support (input topic: tag_detections)

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matlabbe
2018-12-07 18:31:59 -05:00
parent 1559d9ba8e
commit 9ad434e27b
14 changed files with 379 additions and 169 deletions
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src/MapAssemblerNode.cpp
+3 -3
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@@ -197,9 +197,9 @@ 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(), Transform(), tmpData)));
poses.insert(std::make_pair(-1, poses.rbegin()->second));
tmpData.setId(0);
uInsert(nodes_, std::make_pair(0, Signature(0, -1, 0, tmpS.getStamp(), "", tmpS.getPose(), Transform(), tmpData)));
poses.insert(std::make_pair(0, poses.rbegin()->second));
}
// Update maps