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Added util3d::transformLaserScan(). OdomF2F: filling local scan map field with key frame scane in odom info. DbViewer: Print database parameters in Info view.

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matlabbe
2016-08-08 14:35:39 -04:00
parent 6ef9034a67
commit a824b24058
7 changed files with 80 additions and 3 deletions
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corelib/src/OdometryF2F.cpp
+4
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@@ -129,7 +129,11 @@ Transform OdometryF2F::computeTransform(
{
info->localMap.insert(std::make_pair(iter->first, util3d::transformPoint(iter->second, t)));
}
info->localMapSize = tmpRefFrame.getWords3().size();
info->words = newFrame.getWords();
info->localScanMapSize = tmpRefFrame.sensorData().laserScanRaw().cols;
info->localScanMap = util3d::transformLaserScan(tmpRefFrame.sensorData().laserScanRaw(), t);
}
}
else