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New parameters: max accepted ICP translation error, new map on large odometry error

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1126 f169173b-cf89-36c8-b27e-44dbe73f0c83
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matlabbe
2014-02-19 19:00:38 +00:00
parent 5dbf6678ce
commit b44e01a3bb
8 changed files with 140 additions and 13 deletions
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corelib/src/Transform.cpp
+17
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@@ -143,6 +143,23 @@ void Transform::getTranslationAndEulerAngles(float & x, float & y, float & z, fl
pcl::getTranslationAndEulerAngles(util3d::transformToEigen3f(*this), x, y, z, roll, pitch, yaw);
}
void Transform::getTranslation(float & x, float & y, float & z) const
{
x = this->x();
y = this->y();
z = this->z();
}
float Transform::getNorm() const
{
return std::sqrt(this->getNorm());
}
float Transform::getNormSquared() const
{
return this->x()*this->x() + this->y()*this->y() + this->z()*this->z();
}
std::string Transform::prettyPrint() const
{
float x,y,z,roll,pitch,yaw;