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Added SensorData's globalPose and globalPoseCovariance field. Link: added new type PosePrior. g2o: adding edge prior for self-refering edges. Memory: adding self-refering link when SensorData's globalPose is set.

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matlabbe
2017-05-22 21:05:34 -04:00
parent 2e906f9b8a
commit e8af8f7792
14 changed files with 320 additions and 240 deletions
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CMakeLists.txt
-4
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@@ -142,7 +142,6 @@ option(WITH_FREENECT2 "Include Freenect2 support" ON)
option(WITH_OPENNI2 "Include OpenNI2 support" ON)
option(WITH_DC1394 "Include dc1394 support" ON)
option(WITH_G2O "Include g2o support" ON)
option(WITH_G2O_UNARY "Include g2o unary support" ON)
option(WITH_GTSAM "Include GTSAM support" ON)
option(WITH_TORO "Include TORO support" ON)
option(WITH_VERTIGO "Include Vertigo support" ON)
@@ -403,9 +402,6 @@ IF(NOT G2O_FOUND)
ELSE()
SET(CONF_DEPENDENCIES ${CONF_DEPENDENCIES} ${G2O_LIBRARIES})
ENDIF()
IF(NOT WITH_G2O_UNARY)
SET(G2O_UNARY "//")
ENDIF()
IF(NOT GTSAM_FOUND)
SET(GTSAM "//")
ELSE()