| 17 | } |
| 18 | |
| 19 | CloudT sloam::getPrevGroundFeatures() |
| 20 | { |
| 21 | CloudT pc; |
| 22 | for (const auto &ground : prevGPlanes_) |
| 23 | { |
| 24 | for (const auto &pt : ground.features) |
| 25 | pc.points.push_back(pt); |
| 26 | } |
| 27 | |
| 28 | pc.height = 1; |
| 29 | pc.width = pc.points.size(); |
| 30 | return pc; |
| 31 | } |
| 32 | |
| 33 | bool sloam::TwoStepOptimizePose(const SE3& poseEstimate, const bool optimTrees, const bool optimGround, |
| 34 | const std::vector<ObjectMatch<Cylinder>> &allTMatch, |
nothing calls this directly
no outgoing calls
no test coverage detected