| 436 | } |
| 437 | |
| 438 | void sloam::projectModels(const SE3 &tf, std::vector<Cylinder> &landmarks, std::vector<Plane> &planes) |
| 439 | { |
| 440 | |
| 441 | // projecting objects from current observations |
| 442 | for (auto &p : planes) |
| 443 | { |
| 444 | p.project(tf); |
| 445 | } |
| 446 | |
| 447 | for (auto &l : landmarks) |
| 448 | { |
| 449 | l.project(tf); |
| 450 | } |
| 451 | } |
| 452 | |
| 453 | bool sloam::RunSloam(SloamInput &in, SloamOutput &out) |
| 454 | { |