| 234 | |
| 235 | |
| 236 | void SCManager::saveScancontextAndKeys( Eigen::MatrixXd _scd ) |
| 237 | { |
| 238 | Eigen::MatrixXd ringkey = makeRingkeyFromScancontext( _scd ); |
| 239 | Eigen::MatrixXd sectorkey = makeSectorkeyFromScancontext( _scd ); |
| 240 | std::vector<float> polarcontext_invkey_vec = eig2stdvec( ringkey ); |
| 241 | |
| 242 | polarcontexts_.push_back( _scd ); |
| 243 | polarcontext_invkeys_.push_back( ringkey ); |
| 244 | polarcontext_vkeys_.push_back( sectorkey ); |
| 245 | polarcontext_invkeys_mat_.push_back( polarcontext_invkey_vec ); |
| 246 | } // SCManager::makeAndSaveScancontextAndKeys |
| 247 | |
| 248 | |
| 249 | void SCManager::makeAndSaveScancontextAndKeys( pcl::PointCloud<SCPointType> & _scan_down ) |
nothing calls this directly
no test coverage detected