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localize_for_ppk
Commit b3c867eb authored by wangdawei's avatar wangdawei
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test

parent 95dcbfc3
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libs/localize/voxel_map/fast_voxel_matcher.cc
View file @ b3c867eb
......@@ -39,7 +39,8 @@ struct Candidate {
bool operator>(const Candidate& other) const { return score > other.score; }
Rigid3f GetPose(float resolution) const {
LOG(INFO) << "scan->pose.translation(): " << scan->pose.translation().transpose();
LOG(INFO) << "scan->pose.translation(): " << scan->pose.translation().transpose()
<< " +offset: " << (scan->pose.translation() + resolution * offset.matrix().cast<float>()).transpose();
return Rigid3f(scan->pose.translation() + resolution * offset.matrix().cast<float>(),
scan->pose.rotation());
}
......
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