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Gepetto
aicp_mapping
Commits
6bfda69c
Commit
6bfda69c
authored
Apr 24, 2019
by
Maurice Fallon
Browse files
publish all the poses
parent
777d0a17
Changes
1
Hide whitespace changes
Inline
Side-by-side
aicp_core/src/registration/app.cpp
View file @
6bfda69c
...
...
@@ -401,7 +401,7 @@ void App::operator()() {
Eigen
::
Isometry3d
relative_motion
=
vis_
->
getPath
().
back
().
inverse
()
*
aligned_clouds_graph_
->
getLastCloud
()
->
getCorrectedPose
();
double
dist
=
relative_motion
.
translation
().
norm
();
if
(
dist
>
1.0
)
if
(
1
==
1
)
//
dist > 1.0)
{
vis_
->
publishPoses
(
aligned_clouds_graph_
->
getLastCloud
()
->
getCorrectedPose
(),
0
,
""
,
cloud
->
getUtime
());
...
...
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