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| author | Martin Miller | 2018-01-28 11:45:53 -0500 |
|---|---|---|
| committer | Martin Miller | 2018-01-28 11:45:53 -0500 |
| commit | 0663fb75c6bc42ccd093bed66820e92541ed419c (patch) | |
| tree | 10eef681bdb46d213fad69d55b0c89553151ef61 /src/feature.cpp | |
| parent | 72faa54ddcd07972f250a53098b0ecfbd08363df (diff) | |
| download | refslam-0663fb75c6bc42ccd093bed66820e92541ed419c.zip refslam-0663fb75c6bc42ccd093bed66820e92541ed419c.tar.gz | |
Add define for FEATUREMAP
This will print the feature information in the unicsv so that the mapper
Makefile can create a feature map.
Diffstat (limited to 'src/feature.cpp')
| -rw-r--r-- | src/feature.cpp | 11 |
1 files changed, 10 insertions, 1 deletions
diff --git a/src/feature.cpp b/src/feature.cpp index 4db6a29..94183ab 100644 --- a/src/feature.cpp +++ b/src/feature.cpp @@ -993,7 +993,7 @@ Feature::P0 ( measurement_type t ) *-------------------------------------------------------------------------------------- */ UTM -Feature::utm ( Vector3d &xbw, Quaterniond &q ) +Feature::utm ( const Vector3d &xbw, const Quaterniond &q ) { UTM utm; Vector3d xib,xiw; @@ -1159,3 +1159,12 @@ Feature::since ( int N ) const return (lastseen<N) ; } /* ----- end of method Feature::since ----- */ +void +Feature::unicsv(const double time, const Vector3d &xbw, const Quaterniond &qbw) +{ + UTM feature_utm = utm(xbw,qbw); + printf("%d,%f,%d,%c,%f,%f,%f,0,0,0,0,0,0,0\n", id(),time,feature_utm.zone_i, + feature_utm.zone_c, feature_utm.northing, feature_utm.easting, + feature_utm.up); +} + |