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update map to odom transform in localization #113

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Oct 17, 2019
Merged

update map to odom transform in localization #113

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12 changes: 8 additions & 4 deletions src/slam_toolbox_localization.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -133,7 +133,7 @@ LocalizedRangeScan* LocalizationSlamToolbox::addScan(

// Add the localized range scan to the smapper
boost::mutex::scoped_lock lock(smapper_mutex_);
bool processed = false;
bool processed = false, update_reprocessing_transform = false;
if (processor_type_ == PROCESS_NEAR_REGION)
{
if (!process_near_pose_)
Expand All @@ -149,14 +149,14 @@ LocalizedRangeScan* LocalizationSlamToolbox::addScan(
process_near_pose_.reset(nullptr);
processed = smapper_->getMapper()->ProcessAgainstNodesNearBy(range_scan);

// compute our new transform and reset to localization mode
setTransformFromPoses(range_scan->GetCorrectedPose(), karto_pose,
scan->header.stamp, true);
// reset to localization mode
processor_type_ = PROCESS_LOCALIZATION;
update_reprocessing_transform = true;
}
else if (processor_type_ == PROCESS_LOCALIZATION)
{
processed = smapper_->getMapper()->ProcessLocalization(range_scan);
update_reprocessing_transform = false;
}
else
{
Expand All @@ -170,6 +170,10 @@ LocalizedRangeScan* LocalizationSlamToolbox::addScan(
{
delete range_scan;
range_scan = nullptr;
} else {
// compute our new transform
setTransformFromPoses(range_scan->GetCorrectedPose(), karto_pose,
scan->header.stamp, update_reprocessing_transform);
}

return range_scan;
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