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Viewing changes to mrol_mapping/mapper.py

  • Committer: Julian Ryde
  • Date: 2012-03-04 17:10:07 UTC
  • mto: (16.1.12 trunk) (29.1.2 trunk)
  • mto: This revision was merged to the branch mainline in revision 25.
  • Revision ID: julian_ryde-20120304171007-hfbttvxk2nhmqoad
Changed some functions to take pose objects rather than pose tuples.  Tidied up cost_min so it considers quantised pose steps.

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mrol_mapping/mapper.py
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        xyzs = xyzs.points[:,:3]
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        bestpose, cost = self.mrol.optimise_alignment(xyzs, guess_pose, full_data=full_data)
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        bestpose = poseutil.Pose3D(bestpose)
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        return bestpose, cost
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    #def align_points_to_map(self, xyzs, guess_pose):