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  • Committer: Vikas Dhiman
  • Date: 2012-04-23 16:56:16 UTC
  • Revision ID: wecacuee@gmail.com-20120423165616-o30a5qisur1fx4ef
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mrol_mapping/mapper.py
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import time
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debug = True
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FEATURES = dict(FREESPACE=True)
 
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FREESPACE = 'freespace'
 
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FEATURES = {FREESPACE:True}
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_map_resolution_levels = 4 # number of different levels of resolution
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            xyzs: The occupied PointCloud, with the sensor as origin.
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            pose: The pose of `xyzs` PointCloud with respect to global map.
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        '''
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        self.mrol.clear_freespace(self, xyzs, pose)
 
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        xyzs = xyzs.points
 
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        xyzs, return_pose = poseutil.transformPoints(xyzs, pose)
 
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        sensor_loc = poseutil.transformPoints(np.array([[0, 0, 0]]), pose)
 
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        self.mrol.clear_freespace(self, xyzs, sensor_loc[0])
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    def add_points(self, xyzs, pose, timestamp=None, userdata=None):
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        '''Adds the pointcloud xyzs to the map, transforming them by the given