Commit 2fcb1564 authored by dla.adolfsson@gmail.com's avatar dla.adolfsson@gmail.com
Browse files

uncommented

parent 4a5c49eb
......@@ -361,13 +361,13 @@ public:
ROS_INFO_STREAM("Optimize time : " << objective_type_.optimizeTime());
double delta_sensor_time_offset = 0.;
//opt.interpPairPoses(delta_sensor_time_offset); // We already moved the interpolation points while adding the clouds to the pairs, the sensortime reported will be the provided on added with the output.
opt.interpPairPoses(delta_sensor_time_offset); // We already moved the interpolation points while adding the clouds to the pairs, the sensortime reported will be the provided on added with the output.
ROS_INFO_STREAM("initial sensor pose est : " << affine3dToString(Ts) << " dt : " << sensor_offset_t_+delta_sensor_time_offset << " error : " << opt.getScore6d(Ts));
if (calib_) {
ROS_INFO_STREAM("starting calibration, using score type : " << score_type_);
opt.calibrate(Ts, delta_sensor_time_offset);
// opt.interpPairPoses(delta_sensor_time_offset);
opt.interpPairPoses(delta_sensor_time_offset);
std::cout << " new sensor pose est : " << affine3dToString(Ts) << " dt : " << sensor_offset_t_+delta_sensor_time_offset << " error : " << opt.getScore6d(Ts) << std::endl;
}
......
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