43 int main(
int argc,
char** argv) {
46 printf(
"usage: in.graph offset out.graph\n");
53 double offset = atof(argv[2]);
54 Pose6D trans(0,0,-offset,0,0,0);
57 (*scan_it)->scan->transform(trans);
58 (*scan_it)->pose *= trans.
inv();
std::istream & readBinary(std::ifstream &s)
std::ostream & writeBinary(std::ostream &s) const
std::vector< ScanNode * >::iterator iterator
Pose6D inv() const
Inversion.
This class represents a tree-dimensional pose of an object.
int main(int argc, char **argv)