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Make WoldBase::insertPointcloudIntoMapImpl() take global points? #32

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tcies opened this issue Jul 29, 2015 · 1 comment
Open

Make WoldBase::insertPointcloudIntoMapImpl() take global points? #32

tcies opened this issue Jul 29, 2015 · 1 comment

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@tcies
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tcies commented Jul 29, 2015

In order to avoid that implementations need to repeat local-to-global transformation logic.
@helenol helenol mentioned this issue Jul 29, 2015
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helenol commented Jul 29, 2015

Yeah, but this is actually very map implementation specific. If you pass in global points, raycasting loses all physical meaning. You could achieve the same effect if your inheriting class does not do raycasting (currently, the only 2 implementations, spherical and octomap, are entirely raycasting based) by passing in identity as T_G_sensor.
I'm not sure this is well advised, given that. Is there a specific application in mind where this is required?

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