Compute transforms right after creation of nodes (was in publishTF before). Add methods VisualOdometer::getOrigin(), VisualOdometer::getBasis() and VisualOdometer::getRotation() and do some tyding up of unused elements.
Compute transforms right after creation of nodes (was in publishTF before). Add methods VisualOdometer::getOrigin(), VisualOdometer::getBasis() and VisualOdometer::getRotation() and do some tyding up of unused elements.

sven-hoek/sp_navigation