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0.13.0 Database: Added velocity field to Node table, renamed Map_Node_Word table to Feature, added information_matrix field to Link table (replacing rot_variance and trans_variance). Added graph::calcKittiSequenceErrors().Added "Mem/IntermediateNodeDataKept" parameter (default false). Updated all interfaces using rotVariance and transVariance values with covariance matrix instead. g2o SBA: always use covariance in links. kitti-dataset tool: added --disp option and kitti statistics are shown at the end. StatsToolBox: units can have "/".

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matlabbe
2017-05-11 15:02:18 -04:00
parent 414e3555a5
commit 104c1e6945
45 changed files with 1539 additions and 1148 deletions
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corelib/src/Odometry.cpp
+5 -4
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@@ -529,10 +529,11 @@ Transform Odometry::process(SensorData & data, const Transform & guessIn, Odomet
info->distanceTravelled = distanceTravelled_;
}
info->varianceLin *= t.getNorm();
info->varianceAng *= t.getAngle();
info->varianceLin = info->varianceLin>0.0f?info->varianceLin:0.0001f; // epsilon if exact transform
info->varianceAng = info->varianceAng>0.0f?info->varianceAng:0.0001f; // epsilon if exact transform
info->covariance *= t.getNorm();
if(info->covariance.at<double>(0,0)<=0.0)
{
info->covariance = cv::Mat::eye(6,6,CV_64FC1)*0.0001; // epsilon if exact transform
}
return _pose *= t; // update
}