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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/Registration.cpp
+6 -6
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@@ -197,16 +197,16 @@ Transform Registration::computeTransformationMod(
{
if(info.icpInliersRatio)
{
info.varianceLin = info.icpInliersRatio > 0?1.0/double(info.icpInliersRatio):1.0;
info.varianceAng = info.icpInliersRatio > 0?1.0/double(info.icpInliersRatio):1.0;
info.covariance = cv::Mat::eye(6,6,CV_64FC1)*(info.icpInliersRatio > 0?1.0/double(info.icpInliersRatio):1.0);
}
else
{
info.varianceLin = info.inliers > 0?1.0f/float(info.inliers):1.0f;
info.varianceAng = info.inliers > 0?1.0f/float(info.inliers):1.0f;
info.covariance = cv::Mat::eye(6,6,CV_64FC1)*(info.inliers > 0?1.0/double(info.inliers):1.0);
}
if(info.covariance.at<double>(0,0)<0.0001)
{
info.covariance =cv::Mat::eye(6,6,CV_64FC1)*0.0001; // epsilon if exact transform
}
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
}
if(child_)