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Added RGBD/LinearSpeedUpdate and RGBD/AngularSpeedUpdate parameters

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matlabbe
2017-09-28 13:34:55 -04:00
parent 44d1877892
commit 1220eab47a
13 changed files with 277 additions and 130 deletions
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corelib/src/DBReader.cpp
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@@ -456,6 +456,7 @@ SensorData DBReader::getNextData(CameraInfo * info)
{
info->odomPose = pose;
info->odomCovariance = infMatrix.inv();
info->odomVelocity = velocity;
UDEBUG("odom variance = %f/%f", info->odomCovariance.at<double>(0,0), info->odomCovariance.at<double>(5,5));
}
}