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CameraRealSense2: fixed wrong IR image index. DBReader: fixed imu not published. OdometryF2M: use IMU roll/pitch values when IMU is used (reducing variance on those angles before BA).

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matlabbe
2019-09-13 21:45:13 -04:00
parent bdc8d839ff
commit 350d3cd85f
13 changed files with 182 additions and 99 deletions
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4
corelib/include/rtabmap/core/Link.h
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@@ -69,8 +69,8 @@ public:
const Transform & transform() const {return transform_;}
Type type() const {return type_;}
const cv::Mat & infMatrix() const {return infMatrix_;}
double rotVariance() const;
double transVariance() const;
double rotVariance(bool minimum = true) const;
double transVariance(bool minimum = true) const;
void setFrom(int from) {from_ = from;}
void setTo(int to) {to_ = to;}

2
corelib/include/rtabmap/core/Signature.h
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@@ -86,7 +86,7 @@ public:
void changeLinkIds(int idFrom, int idTo);
void removeLinks();
void removeLinks(bool keepSelfReferringLinks = false);
void removeLink(int idTo);
void removeVirtualLinks();