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Parameters: Added "Reg/VarianceNormalized". Registration: Transforms are now only normalized in Registration. Added rgbd_dataset tool. MainWindow: odom inliers-only shown option. ExportCloudsDialog: ignoring intermediate nodes for texturing (if they don't have data). DatabaseViewer: "optimized" checkbox enabled in Constraints view for non-neighbor links too.

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matlabbe
2017-05-22 11:48:01 -04:00
parent 58e6424bf7
commit 385b7e3389
20 changed files with 758 additions and 155 deletions
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corelib/src/Odometry.cpp
-6
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@@ -529,12 +529,6 @@ Transform Odometry::process(SensorData & data, const Transform & guessIn, Odomet
info->distanceTravelled = distanceTravelled_;
}
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
}
else if(_resetCurrentCount > 0)