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New 2d scan type: CV_32FC5 (x,y,normal_x,normal_y,normal_z)

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matlabbe
2017-08-28 16:40:08 -04:00
parent 52a4e8964f
commit 423b47a5ff
12 changed files with 292 additions and 206 deletions
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corelib/src/Rtabmap.cpp
+1 -1
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@@ -1116,7 +1116,7 @@ bool Rtabmap::process(
else
{
UINFO("Odometry refining rejected: %s", info.rejectedMsg.c_str());
if(info.covariance.at<double>(0,0) > 0.0 && info.covariance.at<double>(5,5) > 0.0)
if(!info.covariance.empty() && info.covariance.at<double>(0,0) > 0.0 && info.covariance.at<double>(0,0) != 1.0 && info.covariance.at<double>(5,5) > 0.0 && info.covariance.at<double>(5,5) != 1.0)
{
_memory->updateLink(Link(oldId, signature->id(), signature->getLinks().begin()->second.type(), guess, (info.covariance*100.0).inv()));
}