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Fix 6DoF graph angular check (#1511)

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* Fix 6DoF graph angular check

* Updated getAngle to use better version
This commit is contained in:
matlabbe
2025-05-24 13:25:26 -07:00
committed by GitHub
parent a02621ef30
commit 478e909742
10 changed files with 36 additions and 36 deletions
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tools/Report/main.cpp
+2 -3
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@@ -1255,9 +1255,8 @@ int main(int argc, char * argv[])
t.r11(), t.r12(), t.r13(), t.x()*bestScale,
t.r21(), t.r22(), t.r23(), t.y()*bestScale,
t.r31(), t.r32(), t.r33(), t.z()*bestScale);
Transform diff = gtLink.inverse()*scaledLink;
sumDist += diff.getNorm();
sumAngle += diff.getAngle();
sumDist += gtLink.getDistance(scaledLink);
sumAngle += gtLink.getAngle(scaledLink);
++count;
}
}
tools/Reprocess/main.cpp
+1 -1
View File
@@ -1289,7 +1289,7 @@ int main(int argc, char * argv[])
!info.odomPose.isNull())
{
float distance = odomPose.getDistance(info.odomPose);
float angle = (odomPose.inverse()*info.odomPose).getAngle();
float angle = odomPose.getAngle(info.odomPose);
odomDistances.push_back(distance);
if(distance < linearUpdate && angle <= angularUpdate)
{