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dbviewer: fixed variance*100 for proximity by space links (multi-scan).

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This commit is contained in:
matlabbe
2018-02-21 10:08:48 -05:00
parent e8f7746c87
commit 489ab86ac7
1 changed files with 6 additions and 3 deletions
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9
guilib/src/DatabaseViewer.cpp
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@@ -2791,7 +2791,7 @@ void DatabaseViewer::refineAllLoopClosureLinks()
{
rtabmap::ProgressDialog * progressDialog = new rtabmap::ProgressDialog(this);
progressDialog->setAttribute(Qt::WA_DeleteOnClose);
progressDialog->setMaximumSteps(neighborLinks_.size());
progressDialog->setMaximumSteps(loopLinks_.size());
progressDialog->setCancelButtonVisible(true);
progressDialog->setMinimumWidth(800);
progressDialog->show();
@@ -5441,6 +5441,11 @@ void DatabaseViewer::refineConstraint(int from, int to, bool silent)
RegistrationIcp registrationIcp(parameters);
transform = registrationIcp.computeTransformation(dataFrom, assembledData, currentLink.transform(), &info);
if(!transform.isNull())
{
// local scan matching proximity detection should have higher variance (see Rtabmap::process())
info.covariance*=100.0;
}
}
else
{
@@ -5507,8 +5512,6 @@ void DatabaseViewer::refineConstraint(int from, int to, bool silent)
{
if(!transform.isIdentity())
{
// normalize variance
info.covariance *= transform.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