i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-10-04 09:07:47 +08:00
Code Issues Packages Projects Releases Wiki Activity

Added ORB+FastGrid implementation (only with OpenCV2). Updated default parameters: Odom/GuessFromMotion=false, Vis/CorNNType=1. RegistrationVis: octave aware on features matching with motion

Browse Source
This commit is contained in:
matlabbe
2016-03-08 12:31:32 -05:00
parent e0b25aac8f
commit 62c8be40b9
13 changed files with 1179 additions and 133 deletions
Download Patch File Download Diff File Expand all files Collapse all files
corelib/src/Odometry.cpp
+1 -1
View File
@@ -196,7 +196,7 @@ Transform Odometry::process(SensorData & data, OdometryInfo * info)
}
double dt = previousStamp_>0.0f?data.stamp() - previousStamp_:0.0;
Transform guess = dt?Transform::getIdentity():Transform();
Transform guess = dt && guessFromMotion_?Transform::getIdentity():Transform();
UASSERT(dt>0.0 || (dt == 0.0 && previousVelocityTransform_.isNull()));
if(!previousVelocityTransform_.isNull())
{