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0.15.2: Fixed Transform's not orthogonal rotation matrix causing problems with GTSAM (normalize rotation each time transforms are multiplied, and for backward compatibility automatically normalize rotation of all transforms loaded from old databases prior to 0.15.2). Added Vis/CorGuessMatchToProjection, Icp/PMMatcherKnn and Icp/PMMatcherEpsilon parameters. CameraRGB: fixed max scans number when filtering. Link: transfering maximum covariance when merging. OptimizerGTSAM: updated how covariance are copied based on GTSAM official example. util3d::loadBINCloud(): fixed dim parameter not used. DatabaseViewer: Added option in graph view to ignore intermediate nodes when optimizing the graph.

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matlabbe
2017-12-09 21:44:53 -05:00
parent dafaac412f
commit 775b80eff5
25 changed files with 560 additions and 133 deletions
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3
corelib/src/Link.cpp
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@@ -117,7 +117,8 @@ Link Link::merge(const Link & link, Type outputType) const
link.to(),
outputType,
transform_.isNull()?Transform():transform_ * link.transform(), // FIXME, should be inf1^-1(inf1*t1 + inf2*t2)
transform_.isNull()?cv::Mat::eye(6,6,CV_64FC1):(infMatrix_.inv() + link.infMatrix().inv()).inv());
transform_.isNull()?cv::Mat::eye(6,6,CV_64FC1):(infMatrix_.at<double>(0,0)<link.infMatrix().at<double>(0,0)?infMatrix_:link.infMatrix()));
//transform_.isNull()?cv::Mat::eye(6,6,CV_64FC1):(infMatrix_.inv() + link.infMatrix().inv()).inv());
}
Link Link::inverse() const