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rtabmap:

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-Fixed map id not incremented on Odometry reset (identity transform was missed)
-Keeping maximum odometry variance between two loop closure updates
Odometry:
-removed parameters Odom/FeaturesRatio, Odom/LinearUpdate, Odom/AngularUpdate
-added parameter Odom/FillInfoData
-expended OdometryInfo class with features stuff
Gui:
-show inliers/outliers features in Odometry view
This commit is contained in:
Mathieu Labbe
2014-12-18 16:54:46 -05:00
parent 744e2fb3c7
commit 86a6fe202c
17 changed files with 325 additions and 382 deletions
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2
corelib/src/util3d.cpp
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@@ -1504,7 +1504,7 @@ Transform transformFromXYZCorrespondences(
if(varianceOut)
{
*varianceOut = 1.0f;
*varianceOut = 1.0;
}
Transform transform;
if(cloud1->size() >=3 && cloud1->size() == cloud2->size())