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RegistrationIcp: Fixed invalid variance set when structural complexity is low and input doesn't have normals. DBViewer: added check on angular error after optimizing the graph when adding a new constraint. Memory: added warning if odom angular variance detected is very high.

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matlabbe
2018-09-28 22:02:07 -04:00
parent dbb9cfa77a
commit 8b055752aa
4 changed files with 90 additions and 25 deletions
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corelib/src/Rtabmap.cpp
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@@ -1203,6 +1203,7 @@ bool Rtabmap::process(
UINFO("Odometry refining rejected: %s", info.rejectedMsg.c_str());
if(!info.covariance.empty() && info.covariance.at<double>(0,0) > 0.0 && info.covariance.at<double>(0,0) != 1.0 && info.covariance.at<double>(5,5) > 0.0 && info.covariance.at<double>(5,5) != 1.0)
{
std::cout << info.covariance << std::endl;
_memory->updateLink(Link(oldId, signature->id(), signature->getLinks().begin()->second.type(), guess, (info.covariance*100.0).inv()));
}
}