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Creating a new map when variance >= 9999 is detected

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This commit is contained in:
matlabbe
2016-02-18 11:17:42 -05:00
parent b09429c5d8
commit c1c62b0738
6 changed files with 17 additions and 5 deletions
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5
corelib/src/OdometryMono.cpp
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@@ -981,6 +981,11 @@ Transform OdometryMono::computeTransform(const SensorData & data, OdometryInfo *
{
//return Identity
output = Transform::getIdentity();
if(info)
{
// a very high variance tells that the new pose is not linked with the previous one
info->variance = 9999;
}
// generate kpts
if(memory_->update(SensorData(newFrame)))