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0.11.2: First Google Tango release

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matlabbe
2016-02-15 19:35:24 -05:00
parent 8dc01c491b
commit c6a46a7238
415 changed files with 73300 additions and 3193 deletions
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3
corelib/src/OdometryMono.cpp
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@@ -100,7 +100,6 @@ OdometryMono::OdometryMono(const rtabmap::ParametersMap & parameters) :
customParameters.insert(ParametersPair(Parameters::kKpRoiRatios(), roi));
customParameters.insert(ParametersPair(Parameters::kMemRehearsalSimilarity(), "1.0")); // desactivate rehearsal
customParameters.insert(ParametersPair(Parameters::kMemBinDataKept(), "false"));
customParameters.insert(ParametersPair(Parameters::kMemImageKept(), "true"));
customParameters.insert(ParametersPair(Parameters::kMemSTMSize(), "0"));
customParameters.insert(ParametersPair(Parameters::kMemNotLinkedNodesKept(), "false"));
customParameters.insert(ParametersPair(Parameters::kKpTfIdfLikelihoodUsed(), "false"));
@@ -872,7 +871,7 @@ Transform OdometryMono::computeTransform(const SensorData & data, OdometryInfo *
else if(inliersRef.size())
{
// find centroid of the cloud and set it to 1 meter
Eigen::Vector4f centroid;
Eigen::Vector4f centroid(0,0,0,0);
pcl::PointCloud<pcl::PointXYZ> inliersRefCloud;
inliersRefCloud.resize(inliersRef.size());
for(unsigned int i=0; i<inliersRef.size(); ++i)