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Gui: fixed default color for scans from odom in MainWindow and constraint view in dbviewer. Recovery/reprocess: fixed triggering new map on covariance >=9999. Reg: repeatOnce not done if it has a child. Statistics: added time proximity by space visual info.

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matlabbe
2018-02-20 17:33:48 -05:00
parent 5c04ce257b
commit db1139e89e
8 changed files with 56 additions and 27 deletions
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corelib/src/Memory.cpp
+2 -1
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@@ -2375,6 +2375,7 @@ Transform Memory::computeTransform(
// make sure feature matching is used instead of optical flow to compute the guess
ParametersMap parameters = parameters_;
uInsert(parameters, ParametersPair(Parameters::kVisCorType(), "0"));
uInsert(parameters, ParametersPair(Parameters::kRegRepeatOnce(), "false"));
RegistrationVis regVis(parameters);
guess = regVis.computeTransformation(tmpFrom, tmpTo, guess, info);
if(!guess.isNull())
@@ -2475,7 +2476,7 @@ Transform Memory::computeIcpTransformMulti(
UASSERT(uContains(poses, fromId) && uContains(_signatures, fromId));
UASSERT(uContains(poses, toId) && uContains(_signatures, toId));
UDEBUG("Guess=%s", (poses.at(fromId).inverse() * poses.at(toId)).prettyPrint().c_str());
UDEBUG("%d -> %d, Guess=%s", fromId, toId, (poses.at(fromId).inverse() * poses.at(toId)).prettyPrint().c_str());
if(ULogger::level() == ULogger::kDebug)
{
std::string ids;