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databaseViewer: Fixed link's covariance modified when pose correction was disabled. Link: setVariance() and setInfMatrix are now private, to force re-cloning the link if we want to change these info.

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matlabbe
2016-07-24 13:23:22 -04:00
parent 1a1cf5f672
commit dbb29c7661
4 changed files with 30 additions and 43 deletions
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8
corelib/include/rtabmap/core/Link.h
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@@ -76,11 +76,7 @@ public:
void setTo(int to) {to_ = to;}
void setTransform(const Transform & transform) {transform_ = transform;}
void setType(Type type) {type_ = type;}
void setInfMatrix(const cv::Mat & infMatrix);
void setVariance(double rotVariance, double transVariance);
void setUserDataRaw(const cv::Mat & userDataRaw); // only set raw
void setUserData(const cv::Mat & userData); // detect automatically if raw or compressed. If raw, the data is compressed too.
const cv::Mat & userDataRaw() const {return _userDataRaw;}
const cv::Mat & userDataCompressed() const {return _userDataCompressed;}
void uncompressUserData();
@@ -89,6 +85,10 @@ public:
Link merge(const Link & link, Type outputType) const;
Link inverse() const;
private:
void setInfMatrix(const cv::Mat & infMatrix);
void setVariance(double rotVariance, double transVariance);
private:
int from_;
int to_;