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Tango: fixed MaxOptimizeError value that now is a factor. Docker: updated tango download links

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matlabbe
2018-03-18 18:47:13 -04:00
parent 548f0b6130
commit dd59d3c713
5 changed files with 46 additions and 27 deletions
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app/android/jni/CameraTango.cpp
+2 -2
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@@ -950,8 +950,8 @@ void CameraTango::mainLoop()
info.interval = data.stamp()-previousStamp_;
info.transform = previousPose_.inverse() * pose;
}
info.reg.covariance = cv::Mat::eye(6,6,CV_64FC1) * (firstFrame?9999.0:0.000001);
LOGI("Publish odometry message (variance=%f)", firstFrame?9999:0.000001);
info.reg.covariance = cv::Mat::eye(6,6,CV_64FC1) * (firstFrame?9999.0:0.0001);
LOGI("Publish odometry message (variance=%f)", firstFrame?9999:0.0001);
this->post(new OdometryEvent(data, pose, info));
previousPose_ = pose;
previousStamp_ = data.stamp();