Reg: normalize covariance angle /10

2026-09-03 01:50:24 +08:00 · 2017-05-22 21:11:36 -04:00
parent 385b7e3389
commit e361abcecd
3 changed files with 38 additions and 46 deletions
--- a/corelib/include/rtabmap/core/Registration.h
+++ b/corelib/include/rtabmap/core/Registration.h
@@ -85,6 +85,8 @@ public:
 			Transform guess = Transform::getIdentity(),
 			RegistrationInfo * info = 0) const;

+	void normalizeCovariance(cv::Mat & covariance, const Transform & transform) const;
+
 protected:
 	// take ownership of child
 	Registration(const ParametersMap & parameters = ParametersMap(), Registration * child = 0);