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Added SensorData's globalPose and globalPoseCovariance field. Link: added new type PosePrior. g2o: adding edge prior for self-refering edges. Memory: adding self-refering link when SensorData's globalPose is set.

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This commit is contained in:
matlabbe
2017-05-22 21:05:34 -04:00
parent 2e906f9b8a
commit e8af8f7792
14 changed files with 320 additions and 240 deletions
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2
guilib/src/DatabaseViewer.cpp
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@@ -4879,7 +4879,7 @@ bool DatabaseViewer::addConstraint(int from, int to, bool silent)
for(std::multimap<int, Link>::iterator iter=links.begin(); iter!=links.end(); ++iter)
{
// ignore links with high variance
if(iter->second.transVariance() <= 1.0)
if(iter->second.transVariance() <= 1.0 && iter->second.from() != iter->second.to())
{
UASSERT(poses.find(iter->second.from())!=poses.end());
UASSERT(poses.find(iter->second.to())!=poses.end());

2
guilib/src/MainWindow.cpp
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@@ -5137,7 +5137,7 @@ void MainWindow::postProcessing()
for(std::multimap<int, Link>::iterator iter=links.begin(); iter!=links.end(); ++iter)
{
// ignore links with high variance
if(iter->second.transVariance() <= 1.0)
if(iter->second.transVariance() <= 1.0 && iter->second.from() != iter->second.to())
{
UASSERT(poses.find(iter->second.from())!=poses.end());
UASSERT(poses.find(iter->second.to())!=poses.end());