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increased version to 0.8.4: Database Link's "variance" field split into "rot_variance" and "trans_variance". Added Parameter LccIcp/HighTransitionalVariance

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This commit is contained in:
Mathieu Labbe
2015-02-24 16:06:02 -05:00
parent f514cfa5fe
commit eb96fe1249
24 changed files with 317 additions and 267 deletions
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9
corelib/src/DBReader.cpp
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@@ -193,7 +193,8 @@ SensorData DBReader::getNextData()
int mapId;
float fx,fy,cx,cy;
Transform localTransform, pose;
float variance = 1.0f;
float rotVariance = 1.0f;
float transVariance = 1.0f;
_dbDriver->getNodeData(*_currentId, imageBytes, depthBytes, laserScanBytes, fx, fy, cx, cy, localTransform);
if(!_odometryIgnored)
{
@@ -203,7 +204,8 @@ SensorData DBReader::getNextData()
if(links.size())
{
// assume the first is the backward neighbor, take its variance
variance = links.begin()->second.variance();
rotVariance = links.begin()->second.rotVariance();
transVariance = links.begin()->second.transVariance();
}
}
int seq = *_currentId;
@@ -229,7 +231,8 @@ SensorData DBReader::getNextData()
fx,fy,cx,cy,
localTransform,
pose,
variance,
rotVariance,
transVariance,
seq);
UDEBUG("Laser=%d RGB/Left=%d Depth=%d Right=%d",
data.laserScan().empty()?0:1,