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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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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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4
guilib/src/MainWindow.cpp
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@@ -3193,7 +3193,7 @@ void MainWindow::postProcessing()
UINFO("Added new loop closure between %d and %d.", from, to);
addedLinks.insert(from);
addedLinks.insert(to);
_currentLinksMap.insert(std::make_pair(from, Link(from, to, Link::kUserClosure, transform, variance)));
_currentLinksMap.insert(std::make_pair(from, Link(from, to, Link::kUserClosure, transform, variance, variance)));
++loopClosuresAdded;
_initProgressDialog->appendText(tr("Detected loop closure %1->%2! (%3/%4)").arg(from).arg(to).arg(i+1).arg(clusters.size()));
}
@@ -3349,7 +3349,7 @@ void MainWindow::postProcessing()
if(!transform.isNull() && hasConverged &&
correspondencesRatio >= correspondenceRatio)
{
Link newLink(from, to, iter->second.type(), transform*iter->second.transform(), variance);
Link newLink(from, to, iter->second.type(), transform*iter->second.transform(), variance, variance);
iter->second = newLink;
}
else