i/rtabmap_ros
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap_ros.git synced 2026-10-05 17:27:46 +08:00
Code Issues Packages Projects Releases Wiki Activity

0.13.0 Database: Added velocity field to Node table, renamed Map_Node_Word table to Feature, added information_matrix field to Link table (replacing rot_variance and trans_variance). Added graph::calcKittiSequenceErrors().Added "Mem/IntermediateNodeDataKept" parameter (default false). Updated all interfaces using rotVariance and transVariance values with covariance matrix instead. g2o SBA: always use covariance in links. kitti-dataset tool: added --disp option and kitti statistics are shown at the end. StatsToolBox: units can have "/".

Browse Source
This commit is contained in:
matlabbe
2017-05-11 15:02:18 -04:00
parent 414e3555a5
commit 104c1e6945
45 changed files with 1539 additions and 1148 deletions
Download Patch File Download Diff File Expand all files Collapse all files
corelib/src/OdometryF2F.cpp
+2 -4
View File
@@ -168,8 +168,7 @@ Transform OdometryF2F::computeTransform(
//return Identity
output = Transform::getIdentity();
// a very high variance tells that the new pose is not linked with the previous one
regInfo.varianceLin = 9999;
regInfo.varianceAng = 9999;
regInfo.covariance = cv::Mat::eye(6,6,CV_64FC1)*9999.0;
}
if(!output.isNull())
@@ -245,8 +244,7 @@ Transform OdometryF2F::computeTransform(
if(info)
{
info->type = 1;
info->varianceLin = regInfo.varianceLin;
info->varianceAng = regInfo.varianceAng;
info->covariance = regInfo.covariance;
info->inliers = regInfo.inliers;
info->icpInliersRatio = regInfo.icpInliersRatio;
info->matches = regInfo.matches;