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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 "/".

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matlabbe
2017-05-11 15:02:18 -04:00
parent 414e3555a5
commit 104c1e6945
45 changed files with 1539 additions and 1148 deletions
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corelib/src/OdometryThread.cpp
+1 -3
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@@ -102,10 +102,8 @@ void OdometryThread::mainLoop()
OdometryInfo info;
Transform pose = _odometry->process(data, &info);
// a null pose notify that odometry could not be computed
double varianceLin = info.varianceLin>0?info.varianceLin:1;
double varianceAng = info.varianceAng>0?info.varianceAng:1;
UDEBUG("Odom pose = %s", pose.prettyPrint().c_str());
this->post(new OdometryEvent(data, pose, varianceAng, varianceLin, info));
this->post(new OdometryEvent(data, pose, info));
}
}