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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/RegistrationIcp.cpp
+1 -2
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@@ -360,8 +360,7 @@ Transform RegistrationIcp::computeTransformationImpl(
info.icpTranslation,
info.icpRotation);
info.varianceLin = variance>0.0f?variance:0.0001; // epsilon if exact transform
info.varianceAng = variance>0.0f?variance:0.0001; // epsilon if exact transform
info.covariance = cv::Mat::eye(6,6,CV_64FC1)*(variance>0.0001?variance:0.0001); // epsilon if exact transform
info.icpInliersRatio = correspondencesRatio;
if(correspondencesRatio < _correspondenceRatio)