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Fixed Tango odometry variance

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matlabbe
2017-02-07 15:57:52 -05:00
parent 5e9c4fde95
commit 1c555f321b
4 changed files with 12 additions and 8 deletions
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app/android/jni/CameraTango.cpp
+2 -2
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@@ -685,8 +685,8 @@ void CameraTango::mainLoop()
stampEpochOffset_ = UTimer::now()-data.stamp();
}
data.setStamp(stampEpochOffset_ + data.stamp());
LOGI("Publish odometry message (variance=%f)", firstFrame_?9999:0.0001);
this->post(new OdometryEvent(data, pose, firstFrame_?9999:0.0001, firstFrame_?9999:0.0001));
LOGI("Publish odometry message (variance=%f)", firstFrame_?9999:0.000001);
this->post(new OdometryEvent(data, pose, firstFrame_?9999:0.000001, firstFrame_?9999:0.000001));
firstFrame_ = false;
}
else if(!this->isKilled())