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Removed parameter "LccIcp/HighTransitionalVariance" (Identity covariance is set directly on pose correction and local loop closure detection in space)

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Covariance of virtual links added on the path is set to Identity. For those added to keep the path linked to current map, their covariance is set to 100.
DatabaseViewer: set fixed colors on constraints view
This commit is contained in:
Mathieu Labbe
2015-02-25 17:06:52 -05:00
parent eb96fe1249
commit 1d39db2bcc
11 changed files with 174 additions and 109 deletions
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corelib/src/util3d.cpp
+11
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@@ -589,6 +589,9 @@ pcl::PointCloud<pcl::PointXYZ>::Ptr cloudFromDepth(
int decimation)
{
UASSERT(!imageDepth.empty() && (imageDepth.type() == CV_16UC1 || imageDepth.type() == CV_32FC1));
UASSERT(imageDepth.rows % decimation == 0);
UASSERT(imageDepth.cols % decimation == 0);
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);
if(decimation < 1)
{
@@ -630,6 +633,9 @@ pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloudFromDepthRGB(
{
UASSERT(imageRgb.rows == imageDepth.rows && imageRgb.cols == imageDepth.cols);
UASSERT(!imageDepth.empty() && (imageDepth.type() == CV_16UC1 || imageDepth.type() == CV_32FC1));
UASSERT(imageDepth.rows % decimation == 0);
UASSERT(imageDepth.cols % decimation == 0);
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZRGB>);
if(decimation < 1)
{
@@ -691,6 +697,9 @@ pcl::PointCloud<pcl::PointXYZ>::Ptr cloudFromDisparity(
int decimation)
{
UASSERT(imageDisparity.type() == CV_32FC1 || imageDisparity.type()==CV_16SC1);
UASSERT(imageDisparity.rows % decimation == 0);
UASSERT(imageDisparity.cols % decimation == 0);
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);
if(decimation < 1)
{
@@ -738,6 +747,8 @@ pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloudFromDisparityRGB(
UASSERT(imageRgb.rows == imageDisparity.rows &&
imageRgb.cols == imageDisparity.cols &&
(imageDisparity.type() == CV_32FC1 || imageDisparity.type()==CV_16SC1));
UASSERT(imageDisparity.rows % decimation == 0);
UASSERT(imageDisparity.cols % decimation == 0);
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZRGB>);
if(decimation < 1)
{