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Parameters: Added "Reg/VarianceNormalized". Registration: Transforms are now only normalized in Registration. Added rgbd_dataset tool. MainWindow: odom inliers-only shown option. ExportCloudsDialog: ignoring intermediate nodes for texturing (if they don't have data). DatabaseViewer: "optimized" checkbox enabled in Constraints view for non-neighbor links too.

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matlabbe
2017-05-22 11:48:01 -04:00
parent 58e6424bf7
commit 385b7e3389
20 changed files with 758 additions and 155 deletions
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corelib/src/Memory.cpp
-19
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@@ -2269,15 +2269,6 @@ Transform Memory::computeTransform(
info->rejectedMsg = msg;
}
}
else if(info && !transform.isIdentity())
{
//normalize variance
info->covariance *= transform.getNorm();
if(info->covariance.at<double>(0,0) < 0.0001)
{
info->covariance = cv::Mat::eye(6,6,CV_64FC1)*0.0001; // epsilon if exact transform
}
}
}
}
return transform;
@@ -2325,16 +2316,6 @@ Transform Memory::computeIcpTransform(
// compute transform fromId -> toId
std::vector<int> inliersV;
t = _registrationIcp->computeTransformation(fromS->sensorData(), toS->sensorData(), guess, info);
if(!t.isNull() && !t.isIdentity() && info)
{
// normalize variance
info->covariance *= t.getNorm();
if(info->covariance.at<double>(0,0)<=0.0)
{
info->covariance = cv::Mat::eye(6,6,CV_64FC1)*0.0001; // epsilon if exact transform
}
}
}
else
{