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Normalize variance in refined/added loop closure (DbViewer)

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matlabbe
2017-01-05 17:23:55 -05:00
parent 716337b71a
commit 4b12fb3a9a
1 changed files with 13 additions and 7 deletions
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guilib/src/DatabaseViewer.cpp
+13 -7
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@@ -4194,9 +4194,12 @@ void DatabaseViewer::refineConstraint(int from, int to, bool silent, bool update
if(!transform.isNull()) if(!transform.isNull())
{ {
// normalize variance if(!transform.isIdentity())
info.varianceLin *= transform.getNorm(); {
info.varianceAng *= transform.getAngle(); // normalize variance
info.varianceLin *= transform.getNorm();
info.varianceAng *= transform.getAngle();
}
Link newLink(currentLink.from(), currentLink.to(), currentLink.type(), transform, info.varianceAng, info.varianceLin); Link newLink(currentLink.from(), currentLink.to(), currentLink.type(), transform, info.varianceAng, info.varianceLin);
bool updated = false; bool updated = false;
@@ -4293,11 +4296,14 @@ bool DatabaseViewer::addConstraint(int from, int to, bool silent, bool updateGra
updateWordsMatching(); updateWordsMatching();
} }
if(!t.isNull() && !t.isIdentity()) if(!t.isNull())
{ {
// normalize variance if(!t.isIdentity())
info.varianceLin *= t.getNorm(); {
info.varianceAng *= t.getAngle(); // normalize variance
info.varianceLin *= t.getNorm();
info.varianceAng *= t.getAngle();
}
newLink = Link(from, to, Link::kUserClosure, t, info.varianceAng, info.varianceLin); newLink = Link(from, to, Link::kUserClosure, t, info.varianceAng, info.varianceLin);
} }
else if(!silent) else if(!silent)