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increased version to 0.8.4: Database Link's "variance" field split into "rot_variance" and "trans_variance". Added Parameter LccIcp/HighTransitionalVariance

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This commit is contained in:
Mathieu Labbe
2015-02-24 16:06:02 -05:00
parent f514cfa5fe
commit eb96fe1249
24 changed files with 317 additions and 267 deletions
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corelib/src/SensorData.cpp
+12 -6
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@@ -43,7 +43,8 @@ SensorData::SensorData() :
_cx(0.0f),
_cy(0.0f),
_localTransform(Transform::getIdentity()),
_poseVariance(1.0f)
_poseRotVariance(1.0f),
_poseTransVariance(1.0f)
{
}
@@ -56,7 +57,8 @@ SensorData::SensorData(const cv::Mat & image,
_cx(0.0f),
_cy(0.0f),
_localTransform(Transform::getIdentity()),
_poseVariance(1.0f)
_poseRotVariance(1.0f),
_poseTransVariance(1.0f)
{
UASSERT(image.type() == CV_8UC1 || // Mono
image.type() == CV_8UC3); // RGB
@@ -71,7 +73,8 @@ SensorData::SensorData(const cv::Mat & image,
float cy,
const Transform & localTransform,
const Transform & pose,
float poseVariance,
float poseRotVariance,
float poseTransVariance,
int id) :
_image(image),
_id(id),
@@ -82,7 +85,8 @@ SensorData::SensorData(const cv::Mat & image,
_cy(cy),
_pose(pose),
_localTransform(localTransform),
_poseVariance(poseVariance)
_poseRotVariance(poseRotVariance),
_poseTransVariance(poseTransVariance)
{
UASSERT(image.type() == CV_8UC1 || // Mono
image.type() == CV_8UC3); // RGB
@@ -103,7 +107,8 @@ SensorData::SensorData(const cv::Mat & laserScan,
float cy,
const Transform & localTransform,
const Transform & pose,
float poseVariance,
float poseRotVariance,
float poseTransVariance,
int id) :
_image(image),
_id(id),
@@ -115,7 +120,8 @@ SensorData::SensorData(const cv::Mat & laserScan,
_cy(cy),
_pose(pose),
_localTransform(localTransform),
_poseVariance(poseVariance)
_poseRotVariance(poseRotVariance),
_poseTransVariance(poseTransVariance)
{
UASSERT(_laserScan.empty() || _laserScan.type() == CV_32FC2);
UASSERT(image.type() == CV_8UC1 || // Mono