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Preferences: fixed map opacity limited to 0.75 min. Making sure that normalized variances are set to epsilon if result is 0.

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This commit is contained in:
matlabbe
2017-01-05 18:08:20 -05:00
parent 4b12fb3a9a
commit f20cb6ff52
6 changed files with 21 additions and 6 deletions
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guilib/src/DatabaseViewer.cpp
+4
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@@ -4199,6 +4199,8 @@ void DatabaseViewer::refineConstraint(int from, int to, bool silent, bool update
// normalize variance
info.varianceLin *= transform.getNorm();
info.varianceAng *= transform.getAngle();
info.varianceLin = info.varianceLin>0.0f?info.varianceLin:0.0001f; // epsilon if exact transform
info.varianceAng = info.varianceAng>0.0f?info.varianceAng:0.0001f; // epsilon if exact transform
}
Link newLink(currentLink.from(), currentLink.to(), currentLink.type(), transform, info.varianceAng, info.varianceLin);
@@ -4303,6 +4305,8 @@ bool DatabaseViewer::addConstraint(int from, int to, bool silent, bool updateGra
// normalize variance
info.varianceLin *= t.getNorm();
info.varianceAng *= t.getAngle();
info.varianceLin = info.varianceLin>0.0f?info.varianceLin:0.0001f; // epsilon if exact transform
info.varianceAng = info.varianceAng>0.0f?info.varianceAng:0.0001f; // epsilon if exact transform
}
newLink = Link(from, to, Link::kUserClosure, t, info.varianceAng, info.varianceLin);
}