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Added LccBow/VarianceFromInliersCount parameter (linked with Odom/VarianceFromInliersCount in standalone gui)

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matlabbe
2015-10-02 10:40:18 -04:00
parent ee76a02117
commit fbf967066a
13 changed files with 117 additions and 78 deletions
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corelib/src/OdometryThread.cpp
+2 -13
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@@ -34,10 +34,9 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
namespace rtabmap {
OdometryThread::OdometryThread(Odometry * odometry, unsigned int dataBufferMaxSize, bool varianceFromInliersCount) :
OdometryThread::OdometryThread(Odometry * odometry, unsigned int dataBufferMaxSize) :
_odometry(odometry),
_dataBufferMaxSize(dataBufferMaxSize),
_varianceFromInliersCount(varianceFromInliersCount),
_resetOdometry(false)
{
UASSERT(_odometry != 0);
@@ -99,17 +98,7 @@ void OdometryThread::mainLoop()
OdometryInfo info;
Transform pose = _odometry->process(data, &info);
// a null pose notify that odometry could not be computed
double variance;
if(_varianceFromInliersCount)
{
variance = info.inliers > 0?1.0/double(info.inliers):1.0;
}
else
{
variance = info.variance>0?info.variance:1.0;
}
double variance = info.variance>0?info.variance:1;
this->post(new OdometryEvent(data, pose, variance, variance, info));
}
}