From 967da9b69ea64dcbc0c6383cab2526831738ea0f Mon Sep 17 00:00:00 2001
From: iri <jvallve@iri.upc.edu>
Date: Fri, 29 Mar 2019 15:07:26 +0100
Subject: [PATCH] working on demo apriltag
---
CMakeLists.txt | 2 +-
src/processor/processor_tracker_landmark_apriltag.cpp | 8 +++++---
2 files changed, 6 insertions(+), 4 deletions(-)
diff --git a/CMakeLists.txt b/CMakeLists.txt
index b0caa2dcd..e0927077e 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -48,7 +48,7 @@ SET(CMAKE_CXX_FLAGS_RELEASE "-O3 -D_REENTRANT")
if(UNIX)
# GCC is not strict enough by default, so enable most of the warnings.
set(CMAKE_CXX_FLAGS
- "${CMAKE_CXX_FLAGS} -Werror=all -Werror=extra -Wno-unknown-pragmas -Wno-sign-compare -Wno-unused-parameter -Wno-missing-field-initializers")
+ "${CMAKE_CXX_FLAGS} -Werror=all -Werror=extra -Wno-unknown-pragmas -Wno-sign-compare -Wno-unused-parameter -Wno-missing-field-initializers -Wno-unused-but-set-variable")
endif(UNIX)
#Set compiler according C++11 support
diff --git a/src/processor/processor_tracker_landmark_apriltag.cpp b/src/processor/processor_tracker_landmark_apriltag.cpp
index 270c1b109..27f6be722 100644
--- a/src/processor/processor_tracker_landmark_apriltag.cpp
+++ b/src/processor/processor_tracker_landmark_apriltag.cpp
@@ -161,7 +161,7 @@ void ProcessorTrackerLandmarkApriltag::preProcess()
ippePoseEstimation(det, cv_K_, tag_width, M_ippe1, rep_error1, M_ippe2, rep_error2);
// If not so sure about whether we have the right solution or not, do not create a feature
use_rotation = ((rep_error2 / rep_error1 > ippe_min_ratio_) && rep_error1 < ippe_max_rep_error_);
-// std::cout << " Tag id: " << tag_id << " ippe_ratio: " << rep_error2 / rep_error1 << " rep error " << rep_error1 << std::endl;
+ //std::cout << " Tag id: " << tag_id << " ippe_ratio: " << rep_error2 / rep_error1 << " rep error " << rep_error1 << std::endl;
//////////////////
//////////////////
@@ -204,7 +204,9 @@ void ProcessorTrackerLandmarkApriltag::preProcess()
if (!use_rotation){
// WOLF_INFO("Ambiguity on estimated rotation is likely");
// Put a very high covariance on angles measurements (low info matrix)
- info.bottomRightCorner(3,3) = 0.001 * Eigen::Matrix3s::Identity();
+ info.bottomLeftCorner(3,3) = Eigen::Matrix3s::Zero();
+ info.topRightCorner(3,3) = Eigen::Matrix3s::Zero();
+ info.bottomRightCorner(3,3) = 0.0001 * Eigen::Matrix3s::Identity();
}
// FOR TEST ONLY
@@ -711,7 +713,7 @@ void ProcessorTrackerLandmarkApriltag::resetDerived()
FrameBasePtr ori_frame = getOrigin()->getFrame();
Eigen::Vector1s dist_meas; dist_meas << 0.0;
- double dist_std = 0.2;
+ double dist_std = 0.5;
Eigen::Matrix1s cov0(dist_std*dist_std);
CaptureBasePtr capt3D = std::make_shared<CaptureBase>("Dist", getLast()->getTimeStamp());
--
GitLab