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mobile_robotics
wolf_projects
wolf_lib
wolf
Commits
967da9b6
Commit
967da9b6
authored
6 years ago
by
Joan Vallvé Navarro
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working on demo apriltag
parent
cc7be4b0
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1 merge request
!233
WIP: Apriltag
Pipeline
#2700
passed
6 years ago
Stage: build
Changes
2
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1
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2 changed files
CMakeLists.txt
+1
-1
1 addition, 1 deletion
CMakeLists.txt
src/processor/processor_tracker_landmark_apriltag.cpp
+5
-3
5 additions, 3 deletions
src/processor/processor_tracker_landmark_apriltag.cpp
with
6 additions
and
4 deletions
CMakeLists.txt
+
1
−
1
View file @
967da9b6
...
...
@@ -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
...
...
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src/processor/processor_tracker_landmark_apriltag.cpp
+
5
−
3
View file @
967da9b6
...
...
@@ -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
());
...
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