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Commit 967da9b6 authored by Joan Vallvé Navarro's avatar Joan Vallvé Navarro
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working on demo apriltag

parent cc7be4b0
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1 merge request!233WIP: Apriltag
Pipeline #2700 passed
......@@ -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
......
......@@ -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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