From cc7be4b00463cdf30d71f2e4accd72c8cacb32a7 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Joan=20Vallv=C3=A9=20Navarro?= <jvallve@iri.upc.edu>
Date: Wed, 27 Mar 2019 15:14:36 +0100
Subject: [PATCH] small code cleaning
---
src/processor/processor_tracker_landmark_apriltag.cpp | 7 ++-----
1 file changed, 2 insertions(+), 5 deletions(-)
diff --git a/src/processor/processor_tracker_landmark_apriltag.cpp b/src/processor/processor_tracker_landmark_apriltag.cpp
index 15a5f5972..270c1b109 100644
--- a/src/processor/processor_tracker_landmark_apriltag.cpp
+++ b/src/processor/processor_tracker_landmark_apriltag.cpp
@@ -203,11 +203,8 @@ 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 ?)
-// cov.bottomRightCorner(3, 3) = 1000000*Eigen::Matrix3s::Identity();
- Eigen::Matrix6s new_info = 0.001*Eigen::Matrix6s::Identity();
- new_info.topLeftCorner(3, 3) = info.topLeftCorner(3, 3);
- info = new_info;
+ // Put a very high covariance on angles measurements (low info matrix)
+ info.bottomRightCorner(3,3) = 0.001 * Eigen::Matrix3s::Identity();
}
// FOR TEST ONLY
--
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