void Link::setVariance(double rotVariance, double transVariance) {
UASSERT(uIsFinite(rotVariance) && rotVariance>0);
UASSERT(uIsFinite(transVariance) && transVariance>0);
infMatrix_ = cv::Mat::eye(6,6,CV_64FC1);
infMatrix_.at<double>(0,0) = 1.0/transVariance;
infMatrix_.at<double>(1,1) = 1.0/transVariance;
infMatrix_.at<double>(2,2) = 1.0/transVariance;
infMatrix_.at<double>(3,3) = 1.0/rotVariance;
infMatrix_.at<double>(4,4) = 1.0/rotVariance;
infMatrix_.at<double>(5,5) = 1.0/rotVariance;
}
// Metric constructor + 2d depth
SensorData::SensorData(const cv::Mat & laserScan,
int laserScanMaxPts,
const cv::Mat & image,
const cv::Mat & depthOrRightImage,
float fx,
float fyOrBaseline,
float cx,
float cy,
const Transform & localTransform,
const Transform & pose,
float poseRotVariance,
float poseTransVariance,
int id,
double stamp,
const std::vector<unsigned char> & userData) :
_image(image),
_id(id),
_stamp(stamp),
_depthOrRightImage(depthOrRightImage),
_laserScan(laserScan),
_fx(fx),
_fyOrBaseline(fyOrBaseline),
_cx(cx),
_cy(cy),
_pose(pose),
_localTransform(localTransform),
_poseRotVariance(poseRotVariance),
_poseTransVariance(poseTransVariance),
_laserScanMaxPts(laserScanMaxPts),
_userData(userData)
{
UASSERT(_laserScan.empty() || _laserScan.type() == CV_32FC2);
UASSERT(image.empty() ||
image.type() == CV_8UC1 || // Mono
image.type() == CV_8UC3); // RGB
UASSERT(depthOrRightImage.empty() ||
depthOrRightImage.type() == CV_32FC1 || // Depth in meter
depthOrRightImage.type() == CV_16UC1 || // Depth in millimetre
depthOrRightImage.type() == CV_8U); // Right stereo image
UASSERT(!_localTransform.isNull());
UASSERT_MSG(uIsFinite(_poseRotVariance) && _poseRotVariance>0 && uIsFinite(_poseTransVariance) && _poseTransVariance>0, "Rotational and transitional variances should not be null! (set to 1 if unknown)");
}
void Link::setInfMatrix(const cv::Mat & infMatrix) {
UASSERT(infMatrix.cols == 6 && infMatrix.rows == 6 && infMatrix.type() == CV_64FC1);
UASSERT_MSG(uIsFinite(infMatrix.at<double>(0,0)) && infMatrix.at<double>(0,0)>0, "Transitional information should not be null! (set to 1 if unknown)");
UASSERT_MSG(uIsFinite(infMatrix.at<double>(1,1)) && infMatrix.at<double>(1,1)>0, "Transitional information should not be null! (set to 1 if unknown)");
UASSERT_MSG(uIsFinite(infMatrix.at<double>(2,2)) && infMatrix.at<double>(2,2)>0, "Transitional information should not be null! (set to 1 if unknown)");
UASSERT_MSG(uIsFinite(infMatrix.at<double>(3,3)) && infMatrix.at<double>(3,3)>0, "Rotational information should not be null! (set to 1 if unknown)");
UASSERT_MSG(uIsFinite(infMatrix.at<double>(4,4)) && infMatrix.at<double>(4,4)>0, "Rotational information should not be null! (set to 1 if unknown)");
UASSERT_MSG(uIsFinite(infMatrix.at<double>(5,5)) && infMatrix.at<double>(5,5)>0, "Rotational information should not be null! (set to 1 if unknown)");
infMatrix_ = infMatrix;
}
