i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-03 01:50:24 +08:00
Code Issues Packages Projects Releases Wiki Activity

RGBD/LocalBundleOnLoopClosure: disabled on neighbor refining and fixed Reg/Force3DoF ignored

Browse Source
This commit is contained in:
matlabbe
2019-02-17 21:57:52 -05:00
parent dd5e09be37
commit 08f3e6c08e
1 changed files with 8 additions and 1 deletions
Download Patch File Download Diff File Expand all files Collapse all files

9
corelib/src/Memory.cpp
View File

@@ -2745,6 +2745,8 @@ Transform Memory::computeTransform(
tmpTo.setWordsDescriptors(std::multimap<int, cv::Mat>()); tmpTo.setWordsDescriptors(std::multimap<int, cv::Mat>());
} }
bool isNeighborRefining = fromS.getLinks().find(toS.id()) != fromS.getLinks().end() && fromS.getLinks().find(toS.id())->second.type() == Link::kNeighbor;
if(guess.isNull() && !_registrationPipeline->isImageRequired()) if(guess.isNull() && !_registrationPipeline->isImageRequired())
{ {
UDEBUG(""); UDEBUG("");
@@ -2760,7 +2762,8 @@ Transform Memory::computeTransform(
transform = _registrationPipeline->computeTransformationMod(tmpFrom, tmpTo, guess, info); transform = _registrationPipeline->computeTransformationMod(tmpFrom, tmpTo, guess, info);
} }
} }
else if(_localBundleOnLoopClosure && else if(!isNeighborRefining &&
_localBundleOnLoopClosure &&
_registrationPipeline->isImageRequired() && _registrationPipeline->isImageRequired() &&
!_registrationPipeline->isScanRequired() && !_registrationPipeline->isScanRequired() &&
!_registrationPipeline->isUserDataRequired() && !_registrationPipeline->isUserDataRequired() &&
@@ -2928,6 +2931,10 @@ Transform Memory::computeTransform(
else else
{ {
transform = bundlePoses.rbegin()->second; transform = bundlePoses.rbegin()->second;
if(_registrationPipeline->force3DoF())
{
transform = transform.to3DoF();
}
} }
} }
UDEBUG("Local Bundle Adjustment After : %s", transform.prettyPrint().c_str()); UDEBUG("Local Bundle Adjustment After : %s", transform.prettyPrint().c_str());