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When external guess is provided, don't report lost for the first ever frame (only on reset). Updated Odom/ResetCountdown description. (#1588)

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matlabbe
2025-10-01 10:27:24 -07:00
committed by GitHub
parent 05f077b950
commit 11577fb553
3 changed files with 7 additions and 6 deletions
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corelib/include/rtabmap/core/Parameters.h
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@@ -457,7 +457,7 @@ class RTABMAP_CORE_EXPORT Parameters
// Odometry
RTABMAP_PARAM(Odom, Strategy, int, 0, "0=Frame-to-Map (F2M) 1=Frame-to-Frame (F2F) 2=Fovis 3=viso2 4=DVO-SLAM 5=ORB_SLAM2 6=OKVIS 7=LOAM 8=MSCKF_VIO 9=VINS-Fusion 10=OpenVINS 11=FLOAM 12=Open3D");
RTABMAP_PARAM(Odom, ResetCountdown, int, 0, "Automatically reset odometry after X consecutive images on which odometry cannot be computed (value=0 disables auto-reset).");
RTABMAP_PARAM(Odom, ResetCountdown, int, 0, "Automatically reset odometry after X consecutive images where odometry cannot be computed (a value of 0 disables auto-reset). When a reset occurs, odometry resumes from the last successfully computed pose with large covariance to trigger a new map. If external odometry is used, it will also be reset based on the motion estimated relative to the last computed pose but no large covariance will be received, so that a new map won't be triggered.");
RTABMAP_PARAM(Odom, Holonomic, bool, true, "If the robot is holonomic (strafing commands can be issued). If not, y value will be estimated from x and yaw values (y=x*tan(yaw)).");
RTABMAP_PARAM(Odom, FillInfoData, bool, true, "Fill info with data (inliers/outliers features).");
RTABMAP_PARAM(Odom, ImageBufferSize, unsigned int, 1, "Data buffer size (0 min inf).");