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GUI: Added Multi-Session Localization view. CameraModel: set localTransform to optical rotation in default constructor (fixed matrix invertion errors with code ignoring setting local transform), save/read local transform in/from camera calibration yaml file (so that local transform is also exported when extracting rgb/depth images). Rtabmap: in localization mode, ignore landmarks farther than RGBD/LocalRadius if no global loop closures are already in odometry cache.

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matlabbe
2022-02-12 13:35:23 -05:00
parent f584f42ea4
commit 191e165a28
13 changed files with 612 additions and 24 deletions
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4
corelib/include/rtabmap/core/Graph.h
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@@ -159,14 +159,14 @@ std::list<Link> RTABMAP_EXP findLinks(
std::multimap<int, Link> RTABMAP_EXP filterDuplicateLinks(
const std::multimap<int, Link> & links);
/**
* Return links not of type "filteredType". If inverted=true, return links of of type "filteredType".
* Return links not of type "filteredType". If inverted=true, return links of type "filteredType".
*/
std::multimap<int, Link> RTABMAP_EXP filterLinks(
const std::multimap<int, Link> & links,
Link::Type filteredType,
bool inverted = false);
/**
* Return links not of type "filteredType". If inverted=true, return links of of type "filteredType".
* Return links not of type "filteredType". If inverted=true, return links of type "filteredType".
*/
std::map<int, Link> RTABMAP_EXP filterLinks(
const std::map<int, Link> & links,