i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-09 21:10:19 +08:00
Code Issues Packages Projects Releases Wiki Activity

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.

Browse Source
This commit is contained in:
matlabbe
2022-02-12 13:35:23 -05:00
parent f584f42ea4
commit 191e165a28
13 changed files with 612 additions and 24 deletions
Download Patch File Download Diff File Expand all files Collapse all files
tools/Matcher/main.cpp
+2 -2
View File
@@ -328,13 +328,13 @@ int main(int argc, char * argv[])
RegistrationInfo info;
// Do it one time before to make sure everything is loaded to get realistic timing.
// Do it one time before to make sure everything is loaded to get realistic timing for matching only.
reg.computeTransformationMod(dataFrom, dataTo, Transform(), &info);
UTimer timer;
Transform t = reg.computeTransformationMod(dataFrom, dataTo, Transform(), &info);
double matchingTime = timer.ticks();
printf("Time matching and motion estimation: %fs\n", matchingTime);
printf("Time matching and motion estimation (excluding feature detection): %fs\n", matchingTime);
//////////////////
// Visualization