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Added parameter "RGBD/OptimizeMaxError" (default: 1 m) to reject loop closures after too large optimization errors

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matlabbe
2015-09-03 12:37:14 -04:00
parent 786bbaa2c2
commit 198899ba32
6 changed files with 194 additions and 57 deletions
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corelib/include/rtabmap/core/Statistics.h
+3 -2
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@@ -57,11 +57,12 @@ class RTABMAP_EXP Statistics
RTABMAP_STATS(Loop, Highest_hypothesis_id,);
RTABMAP_STATS(Loop, Highest_hypothesis_value,);
RTABMAP_STATS(Loop, Vp_hypothesis,);
RTABMAP_STATS(Loop, ReactivateId,);
RTABMAP_STATS(Loop, Reactivate_id,);
RTABMAP_STATS(Loop, Hypothesis_ratio,);
RTABMAP_STATS(Loop, Hypothesis_reactivated,);
RTABMAP_STATS(Loop, VisualInliers,);
RTABMAP_STATS(Loop, Visual_inliers,);
RTABMAP_STATS(Loop, Last_id,);
RTABMAP_STATS(Loop, Optimization_max_error, m);
RTABMAP_STATS(LocalLoop, Time_closures,);
RTABMAP_STATS(LocalLoop, Space_last_closure_id,);