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Merge branch 'master' of github.com:introlab/rtabmap into gtest

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matlabbe
2025-05-03 11:47:56 -07:00
parent bb36ce7b8b 6b5b1c9617
commit 30b9f20bbd
13 changed files with 413 additions and 365 deletions
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corelib/include/rtabmap/core/Parameters.h
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@@ -390,6 +390,7 @@ class RTABMAP_CORE_EXPORT Parameters
RTABMAP_PARAM(RGBD, MaxOdomCacheSize, int, 10, uFormat("Maximum odometry cache size. Used only in localization mode (when %s=false). This is used to get smoother localizations and to verify localization transforms (when %s!=0) to make sure we don't teleport to a location very similar to one we previously localized on. Set 0 to disable caching.", kMemIncrementalMemory().c_str(), kRGBDOptimizeMaxError().c_str()));
RTABMAP_PARAM(RGBD, LocalizationSmoothing, bool, true, uFormat("Adjust localization constraints based on optimized odometry cache poses (when %s>0).", kRGBDMaxOdomCacheSize().c_str()));
RTABMAP_PARAM(RGBD, LocalizationPriorError, double, 0.001, uFormat("The corresponding variance (error x error) set to priors of the map's poses during localization (when %s>0).", kRGBDMaxOdomCacheSize().c_str()));
RTABMAP_PARAM(RGBD, LocalizationSecondTryWithoutProximityLinks, bool, true, uFormat("When localization is rejected by graph optimization validation, try a second time without proximity links if landmark or loop closure links are also present in odometry cache (see %s). If it succeeds, the proximity links are removed. This assumes that global loop closure and landmark links are more accurate than proximity links.", kRGBDMaxOdomCacheSize().c_str()));
// Local/Proximity loop closure detection
RTABMAP_PARAM(RGBD, ProximityByTime, bool, false, "Detection over all locations in STM.");
corelib/include/rtabmap/core/Rtabmap.h
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@@ -333,6 +333,7 @@ private:
int _maxOdomCacheSize;
bool _localizationSmoothing;
double _localizationPriorInf;
bool _localizationSecondTryWithoutProximityLinks;
bool _createGlobalScanMap;
float _markerPriorsLinearVariance;
float _markerPriorsAngularVariance;
corelib/include/rtabmap/core/Statistics.h
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@@ -81,6 +81,7 @@ class RTABMAP_CORE_EXPORT Statistics
RTABMAP_STATS(Loop, Landmark_detected_node_ref,);
RTABMAP_STATS(Loop, Visual_inliers_mean_dist,m);
RTABMAP_STATS(Loop, Visual_inliers_distribution,);
RTABMAP_STATS(Loop, Proximity_links_cleared,);
//Odom correction
RTABMAP_STATS(Loop, Odom_correction_norm, m);
RTABMAP_STATS(Loop, Odom_correction_angle, deg);