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Added Features2d::limitKeypoints() with grid options. Odometry: if imu is provided and no guess is provided, the change of orientation of imu is used for rotation guess (overwrite rotation from Odom/GuessFromMotion). OdometryInfo: added gravity errors when imu is used. Preferences: added a second GravitySigma parameter (overwritting Optimizer/GravitySigma for odometry is not negative) for F2M odometry panel.

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matlabbe
2020-05-31 11:22:12 -04:00
parent 6e55525a7b
commit 415a2778f1
15 changed files with 186 additions and 25 deletions
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4
corelib/src/optimizer/OptimizerG2O.cpp
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@@ -197,7 +197,7 @@ std::map<int, Transform> OptimizerG2O::optimize(
// Apply g2o optimization
g2o::SparseOptimizer optimizer;
optimizer.setVerbose(ULogger::level()==ULogger::kDebug);
//optimizer.setVerbose(ULogger::level()==ULogger::kDebug);
if (isSlam2d())
{
g2o::ParameterSE2Offset* odomOffset = new g2o::ParameterSE2Offset();
@@ -1260,7 +1260,7 @@ std::map<int, Transform> OptimizerG2O::optimizeBA(
if(poses.size()>=2 && iterations() > 0 && (models.size() == poses.size() || poses.begin()->first < 0))
{
g2o::SparseOptimizer optimizer;
optimizer.setVerbose(ULogger::level()==ULogger::kDebug);
//optimizer.setVerbose(ULogger::level()==ULogger::kDebug);
#if defined(RTABMAP_G2O_CPP11) and not defined(RTABMAP_ORB_SLAM2)
std::unique_ptr<g2o::BlockSolver_6_3::LinearSolverType> linearSolver;
#else