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OptmizerG2O: add prior edge export (#319)

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* OptmizerG2O: add prior edge export

* add required conditions and structure to export prior edges

* for now, make the graph exportation of priors not dependent of parameters

* include <locale.h> so to use setlocale() in a windows build
This commit is contained in:
Nuno Marques
2018-10-15 16:58:57 +01:00
committed by matlabbe
parent 444b511548
commit 42c60c7154
6 changed files with 49 additions and 24 deletions
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4
corelib/include/rtabmap/core/optimizer/OptimizerG2O.h
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@@ -44,14 +44,14 @@ public:
const std::string & fileName,
const std::map<int, Transform> & poses,
const std::multimap<int, Link> & edgeConstraints,
bool useRobustConstraints = false);
const bool useRobustConstraints = false);
public:
OptimizerG2O(const ParametersMap & parameters = ParametersMap()) :
Optimizer(parameters),
solver_(Parameters::defaultg2oSolver()),
optimizer_(Parameters::defaultg2oOptimizer()),
pixelVariance_(Parameters::defaultg2oPixelVariance()),
pixelVariance_(Parameters::defaultg2oPixelVariance()),
robustKernelDelta_(Parameters::defaultg2oRobustKernelDelta()),
baseline_(Parameters::defaultg2oBaseline())
{