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Refactored Optimizer::getConnectedGraph() to estimate poses based on links, we can then remove Optimizer::optimizeMultiSession(). Rtabmap: if poses and guess are not the same before optimization, do Optimizer::getConnectedGraph() to get pose estimates based on links instead of odom (to make optimization more robust to memory management and multi-session).

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matlabbe
2018-10-16 18:55:36 -04:00
parent f1546c1fca
commit 4c7b565391
7 changed files with 62 additions and 143 deletions
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app/android/res/values/strings.xml
+1 -1
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@@ -91,7 +91,7 @@
<string name="pref_key_min_inliers">pref_key_min_inliers</string>
<string name="pref_default_min_inliers">25</string>
<string name="pref_key_opt_error">pref_key_opt_error</string>
<string name="pref_default_opt_error">2</string>
<string name="pref_default_opt_error">3</string>
<string name="pref_key_features_voc">pref_key_features_voc</string>
<string name="pref_default_features_voc">200</string>
<string name="pref_key_features">pref_key_features</string>