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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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8
corelib/include/rtabmap/core/Optimizer.h
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@@ -95,14 +95,6 @@ public:
double * finalError = 0,
int * iterationsDone = 0);
std::map<int, Transform> optimizeMultiSession(
int rootId,
const std::map<int, Transform> & poses,
const std::multimap<int, Link> & constraints,
std::list<std::map<int, Transform> > * intermediateGraphes = 0,
double * finalError = 0,
int * iterationsDone = 0);
std::map<int, Transform> optimize(
int rootId,
const std::map<int, Transform> & poses,