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Fixed missing 3D keypoints when RGBD/LoopClosureReextractFeatures=true and Reg/Strategy=1 (https://github.com/introlab/rtabmap_ros/issues/668). DBViewer: fixed wrong poses optimization with GTSAM when showing scans of loop closures by proximity by space (multiscan) while there are GPS priors.

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matlabbe
2021-12-05 17:36:20 -05:00
parent 12906f4490
commit 580e35afb1
6 changed files with 43 additions and 43 deletions
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3
corelib/include/rtabmap/core/Graph.h
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@@ -133,7 +133,8 @@ std::multimap<int, Link>::iterator RTABMAP_EXP findLink(
std::multimap<int, Link> & links,
int from,
int to,
bool checkBothWays = true);
bool checkBothWays = true,
Link::Type type = Link::kUndef);
std::multimap<int, int>::iterator RTABMAP_EXP findLink(
std::multimap<int, int> & links,
int from,