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Rtabmap: avoid optimizing for only gravity if odometry is already aligned with gravity

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matlabbe
2020-02-26 13:40:03 -05:00
parent 80bee99bfc
commit 5daf4e5b2b
2 changed files with 6 additions and 2 deletions
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corelib/include/rtabmap/core/Memory.h
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@@ -218,6 +218,7 @@ public:
const Feature2D * getFeature2D() const {return _feature2D;}
bool isGraphReduced() const {return _reduceGraph;}
const std::vector<double> & getOdomMaxInf() const {return _odomMaxInf;}
bool isOdomGravityUsed() const {return _useOdometryGravity;}
void dumpMemoryTree(const char * fileNameTree) const;
virtual void dumpMemory(std::string directory) const;