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Fixed odometry mesh with long edges, Optimizer/Robust is not set false because of some "solution not found" from g2o or gtsam

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matlabbe
2016-02-18 15:23:25 -05:00
parent 04d153df59
commit 62c7be9f35
4 changed files with 32 additions and 6 deletions
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2
corelib/include/rtabmap/core/Parameters.h
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@@ -329,7 +329,7 @@ class RTABMAP_EXP Parameters
RTABMAP_PARAM(Optimizer, Slam2D, bool, false, "If optimization is done only on x,y and theta (3DoF). Otherwise, it is done on full 6DoF poses.");
RTABMAP_PARAM(Optimizer, VarianceIgnored, bool, false, "Ignore constraints' variance. If checked, identity information matrix is used for each constraint. Otherwise, an information matrix is generated from the variance saved in the links.");
RTABMAP_PARAM(Optimizer, Epsilon, double, 0.0001, "Stop optimizing when the error improvement is less than this value.");
RTABMAP_PARAM(Optimizer, Robust, bool, true, "Robust graph optimization using Vertigo (only work for g2o and GTSAM optimization strategies).");
RTABMAP_PARAM(Optimizer, Robust, bool, false, "Robust graph optimization using Vertigo (only work for g2o and GTSAM optimization strategies).");
RTABMAP_PARAM(g2o, Solver, int, 0, "0=csparse 1=pcg 2=cholmod");
RTABMAP_PARAM(g2o, Optimizer, int, 0, "0=Levenberg 1=GaussNewton");

6
corelib/include/rtabmap/core/util3d_surface.h
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@@ -64,12 +64,14 @@ std::vector<pcl::Vertices> RTABMAP_EXP organizedFastMesh(
const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
double angleTolerance = M_PI/16,
bool quad=true,
int trianglePixelSize = 2);
int trianglePixelSize = 2,
const Eigen::Vector3f & viewpoint = Eigen::Vector3f(0,0,0));
std::vector<pcl::Vertices> RTABMAP_EXP organizedFastMesh(
const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
double angleTolerance = M_PI/16,
bool quad=true,
int trianglePixelSize = 2);
int trianglePixelSize = 2,
const Eigen::Vector3f & viewpoint = Eigen::Vector3f(0,0,0));
void RTABMAP_EXP appendMesh(
pcl::PointCloud<pcl::PointXYZRGBNormal> & cloudA,