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Fixed graph deformation check without landmark's orientation optimized. Added parameter Marker/VarianceOrientationIgnored to be able to tune correctly GTSAM's bearing/range factor variance.

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matlabbe
2025-03-22 20:43:27 -07:00
parent 5f946cc26b
commit 68e3125358
10 changed files with 263 additions and 187 deletions
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3
tools/Reprocess/main.cpp
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@@ -1037,8 +1037,9 @@ int main(int argc, char * argv[])
const rtabmap::Statistics & stats = rtabmap.getStatistics();
int refId = stats.refImageId();
bool rejected = uValue(stats.data(), rtabmap::Statistics::kLoopRejectedHypothesis(), 0.0f) != 0.0f;
int loopId = stats.loopClosureId() > 0? stats.loopClosureId(): stats.proximityDetectionId() > 0?stats.proximityDetectionId() :0;
int landmarkId = (int)uValue(stats.data(), rtabmap::Statistics::kLoopLandmark_detected(), 0.0f);
int landmarkId = rejected?0:(int)uValue(stats.data(), rtabmap::Statistics::kLoopLandmark_detected(), 0.0f);
int refMapId = stats.refImageMapId();
++totalFrames;