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When Mem/DepthAsMask is false, features without depth are triangulated using odometry. Added parameter RGBD/LocalBundleOnLoopClosure.

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matlabbe
2018-06-01 16:26:09 -04:00
parent 0bf83c0cd6
commit 7424a1f463
9 changed files with 285 additions and 60 deletions
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1
corelib/include/rtabmap/core/Memory.h
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@@ -293,6 +293,7 @@ private:
int _laserScanNormalK;
int _laserScanNormalRadius;
bool _reextractLoopClosureFeatures;
bool _localBundleOnLoopClosure;
float _rehearsalMaxDistance;
float _rehearsalMaxAngle;
bool _rehearsalWeightIgnoredWhileMoving;

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corelib/include/rtabmap/core/Parameters.h
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@@ -349,6 +349,7 @@ class RTABMAP_EXP Parameters
RTABMAP_PARAM(RGBD, ScanMatchingIdsSavedInLinks, bool, true, "Save scan matching IDs in link's user data.");
RTABMAP_PARAM(RGBD, NeighborLinkRefining, bool, false, uFormat("When a new node is added to the graph, the transformation of its neighbor link to the previous node is refined using registration approach selected (%s).", kRegStrategy().c_str()));
RTABMAP_PARAM(RGBD, LoopClosureReextractFeatures, bool, false, "Extract features even if there are some already in the nodes.");
RTABMAP_PARAM(RGBD, LocalBundleOnLoopClosure, bool, false, "Do local bundle adjustment with neighborhood of the loop closure.");
RTABMAP_PARAM(RGBD, CreateOccupancyGrid, bool, false, "Create local occupancy grid maps. See \"Grid\" group for parameters.");
// Local/Proximity loop closure detection