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Rtabmap::detectMoreLoopClosures: added clusterRadiusMin parameter and update optimized poses after each accepted loop closure (also in MainWindow) like in DbViewer. Added graph::computeMinMax(poses). OdometryInfo: added guess transform. Export: added min/max axis ranges to filter nodes before expoting clouds.

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matlabbe
2021-03-13 18:42:13 -05:00
parent f6e17be2b4
commit 752509fb15
14 changed files with 815 additions and 326 deletions
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corelib/src/Odometry.cpp
+5
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@@ -481,6 +481,10 @@ Transform Odometry::process(SensorData & data, const Transform & guessIn, Odomet
guess = guess.to3DoF();
}
}
else if(!imuLastTransform_.isNull())
{
UWARN("Could not find imu transform at %f", data.stamp());
}
}
UTimer time;
@@ -562,6 +566,7 @@ Transform Odometry::process(SensorData & data, const Transform & guessIn, Odomet
info->stamp = data.stamp();
info->interval = dt;
info->transform = t;
info->guess = guess;
if(_publishRAMUsage)
{
info->memoryUsage = UProcessInfo::getMemoryUsage()/(1024*1024);