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Add/Refine/SBA: create Registration only once to avoid internal initialization for every link refined, added or rematched (e.g., SuperPoint or SuperGlue).

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matlabbe
2025-05-17 16:34:31 -07:00
parent f03139d4ff
commit 802b8f9870
6 changed files with 54 additions and 35 deletions
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corelib/include/rtabmap/core/Optimizer.h
+6 -3
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@@ -149,14 +149,16 @@ public:
const std::map<int, Signature> & signatures,
std::map<int, cv::Point3f> & points3DMap,
std::map<int, std::map<int, FeatureBA> > & wordReferences, // <ID words, IDs frames + keypoint/depth/descriptor>
bool rematchFeatures = false);
bool rematchFeatures = false,
const ParametersMap & registrationParameters = ParametersMap());
std::map<int, Transform> optimizeBA(
int rootId,
const std::map<int, Transform> & poses,
const std::multimap<int, Link> & links,
const std::map<int, Signature> & signatures,
bool rematchFeatures = false);
bool rematchFeatures = false,
const ParametersMap & registrationParameters = ParametersMap());
Transform optimizeBA(
const Link & link,
@@ -172,7 +174,8 @@ public:
std::map<int, cv::Point3f> & points3DMap,
std::map<int, std::map<int, FeatureBA > > & wordReferences, // <ID words, IDs frames + keypoint/depth/descriptor>
bool rematchFeatures = false,
bool useLinkTransformAsGuess = false);
bool useLinkTransformAsGuess = false,
ParametersMap registrationParameters = ParametersMap());
protected:
Optimizer(