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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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6
guilib/include/rtabmap/gui/DatabaseViewer.h
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@@ -65,6 +65,8 @@ class ExportCloudsDialog;
class EditDepthArea;
class EditMapArea;
class LinkRefiningDialog;
class Registration;
class RegistrationIcp;
class RTABMAP_GUI_EXPORT DatabaseViewer : public QMainWindow
{
@@ -202,8 +204,8 @@ private:
void updateLoopClosuresSlider(int from = 0, int to = 0);
void updateCovariances(const QList<Link> & links);
void refineLinks(const QList<Link> & links);
void refineConstraint(int from, int to, bool silent);
bool addConstraint(int from, int to, bool silent, bool silentlyUseOptimizedGraphAsGuess = false);
void refineConstraint(int from, int to, Registration * reg, RegistrationIcp * regIcp, bool silent);
bool addConstraint(int from, int to, Registration * reg, bool silent, bool silentlyUseOptimizedGraphAsGuess = false);
void exportPoses(int format);
void exportGPS(int format);