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Reduced local bundle on loop closure iterations to 5. Updated graph::filterLinks() to handle selfRef link type. DbViewer: removed gravity constraints from constraints view.

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matlabbe
2019-06-01 21:43:13 -04:00
parent ec943198f0
commit 8cb923b332
4 changed files with 33 additions and 14 deletions
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corelib/src/Rtabmap.cpp
+11 -5
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@@ -2533,8 +2533,8 @@ bool Rtabmap::process(
(_loopClosureHypothesis.first>0 ||
lastProximitySpaceClosureId>0 || // can be different map of the current one
statistics_.reducedIds().size() ||
(signature->hasLink(signature->id(), Link::kPosePrior) && !_graphOptimizer->priorsIgnored()) || // prior edge
(signature->hasLink(signature->id(), Link::kGravity) && _graphOptimizer->gravitySigma()>0.0f) || // gravity edge
(signature->hasLink(signature->id(), Link::kPosePrior) && !_graphOptimizer->priorsIgnored() && !_memory->isIncremental()) || // prior edge
(signature->hasLink(signature->id(), Link::kGravity) && _graphOptimizer->gravitySigma()>0.0f && !_memory->isIncremental()) || // gravity edge
proximityDetectionsInTimeFound>0 ||
landmarkDetected!=0 ||
((_memory->isIncremental() || graph::filterLinks(signature->getLinks(), Link::kSelfRefLink).size()) && // In localization mode, the new node should be linked
@@ -3251,9 +3251,15 @@ bool Rtabmap::process(
}
else
{
UASSERT_MSG(uContains(_optimizedPoses, _lastLocalizationNodeId), uFormat("id=%d isInWM?=%d", _lastLocalizationNodeId, _memory->isInWM(_lastLocalizationNodeId)?1:0).c_str());
id = _lastLocalizationNodeId;
UDEBUG("Refresh local map from %d", id);
if(uContains(_optimizedPoses, _lastLocalizationNodeId))
{
id = _lastLocalizationNodeId;
UDEBUG("Refresh local map from %d", id);
}
else
{
_lastLocalizationNodeId = 0;
}
}
}
else if(_memory->isIncremental() &&