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Added Bundle Adjustment options to OdometryF2M (OdomF2M/BundleAdjustment) and RegistrationVis (Vis/BundleAdjustment). Added logger thread filter. RegistrationVis: Copy back corresponding input word IDs to output words when available. Memory::computeTransform() added option to use already computed corespondences if possible (proximity detection by time uses this). Updated Optimizer::optimizeBA() interface.

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matlabbe
2016-11-14 19:54:31 -05:00
parent 9fbd02b06d
commit 9276607920
39 changed files with 2214 additions and 594 deletions
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corelib/src/Rtabmap.cpp
+3 -2
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@@ -1184,7 +1184,8 @@ bool Rtabmap::process(
guess = newPose.inverse() * _optimizedPoses.at(*iter);
}
Transform transform = _memory->computeTransform(signature->id(), *iter, guess, &info);
// For proximity by time, correspondences should be already enough precise, so don't recompute them
Transform transform = _memory->computeTransform(signature->id(), *iter, guess, &info, true);
if(!transform.isNull())
{
@@ -1217,7 +1218,7 @@ bool Rtabmap::process(
}
timeProximityByTimeDetection = timer.ticks();
UINFO("timeLocalTimeDetection=%fs", timeProximityByTimeDetection);
UINFO("timeProximityByTimeDetection=%fs", timeProximityByTimeDetection);
//============================================================
// Bayes filter update