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Optimizer: fixed bad g2o optimizations on 2d slam when there are 3D landmarks (#384). DBViewer: landmarks can be now visualized.

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matlabbe
2019-04-26 14:03:25 -04:00
parent f9b7b54454
commit a5350c4891
11 changed files with 289 additions and 285 deletions
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7
corelib/include/rtabmap/core/Optimizer.h
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@@ -69,13 +69,12 @@ public:
static Optimizer * create(Optimizer::Type type, const ParametersMap & parameters = ParametersMap());
// Get connected poses and constraints from a set of links
static void getConnectedGraph(
void getConnectedGraph(
int fromId,
const std::map<int, Transform> & posesIn,
const std::multimap<int, Link> & linksIn, // only one link between two poses
const std::multimap<int, Link> & linksIn,
std::map<int, Transform> & posesOut,
std::multimap<int, Link> & linksOut,
int depth = 0);
std::multimap<int, Link> & linksOut) const;
public:
virtual ~Optimizer() {}