Tango: updated export workflow, added sketchfab activity, added graph optimization parameters, fixed raw images kept in memory (disabled reexctract words on loop closure while updating memory to be able to create more features for transform estimation than needed in vocabulary), portrait/landscape orientation, updated to Eisa TangoSDK. DBReader: fixed high variance when node has no links (if not the first in the current map id). MainWindow: remove frustums not in the current graph.

corelib/src/DBReader.cpp

@@ -59,6 +59,7 @@ DBReader::DBReader(const std::string & databasePath,
 	_cameraIndex(cameraIndex),
 	_dbDriver(0),
 	_currentId(_ids.end()),
+	_previousMapId(-1),
 	_previousStamp(0),
 	_previousMapID(0),
 	_calibrated(false)
@@ -81,6 +82,7 @@ DBReader::DBReader(const std::list<std::string> & databasePaths,
 	_cameraIndex(cameraIndex),
 	_dbDriver(0),
 	_currentId(_ids.end()),
+	_previousMapId(-1),
 	_previousStamp(0),
 	_previousMapID(0),
 	_calibrated(false)
@@ -108,6 +110,8 @@ bool DBReader::init(
 	}
 	_ids.clear();
 	_currentId=_ids.end();
+	_previousMapId = -1;
+	_previousInfMatrix = cv::Mat();
 	_previousStamp = 0;
 	_previousMapID = 0;
 	_calibrated = false;
@@ -327,12 +331,24 @@ SensorData DBReader::getNextData(CameraInfo * info)
 				{
 					// assume the first is the backward neighbor, take its variance
 					infMatrix = links.begin()->second.infMatrix();
+					_previousInfMatrix = infMatrix;
 				}
-				else
+				else if(_previousMapId != mapId)
 				{
 					// first node, set high variance to make rtabmap trigger a new map
 					infMatrix /= 9999.0;
+					UDEBUG("First node of map %d, variance set to 9999", mapId);
 				}
+				else
+				{
+					if(_previousInfMatrix.empty())
+					{
+						_previousInfMatrix = cv::Mat::eye(6,6,CV_64FC1);
+					}
+					// we have a node not linked to map, use last variance
+					infMatrix = _previousInfMatrix;
+				}
+				_previousMapId = mapId;
 			}
 			else
 			{
@@ -435,6 +451,7 @@ SensorData DBReader::getNextData(CameraInfo * info)
 				{
 					info->odomPose = pose;
 					info->odomCovariance = infMatrix.inv();
+					UDEBUG("odom variance = %f/%f", info->odomCovariance.at<double>(0,0), info->odomCovariance.at<double>(5,5));
 				}
 			}
 		}