Computing BA correspondences: added option to use input link's transform as guess for feature matching

2026-09-02 17:40:23 +08:00 · 2025-04-14 10:28:12 -07:00
parent 43c398a0de
commit b5dce57be8
2 changed files with 5 additions and 4 deletions
--- a/corelib/include/rtabmap/core/Optimizer.h
+++ b/corelib/include/rtabmap/core/Optimizer.h
@@ -171,7 +171,8 @@ public:
 			const std::map<int, Signature> & signatures,
 			std::map<int, cv::Point3f> & points3DMap,
 			std::map<int, std::map<int, FeatureBA > > & wordReferences, // <ID words, IDs frames + keypoint/depth/descriptor>
-			bool rematchFeatures = false);
+			bool rematchFeatures = false,
+			bool useLinkTransformAsGuess = false);

 protected:
 	Optimizer(