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merged master to velodyne

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matlabbe
2015-11-26 13:37:37 -05:00
parent 7d521819f0 ee81bfc1d7
commit ba6733411a
3 changed files with 18 additions and 8 deletions
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3
corelib/include/rtabmap/core/Rtabmap.h
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@@ -95,6 +95,7 @@ public:
const Memory * getMemory() const {return _memory;}
float getGoalReachedRadius() const {return _goalReachedRadius;}
float getLocalRadius() const {return _localRadius;}
const Transform & getLastLocalizationPose() const {return _lastLocalizationPose;}
float getTimeThreshold() const {return _maxTimeAllowed;} // in ms
void setTimeThreshold(float maxTimeAllowed); // in ms
@@ -232,7 +233,7 @@ private:
std::map<int, Transform> _optimizedPoses;
std::multimap<int, Link> _constraints;
Transform _mapCorrection;
Transform _lastLocalizationPose; // for localization mode
Transform _lastLocalizationPose; // Corrected odometry pose. In mapping mode, this corresponds to last pose return by getLocalOptimizedPoses().
int _lastLocalizationNodeId; // for localization mode
// Planning stuff

4
corelib/src/Rtabmap.cpp
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@@ -1067,7 +1067,7 @@ bool Rtabmap::process(
// Update Poses and Constraints
_optimizedPoses.insert(std::make_pair(signature->id(), newPose));
_lastLocalizationPose = newPose; // used in localization mode only (path planning)
_lastLocalizationPose = newPose; // keep in cache the latest corrected pose
if(signature->getLinks().size() == 1 &&
signature->getLinks().begin()->second.type() == Link::kNeighbor)
{
@@ -2131,7 +2131,7 @@ bool Rtabmap::process(
// Update map correction, it should be identify when optimizing from the last node
_mapCorrection = _optimizedPoses.at(signature->id()) * signature->getPose().inverse();
_lastLocalizationPose = _optimizedPoses.at(signature->id()); // update in case we switch to localization mode
_lastLocalizationPose = _optimizedPoses.at(signature->id()); // update
if(_mapCorrection.getNormSquared() > 0.001f && _optimizeFromGraphEnd)
{
UERROR("Map correction should be identity when optimizing from the last node. T=%s", _mapCorrection.prettyPrint().c_str());