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Optimizer: added optimizeIncremental() method to solve optimization error problems when re-opening the database (when graph should be re-optimized from raw odometry poses, not latest optimized poses, #172)

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matlabbe
2018-02-13 18:18:42 -05:00
parent 02a64a7fa3
commit bfb3a58c01
5 changed files with 139 additions and 5 deletions
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8
corelib/include/rtabmap/core/Optimizer.h
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@@ -87,6 +87,14 @@ public:
virtual void parseParameters(const ParametersMap & parameters);
std::map<int, Transform> optimizeIncremental(
int rootId,
const std::map<int, Transform> & poses,
const std::multimap<int, Link> & constraints,
std::list<std::map<int, Transform> > * intermediateGraphes = 0,
double * finalError = 0,
int * iterationsDone = 0);
// inherited classes should implement one of these methods
virtual std::map<int, Transform> optimize(
int rootId,