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Landmark constraints can now be rejected (in case we see same landmark at two different spots or constraint is poorly estimated). Optimizer/Robust can now be used with landmark constraints with orientation.

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matlabbe
2024-04-06 13:41:03 -07:00
parent 92edae35fc
commit c33e995e83
6 changed files with 190 additions and 26 deletions
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5
corelib/include/rtabmap/core/Signature.h
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@@ -90,9 +90,10 @@ public:
void removeLink(int idTo);
void removeVirtualLinks();
void addLandmark(const Link & landmark) {_landmarks.insert(std::make_pair(landmark.to(), landmark));}
void addLandmark(const Link & landmark);
const std::map<int, Link> & getLandmarks() const {return _landmarks;}
void removeLandmarks() {_landmarks.clear();}
void removeLandmarks();
void removeLandmark(int landmarkId);
void setSaved(bool saved) {_saved = saved;}
void setModified(bool modified) {_modified = modified; _linksModified = modified;}