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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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corelib/src/Memory.cpp
+13
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@@ -2770,6 +2770,19 @@ void Memory::removeLink(int oldId, int newId)
UERROR("Signatures %d and %d don't have bidirectional link!", oldS->id(), newS->id());
}
}
else if(this->_getSignature(newId<0?oldId:newId))
{
int landmarkId = newId<0?newId:oldId;
Signature * s = this->_getSignature(newId<0?oldId:newId);
s->removeLandmark(newId<0?newId:oldId);
_linksChanged = true;
// Update landmark index
std::map<int, std::set<int> >::iterator nter = _landmarksIndex.find(landmarkId);
if(nter!=_landmarksIndex.end())
{
nter->second.erase(s->id());
}
}
else
{
if(!newS)