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iSAM2 integration (#1249)

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* isam2 integration

* fonctional iSAM2, added related parameters

* updated default params after testing large-scale enviroment

* proximity search optimization

* boost<1.68 fix

* boost version

* Fixed map not showing in graphview

* iSAM2: supporting MM/localization/multi-session modes
This commit is contained in:
matlabbe
2024-03-27 17:18:02 -07:00
committed by GitHub
parent bfeb487dba
commit cc17ebe92b
10 changed files with 450 additions and 84 deletions
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corelib/src/GlobalMap.cpp
+1 -1
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@@ -121,7 +121,7 @@ bool GlobalMap::update(const std::map<int, Transform> & poses)
}
else
{
UDEBUG("Updated pose for node %d is not found, some points may not be copied. Use negative ids to just update cell values without adding new ones.", jter->first);
UDEBUG("Updated pose for node %d is not found, some points may not be copied. Use negative ids to just update cell values without adding new ones.", iter->first);
}
}