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Integration of OpenCV's ArUco Marker Detection (see new parameter "RGBD/MarkerDetection")

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matlabbe
2019-02-18 18:19:55 -05:00
parent 08f3e6c08e
commit d6ca37a9e7
18 changed files with 859 additions and 23 deletions
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corelib/src/Rtabmap.cpp
+3 -1
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@@ -2526,7 +2526,9 @@ bool Rtabmap::process(
{
for(std::multimap<int, Link>::iterator iter=_constraints.begin(); iter!=_constraints.end(); ++iter)
{
if(iter->second.type() != Link::kNeighbor && iter->second.type() != Link::kVirtualClosure)
if( iter->second.type() != Link::kNeighbor &&
iter->second.type() != Link::kVirtualClosure &&
iter->second.type() != Link::kLandmark)
{
UWARN("Optimization: clearing guess poses as %s may have changed state, now %s (normMapCorrection=%f)", Parameters::kRGBDOptimizeFromGraphEnd().c_str(), _optimizeFromGraphEnd?"true":"false", normMapCorrection);
poses.clear();