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DBViewer: fixed Optimizer/GravitySigma not used on optimization

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matlabbe
2019-05-10 11:45:15 -04:00
parent d4b4379829
commit e03a9b3003
1 changed files with 8 additions and 0 deletions
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8
guilib/src/DatabaseViewer.cpp
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@@ -6180,6 +6180,14 @@ void DatabaseViewer::updateGraphView()
Optimizer * optimizer = Optimizer::create(ui_->parameters_toolbox->getParameters());
if(optimizer->gravitySigma() > 0)
{
for(std::map<int, rtabmap::Transform>::iterator iter=poses.upper_bound(0); iter!=poses.end(); ++iter)
{
links.insert(std::make_pair(iter->first, Link(iter->first,iter->first, Link::kPoseOdom, iter->second)));
}
}
std::map<int, rtabmap::Transform> posesOut;
std::multimap<int, rtabmap::Link> linksOut;
UINFO("Get connected graph from %d (%d poses, %d links)", fromId, (int)poses.size(), (int)links.size());