i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-02 09:30:25 +08:00
Code Issues Packages Projects Releases Wiki Activity

Memory: Added parameter Mem/UseOdomGravity, adding kGravity links when creating a node if IMU is present or Mem/UseOdomGravity is set. Fixed OpenCV4 related build errors on stereo fisheye rectification code. Signature: changed links from map to multimap to support having multiple self references (prior, gravity constraints...). DBReader: publish IMU orientation if a gravity link is detected.

Browse Source
This commit is contained in:
matlabbe
2019-05-31 15:36:35 -04:00
parent 71f7515775
commit e887d462ce
28 changed files with 1264 additions and 344 deletions
Download Patch File Download Diff File Expand all files Collapse all files

1
app/android/jni/RTABMapApp.cpp
View File

@@ -102,6 +102,7 @@ rtabmap::ParametersMap RTABMapApp::getRtabmapParameters()
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kRGBDAngularUpdate(), std::string("0.05")));
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kMarkerLength(), std::string("0.0")));
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kMemUseOdomGravity(), "true"));
if(parameters.find(rtabmap::Parameters::kOptimizerStrategy()) != parameters.end())
{
if(parameters.at(rtabmap::Parameters::kOptimizerStrategy()).compare("2") == 0) // GTSAM