i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-10-07 02:27:47 +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
guilib/src/MainWindow.cpp
-21
View File
@@ -5749,13 +5749,6 @@ void MainWindow::postProcessing()
UASSERT(_currentPosesMap.find(fromId) != _currentPosesMap.end());
UASSERT_MSG(_currentPosesMap.find(from) != _currentPosesMap.end(), uFormat("id=%d poses=%d links=%d", from, (int)poses.size(), (int)links.size()).c_str());
UASSERT_MSG(_currentPosesMap.find(to) != _currentPosesMap.end(), uFormat("id=%d poses=%d links=%d", to, (int)poses.size(), (int)links.size()).c_str());
if(optimizer->gravitySigma() > 0)
{
for(std::map<int, Transform>::iterator jter=odomPoses.begin(); jter!=odomPoses.end(); ++jter)
{
linksIn.insert(std::make_pair(jter->first, Link(jter->first, jter->first, Link::kPoseOdom, jter->second)));
}
}
optimizer->getConnectedGraph(fromId, _currentPosesMap, linksIn, poses, links);
UASSERT(poses.find(fromId) != poses.end());
UASSERT_MSG(poses.find(from) != poses.end(), uFormat("id=%d poses=%d links=%d", from, (int)poses.size(), (int)links.size()).c_str());
@@ -5867,13 +5860,6 @@ void MainWindow::postProcessing()
std::multimap<int, rtabmap::Link> linksOut;
std::map<int, rtabmap::Transform> optimizedPoses;
std::multimap<int, rtabmap::Link> linksIn = _currentLinksMap;
if(optimizer->gravitySigma() > 0)
{
for(std::map<int, Transform>::iterator iter=odomPoses.begin(); iter!=odomPoses.end(); ++iter)
{
linksIn.insert(std::make_pair(iter->first, Link(iter->first, iter->first, Link::kPoseOdom, iter->second)));
}
}
optimizer->getConnectedGraph(
fromId,
_currentPosesMap,
@@ -5983,13 +5969,6 @@ void MainWindow::postProcessing()
std::multimap<int, rtabmap::Link> linksOut;
std::map<int, rtabmap::Transform> optimizedPoses;
std::multimap<int, rtabmap::Link> linksIn = _currentLinksMap;
if(optimizer->gravitySigma() > 0)
{
for(std::map<int, Transform>::iterator iter=odomPoses.begin(); iter!=odomPoses.end(); ++iter)
{
linksIn.insert(std::make_pair(iter->first, Link(iter->first, iter->first, Link::kPoseOdom, iter->second)));
}
}
optimizer->getConnectedGraph(
fromId,
_currentPosesMap,