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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.

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matlabbe
2019-05-31 15:36:35 -04:00
parent 71f7515775
commit e887d462ce
28 changed files with 1264 additions and 344 deletions
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tools/Report/main.cpp
+4 -2
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@@ -317,11 +317,13 @@ int main(int argc, char * argv[])
std::multimap<int, Link> linksOut;
int firstId = *ids.begin();
rtabmap::Optimizer * optimizer = rtabmap::Optimizer::create(params);
if(optimizer->gravitySigma() > 0)
bool useOdomGravity = Parameters::defaultMemUseOdomGravity();
Parameters::parse(params, Parameters::kMemUseOdomGravity(), useOdomGravity);
if(useOdomGravity)
{
for(std::map<int, Transform>::iterator iter=odomPoses.begin(); iter!=odomPoses.end(); ++iter)
{
links.insert(std::make_pair(iter->first, Link(iter->first, iter->first, Link::kPoseOdom, iter->second)));
links.insert(std::make_pair(iter->first, Link(iter->first, iter->first, Link::kGravity, iter->second)));
}
}
optimizer->getConnectedGraph(firstId, odomPoses, links, posesOut, linksOut);