i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-10-04 17:17:47 +08:00
Code Issues Packages Projects Releases Wiki Activity

ZED driver: added option to use visual odometry approach from zed sdk. RtabmapThread: fixed thread state change on new map trigger on Odometry init (variance=9999). Odometry: on init, verify that the first frame is ok before sending first pose. Parameters: Mem/SaveDepth16Format is now false by default

Browse Source
This commit is contained in:
matlabbe
2016-06-24 18:49:34 -04:00
parent af6e17fce8
commit e90c97f8a4
14 changed files with 335 additions and 175 deletions
Download Patch File Download Diff File Expand all files Collapse all files
corelib/src/Rtabmap.cpp
+2 -2
View File
@@ -1009,7 +1009,7 @@ bool Rtabmap::process(
}
}
else
{
{
//============================================================
// Refine neighbor links
//============================================================
@@ -1062,7 +1062,7 @@ bool Rtabmap::process(
}
}
timeNeighborLinkRefining = timer.ticks();
ULOGGER_INFO("timeOdometryRefining=%fs", timeNeighborLinkRefining);
ULOGGER_INFO("timeOdometryRefining=%fs", timeNeighborLinkRefining);
UASSERT(oldS->hasLink(signature->id()));
UASSERT(uContains(_optimizedPoses, oldId));