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Prioritize neighbor links in Optimizer::getConnectedGraph() (#1610)

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* Prioritize neighbor links in Optimizer::getConnectedGraph() to avoid odometry jumps.

* Fixed landmark order

* report: added search for first valid id

* Fixed non-neighbor comparison logic

* RGBD/LocalizationPriorError can now be 0 (disabled) to avoid using priors to fix the graph (https://github.com/introlab/rtabmap_ros/issues/1371)

* amend previous commit
This commit is contained in:
matlabbe
2025-11-08 10:58:34 -08:00
committed by GitHub
parent 5e4fd171e2
commit e9c6180d56
6 changed files with 120 additions and 60 deletions
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corelib/src/optimizer/OptimizerG2O.cpp
+2 -2
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@@ -1004,8 +1004,8 @@ std::map<int, Transform> OptimizerG2O::optimize(
g2o::EdgeSE3 * e = new g2o::EdgeSE3();
g2o::VertexSE3* v1 = (g2o::VertexSE3*)optimizer.vertex(id1);
g2o::VertexSE3* v2 = (g2o::VertexSE3*)optimizer.vertex(id2);
UASSERT(v1 != 0);
UASSERT(v2 != 0);
UASSERT_MSG(v1 != 0, uFormat("v1=%d v2=%d", id1, id2).c_str());
UASSERT_MSG(v2 != 0, uFormat("v1=%d v2=%d", id1, id2).c_str());
e->setVertex(0, v1);
e->setVertex(1, v2);
e->setMeasurement(constraint);