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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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guilib/src/ui/preferencesDialog.ui
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@@ -12888,7 +12888,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
<item row="21" column="1">
<widget class="QLabel" name="label_space2_19">
<property name="text">
<string>Localization prior error. Used only in localization mode. The corresponding variance (error x error) set to priors of the map's poses during localization.</string>
<string>Localization prior error. Used only in localization mode. The corresponding variance (error x error) set to priors of the map's poses during localization. Set to 0 to only fix the first map's pose linked in odometry cache (i.e., other map's poses will be allowed to move during the optimization).</string>
</property>
<property name="wordWrap">
<bool>true</bool>