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Replaced all optimizeIncremental() by optimizeMultiSession() to fix GTSAM errors when merging multiple maps together. DBReader: always publish saved stamp. DBViewer: added actions to set covariance of all neighbor or loop closure links.

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matlabbe
2018-10-15 17:07:18 -04:00
parent b2c012d8bc
commit f1546c1fca
15 changed files with 285 additions and 82 deletions
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5
guilib/include/rtabmap/gui/DatabaseViewer.h
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@@ -114,6 +114,8 @@ private Q_SLOTS:
void view3DMap();
void generate3DMap();
void detectMoreLoopClosures();
void updateAllNeighborCovariances();
void updateAllLoopClosureCovariances();
void refineAllNeighborLinks();
void refineAllLoopClosureLinks();
void resetAllChanges();
@@ -174,6 +176,8 @@ private:
std::multimap<int, rtabmap::Link> updateLinksWithModifications(
const std::multimap<int, rtabmap::Link> & edgeConstraints);
void updateLoopClosuresSlider(int from = 0, int to = 0);
void updateAllCovariances(const QList<Link> & links);
void refineAllLinks(const QList<Link> & links);
void refineConstraint(int from, int to, bool silent);
bool addConstraint(int from, int to, bool silent);
void exportPoses(int format);
@@ -198,6 +202,7 @@ private:
std::list<std::map<int, rtabmap::Transform> > graphes_;
std::multimap<int, rtabmap::Link> graphLinks_;
std::map<int, rtabmap::Transform> odomPoses_;
std::map<int, rtabmap::Transform> dbOptimizedPoses_;
std::map<int, rtabmap::Transform> groundTruthPoses_;
std::map<int, rtabmap::Transform> gpsPoses_;
std::map<int, GPS> gpsValues_;