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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
tools/Reprocess/main.cpp
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@@ -240,6 +240,7 @@ int main(int argc, char * argv[])
std::string workingDirectory = UDirectory::getDir(outputDatabasePath);
printf("Set working directory to \"%s\".\n", workingDirectory.c_str());
uInsert(parameters, ParametersPair(Parameters::kRtabmapWorkingDirectory(), workingDirectory));
uInsert(parameters, ParametersPair(Parameters::kRtabmapPublishStats(), "true")); // to log status below
Rtabmap rtabmap;
rtabmap.init(parameters, outputDatabasePath);
@@ -369,11 +370,11 @@ int main(int argc, char * argv[])
if (loopId>0)
{
int loopMapId = uContains(stats.getSignatures(), loopId) ? stats.getSignatures().at(loopId).mapId() : -1;
printf("Processed %d/%d nodes [Map=%d]... %dms Loop on %d [Map=%d]\n", ++processed, totalIds, loopMapId, int(iterationTime.ticks() * 1000), loopId, loopMapId);
printf("Processed %d/%d nodes [%d]... %dms Loop on %d [%d]\n", ++processed, totalIds, refMapId, int(iterationTime.ticks() * 1000), loopId, loopMapId);
}
else
{
printf("Processed %d/%d nodes [Map=%d]... %dms\n", ++processed, totalIds, refMapId, int(iterationTime.ticks() * 1000));
printf("Processed %d/%d nodes [%d]... %dms\n", ++processed, totalIds, refMapId, int(iterationTime.ticks() * 1000));
}
data = dbReader.takeImage(&info);