i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-02 09:30:25 +08:00
Code Issues Packages Projects Releases Wiki Activity

Pnp multicam refactoring (#902)

Browse Source 
* gui: fixed wrongly showing landmark rejected when it was not (because a loop closure was rejected at the same time)

* Added Vis/PnPMaxVariance and RGBD/InvertedReg parameters. Implemented inlier distribution computation for multicam.

* On loc/small displacement: don't remove from odom cache if loop is rejected (maybe first loc)

* Loc: don't prune odom cache on small movement if delayed loc is enabled

* loc/small movement: cleanup bidirectional links

* Cov/PnP: fixed objPt transform to estimate depth

Co-authored-by: mathieu86 <mathieu@robust.ai>
This commit is contained in:
matlabbe
2022-09-24 12:29:42 -07:00
committed by GitHub
parent 95a76cb696
commit fa31affea0
14 changed files with 685 additions and 495 deletions
Download Patch File Download Diff File Expand all files Collapse all files

2
CMakeLists.txt
View File

@@ -20,7 +20,7 @@ SET(CMAKE_MODULE_PATH "${PROJECT_SOURCE_DIR}/cmake_modules")
#######################
SET(RTABMAP_MAJOR_VERSION 0)
SET(RTABMAP_MINOR_VERSION 20)
SET(RTABMAP_PATCH_VERSION 20)
SET(RTABMAP_PATCH_VERSION 21)
SET(RTABMAP_VERSION
${RTABMAP_MAJOR_VERSION}.${RTABMAP_MINOR_VERSION}.${RTABMAP_PATCH_VERSION})