matlabbe fa31affea0 Pnp multicam refactoring (#902) ...

* 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>

2022-09-24 12:29:42 -07:00

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rtabmap

Pnp multicam refactoring (#902)

2022-09-24 12:29:42 -07:00