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Merge branch 'master' of github.com:introlab/rtabmap_ros into ros2

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matlabbe
2026-08-06 14:59:13 -07:00
parent 2eef2b3231 38b45dca16
commit 48d1ed1204
6 changed files with 23 additions and 5 deletions
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rtabmap_slam/src/CoreNode.cpp
+10
View File
@@ -29,6 +29,10 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include "rclcpp/rclcpp.hpp"
#include <rtabmap/utilite/UStl.h>
#include <rtabmap/utilite/UDirectory.h>
#include <rtabmap/core/Version.h>
#ifdef RTABMAP_PYTHON
#include <rtabmap/core/PythonInterface.h>
#endif
int main(int argc, char** argv)
{
@@ -81,6 +85,12 @@ int main(int argc, char** argv)
arguments.push_back(argv[i]);
}
#ifdef RTABMAP_PYTHON
// Initialize the embedded python interpreter on the main thread, as
// the nodelet below is loaded in a worker thread.
rtabmap::PythonInterface::instance("rtabmap");
#endif
rclcpp::init(argc, argv);
rclcpp::NodeOptions options;
options.arguments(arguments);
rtabmap_slam/src/CoreWrapper.cpp
+2 -2
View File
@@ -3742,10 +3742,10 @@ void CoreWrapper::globalBundleAdjustmentCallback(
UTimer timer;
int optimizer = (int)Optimizer::kTypeG2O; // g2o
int iterations = Parameters::defaultOptimizerIterations();
float pixelVariance = Parameters::defaultg2oPixelVariance();
float pixelVariance = Parameters::defaultOptimizerPixelVariance();
bool rematchFeatures = true;
Parameters::parse(parameters_, Parameters::kOptimizerIterations(), iterations);
Parameters::parse(parameters_, Parameters::kg2oPixelVariance(), pixelVariance);
Parameters::parse(parameters_, Parameters::kOptimizerPixelVariance(), pixelVariance);
if(req->type == 1.0f)
{
optimizer = (int)Optimizer::kTypeCVSBA;