X-lanni
23 lines
835 B
Plaintext
23 lines
835 B
Plaintext
# Global Bundle Adjustment service
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#
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# Perform global bundle adjustment. Note that as soon as the map
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# is modified again, the graph is re-optimized the standard way (without SBA).
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# It then makes only sense to use this after a mapping run (and after a call
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# to /rtabmap/pause) when you know that the robot will restart in localization
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# mode the next time, or at the beginning of the localization session.
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#
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# Optimizer type (0=g2o, 1=CVSBA), default 0
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int32 type
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# Iterations, default 0 (use Optimizer/Iterations already loaded in the node)
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int32 iterations
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# Pixel variance, default 0 (use g2o/PixelVariance already loaded in the node)
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float32 pixel_variance
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# Use vocabulary matches, default false (rematch all features between frames)
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bool voc_matches
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---
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# return false if failure
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