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Neighbor link refining: set small variance if small displacement and variance=1

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matlabbe
2015-11-27 13:04:01 -05:00
parent ee81bfc1d7
commit 096684ed94
1 changed files with 63 additions and 51 deletions
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26
corelib/src/Rtabmap.cpp
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@@ -1012,23 +1012,34 @@ bool Rtabmap::process(
// Update optimizedPoses with the newly added node // Update optimizedPoses with the newly added node
Transform newPose; Transform newPose;
if(signature->getLinks().size() == 1 && if(_poseScanMatching &&
!smallDisplacement && signature->getLinks().size() == 1 &&
_memory->isIncremental()) // ignore pose matching in localization mode _memory->isIncremental() && // ignore pose matching in localization mode
rehearsedId == 0) // don't do it if rehearsal happened
{ {
int oldId = signature->getLinks().begin()->first; int oldId = signature->getLinks().begin()->first;
const Signature * oldS = _memory->getSignature(oldId); const Signature * oldS = _memory->getSignature(oldId);
UASSERT(oldS != 0); UASSERT(oldS != 0);
Transform guess = signature->getLinks().begin()->second.transform();
if(smallDisplacement)
{
if(signature->getLinks().begin()->second.transVariance() == 1)
{
// set small variance
UDEBUG("Set small variance. The robot is not moving.");
_memory->updateLink(signature->id(), oldId, guess, 0.0001, 0.0001);
}
}
else
{
//============================================================ //============================================================
// Scan matching // Scan matching
//============================================================ //============================================================
if(_poseScanMatching && if(!signature->sensorData().laserScanCompressed().empty())
!signature->sensorData().laserScanCompressed().empty() &&
rehearsedId == 0) // don't do it if rehearsal happened
{ {
UINFO("Odometry correction by scan matching"); UINFO("Odometry correction by scan matching");
Transform guess = signature->getLinks().begin()->second.transform();
double variance = 1.0; double variance = 1.0;
int inliers = 0; int inliers = 0;
float inliersRatio = 0; float inliersRatio = 0;
@@ -1077,6 +1088,7 @@ bool Rtabmap::process(
} }
timeScanMatching = timer.ticks(); timeScanMatching = timer.ticks();
ULOGGER_INFO("timeScanMatching=%fs", timeScanMatching); ULOGGER_INFO("timeScanMatching=%fs", timeScanMatching);
}
UASSERT(oldS->hasLink(signature->id())); UASSERT(oldS->hasLink(signature->id()));
UASSERT(uContains(_optimizedPoses, oldId)); UASSERT(uContains(_optimizedPoses, oldId));