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0.17.2: compute marginals (covariance) on graph optimization

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matlabbe
2018-05-30 15:35:08 -04:00
parent 055cccd151
commit 1914275fa8
13 changed files with 155 additions and 22 deletions
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21
corelib/include/rtabmap/core/Optimizer.h
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@@ -95,14 +95,23 @@ public:
double * finalError = 0,
int * iterationsDone = 0);
std::map<int, Transform> optimize(
int rootId,
const std::map<int, Transform> & poses,
const std::multimap<int, Link> & constraints,
std::list<std::map<int, Transform> > * intermediateGraphes = 0,
double * finalError = 0,
int * iterationsDone = 0);
// inherited classes should implement one of these methods
virtual std::map<int, Transform> optimize(
int rootId,
const std::map<int, Transform> & poses,
const std::multimap<int, Link> & constraints,
std::list<std::map<int, Transform> > * intermediateGraphes = 0,
double * finalError = 0,
int * iterationsDone = 0);
int rootId,
const std::map<int, Transform> & poses,
const std::multimap<int, Link> & constraints,
cv::Mat & outputCovariance,
std::list<std::map<int, Transform> > * intermediateGraphes = 0,
double * finalError = 0,
int * iterationsDone = 0);
virtual std::map<int, Transform> optimizeBA(
int rootId, // if negative, all other poses are fixed
const std::map<int, Transform> & poses,

13
corelib/include/rtabmap/core/OptimizerG2O.h
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@@ -64,12 +64,13 @@ public:
virtual void parseParameters(const ParametersMap & parameters);
virtual std::map<int, Transform> optimize(
int rootId,
const std::map<int, Transform> & poses,
const std::multimap<int, Link> & edgeConstraints,
std::list<std::map<int, Transform> > * intermediateGraphes = 0,
double * finalError = 0,
int * iterationsDone = 0);
int rootId,
const std::map<int, Transform> & poses,
const std::multimap<int, Link> & edgeConstraints,
cv::Mat & outputCovariance,
std::list<std::map<int, Transform> > * intermediateGraphes = 0,
double * finalError = 0,
int * iterationsDone = 0);
virtual std::map<int, Transform> optimizeBA(
int rootId,

1
corelib/include/rtabmap/core/OptimizerGTSAM.h
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@@ -56,6 +56,7 @@ public:
int rootId,
const std::map<int, Transform> & poses,
const std::multimap<int, Link> & edgeConstraints,
cv::Mat & outputCovariance,
std::list<std::map<int, Transform> > * intermediateGraphes = 0,
double * finalError = 0,
int * iterationsDone = 0);

1
corelib/include/rtabmap/core/OptimizerTORO.h
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@@ -66,6 +66,7 @@ public:
int rootId,
const std::map<int, Transform> & poses,
const std::multimap<int, Link> & edgeConstraints,
cv::Mat & outputCovariance,
std::list<std::map<int, Transform> > * intermediateGraphes = 0,
double * finalError = 0,
int * iterationsDone = 0);

2
corelib/include/rtabmap/core/Rtabmap.h
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@@ -190,6 +190,7 @@ private:
void optimizeCurrentMap(int id,
bool lookInDatabase,
std::map<int, Transform> & optimizedPoses,
cv::Mat & covariance,
std::multimap<int, Link> * constraints = 0,
double * error = 0,
int * iterationsDone = 0) const;
@@ -198,6 +199,7 @@ private:
const std::set<int> & ids,
const std::map<int, Transform> & guessPoses,
bool lookInDatabase,
cv::Mat & covariance,
std::multimap<int, Link> * constraints = 0,
double * error = 0,
int * iterationsDone = 0) const;

3
corelib/include/rtabmap/core/Statistics.h
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@@ -183,6 +183,7 @@ public:
void setConstraints(const std::multimap<int, Link> & constraints) {_constraints = constraints;}
void setMapCorrection(const Transform & mapCorrection) {_mapCorrection = mapCorrection;}
void setLoopClosureTransform(const Transform & loopClosureTransform) {_loopClosureTransform = loopClosureTransform;}
void setLocalizationCovariance(const cv::Mat & covariance) {_localizationCovariance = covariance;}
void setWeights(const std::map<int, int> & weights) {_weights = weights;}
void setPosterior(const std::map<int, float> & posterior) {_posterior = posterior;}
void setLikelihood(const std::map<int, float> & likelihood) {_likelihood = likelihood;}
@@ -205,6 +206,7 @@ public:
const std::multimap<int, Link> & constraints() const {return _constraints;}
const Transform & mapCorrection() const {return _mapCorrection;}
const Transform & loopClosureTransform() const {return _loopClosureTransform;}
const cv::Mat & localizationCovariance() const {return _localizationCovariance;}
const std::map<int, int> & weights() const {return _weights;}
const std::map<int, float> & posterior() const {return _posterior;}
const std::map<int, float> & likelihood() const {return _likelihood;}
@@ -230,6 +232,7 @@ private:
std::multimap<int, Link> _constraints;
Transform _mapCorrection;
Transform _loopClosureTransform;
cv::Mat _localizationCovariance;
std::map<int, int> _weights;
std::map<int, float> _posterior;