i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-02 17:40:23 +08:00
Code Issues Packages Projects Releases Wiki Activity

Updated how retrieved locations on the planned path are linked to local map.

Browse Source 
Added new parameters: "RGBD/PlanWithNearNodesLinked" and "Mem/LocalSpaceLinksKeptInWM"
This commit is contained in:
Mathieu Labbe
2015-02-17 17:30:47 -05:00
parent 4279625d03
commit 2f6426f029
9 changed files with 182 additions and 64 deletions
Download Patch File Download Diff File Expand all files Collapse all files

2
corelib/include/rtabmap/core/Graph.h
View File

@@ -103,7 +103,7 @@ std::multimap<int, int> RTABMAP_EXP radiusPosesClustering(
* @param to final node
* @return the path ids from id "from" to id "to" including initial and final nodes.
*/
std::vector<int> RTABMAP_EXP computePath(
std::list<std::pair<int, Transform> > RTABMAP_EXP computePath(
const std::map<int, rtabmap::Transform> & poses,
const std::multimap<int, int> & links,
int from,

1
corelib/include/rtabmap/core/Memory.h
View File

@@ -209,6 +209,7 @@ private:
bool _generateIds;
bool _badSignaturesIgnored;
int _imageDecimation;
bool _localSpaceLinksKeptInWM;
int _idCount;
int _idMapCount;

4
corelib/include/rtabmap/core/Parameters.h
View File

@@ -194,6 +194,7 @@ class RTABMAP_EXP Parameters
RTABMAP_PARAM(Mem, BadSignaturesIgnored, bool, false, "Bad signatures are ignored.");
RTABMAP_PARAM(Mem, InitWMWithAllNodes, bool, false, "Initialize the Working Memory with all nodes in Long-Term Memory. When false, it is initialized with nodes of the previous session.");
RTABMAP_PARAM(Mem, ImageDecimation, int, 1, "Image decimation (>=1).");
RTABMAP_PARAM(Mem, LocalSpaceLinksKeptInWM, bool, true, "If local space links are kept in WM.");
// KeypointMemory (Keypoint-based)
@@ -288,8 +289,9 @@ class RTABMAP_EXP Parameters
RTABMAP_PARAM(RGBD, ToroIterations, int, 100, "TORO graph optimization iterations");
RTABMAP_PARAM(RGBD, ToroIgnoreVariance, bool, false, "Ignore constraints' variance. If checked, identity information matrix is used for each constraint in TORO. Otherwise, an information matrix is generated from the variance saved in the links.");
RTABMAP_PARAM(RGBD, OptimizeFromGraphEnd, bool, false, "Optimize graph from the newest node. If false, the graph is optimized from the oldest node of the current graph (this adds an overhead computation to detect to oldest mode of the current graph, but it can be useful to preserve the map referential from the oldest node). Warning when set to false: when some nodes are transferred, the first referential of the local map may change, resulting in momentary changes in robot/map position (which are annoying in teleoperation).");
RTABMAP_PARAM(RGBD, GoalReachedRadius, float, 1.0, "Goal reached radius (m).");
RTABMAP_PARAM(RGBD, GoalReachedRadius, float, 0.5, "Goal reached radius (m).");
RTABMAP_PARAM(RGBD, MaxAnticipatedNodes, unsigned int, 10, "Maximum anticipated nodes on the computed path that can be retrieved (the number of nodes actually retrieved at each iteration is limited by \"Rtabmap/MaxRetrieved\").");
RTABMAP_PARAM(RGBD, PlanWithNearNodesLinked, bool, true, "Before planning in the graph, near nodes are linked together (even if they don't belong to same map). Radius is defined by \"RGBD/GoalReachedRadius\" parameter.");
// Local loop closure detection
RTABMAP_PARAM(RGBD, LocalLoopDetectionTime, bool, false, "Detection over all locations in STM.");

11
corelib/include/rtabmap/core/Rtabmap.h
View File

@@ -119,10 +119,10 @@ public:
bool optimized,
bool global);
void clearPath();
std::list<std::pair<int, Transform> > computePath(int targetNode, bool global);
std::list<std::pair<int, Transform> > computePath(const Transform & targetPose, bool global);
const std::vector<int> & getPath() const {return _path;}
std::list<std::pair<int, Transform> > getPathNextPoses() const;
bool computePath(int targetNode, bool global);
bool computePath(const Transform & targetPose, bool global);
const std::vector<std::pair<int, Transform> > & getPath() const {return _path;}
std::vector<std::pair<int, Transform> > getPathNextPoses() const;
std::vector<int> getPathNextNodes() const;
int getPathCurrentGoalId() const;
const Transform & getPathTransformToGoal() const {return _pathTransformToGoal;}
@@ -182,6 +182,7 @@ private:
bool _startNewMapOnLoopClosure;
float _goalReachedRadius; // meters
unsigned int _maxAnticipatedNodes;
bool _planWithNearNodesLinked;
std::pair<int, float> _loopClosureHypothesis;
std::pair<int, float> _highestHypothesis;
@@ -210,7 +211,7 @@ private:
Transform _mapTransform; // for localization mode
// Planning stuff
std::vector<int> _path;
std::vector<std::pair<int,Transform> > _path;
unsigned int _pathCurrentIndex;
unsigned int _pathGoalIndex;
Transform _pathTransformToGoal;