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

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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
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corelib/src/Rtabmap.cpp
+71 -49
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@@ -109,6 +109,7 @@ Rtabmap::Rtabmap() :
_startNewMapOnLoopClosure(Parameters::defaultRtabmapStartNewMapOnLoopClosure()),
_goalReachedRadius(Parameters::defaultRGBDGoalReachedRadius()),
_maxAnticipatedNodes(Parameters::defaultRGBDMaxAnticipatedNodes()),
_planWithNearNodesLinked(Parameters::defaultRGBDPlanWithNearNodesLinked()),
_loopClosureHypothesis(0,0.0f),
_highestHypothesis(0,0.0f),
_lastProcessTime(0.0),
@@ -374,6 +375,7 @@ void Rtabmap::parseParameters(const ParametersMap & parameters)
Parameters::parse(parameters, Parameters::kRtabmapStartNewMapOnLoopClosure(), _startNewMapOnLoopClosure);
Parameters::parse(parameters, Parameters::kRGBDGoalReachedRadius(), _goalReachedRadius);
Parameters::parse(parameters, Parameters::kRGBDMaxAnticipatedNodes(), _maxAnticipatedNodes);
Parameters::parse(parameters, Parameters::kRGBDPlanWithNearNodesLinked(), _planWithNearNodesLinked);
// RGB-D SLAM stuff
@@ -1225,21 +1227,21 @@ bool Rtabmap::process(const SensorData & data)
if(_path.size())
{
// immunize all nodes between current node and goal node
for(unsigned int i=_pathCurrentIndex; i<=_pathGoalIndex; ++i)
// immunize all nodes after current node
for(unsigned int i=_pathCurrentIndex; i<_path.size() && i<_pathCurrentIndex+_maxAnticipatedNodes; ++i)
{
immunizedLocations.insert(_path[i]);
UDEBUG("Path immunization: node %d", _path[i]);
immunizedLocations.insert(_path[i].first);
UDEBUG("Path immunization: node %d", _path[i].first);
}
// retrieve nodes after current node up to _maxPathRetrievalSize
for(unsigned int i=_pathCurrentIndex;
i<_path.size() && i<_pathCurrentIndex+_maxAnticipatedNodes && retrievalPathIds.size() < _maxRetrieved;
++i)
{
if(_memory->getSignature(_path[i]) == 0)
if(_memory->getSignature(_path[i].first) == 0)
{
UINFO("retrieval of node %d on path", _path[i]);
retrievalPathIds.push_back(_path[i]);
UINFO("retrieval of node %d on path", _path[i].first);
retrievalPathIds.push_back(_path[i].first);
}
}
@@ -1387,15 +1389,6 @@ bool Rtabmap::process(const SensorData & data)
}
}
// Add a virtual loop closure link to keep the path linked to local map
if(_path.size() &&
signature->id() != _path[_pathCurrentIndex] &&
!signature->hasLink(_path[_pathCurrentIndex]))
{
Transform virtualLoop = _optimizedPoses.at(signature->id()).inverse() * _optimizedPoses.at(_path[_pathCurrentIndex]);
_memory->addLink(_path[_pathCurrentIndex], signature->id(), virtualLoop, Link::kVirtualClosure, 99999);
}
timeAddLoopClosureLink = timer.ticks();
ULOGGER_INFO("timeAddLoopClosureLink=%fs", timeAddLoopClosureLink);
@@ -1511,6 +1504,40 @@ bool Rtabmap::process(const SensorData & data)
timeMapOptimization = timer.ticks();
ULOGGER_INFO("timeMapOptimization=%fs", timeMapOptimization);
//============================================================
// Add virtual links if a path is activated
//============================================================
if(_path.size())
{
// Add a virtual loop closure link to keep the path linked to local map
if( signature->id() != _path[_pathCurrentIndex].first &&
!signature->hasLink(_path[_pathCurrentIndex].first) &&
uContains(_optimizedPoses, _path[_pathCurrentIndex].first))
{
Transform virtualLoop = _optimizedPoses.at(signature->id()).inverse() * _optimizedPoses.at(_path[_pathCurrentIndex].first);
_memory->addLink(_path[_pathCurrentIndex].first, signature->id(), virtualLoop, Link::kVirtualClosure, 99999);
}
// Make sure the next signatures on the path are linked together
for(unsigned int i=_pathCurrentIndex;
i<_path.size() && i<_pathCurrentIndex+_maxAnticipatedNodes;
++i)
{
if(i>0)
{
const Signature * s = _memory->getSignature(_path[i].first);
if(s)
{
if(!s->hasLink(_path[i-1].first) && _memory->getSignature(_path[i-1].first) != 0)
{
Transform virtualLoop = _path[i].second.inverse() * _path[i-1].second;
_memory->addLink(_path[i-1].first, _path[i].first, virtualLoop, Link::kVirtualClosure, 99999);
UWARN("Added Virtual link between %d and %d", _path[i-1].first, _path[i].first);
}
}
}
}
}
//============================================================
// Prepare statistics
//============================================================
@@ -2313,11 +2340,14 @@ bool Rtabmap::computePath(
links.insert(std::make_pair(iter->second.to(), iter->first)); // <->
}
// Add links between neighbor nodes in the goal radius.
//std::multimap<int, int> clusters = rtabmap::radiusPosesClustering(globalGraph, _goalMetricError, CV_PI);
//links.insert(clusters.begin(), clusters.end());
if(_planWithNearNodesLinked)
{
std::multimap<int, int> clusters = rtabmap::graph::radiusPosesClustering(nodes, _goalReachedRadius, CV_PI);
links.insert(clusters.begin(), clusters.end());
}
UINFO("Computing path from location %d to %d", currentNode, targetNode);
_path = rtabmap::graph::computePath(nodes, links, currentNode, targetNode);
_path = uListToVector(rtabmap::graph::computePath(nodes, links, currentNode, targetNode));
if(_path.size() == 0)
{
@@ -2332,7 +2362,7 @@ bool Rtabmap::computePath(
std::stringstream stream;
for(unsigned int i=0; i<_path.size(); ++i)
{
stream << _path[i];
stream << _path[i].first;
if(i+1 < _path.size())
{
stream << " ";
@@ -2346,15 +2376,14 @@ bool Rtabmap::computePath(
}
// return true if path is updated
std::list<std::pair<int, Transform> > Rtabmap::computePath(int targetNode, bool global)
bool Rtabmap::computePath(int targetNode, bool global)
{
this->clearPath();
std::list<std::pair<int, Transform> > pathPoses;
if(!_rgbdSlamMode)
{
UWARN("A path can only be computed in RGBD-SLAM mode");
return pathPoses;
return false;
}
UTimer timer;
@@ -2367,18 +2396,13 @@ std::list<std::pair<int, Transform> > Rtabmap::computePath(int targetNode, bool
if(computePath(targetNode, nodes, constraints))
{
updateGoalIndex();
for(unsigned int i = 0; i<_path.size(); ++i)
{
pathPoses.push_back(std::make_pair(_path[i], nodes.at(_path[i])));
}
}
UINFO("Time computing path = %fs", timer.ticks());
return pathPoses;
return _path.size()>0;
}
std::list<std::pair<int, Transform> > Rtabmap::computePath(const Transform & targetPose, bool global)
bool Rtabmap::computePath(const Transform & targetPose, bool global)
{
this->clearPath();
std::list<std::pair<int, Transform> > pathPoses;
@@ -2386,7 +2410,7 @@ std::list<std::pair<int, Transform> > Rtabmap::computePath(const Transform & tar
if(!_rgbdSlamMode)
{
UWARN("This method can only be used in RGBD-SLAM mode");
return pathPoses;
return false;
}
//Find the nearest node
@@ -2404,15 +2428,10 @@ std::list<std::pair<int, Transform> > Rtabmap::computePath(const Transform & tar
if(computePath(nearestId, nodes, constraints))
{
UASSERT(_path.size() > 0);
UASSERT(uContains(nodes, _path.back()));
_pathTransformToGoal = nodes.at(_path.back()).inverse() * targetPose;
UASSERT(uContains(nodes, _path.back().first));
_pathTransformToGoal = nodes.at(_path.back().first).inverse() * targetPose;
updateGoalIndex();
for(unsigned int i = 0; i<_path.size(); ++i)
{
pathPoses.push_back(std::make_pair(_path[i], nodes.at(_path[i])));
}
pathPoses.back().second *= _pathTransformToGoal;
}
UINFO("Time computing path = %fs", timer.ticks());
}
@@ -2421,27 +2440,30 @@ std::list<std::pair<int, Transform> > Rtabmap::computePath(const Transform & tar
UWARN("Nearest node not found in graph (size=%d) for pose %s", (int)nodes.size(), targetPose.prettyPrint().c_str());
}
return pathPoses;
return _path.size()>0;
}
std::list<std::pair<int, Transform> > Rtabmap::getPathNextPoses() const
std::vector<std::pair<int, Transform> > Rtabmap::getPathNextPoses() const
{
std::list<std::pair<int, Transform> > poses;
std::vector<std::pair<int, Transform> > poses;
if(_path.size())
{
UASSERT(_pathCurrentIndex < _path.size() && _pathGoalIndex < _path.size());
poses.resize(_pathGoalIndex-_pathCurrentIndex+1);
int oi=0;
for(unsigned int i=_pathCurrentIndex; i<=_pathGoalIndex; ++i)
{
std::map<int, Transform>::const_iterator iter = _optimizedPoses.find(_path[i]);
std::map<int, Transform>::const_iterator iter = _optimizedPoses.find(_path[i].first);
if(iter != _optimizedPoses.end())
{
poses.push_back(*iter);
poses[oi++] = *iter;
}
else
{
break;
}
}
poses.resize(oi);
}
return poses;
}
@@ -2456,7 +2478,7 @@ std::vector<int> Rtabmap::getPathNextNodes() const
int oi = 0;
for(unsigned int i=_pathCurrentIndex; i<=_pathGoalIndex; ++i)
{
std::map<int, Transform>::const_iterator iter = _optimizedPoses.find(_path[i]);
std::map<int, Transform>::const_iterator iter = _optimizedPoses.find(_path[i].first);
if(iter != _optimizedPoses.end())
{
ids[oi++] = iter->first;
@@ -2476,7 +2498,7 @@ int Rtabmap::getPathCurrentGoalId() const
if(_path.size())
{
UASSERT(_pathGoalIndex <= _path.size());
return _path[_pathGoalIndex];
return _path[_pathGoalIndex].first;
}
return 0;
}
@@ -2499,7 +2521,7 @@ void Rtabmap::updateGoalIndex()
return;
}
int goalId = _path.back();
int goalId = _path.back().first;
if(uContains(_optimizedPoses, goalId))
{
//use local position to know if the goal is reached
@@ -2517,7 +2539,7 @@ void Rtabmap::updateGoalIndex()
int goalIndex = 0;
for(int i=(int)_path.size()-1; i>=0; --i)
{
if(uContains(_optimizedPoses, _path[i]))
if(uContains(_optimizedPoses, _path[i].first))
{
goalIndex = i;
break;
@@ -2527,7 +2549,7 @@ void Rtabmap::updateGoalIndex()
if((int)_pathGoalIndex != goalIndex)
{
UINFO("Updated current goal from %d to %d (%d/%d)",
(int)_path[_pathGoalIndex], _path[goalIndex], goalIndex+1, (int)_path.size());
(int)_path[_pathGoalIndex].first, _path[goalIndex].first, goalIndex+1, (int)_path.size());
_pathGoalIndex = goalIndex;
}
@@ -2538,7 +2560,7 @@ void Rtabmap::updateGoalIndex()
UASSERT(_pathGoalIndex < _path.size() && _pathGoalIndex >= 0);
for(unsigned int i=_pathCurrentIndex; i<=_pathGoalIndex; ++i)
{
std::map<int, Transform>::iterator iter = _optimizedPoses.find(_path[i]);
std::map<int, Transform>::iterator iter = _optimizedPoses.find(_path[i].first);
if(iter != _optimizedPoses.end())
{
float d = currentPose.getDistanceSquared(iter->second);