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fixed #276 and #277

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matlabbe
2018-04-14 13:41:04 -04:00
parent 79c4bd7850
commit 344dc165bc
3 changed files with 21 additions and 7 deletions
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corelib/src/Rtabmap.cpp
+15 -7
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@@ -2268,10 +2268,18 @@ bool Rtabmap::process(
// if _optimizeFromGraphEnd parameter just changed state, don't use optimized poses as guess
float normMapCorrection = _mapCorrection.getNormSquared(); // use distance for identity detection
if((normMapCorrection > 0.001f && _optimizeFromGraphEnd) ||
(normMapCorrection < 0.001f && !_optimizeFromGraphEnd))
if((normMapCorrection > 0.000001f && _optimizeFromGraphEnd) ||
(normMapCorrection < 0.000001f && !_optimizeFromGraphEnd))
{
poses.clear();
for(std::multimap<int, Link>::iterator iter=_constraints.begin(); iter!=_constraints.end(); ++iter)
{
if(iter->second.type() != Link::kNeighbor && iter->second.type() != Link::kVirtualClosure)
{
UWARN("Optimization: clearing guess poses as %s may have changed state, now %s (normMapCorrection=%f)", Parameters::kRGBDOptimizeFromGraphEnd().c_str(), _optimizeFromGraphEnd?"true":"false", normMapCorrection);
poses.clear();
break;
}
}
}
std::multimap<int, Link> constraints;
@@ -3311,24 +3319,24 @@ std::map<int, Transform> Rtabmap::optimizeGraph(
if(!poses.empty() && optimizedPoses.empty() && guessPoses.empty())
{
UERROR("Optimization has failed, trying incremental optimization instead, this may take a while (poses=%d, links=%d)...", (int)poses.size(), (int)edgeConstraints.size());
UWARN("Optimization has failed, trying incremental optimization instead, this may take a while (poses=%d, links=%d)...", (int)poses.size(), (int)edgeConstraints.size());
optimizedPoses = _graphOptimizer->optimizeIncremental(fromId, poses, edgeConstraints, 0, error, iterationsDone);
if(optimizedPoses.empty())
{
if(!_graphOptimizer->isCovarianceIgnored() || _graphOptimizer->type() != Optimizer::kTypeTORO)
{
UERROR("Incremental optimization also failed. You may try changing parameters to %s=0 and %s=true.",
UWARN("Incremental optimization also failed. You may try changing parameters to %s=0 and %s=true.",
Parameters::kOptimizerStrategy().c_str(), Parameters::kOptimizerVarianceIgnored().c_str());
}
else
{
UERROR("Incremental optimization also failed.");
UWARN("Incremental optimization also failed.");
}
}
else
{
UERROR("Incremental optimization succeeded!");
UWARN("Incremental optimization succeeded!");
}
}
}