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ProximitySpace: extracting all paths inside local radius up to max graph depth, no length limit of the proximity space links. Fixed local scan matching assembling bug when laser local transform is set. DbViewer: we can now refine proximity detection by space (laser scan matching).

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This commit is contained in:
matlabbe
2017-10-09 18:45:42 -04:00
parent 007d23308a
commit 400952b327
6 changed files with 337 additions and 167 deletions
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corelib/src/Memory.cpp
+17 -22
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@@ -1065,6 +1065,7 @@ std::map<int, int> Memory::getNeighborsId(
bool incrementMarginOnLoop, // default false
bool ignoreLoopIds, // default false
bool ignoreIntermediateNodes, // default false
const std::set<int> & nodesSet,
double * dbAccessTime
) const
{
@@ -1094,7 +1095,7 @@ std::map<int, int> Memory::getNeighborsId(
for(std::list<int>::iterator jter = curentMarginList.begin(); jter!=curentMarginList.end(); ++jter)
{
if(ids.find(*jter) == ids.end())
if(ids.find(*jter) == ids.end() && (nodesSet.empty() || nodesSet.find(*jter) != nodesSet.end()))
{
//UDEBUG("Added %d with margin %d", *jter, m);
// Look up in STM/WM if all ids are here, if not... load them from the database
@@ -1184,6 +1185,7 @@ std::map<int, float> Memory::getNeighborsIdRadius(
UASSERT(uContains(optimizedPoses, signatureId));
UASSERT(signatureId > 0);
std::map<int, float> ids;
std::map<int, float> checkedIds;
std::list<int> curentMarginList;
std::set<int> currentMargin;
std::set<int> nextMargin;
@@ -1192,8 +1194,6 @@ std::map<int, float> Memory::getNeighborsIdRadius(
Transform referential = optimizedPoses.at(signatureId);
UASSERT(!referential.isNull());
float radiusSqrd = radius*radius;
std::map<int, float> savedRadius;
savedRadius.insert(std::make_pair(signatureId, 0));
while((maxGraphDepth == 0 || m < maxGraphDepth) && nextMargin.size())
{
curentMarginList = std::list<int>(nextMargin.begin(), nextMargin.end());
@@ -1201,7 +1201,7 @@ std::map<int, float> Memory::getNeighborsIdRadius(
for(std::list<int>::iterator jter = curentMarginList.begin(); jter!=curentMarginList.end(); ++jter)
{
if(ids.find(*jter) == ids.end())
if(checkedIds.find(*jter) == checkedIds.end())
{
//UDEBUG("Added %d with margin %d", *jter, m);
// Look up in STM/WM if all ids are here, if not... load them from the database
@@ -1210,7 +1210,13 @@ std::map<int, float> Memory::getNeighborsIdRadius(
const std::map<int, Link> * links = &tmpLinks;
if(s)
{
ids.insert(std::pair<int, float>(*jter, savedRadius.at(*jter)));
const Transform & t = optimizedPoses.at(*jter);
UASSERT(!t.isNull());
float distanceSqrd = referential.getDistanceSquared(t);
if(radiusSqrd == 0 || distanceSqrd<radiusSqrd)
{
ids.insert(std::pair<int, float>(*jter,distanceSqrd));
}
links = &s->getLinks();
}
@@ -1222,15 +1228,7 @@ std::map<int, float> Memory::getNeighborsIdRadius(
uContains(optimizedPoses, iter->first) &&
iter->second.type()!=Link::kVirtualClosure)
{
const Transform & t = optimizedPoses.at(iter->first);
UASSERT(!t.isNull());
float distanceSqrd = referential.getDistanceSquared(t);
if(radiusSqrd == 0 || distanceSqrd<radiusSqrd)
{
savedRadius.insert(std::make_pair(iter->first, distanceSqrd));
nextMargin.insert(iter->first);
}
nextMargin.insert(iter->first);
}
}
}
@@ -2478,7 +2476,7 @@ Transform Memory::computeIcpTransformMulti(
{
// Create a fake signature with all scans merged in oldId referential
SensorData assembledData;
Transform toPose = poses.at(toId);
Transform toPoseInv = poses.at(toId).inverse();
std::string msg;
int maxPoints = fromScan.cols;
pcl::PointCloud<pcl::PointXYZ>::Ptr assembledToClouds(new pcl::PointCloud<pcl::PointXYZ>);
@@ -2502,17 +2500,15 @@ Transform Memory::computeIcpTransformMulti(
if(scan.channels() >= 5)
{
pcl::PointCloud<pcl::PointNormal>::Ptr cloudNormal = util3d::laserScanToPointCloudNormal(
*assembledToNormalClouds += *util3d::laserScanToPointCloudNormal(
scan,
s->sensorData().laserScanInfo().localTransform() * toPose.inverse() * iter->second);
*assembledToNormalClouds += *cloudNormal;
toPoseInv * iter->second * s->sensorData().laserScanInfo().localTransform());
}
else
{
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud = util3d::laserScanToPointCloud(
*assembledToClouds += *util3d::laserScanToPointCloud(
scan,
s->sensorData().laserScanInfo().localTransform() * toPose.inverse() * iter->second);
*assembledToClouds += *cloud;
toPoseInv * iter->second * s->sensorData().laserScanInfo().localTransform());
}
if(scan.cols > maxPoints)
@@ -2545,7 +2541,6 @@ Transform Memory::computeIcpTransformMulti(
is2D?Transform(0,0,fromS->sensorData().laserScanInfo().localTransform().z(),0,0,0):Transform::getIdentity()));
Transform guess = poses.at(fromId).inverse() * poses.at(toId);
std::vector<int> inliersV;
t = _registrationIcp->computeTransformation(fromS->sensorData(), assembledData, guess, info);
}