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DBReader: added ignore priors option (added to gui and reprocess), Statistics: added info about distance/angle of the localization, RegVis: fixed inliers mean distance on multicam setup, About: added MRPT info

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This commit is contained in:
matlabbe
2023-02-10 17:29:10 -08:00
parent 59d220c54f
commit 437ed09335
11 changed files with 1250 additions and 1158 deletions
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7
corelib/include/rtabmap/core/DBReader.h
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@@ -57,7 +57,8 @@ public:
bool landmarksIgnored = false,
bool featuresIgnored = false,
int startMapId = 0,
int stopMapId = -1);
int stopMapId = -1,
bool priorsIgnored = false);
DBReader(const std::list<std::string> & databasePaths,
float frameRate = 0.0f, // -1 = use Database stamps, 0 = inf
bool odometryIgnored = false,
@@ -70,7 +71,8 @@ public:
bool landmarksIgnored = false,
bool featuresIgnored = false,
int startMapId = 0,
int stopMapId = -1);
int stopMapId = -1,
bool priorsIgnored = false);
virtual ~DBReader();
virtual bool init(
@@ -100,6 +102,7 @@ private:
bool _intermediateNodesIgnored;
bool _landmarksIgnored;
bool _featuresIgnored;
bool _priorsIgnored;
int _startMapId;
int _stopMapId;

1
corelib/include/rtabmap/core/Rtabmap.h
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@@ -368,7 +368,6 @@ private:
std::map<int, Transform> _globalScanMapPoses;
std::map<int, Transform> _odomCachePoses; // used in localization mode to reject loop closures
std::multimap<int, Link> _odomCacheConstraints; // used in localization mode to reject loop closures
std::vector<float> _odomCorrectionAcc;
std::map<int, Transform> _markerPriors;
std::set<int> _nodesToRepublish;

13
corelib/include/rtabmap/core/Statistics.h
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@@ -67,7 +67,7 @@ class RTABMAP_EXP Statistics
RTABMAP_STATS(Loop, Visual_inliers,);
RTABMAP_STATS(Loop, Visual_inliers_ratio,);
RTABMAP_STATS(Loop, Visual_matches,);
RTABMAP_STATS(Loop, Distance_since_last_loc,);
RTABMAP_STATS(Loop, Distance_since_last_loc, m);
RTABMAP_STATS(Loop, Last_id,);
RTABMAP_STATS(Loop, Optimization_max_error, m);
RTABMAP_STATS(Loop, Optimization_max_error_ratio, );
@@ -90,15 +90,6 @@ class RTABMAP_EXP Statistics
RTABMAP_STATS(Loop, Odom_correction_roll, deg);
RTABMAP_STATS(Loop, Odom_correction_pitch, deg);
RTABMAP_STATS(Loop, Odom_correction_yaw, deg);
//Odom correction
RTABMAP_STATS(Loop, Odom_correction_acc_norm, m);
RTABMAP_STATS(Loop, Odom_correction_acc_angle, deg);
RTABMAP_STATS(Loop, Odom_correction_acc_x, m);
RTABMAP_STATS(Loop, Odom_correction_acc_y, m);
RTABMAP_STATS(Loop, Odom_correction_acc_z, m);
RTABMAP_STATS(Loop, Odom_correction_acc_roll, deg);
RTABMAP_STATS(Loop, Odom_correction_acc_pitch, deg);
RTABMAP_STATS(Loop, Odom_correction_acc_yaw, deg);
// Map to Odom
RTABMAP_STATS(Loop, MapToOdom_norm, m);
RTABMAP_STATS(Loop, MapToOdom_angle, deg);
@@ -160,6 +151,8 @@ class RTABMAP_EXP Statistics
RTABMAP_STATS(Memory, RAM_usage, MB);
RTABMAP_STATS(Memory, RAM_estimated, MB);
RTABMAP_STATS(Memory, Triangulated_points, );
RTABMAP_STATS(Memory, Closest_node_distance, m);
RTABMAP_STATS(Memory, Closest_node_angle, rad);
RTABMAP_STATS(Timing, Memory_update, ms);
RTABMAP_STATS(Timing, Neighbor_link_refining, ms);