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0.15.1: CameraImages: added ground truth time diff, fixed memory leak when loading binary scans. CameraRGBDImages and CameraStereoImages: fixed start id. Feature2D: added grid rows and cols parameters (Kp/GridRows, Kp/GridCols, Vis/GridRows, Vis/GridCols). OdomInfo: publish bundle frames. OdometryORBSLAM2: added OdomORBSLAM2/Fps and OdomORBSLAM2/MaxFeatures parameters. Registration: added Reg/RepeatOnce parameter and removed variance normalization. For util2d::getDepth() and util3d::projectDepthTo3D(), maxZError parameter is now depthErrorRatio to be dependent of the sensor range. Database: save image width and height from stereo calibration. OptimizerG2O: fixed SBA optimization when using g2o built from ORBSLAM2 library. OptimizerGTSAM: to increase optimization stability, all rotations in information matrix are divided by 100000. Added rtabmap-report tool.

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This commit is contained in:
matlabbe
2017-11-30 16:52:03 -05:00
parent 821c1c938e
commit 4452e637ad
46 changed files with 1892 additions and 802 deletions
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corelib/src/Rtabmap.cpp
+11 -5
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@@ -2170,6 +2170,7 @@ bool Rtabmap::process(
// Optimize map graph
//============================================================
float maxLinearError = 0.0f;
float maxLinearErrorRatio = 0.0f;
double optimizationError = 0.0;
int optimizationIterations = 0;
if(_rgbdSlamMode &&
@@ -2281,21 +2282,25 @@ bool Rtabmap::process(
}
if(maxLinearLink)
{
UINFO("Max optimization error = %f m (link %d->%d)", maxLinearError, maxLinearLink->from(), maxLinearLink->to());
UINFO("Max optimization error = %f m (link %d->%d, var=%f, %f)", maxLinearError, maxLinearLink->from(), maxLinearLink->to(), maxLinearLink->transVariance(), maxLinearError/sqrt(maxLinearLink->transVariance()));
}
if(maxLinearError > _optimizationMaxLinearError)
float stddev = sqrt(maxLinearLink->transVariance());
maxLinearErrorRatio = maxLinearError/stddev;
if(maxLinearErrorRatio > _optimizationMaxLinearError)
{
UWARN("Rejecting all added loop closures (%d) in this "
"iteration because a wrong loop closure has been "
"detected after graph optimization, resulting in "
"a maximum graph error of %f m (edge %d->%d, type=%d). The "
"maximum error parameter is %f m.",
"a maximum graph error ratio of %f (edge %d->%d, type=%d, abs error=%f, stddev=%f). The "
"maximum error ratio parameter is %f of std deviation.",
(int)loopClosureLinksAdded.size(),
maxLinearError,
maxLinearErrorRatio,
maxLinearLink->from(),
maxLinearLink->to(),
maxLinearLink->type(),
maxLinearError,
stddev,
_optimizationMaxLinearError);
for(std::list<std::pair<int, int> >::iterator iter=loopClosureLinksAdded.begin(); iter!=loopClosureLinksAdded.end(); ++iter)
{
@@ -2384,6 +2389,7 @@ bool Rtabmap::process(
statistics_.addStatistic(Statistics::kLoopVisual_matches(), loopClosureVisualMatches);
statistics_.addStatistic(Statistics::kLoopLast_id(), _memory->getLastGlobalLoopClosureId());
statistics_.addStatistic(Statistics::kLoopOptimization_max_error(), maxLinearError);
statistics_.addStatistic(Statistics::kLoopOptimization_max_error_ratio(), maxLinearErrorRatio);
statistics_.addStatistic(Statistics::kLoopOptimization_error(), optimizationError);
statistics_.addStatistic(Statistics::kLoopOptimization_iterations(), optimizationIterations);