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Odometry local map can be limited by range (#482)

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* Odometry local map is now dependent on robot range and not on time, recalculating normals after adding new scan to the map as well
This commit is contained in:
PrescilliaA
2019-12-11 13:43:38 -05:00
committed by matlabbe
parent 2d7ab7bdef
commit 4479a6f7e8
3 changed files with 125 additions and 59 deletions
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1
corelib/include/rtabmap/core/Parameters.h
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@@ -440,6 +440,7 @@ class RTABMAP_EXP Parameters
RTABMAP_PARAM(OdomF2M, ScanMaxSize, int, 2000, "[Geometry] Maximum local scan map size.");
RTABMAP_PARAM(OdomF2M, ScanSubtractRadius, float, 0.05, "[Geometry] Radius used to filter points of a new added scan to local map. This could match the voxel size of the scans.");
RTABMAP_PARAM(OdomF2M, ScanSubtractAngle, float, 45, uFormat("[Geometry] Max angle (degrees) used to filter points of a new added scan to local map (when \"%s\">0). 0 means any angle.", kOdomF2MScanSubtractRadius().c_str()).c_str());
RTABMAP_PARAM(OdomF2M, ScanRange, float, 0, "[Geometry] Distance Range used to filter points of local map (when > 0). 0 means local map is updated using time and not range.");
RTABMAP_PARAM(OdomF2M, ValidDepthRatio, float, 0.75, "If a new frame has points without valid depth, they are added to local feature map only if points with valid depth on total points is over this ratio. Setting to 1 means no points without valid depth are added to local feature map.");
#if defined(RTABMAP_G2O) || defined(RTABMAP_ORB_SLAM2)
RTABMAP_PARAM(OdomF2M, BundleAdjustment, int, 1, "Local bundle adjustment: 0=disabled, 1=g2o, 2=cvsba, 3=Ceres.");

3
corelib/include/rtabmap/core/odometry/OdometryF2M.h
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@@ -70,6 +70,9 @@ private:
int bundleAdjustment_;
int bundleMaxFrames_;
float validDepthRatio_;
float scanMapMaxRange_;
int pointToPlaneK_;
float pointToPlaneRadius_;
Registration * regPipeline_;
Signature * map_;

180
corelib/src/odometry/OdometryF2M.cpp
View File

@@ -27,19 +27,17 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include "rtabmap/core/OdometryInfo.h"
#include "rtabmap/core/Memory.h"
#include "rtabmap/core/VisualWord.h"
#include "rtabmap/core/Signature.h"
#include "rtabmap/core/RegistrationVis.h"
#include "rtabmap/core/util3d.h"
#include "rtabmap/core/util3d_transforms.h"
#include "rtabmap/core/util3d_registration.h"
#include "rtabmap/core/util3d_correspondences.h"
#include "rtabmap/core/util3d_motion_estimation.h"
#include "rtabmap/core/util3d_filtering.h"
#include "rtabmap/core/util3d_surface.h"
#include "rtabmap/core/Optimizer.h"
#include "rtabmap/core/VWDictionary.h"
#include "rtabmap/core/util3d.h"
#include "rtabmap/core/Graph.h"
#include "rtflann/flann.hpp"
#include "rtabmap/utilite/ULogger.h"
#include "rtabmap/utilite/UTimer.h"
#include "rtabmap/utilite/UMath.h"
@@ -66,9 +64,12 @@ OdometryF2M::OdometryF2M(const ParametersMap & parameters) :
scanMaximumMapSize_(Parameters::defaultOdomF2MScanMaxSize()),
scanSubtractRadius_(Parameters::defaultOdomF2MScanSubtractRadius()),
scanSubtractAngle_(Parameters::defaultOdomF2MScanSubtractAngle()),
scanMapMaxRange_(Parameters::defaultOdomF2MScanRange()),
bundleAdjustment_(Parameters::defaultOdomF2MBundleAdjustment()),
bundleMaxFrames_(Parameters::defaultOdomF2MBundleAdjustmentMaxFrames()),
validDepthRatio_(Parameters::defaultOdomF2MValidDepthRatio()),
pointToPlaneK_(Parameters::defaultIcpPointToPlaneK()),
pointToPlaneRadius_(Parameters::defaultIcpPointToPlaneRadius()),
map_(new Signature(-1)),
lastFrame_(new Signature(1)),
lastFrameOldestNewId_(0),
@@ -88,17 +89,21 @@ OdometryF2M::OdometryF2M(const ParametersMap & parameters) :
{
scanSubtractAngle_ *= M_PI/180.0f;
}
Parameters::parse(parameters, Parameters::kOdomF2MScanRange(), scanMapMaxRange_);
Parameters::parse(parameters, Parameters::kOdomF2MBundleAdjustment(), bundleAdjustment_);
Parameters::parse(parameters, Parameters::kOdomF2MBundleAdjustmentMaxFrames(), bundleMaxFrames_);
Parameters::parse(parameters, Parameters::kOdomF2MValidDepthRatio(), validDepthRatio_);
Parameters::parse(parameters_, Parameters::kIcpPointToPlaneK(), pointToPlaneK_);
Parameters::parse(parameters_, Parameters::kIcpPointToPlaneRadius(), pointToPlaneRadius_);
UASSERT(bundleMaxFrames_ >= 0);
ParametersMap bundleParameters = parameters;
if(bundleAdjustment_ > 0)
{
if((bundleAdjustment_==1 && Optimizer::isAvailable(Optimizer::kTypeG2O)) ||
(bundleAdjustment_==2 && Optimizer::isAvailable(Optimizer::kTypeCVSBA)) ||
(bundleAdjustment_==3 && Optimizer::isAvailable(Optimizer::kTypeCeres)))
(bundleAdjustment_==2 && Optimizer::isAvailable(Optimizer::kTypeCVSBA)) ||
(bundleAdjustment_==3 && Optimizer::isAvailable(Optimizer::kTypeCeres)))
{
// disable bundle in RegistrationVis as we do it already here
uInsert(bundleParameters, ParametersPair(Parameters::kVisBundleAdjustment(), "0"));
@@ -911,12 +916,29 @@ Transform OdometryF2M::computeTransform(
if(lastFrame_->sensorData().laserScanRaw().size())
{
pcl::PointCloud<pcl::PointNormal>::Ptr mapCloudNormals = util3d::laserScanToPointCloudNormal(mapScan, tmpMap.sensorData().laserScanRaw().localTransform());
pcl::PointCloud<pcl::PointNormal>::Ptr frameCloudNormals = util3d::laserScanToPointCloudNormal(lastFrame_->sensorData().laserScanRaw(), newFramePose * lastFrame_->sensorData().laserScanRaw().localTransform());
Transform viewpoint = newFramePose * lastFrame_->sensorData().laserScanRaw().localTransform();
pcl::PointCloud<pcl::PointNormal>::Ptr frameCloudNormals (new pcl::PointCloud<pcl::PointNormal>());
if(scanMapMaxRange_ > 0)
{
frameCloudNormals = util3d::laserScanToPointCloudNormal(
lastFrame_->sensorData().laserScanRaw());
frameCloudNormals = util3d::cropBox(frameCloudNormals,
Eigen::Vector4f(-scanMapMaxRange_ / 2, -scanMapMaxRange_ / 2,-scanMapMaxRange_ / 2, 0),
Eigen::Vector4f(scanMapMaxRange_ / 2,scanMapMaxRange_ / 2,scanMapMaxRange_ / 2, 0)
);
frameCloudNormals = util3d::transformPointCloud(frameCloudNormals, viewpoint);
} else
{
frameCloudNormals = util3d::laserScanToPointCloudNormal(
lastFrame_->sensorData().laserScanRaw(), viewpoint);
}
pcl::IndicesPtr frameCloudNormalsIndices(new std::vector<int>);
int newPoints;
if(mapCloudNormals->size() && scanSubtractRadius_ > 0.0f)
{
// remove points that overlap (the ones found in both clouds)
frameCloudNormalsIndices = util3d::subtractFiltering(
frameCloudNormals,
pcl::IndicesPtr(new std::vector<int>),
@@ -933,72 +955,108 @@ Transform OdometryF2M::computeTransform(
if(newPoints)
{
scansBuffer_.push_back(std::make_pair(frameCloudNormals, frameCloudNormalsIndices));
if (scanMapMaxRange_ > 0) {
// Copying new points to tmp cloud
// These are the points that have no overlap between mapScan and lastFrame
pcl::PointCloud<pcl::PointNormal> tmp;
pcl::copyPointCloud(*frameCloudNormals, *frameCloudNormalsIndices, tmp);
//remove points if too big
UDEBUG("scansBuffer=%d, mapSize=%d newPoints=%d maxPoints=%d",
(int)scansBuffer_.size(),
int(mapCloudNormals->size()),
newPoints,
scanMaximumMapSize_);
if(scansBuffer_.size() > 1 &&
int(mapCloudNormals->size() + newPoints) > scanMaximumMapSize_)
{
//regenerate the local map
mapCloudNormals->clear();
std::list<int> toRemove;
int i = int(scansBuffer_.size())-1;
for(; i>=0; --i)
if (int(mapCloudNormals->size() + newPoints) > scanMaximumMapSize_) // 20 000 points
{
int pointsToAdd = scansBuffer_[i].second->size()?scansBuffer_[i].second->size():scansBuffer_[i].first->size();
if((int)mapCloudNormals->size() + pointsToAdd > scanMaximumMapSize_ ||
i == 0)
// Print mapSize
UINFO("mapSize=%d newPoints=%d maxPoints=%d",
int(mapCloudNormals->size()),
newPoints,
scanMaximumMapSize_);
*mapCloudNormals += tmp;
cv::Point3f boxMin (-scanMapMaxRange_/2, -scanMapMaxRange_/2, -scanMapMaxRange_/2);
cv::Point3f boxMax (scanMapMaxRange_/2, scanMapMaxRange_/2, scanMapMaxRange_/2);
boxMin = util3d::transformPoint(boxMin, viewpoint.translation());
boxMax = util3d::transformPoint(boxMax, viewpoint.translation());
mapCloudNormals = util3d::cropBox(mapCloudNormals, Eigen::Vector4f(boxMin.x, boxMin.y, boxMin.z, 0 ), Eigen::Vector4f(boxMax.x, boxMax.y, boxMax.z, 0 ));
} else {
*mapCloudNormals += tmp;
}
mapCloudNormals = util3d::voxelize(mapCloudNormals, scanSubtractRadius_);
pcl::PointCloud<pcl::PointXYZI>::Ptr mapCloud (new pcl::PointCloud<pcl::PointXYZI> ());
copyPointCloud(*mapCloudNormals, *mapCloud);
pcl::PointCloud<pcl::Normal>::Ptr normals = util3d::computeNormals(mapCloud, pointToPlaneK_, pointToPlaneRadius_, Eigen::Vector3f(viewpoint.x(), viewpoint.y(), viewpoint.z()));
copyPointCloud(*normals, *mapCloudNormals);
} else {
scansBuffer_.push_back(std::make_pair(frameCloudNormals, frameCloudNormalsIndices));
//remove points if too big
UDEBUG("scansBuffer=%d, mapSize=%d newPoints=%d maxPoints=%d",
(int)scansBuffer_.size(),
int(mapCloudNormals->size()),
newPoints,
scanMaximumMapSize_);
if(scansBuffer_.size() > 1 &&
int(mapCloudNormals->size() + newPoints) > scanMaximumMapSize_)
{
//regenerate the local map
mapCloudNormals->clear();
std::list<int> toRemove;
int i = int(scansBuffer_.size())-1;
for(; i>=0; --i)
{
*mapCloudNormals += *scansBuffer_[i].first;
break;
}
else
{
if(scansBuffer_[i].second->size())
int pointsToAdd = scansBuffer_[i].second->size()?scansBuffer_[i].second->size():scansBuffer_[i].first->size();
if((int)mapCloudNormals->size() + pointsToAdd > scanMaximumMapSize_ ||
i == 0)
{
pcl::PointCloud<pcl::PointNormal> tmp;
pcl::copyPointCloud(*scansBuffer_[i].first, *scansBuffer_[i].second, tmp);
*mapCloudNormals += tmp;
*mapCloudNormals += *scansBuffer_[i].first;
break;
}
else
{
*mapCloudNormals += *scansBuffer_[i].first;
if(scansBuffer_[i].second->size())
{
pcl::PointCloud<pcl::PointNormal> tmp;
pcl::copyPointCloud(*scansBuffer_[i].first, *scansBuffer_[i].second, tmp);
*mapCloudNormals += tmp;
}
else
{
*mapCloudNormals += *scansBuffer_[i].first;
}
}
}
}
// remove old clouds
if(i > 0)
{
std::vector<std::pair<pcl::PointCloud<pcl::PointNormal>::Ptr, pcl::IndicesPtr> > scansTmp(scansBuffer_.size()-i);
int oi = 0;
for(; i<(int)scansBuffer_.size(); ++i)
// remove old clouds
if(i > 0)
{
UASSERT(oi < (int)scansTmp.size());
scansTmp[oi++] = scansBuffer_[i];
std::vector<std::pair<pcl::PointCloud<pcl::PointNormal>::Ptr, pcl::IndicesPtr> > scansTmp(scansBuffer_.size()-i);
int oi = 0;
for(; i<(int)scansBuffer_.size(); ++i)
{
UASSERT(oi < (int)scansTmp.size());
scansTmp[oi++] = scansBuffer_[i];
}
scansBuffer_ = scansTmp;
}
scansBuffer_ = scansTmp;
}
}
else
{
// just append the last cloud
if(scansBuffer_.back().second->size())
{
pcl::PointCloud<pcl::PointNormal> tmp;
pcl::copyPointCloud(*scansBuffer_.back().first, *scansBuffer_.back().second, tmp);
*mapCloudNormals += tmp;
}
else
{
*mapCloudNormals += *scansBuffer_.back().first;
// just append the last cloud
if(scansBuffer_.back().second->size())
{
pcl::PointCloud<pcl::PointNormal> tmp;
pcl::copyPointCloud(*scansBuffer_.back().first, *scansBuffer_.back().second, tmp);
*mapCloudNormals += tmp;
}
else
{
*mapCloudNormals += *scansBuffer_.back().first;
}
}
}
if(mapScan.is2d())
{
Transform mapViewpoint(-newFramePose.x(), -newFramePose.y(),0,0,0,0);
@@ -1204,7 +1262,11 @@ Transform OdometryF2M::computeTransform(
{
frameValid = true;
pcl::PointCloud<pcl::PointNormal>::Ptr mapCloudNormals = util3d::laserScanToPointCloudNormal(lastFrame_->sensorData().laserScanRaw(), newFramePose * lastFrame_->sensorData().laserScanRaw().localTransform());
scansBuffer_.push_back(std::make_pair(mapCloudNormals, pcl::IndicesPtr(new std::vector<int>)));
if (scanMapMaxRange_ > 0 ){
UINFO("Local map will be updated using range instead of time with range threshold set at %f", scanMapMaxRange_);
} else {
scansBuffer_.push_back(std::make_pair(mapCloudNormals, pcl::IndicesPtr(new std::vector<int>)));
}
if(lastFrame_->sensorData().laserScanRaw().is2d())
{
Transform mapViewpoint(-newFramePose.x(), -newFramePose.y(),0,0,0,0);