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Refactored Optimizer::getConnectedGraph() to estimate poses based on links, we can then remove Optimizer::optimizeMultiSession(). Rtabmap: if poses and guess are not the same before optimization, do Optimizer::getConnectedGraph() to get pose estimates based on links instead of odom (to make optimization more robust to memory management and multi-session).

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matlabbe
2018-10-16 18:55:36 -04:00
parent f1546c1fca
commit 4c7b565391
7 changed files with 62 additions and 143 deletions
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8
app/android/jni/CameraTango.cpp
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@@ -950,7 +950,15 @@ void CameraTango::mainLoop()
info.interval = data.stamp()-previousStamp_;
info.transform = previousPose_.inverse() * pose;
}
// linear cov = 0.0001
info.reg.covariance = cv::Mat::eye(6,6,CV_64FC1) * (firstFrame?9999.0:0.0001);
if(!firstFrame)
{
// angular cov = 0.000001
info.reg.covariance.at<double>(3,3) *= 0.01;
info.reg.covariance.at<double>(4,4) *= 0.01;
info.reg.covariance.at<double>(5,5) *= 0.01;
}
LOGI("Publish odometry message (variance=%f)", firstFrame?9999:0.0001);
this->post(new OdometryEvent(data, pose, info));
previousPose_ = pose;

2
app/android/jni/RTABMapApp.cpp
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@@ -95,7 +95,7 @@ rtabmap::ParametersMap RTABMapApp::getRtabmapParameters()
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kRGBDOptimizeFromGraphEnd(), std::string("true")));
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kVisMinInliers(), std::string("25")));
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kVisEstimationType(), std::string("0"))); // 0=3D-3D 1=PnP
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kRGBDOptimizeMaxError(), std::string("1")));
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kRGBDOptimizeMaxError(), std::string("3")));
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kRGBDProximityPathMaxNeighbors(), std::string("0"))); // disable scan matching to merged nodes
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kRGBDProximityBySpace(), std::string("false"))); // just keep loop closure detection
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kRGBDLinearUpdate(), std::string("0.05")));