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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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27
guilib/src/DatabaseViewer.cpp
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@@ -5679,26 +5679,20 @@ void DatabaseViewer::updateGraphView()
std::map<int, rtabmap::Transform> finalPoses = optimizer->optimize(fromId, posesOut, linksOut, ui_->checkBox_iterativeOptimization->isChecked()?&graphes_:0);
ui_->label_timeOptimization->setNum(double(time.elapsed())/1000.0);
graphLinks_ = linksOut;
ui_->label_poses->setNum((int)finalPoses.size());
if(posesOut.size() && finalPoses.empty())
{
UWARN("Optimization failed, trying multi-session optimization instead... (poses=%d, links=%d).", (int)posesOut.size(), (int)linksOut.size());
finalPoses = optimizer->optimizeMultiSession(fromId, posesOut, linksOut, &graphes_);
if(finalPoses.empty())
UWARN("Optimization failed... (poses=%d, links=%d).", (int)posesOut.size(), (int)linksOut.size());
if(!optimizer->isCovarianceIgnored() || optimizer->type() != Optimizer::kTypeTORO)
{
UWARN("Multi-session optimization also failed.");
if(!optimizer->isCovarianceIgnored() || optimizer->type() != Optimizer::kTypeTORO)
{
QMessageBox::warning(this, tr("Graph optimization error!"), tr("Graph optimization has failed. See the terminal for potential errors. "
"Give it a try with %1=0 and %2=true.").arg(Parameters::kOptimizerStrategy().c_str()).arg(Parameters::kOptimizerVarianceIgnored().c_str()));
}
else
{
QMessageBox::warning(this, tr("Graph optimization error!"), tr("Graph optimization has failed. See the terminal for potential errors."));
}
QMessageBox::warning(this, tr("Graph optimization error!"), tr("Graph optimization has failed. See the terminal for potential errors. "
"Give it a try with %1=0 and %2=true.").arg(Parameters::kOptimizerStrategy().c_str()).arg(Parameters::kOptimizerVarianceIgnored().c_str()));
}
else
{
QMessageBox::warning(this, tr("Graph optimization error!"), tr("Graph optimization has failed. See the terminal for potential errors."));
}
}
ui_->label_poses->setNum((int)finalPoses.size());
graphes_.push_back(finalPoses);
delete optimizer;
}
@@ -6386,8 +6380,7 @@ bool DatabaseViewer::addConstraint(int from, int to, bool silent)
poses = optimizer->optimize(fromId, posesIn, links);
if(posesIn.size() && poses.empty())
{
UWARN("Optimization failed, trying multi-session optimization instead... (poses=%d, links=%d).", (int)posesIn.size(), (int)links.size());
poses = optimizer->optimizeMultiSession(fromId, posesIn, links);
UWARN("Optimization failed... (poses=%d, links=%d).", (int)posesIn.size(), (int)links.size());
}
std::string msg;
if(poses.size())