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Proximity detection by space: sort nearest paths by likelihood values

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This commit is contained in:
matlabbe
2018-11-05 14:24:04 -05:00
parent c2b1a9fbd7
commit 4f1deef971
1 changed files with 41 additions and 3 deletions
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44
corelib/src/Rtabmap.cpp
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@@ -870,6 +870,28 @@ void Rtabmap::resetMemory()
this->setupLogFiles(true);
}
class NearestPathKey
{
public:
NearestPathKey(float l, int i) :
likelihood(l),
id(i){}
bool operator<(const NearestPathKey & k) const
{
if(likelihood < k.likelihood)
{
return true;
}
else if(likelihood == k.likelihood && id < k.id)
{
return true;
}
return false;
}
float likelihood;
int id;
};
//============================================================
// MAIN LOOP
//============================================================
@@ -2101,10 +2123,26 @@ bool Rtabmap::process(
UDEBUG("nearestPoses=%d", (int)nearestPoses.size());
// segment poses by paths, only one detection per path
std::map<int, std::map<int, Transform> > nearestPaths = getPaths(nearestPoses, _optimizedPoses.at(signature->id()), _proximityMaxGraphDepth);
std::map<int, std::map<int, Transform> > nearestPathsNotSorted = getPaths(nearestPoses, _optimizedPoses.at(signature->id()), _proximityMaxGraphDepth);
// sort nearest paths by highest likelihood (if two have same likelihood, sort by id)
std::map<NearestPathKey, std::map<int, Transform> > nearestPaths;
for(std::map<int, std::map<int, Transform> >::const_iterator iter=nearestPathsNotSorted.begin();iter!=nearestPathsNotSorted.end(); ++iter)
{
const std::map<int, Transform> & path = iter->second;
float highestLikelihood = 0.0f;
for(std::map<int, Transform>::const_iterator jter=path.begin(); jter!=path.end(); ++jter)
{
float v = uValue(likelihood, jter->first, 0.0f);
if(v > highestLikelihood)
{
highestLikelihood = v;
}
}
nearestPaths.insert(std::make_pair(NearestPathKey(highestLikelihood, iter->first), path));
}
UDEBUG("nearestPaths=%d proximityMaxPaths=%d", (int)nearestPaths.size(), _proximityMaxPaths);
for(std::map<int, std::map<int, Transform> >::const_reverse_iterator iter=nearestPaths.rbegin();
for(std::map<NearestPathKey, std::map<int, Transform> >::const_reverse_iterator iter=nearestPaths.rbegin();
iter!=nearestPaths.rend() &&
(_memory->isIncremental() || lastProximitySpaceClosureId == 0) &&
(_proximityMaxPaths <= 0 || localVisualPathsChecked < _proximityMaxPaths);
@@ -2184,7 +2222,7 @@ bool Rtabmap::process(
// local visual closure above.
proximitySpacePaths = (int)nearestPaths.size();
for(std::map<int, std::map<int, Transform> >::const_reverse_iterator iter=nearestPaths.rbegin();
for(std::map<NearestPathKey, std::map<int, Transform> >::const_reverse_iterator iter=nearestPaths.rbegin();
iter!=nearestPaths.rend() &&
(_memory->isIncremental() || lastProximitySpaceClosureId == 0) &&
(_proximityMaxPaths <= 0 || localScanPathsChecked < _proximityMaxPaths);