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Updated some RGBD/Proximity**** parameter descriptions. Added parameter RGBD/LoopClosureIdentityGuess. Fixed local map cleared in localization when RGBD/SavedLocalizationIgnored is true (should then assume it is starting from origin).

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This commit is contained in:
matlabbe
2021-03-04 11:26:35 -05:00
parent 98c69c4578
commit 4f46d8e904
5 changed files with 68 additions and 39 deletions
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10
corelib/src/Rtabmap.cpp
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@@ -106,6 +106,7 @@ Rtabmap::Rtabmap() :
_proximityByTime(Parameters::defaultRGBDProximityByTime()),
_proximityBySpace(Parameters::defaultRGBDProximityBySpace()),
_scanMatchingIdsSavedInLinks(Parameters::defaultRGBDScanMatchingIdsSavedInLinks()),
_loopClosureIdentityGuess(Parameters::defaultRGBDLoopClosureIdentityGuess()),
_localRadius(Parameters::defaultRGBDLocalRadius()),
_localImmunizationRatio(Parameters::defaultRGBDLocalImmunizationRatio()),
_proximityMaxGraphDepth(Parameters::defaultRGBDProximityMaxGraphDepth()),
@@ -508,6 +509,7 @@ void Rtabmap::parseParameters(const ParametersMap & parameters)
Parameters::parse(parameters, Parameters::kRGBDProximityByTime(), _proximityByTime);
Parameters::parse(parameters, Parameters::kRGBDProximityBySpace(), _proximityBySpace);
Parameters::parse(parameters, Parameters::kRGBDScanMatchingIdsSavedInLinks(), _scanMatchingIdsSavedInLinks);
Parameters::parse(parameters, Parameters::kRGBDLoopClosureIdentityGuess(), _loopClosureIdentityGuess);
Parameters::parse(parameters, Parameters::kRGBDLocalRadius(), _localRadius);
Parameters::parse(parameters, Parameters::kRGBDLocalImmunizationRatio(), _localImmunizationRatio);
Parameters::parse(parameters, Parameters::kRGBDProximityMaxGraphDepth(), _proximityMaxGraphDepth);
@@ -1113,7 +1115,6 @@ bool Rtabmap::process(
_optimizedPoses.size() &&
_mapCorrection.isIdentity() &&
!_lastLocalizationPose.isNull() &&
!_lastLocalizationPose.isIdentity() &&
_lastLocalizationNodeId == 0)
{
// Localization mode
@@ -2598,7 +2599,12 @@ bool Rtabmap::process(
info.covariance = cv::Mat::eye(6,6,CV_64FC1);
if(_rgbdSlamMode)
{
transform = _memory->computeTransform(_loopClosureHypothesis.first, signature->id(), Transform(), &info);
transform = _memory->computeTransform(
_loopClosureHypothesis.first,
signature->id(),
_loopClosureIdentityGuess?Transform::getIdentity():Transform(),
&info);
loopClosureVisualInliersMeanDist = info.inliersMeanDistance;
loopClosureVisualInliersDistribution = info.inliersDistribution;