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Tuning localization priors (added RGBD/LocalizationPriorError parameter) (#1156)

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* tuning localization priors (for https://github.com/introlab/rtabmap_ros/issues/1057)

* Set prior error value to same than old default value
This commit is contained in:
matlabbe
2023-11-05 15:14:11 -08:00
committed by GitHub
parent 45a3b59a23
commit 56552afa6c
5 changed files with 358 additions and 294 deletions
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1
corelib/include/rtabmap/core/Parameters.h
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@@ -377,6 +377,7 @@ class RTABMAP_CORE_EXPORT Parameters
RTABMAP_PARAM(RGBD, LoopCovLimited, bool, false, "Limit covariance of non-neighbor links to minimum covariance of neighbor links. In other words, if covariance of a loop closure link is smaller than the minimum covariance of odometry links, its covariance is set to minimum covariance of odometry links.");
RTABMAP_PARAM(RGBD, MaxOdomCacheSize, int, 10, uFormat("Maximum odometry cache size. Used only in localization mode (when %s=false). This is used to get smoother localizations and to verify localization transforms (when %s!=0) to make sure we don't teleport to a location very similar to one we previously localized on. Set 0 to disable caching.", kMemIncrementalMemory().c_str(), kRGBDOptimizeMaxError().c_str()));
RTABMAP_PARAM(RGBD, LocalizationSmoothing, bool, true, uFormat("Adjust localization constraints based on optimized odometry cache poses (when %s>0).", kRGBDMaxOdomCacheSize().c_str()));
RTABMAP_PARAM(RGBD, LocalizationPriorError, double, 0.001, uFormat("The corresponding variance (error x error) set to priors of the map's poses during localization (when %s>0).", kRGBDMaxOdomCacheSize().c_str()));
// Local/Proximity loop closure detection
RTABMAP_PARAM(RGBD, ProximityByTime, bool, false, "Detection over all locations in STM.");

1
corelib/include/rtabmap/core/Rtabmap.h
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@@ -327,6 +327,7 @@ private:
bool _loopGPS;
int _maxOdomCacheSize;
bool _localizationSmoothing;
double _localizationPriorInf;
bool _createGlobalScanMap;
float _markerPriorsLinearVariance;
float _markerPriorsAngularVariance;