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Tango #57: Global optimization / Post-processing on pause

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matlabbe
2016-04-03 21:35:30 -04:00
parent 30e52b785a
commit 5d9522c901
15 changed files with 621 additions and 166 deletions
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2
corelib/include/rtabmap/core/DBDriver.h
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@@ -119,6 +119,7 @@ public:
// Specific queries...
void loadNodeData(std::list<Signature *> & signatures) const;
void getNodeData(int signatureId, SensorData & data) const;
bool getCalibration(int signatureId, std::vector<CameraModel> & models, StereoCameraModel & stereoModel) const;
bool getNodeInfo(int signatureId, Transform & pose, int & mapId, int & weight, std::string & label, double & stamp, Transform & groundTruthPose) const;
void loadLinks(int signatureId, std::map<int, Link> & links, Link::Type type = Link::kUndef) const;
void getWeight(int signatureId, int & weight) const;
@@ -169,6 +170,7 @@ private:
virtual void loadLinksQuery(int signatureId, std::map<int, Link> & links, Link::Type type = Link::kUndef) const = 0;
virtual void loadNodeDataQuery(std::list<Signature *> & signatures) const = 0;
virtual bool getCalibrationQuery(int signatureId, std::vector<CameraModel> & models, StereoCameraModel & stereoModel) const = 0;
virtual bool getNodeInfoQuery(int signatureId, Transform & pose, int & mapId, int & weight, std::string & label, double & stamp, Transform & groundTruthPose) const = 0;
virtual void getAllNodeIdsQuery(std::set<int> & ids, bool ignoreChildren, bool ignoreBadSignatures) const = 0;
virtual void getAllLinksQuery(std::multimap<int, Link> & links, bool ignoreNullLinks) const = 0;

6
corelib/include/rtabmap/core/Memory.h
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@@ -147,11 +147,14 @@ public:
Transform & groundTruth,
bool lookInDatabase = false) const;
cv::Mat getImageCompressed(int signatureId) const;
SensorData getNodeData(int nodeId, bool uncompressedData = false, bool keepLoadedDataInMemory = true);
SensorData getNodeData(int nodeId, bool uncompressedData = false) const;
void getNodeWords(int nodeId,
std::multimap<int, cv::KeyPoint> & words,
std::multimap<int, cv::Point3f> & words3,
std::multimap<int, cv::Mat> & wordsDescriptors);
void getNodeCalibration(int nodeId,
std::vector<CameraModel> & models,
StereoCameraModel & stereoModel);
SensorData getSignatureDataConst(int locationId) const;
std::set<int> getAllSignatureIds() const;
bool memoryChanged() const {return _memoryChanged;}
@@ -182,6 +185,7 @@ public:
std::multimap<int, Link> & links,
bool lookInDatabase = false);
Transform computeTransform(Signature & fromS, Signature & toS, Transform guess, RegistrationInfo * info = 0) const;
Transform computeTransform(int fromId, int toId, Transform guess, RegistrationInfo * info = 0);
Transform computeIcpTransform(int fromId, int toId, Transform guess, RegistrationInfo * info = 0);
Transform computeIcpTransformMulti(

2
corelib/include/rtabmap/core/Rtabmap.h
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@@ -115,6 +115,7 @@ public:
const ParametersMap & getParameters() const {return _parameters;}
void setWorkingDirectory(std::string path);
void rejectLoopClosure(int oldId, int newId);
void setOptimizedPoses(const std::map<int, Transform> & poses);
void get3DMap(std::map<int, Signature> & signatures,
std::map<int, Transform> & poses,
std::multimap<int, Link> & constraints,
@@ -125,6 +126,7 @@ public:
bool optimized,
bool global,
std::map<int, Signature> * signatures = 0);
int detectMoreLoopClosures(float clusterRadius = 0.5f, float clusterAngle = M_PI/6.0f, int iterations = 1);
int getPathStatus() const {return _pathStatus;} // -1=failed 0=idle/executing 1=success
void clearPath(int status); // -1=failed 0=idle/executing 1=success