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Rtabmap::detectMoreLoopClosures: added clusterRadiusMin parameter and update optimized poses after each accepted loop closure (also in MainWindow) like in DbViewer. Added graph::computeMinMax(poses). OdometryInfo: added guess transform. Export: added min/max axis ranges to filter nodes before expoting clouds.

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This commit is contained in:
matlabbe
2021-03-13 18:42:13 -05:00
parent f6e17be2b4
commit 752509fb15
14 changed files with 815 additions and 326 deletions
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3
corelib/include/rtabmap/core/Graph.h
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@@ -327,6 +327,9 @@ std::list<std::map<int, Transform> > RTABMAP_EXP getPaths(
std::map<int, Transform> poses,
const std::multimap<int, Link> & links);
void RTABMAP_EXP computeMinMax(const std::map<int, Transform> & poses,
cv::Vec3f & min,
cv::Vec3f & max);
} /* namespace graph */

4
corelib/include/rtabmap/core/OdometryInfo.h
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@@ -84,6 +84,7 @@ public:
output.transformFiltered = transformFiltered;
output.transformGroundTruth = transformGroundTruth;
output.guessVelocity = guessVelocity;
output.guess = guess;
output.distanceTravelled = distanceTravelled;
output.memoryUsage = memoryUsage;
output.gravityRollError = gravityRollError;
@@ -111,7 +112,8 @@ public:
Transform transform;
Transform transformFiltered;
Transform transformGroundTruth;
Transform guessVelocity;
Transform guessVelocity; // deprecated, will be removed. Use guess and interval instead.
Transform guess;
float distanceTravelled;
int memoryUsage; //MB
double gravityRollError;

5
corelib/include/rtabmap/core/Rtabmap.h
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@@ -199,12 +199,13 @@ public:
std::map<int, Transform> getNodesInRadius(const Transform & pose, float radius); // If radius=0, RGBD/LocalRadius is used. Can return landmarks.
std::map<int, Transform> getNodesInRadius(int nodeId, float radius); // If nodeId==0, return poses around latest node. If radius=0, RGBD/LocalRadius is used. Can return landmarks and use landmark id (negative) as request.
int detectMoreLoopClosures(
float clusterRadius = 0.5f,
float clusterRadiusMax = 0.5f,
float clusterAngle = M_PI/6.0f,
int iterations = 1,
bool intraSession = true,
bool interSession = true,
const ProgressState * state = 0);
const ProgressState * state = 0,
float clusterRadiusMin = 0.0f);
int refineLinks();
bool addLink(const Link & link);
cv::Mat getInformation(const cv::Mat & covariance) const;