i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-10 13:30:20 +08:00
Code Issues Packages Projects Releases Wiki Activity

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.

Browse Source
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
Download Patch File Download Diff File Expand all files Collapse all files
tools/DetectMoreLoopClosures/main.cpp
+19 -4
View File
@@ -51,6 +51,7 @@ void showUsage()
"rtabmap-detectMoreLoopClosures [options] database.db\n"
"Options:\n"
" -r # Cluster radius (default 1 m).\n"
" -rx # Cluster radius min (default 0 m).\n"
" -a # Cluster angle (default 30 deg).\n"
" -i # Iterations (default 1).\n"
" --intra Add only intra-session loop closures.\n"
@@ -92,7 +93,8 @@ int main(int argc, char * argv[])
showUsage();
}
float clusterRadius = 1.0f;
float clusterRadiusMin = 0.0f;
float clusterRadiusMax = 1.0f;
float clusterAngle = CV_PI/6.0f;
int iterations = 1;
bool intraSession = false;
@@ -124,7 +126,19 @@ int main(int argc, char * argv[])
++i;
if(i<argc-1)
{
clusterRadius = uStr2Float(argv[i]);
clusterRadiusMax = uStr2Float(argv[i]);
}
else
{
showUsage();
}
}
else if(std::strcmp(argv[i], "-rx") == 0)
{
++i;
if(i<argc-1)
{
clusterRadiusMin = uStr2Float(argv[i]);
}
else
{
@@ -165,7 +179,8 @@ int main(int argc, char * argv[])
}
printf("\nDatabase: %s\n", dbPath.c_str());
printf("Cluster radius = %f m\n", clusterRadius);
printf("Cluster radius min = %f m\n", clusterRadiusMin);
printf("Cluster radius max = %f m\n", clusterRadiusMax);
printf("Cluster angle = %f deg\n", clusterAngle*180.0f/CV_PI);
if(intraSession)
{
@@ -204,7 +219,7 @@ int main(int argc, char * argv[])
PrintProgressState progress;
printf("Detecting...\n");
int detected = rtabmap.detectMoreLoopClosures(clusterRadius, clusterAngle, iterations, intraSession, interSession, &progress);
int detected = rtabmap.detectMoreLoopClosures(clusterRadiusMax, clusterAngle, iterations, intraSession, interSession, &progress, clusterRadiusMin);
if(detected < 0)
{
if(!g_loopForever)