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Updated detect more loop closures with optimization check to accept (like in dbviewer). DBViewer: added Depth image edition dialog. GainCompensator: now doing it on 3 channels separatly. Export: removed gain's alpha option, added max polygons option, added brightness/contrast auto balance option

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matlabbe
2017-03-31 18:56:52 -04:00
parent a928a0b404
commit 767b29d5a3
20 changed files with 1695 additions and 551 deletions
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corelib/src/Rtabmap.cpp
+115 -6
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@@ -49,6 +49,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <pcl/search/kdtree.h>
#include <pcl/filters/crop_box.h>
#include <pcl/io/pcd_io.h>
#include <pcl/common/common.h>
#include <stdlib.h>
#include <set>
@@ -3488,12 +3489,120 @@ int Rtabmap::detectMoreLoopClosures(float clusterRadius, float clusterAngle, int
if(!t.isNull())
{
UINFO("Added new loop closure between %d and %d.", from, to);
addedLinks.insert(from);
addedLinks.insert(to);
links.insert(std::make_pair(from, Link(from, to, Link::kUserClosure, t, info.varianceAng, info.varianceLin)));
loopClosuresAdded.push_back(Link(from, to, Link::kUserClosure, t, info.varianceAng, info.varianceLin));
UINFO("Detected loop closure %d->%d! (%d/%d)", from, to, i+1, (int)clusters.size());
bool updateConstraints = true;
if(_optimizationMaxLinearError > 0.0f)
{
//optimize the graph to see if the new constraint is globally valid
int fromId = from;
int mapId = signatures.at(from).mapId();
// use first node of the map containing from
for(std::map<int, Signature>::iterator iter=signatures.begin(); iter!=signatures.end(); ++iter)
{
if(iter->second.mapId() == mapId)
{
fromId = iter->first;
break;
}
}
std::multimap<int, Link> linksIn = links;
linksIn.insert(std::make_pair(from, Link(from, to, Link::kUserClosure, t, info.varianceAng, info.varianceLin)));
const Link * maxLinearLink = 0;
const Link * maxAngularLink = 0;
float maxLinearError = 0.0f;
float maxAngularError = 0.0f;
std::map<int, Transform> optimizedPoses;
std::multimap<int, Link> links;
UASSERT(poses.find(fromId) != poses.end());
UASSERT_MSG(poses.find(from) != poses.end(), uFormat("id=%d poses=%d links=%d", from, (int)poses.size(), (int)links.size()).c_str());
UASSERT_MSG(poses.find(to) != poses.end(), uFormat("id=%d poses=%d links=%d", to, (int)poses.size(), (int)links.size()).c_str());
_graphOptimizer->getConnectedGraph(fromId, poses, linksIn, optimizedPoses, links);
UASSERT(optimizedPoses.find(fromId) != optimizedPoses.end());
UASSERT_MSG(optimizedPoses.find(from) != optimizedPoses.end(), uFormat("id=%d poses=%d links=%d", from, (int)optimizedPoses.size(), (int)links.size()).c_str());
UASSERT_MSG(optimizedPoses.find(to) != optimizedPoses.end(), uFormat("id=%d poses=%d links=%d", to, (int)optimizedPoses.size(), (int)links.size()).c_str());
UASSERT(graph::findLink(links, from, to) != links.end());
optimizedPoses = _graphOptimizer->optimize(fromId, optimizedPoses, links);
std::string msg;
if(optimizedPoses.size())
{
for(std::multimap<int, Link>::iterator iter=links.begin(); iter!=links.end(); ++iter)
{
// ignore links with high variance
if(iter->second.transVariance() <= 1.0)
{
UASSERT(optimizedPoses.find(iter->second.from())!=optimizedPoses.end());
UASSERT(optimizedPoses.find(iter->second.to())!=optimizedPoses.end());
Transform t1 = optimizedPoses.at(iter->second.from());
Transform t2 = optimizedPoses.at(iter->second.to());
UASSERT(!t1.isNull() && !t2.isNull());
Transform t = t1.inverse()*t2;
float linearError = uMax3(
fabs(iter->second.transform().x() - t.x()),
fabs(iter->second.transform().y() - t.y()),
fabs(iter->second.transform().z() - t.z()));
Eigen::Vector3f vA = t1.toEigen3f().rotation()*Eigen::Vector3f(1,0,0);
Eigen::Vector3f vB = t2.toEigen3f().rotation()*Eigen::Vector3f(1,0,0);
float angularError = pcl::getAngle3D(Eigen::Vector4f(vA[0], vA[1], vA[2], 0), Eigen::Vector4f(vB[0], vB[1], vB[2], 0));
if(linearError > maxLinearError)
{
maxLinearError = linearError;
maxLinearLink = &iter->second;
}
if(angularError > maxAngularError)
{
maxAngularError = angularError;
maxAngularLink = &iter->second;
}
}
}
if(maxLinearLink)
{
UINFO("Max optimization linear error = %f m (link %d->%d)", maxLinearError, maxLinearLink->from(), maxLinearLink->to());
}
if(maxAngularLink)
{
UINFO("Max optimization angular error = %f deg (link %d->%d)", maxAngularError*180.0f/M_PI, maxAngularLink->from(), maxAngularLink->to());
}
if(maxLinearError > _optimizationMaxLinearError)
{
msg = uFormat("Rejecting edge %d->%d because "
"graph error is too large after optimization (%f m for edge %d->%d, %f deg for edge %d->%d). "
"\"%s\" is %f m.",
from,
to,
maxLinearError,
maxLinearLink->from(),
maxLinearLink->to(),
maxAngularError*180.0f/M_PI,
maxAngularLink?maxAngularLink->from():0,
maxAngularLink?maxAngularLink->to():0,
Parameters::kRGBDOptimizeMaxError().c_str(),
_optimizationMaxLinearError);
}
}
else
{
msg = uFormat("Rejecting edge %d->%d because graph optimization has failed!",
from,
to);
}
if(!msg.empty())
{
UWARN("%s", msg.c_str());
updateConstraints = false;
}
}
if(updateConstraints)
{
UINFO("Added new loop closure between %d and %d.", from, to);
addedLinks.insert(from);
addedLinks.insert(to);
links.insert(std::make_pair(from, Link(from, to, Link::kUserClosure, t, info.varianceAng, info.varianceLin)));
loopClosuresAdded.push_back(Link(from, to, Link::kUserClosure, t, info.varianceAng, info.varianceLin));
UINFO("Detected loop closure %d->%d! (%d/%d)", from, to, i+1, (int)clusters.size());
}
}
}
}