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Improved localization mode accuracy (decreasing jumps on consecutive loop closures or landmark detections). Updated usage of parameter RGBD/MaxOdomCacheSize (default 0->10)

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matlabbe
2021-12-10 17:48:36 -05:00
parent 4ab0090ecd
commit 8cf12c6135
6 changed files with 436 additions and 294 deletions
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4
corelib/include/rtabmap/core/Parameters.h
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@@ -202,7 +202,7 @@ class RTABMAP_EXP Parameters
RTABMAP_PARAM(Mem, ImageKept, bool, false, "Keep raw images in RAM.");
RTABMAP_PARAM(Mem, BinDataKept, bool, true, "Keep binary data in db.");
RTABMAP_PARAM(Mem, RawDescriptorsKept, bool, true, "Raw descriptors kept in memory.");
RTABMAP_PARAM(Mem, MapLabelsAdded, bool, true, "Create map labels. The first node of a map will be labelled as \"map#\" where # is the map ID.");
RTABMAP_PARAM(Mem, MapLabelsAdded, bool, true, "Create map labels. The first node of a map will be labeled as \"map#\" where # is the map ID.");
RTABMAP_PARAM(Mem, SaveDepth16Format, bool, false, "Save depth image into 16 bits format to reduce memory used. Warning: values over ~65 meters are ignored (maximum 65535 millimeters).");
RTABMAP_PARAM(Mem, NotLinkedNodesKept, bool, true, "Keep not linked nodes in db (rehearsed nodes and deleted nodes).");
RTABMAP_PARAM(Mem, IntermediateNodeDataKept, bool, false, "Keep intermediate node data in db.");
@@ -373,7 +373,7 @@ class RTABMAP_EXP Parameters
RTABMAP_PARAM(RGBD, CreateOccupancyGrid, bool, false, "Create local occupancy grid maps. See \"Grid\" group for parameters.");
RTABMAP_PARAM(RGBD, MarkerDetection, bool, false, "Detect static markers to be added as landmarks for graph optimization. If input data have already landmarks, this will be ignored. See \"Marker\" group for 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, 0, uFormat("Maximum odometry cache size. Used only in localization mode (when %s=false) and when %s!=0. This is used to verify localization transforms to make sure we don't teleport to a location very similar to one we previously localized on. When the cache is full, the whole cache is cleared and the next localization is automatically accepted without verification. Set 0 to disable caching.", kMemIncrementalMemory().c_str(), kRGBDOptimizeMaxError().c_str()));
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()));
// 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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@@ -361,7 +361,6 @@ private:
std::map<int, Transform> _globalScanMapPoses;
std::map<int, Transform> _odomCachePoses; // used in localization mode to reject loop closures
std::multimap<int, Link> _odomCacheConstraints; // used in localization mode to reject loop closures
std::map<int, Transform> _odomCacheAddLink; // used in localization mode when adding external link
std::vector<float> _odomCorrectionAcc;
// Planning stuff