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Update 0.15.4.

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Parameters:
-Added "GridGlobal/MaxNodes=0", "Rtabmap/PublishRAMUsage=false", "Mem/DepthAsMask=true", "Kp/FlannRebalancingFactor=2.0", "Vis/DepthAsMask=true".
-Modified "Kp/DetectorStrategy=6", "Kp/MaxFeatures=500",  "Mem/UseOdomFeatures=true", "GFTT/QualityLevel=0.001", "GFTT/MinDistance=3", "RGBD/OptimizeMaxError=1", "RGBD/ProximityPathFilteringRadius=1", "Odom/GuessMotion=true", "Odom/VisKeyFrameThr=150", "OdomF2M/BundleAdjustment=1", "Vis/Iterations=300" if built with g2o, "OdomF2M/BundleAdjustmentMaxFrames=10", "OdomFovis/MinFeaturesForEstimate=20", "OdomORBSLAM2/MapSize=3000", "Reg/RepeatOnce=true", "Vis/PnPRefineIterations=0" if built with g2o, "Vis/CorGuessMatchToProjection=true", "Vis/BundleAdjustment=1" if built with g2o, "Icp/MaxCorrespondenceDistance=0.1", "Icp/PointToPlaneK=5", "Icp/PointToPlaneRadius=1", "Icp/PM=true" if built with libpointmatcher, "Stereo/MaxLevel=5", "Stereo/MinDisparity=0.5".

BayesFilter: optimized prediction matrix update. Use of new argument "ignoreLocalSpaceLoopIds" of Memory::getNeighborsId() to ignore loop closure link by space in prediction update.
CameraThread: Added stereo exposure compensation option.
CameraRGB: Added forceGroundNormalsUp option and added support of ground truth from EuRoC dataset.
Statistics: Added "Memory/RAM_usage/MB".
Transform: Added clone() method to do deep copy.
Graph::importPoses(): EuRoC format support (9).
Rtabmap: Local visual loop closures are now identified as GlobalClosure link type.
OccupancyGrid/OctoMap: updated how cache is used (old node retrieved can be re-added to map without re-assembling the whole map).
OdometryF2F: when using ICP, increasing correspondence distance for first two frames. If Vis/CorType=1 and registration fails, second guess without motion is done with Vis/CorType=0.
OdometryF2M/RegVis: updated how features are removed from the map, using new projectedIDs filled in RegistrationInfo by RegistrationVis.
OdometryORBSLAM2: Maximum size of the feature map can be set with "OdomORBSLAM2/MapSize" parameter.
CloudViewer: fixed opengl camera drifting in follow mode.
DatabaseViewer: Added optimization scale option. ConstraintsView: hide loop closure links if type is ignored in gui parameters.
MainWindow: Support of "GridGlobal/MaxNodes" parameters when updating the maps.
UPlot: don't show ellipses when not in graphics view mode, updated how "random" colors are attributed to curves
Added rtabmap-euroc_dataset tool. Updated rtabmap-kitti_dataset and rtabmap-rgbd_dataset tools.
Added rtabmap-reprocess tool.
This commit is contained in:
matlabbe
2018-02-01 22:17:46 -05:00
parent 9f80f4ac42
commit 977d21eed5
76 changed files with 3844 additions and 1307 deletions
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corelib/src/Rtabmap.cpp
+19 -10
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@@ -45,6 +45,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <rtabmap/utilite/UTimer.h>
#include <rtabmap/utilite/UConversion.h>
#include <rtabmap/utilite/UMath.h>
#include <rtabmap/utilite/UProcessInfo.h>
#include <pcl/search/kdtree.h>
#include <pcl/filters/crop_box.h>
@@ -79,6 +80,7 @@ Rtabmap::Rtabmap() :
_publishLastSignatureData(Parameters::defaultRtabmapPublishLastSignature()),
_publishPdf(Parameters::defaultRtabmapPublishPdf()),
_publishLikelihood(Parameters::defaultRtabmapPublishLikelihood()),
_publishRAMUsage(Parameters::defaultRtabmapPublishRAMUsage()),
_computeRMSE(Parameters::defaultRtabmapComputeRMSE()),
_maxTimeAllowed(Parameters::defaultRtabmapTimeThr()), // 700 ms
_maxMemoryAllowed(Parameters::defaultRtabmapMemoryThr()), // 0=inf
@@ -401,6 +403,7 @@ void Rtabmap::parseParameters(const ParametersMap & parameters)
Parameters::parse(parameters, Parameters::kRtabmapPublishLastSignature(), _publishLastSignatureData);
Parameters::parse(parameters, Parameters::kRtabmapPublishPdf(), _publishPdf);
Parameters::parse(parameters, Parameters::kRtabmapPublishLikelihood(), _publishLikelihood);
Parameters::parse(parameters, Parameters::kRtabmapPublishRAMUsage(), _publishRAMUsage);
Parameters::parse(parameters, Parameters::kRtabmapComputeRMSE(), _computeRMSE);
Parameters::parse(parameters, Parameters::kRtabmapTimeThr(), _maxTimeAllowed);
Parameters::parse(parameters, Parameters::kRtabmapMemoryThr(), _maxMemoryAllowed);
@@ -1506,6 +1509,7 @@ bool Rtabmap::process(
true,
true,
false,
true,
std::set<int>(),
&timeGetNeighborsTimeDb);
ULOGGER_DEBUG("neighbors of %d in time = %d", retrievalId, (int)neighbors.size());
@@ -1561,6 +1565,7 @@ bool Rtabmap::process(
true,
false,
false,
false,
std::set<int>(),
&timeGetNeighborsSpaceDb);
ULOGGER_DEBUG("neighbors of %d in space = %d", retrievalId, (int)neighbors.size());
@@ -1975,7 +1980,7 @@ bool Rtabmap::process(
nearestId,
transform.prettyPrint().c_str());
UASSERT(info.covariance.at<double>(0,0) > 0.0 && info.covariance.at<double>(5,5) > 0.0);
_memory->addLink(Link(signature->id(), nearestId, Link::kLocalSpaceClosure, transform, info.covariance.inv()));
_memory->addLink(Link(signature->id(), nearestId, Link::kGlobalClosure, transform, info.covariance.inv()));
loopClosureLinksAdded.push_back(std::make_pair(signature->id(), nearestId));
if(loopClosureVisualInliers == 0)
@@ -2246,14 +2251,14 @@ bool Rtabmap::process(
{
UWARN("Graph optimization failed! Rejecting last loop closures added.");
for(std::list<std::pair<int, int> >::iterator iter=loopClosureLinksAdded.begin(); iter!=loopClosureLinksAdded.end(); ++iter)
{
_memory->removeLink(iter->first, iter->second);
UWARN("Loop closure %d->%d rejected!", iter->first, iter->second);
}
updateConstraints = false;
_loopClosureHypothesis.first = 0;
lastProximitySpaceClosureId = 0;
rejectedHypothesis = true;
{
_memory->removeLink(iter->first, iter->second);
UWARN("Loop closure %d->%d rejected!", iter->first, iter->second);
}
updateConstraints = false;
_loopClosureHypothesis.first = 0;
lastProximitySpaceClosureId = 0;
rejectedHypothesis = true;
}
else if(_memory->isIncremental() && // FIXME: not tested in localization mode, so do it only in mapping mode
_optimizationMaxLinearError > 0.0f &&
@@ -2438,6 +2443,10 @@ bool Rtabmap::process(
statistics_.addStatistic(Statistics::kMemorySmall_movement(), smallDisplacement?1.0f:0);
statistics_.addStatistic(Statistics::kMemoryDistance_travelled(), _distanceTravelled);
statistics_.addStatistic(Statistics::kMemoryFast_movement(), tooFastMovement?1.0f:0);
if(_publishRAMUsage)
{
statistics_.addStatistic(Statistics::kMemoryRAM_usage(), UProcessInfo::getMemoryUsage()/(1024*1024));
}
if(_publishLikelihood || _publishPdf)
{
@@ -3068,7 +3077,7 @@ std::map<int, std::map<int, Transform> > Rtabmap::getPaths(std::map<int, Transfo
std::map<int, Transform> path;
// select nearest pose and iterate neighbors from there
int nearestId = rtabmap::graph::findNearestNode(poses, target);
std::map<int, int> ids = _memory->getNeighborsId(nearestId, maxGraphDepth, 0, true, true, true, nodesSet);
std::map<int, int> ids = _memory->getNeighborsId(nearestId, maxGraphDepth, 0, true, true, true, true, nodesSet);
for(std::map<int, int>::iterator iter=ids.begin(); iter!=ids.end(); ++iter)
{