i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-02 17:40:23 +08:00
Code Issues Packages Projects Releases Wiki Activity

New parameter "RGBD/MaxOdomCacheSize" used in localization mode to reject similar locations (default disabled)

Browse Source
This commit is contained in:
matlabbe
2019-04-05 19:37:40 -04:00
parent ae12caff04
commit 9b63297a6b
7 changed files with 297 additions and 94 deletions
Download Patch File Download Diff File Expand all files Collapse all files

1
corelib/include/rtabmap/core/Parameters.h
View File

@@ -357,6 +357,7 @@ 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 \"Aruco\" 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()));
// Local/Proximity loop closure detection
RTABMAP_PARAM(RGBD, ProximityByTime, bool, false, "Detection over all locations in STM.");

3
corelib/include/rtabmap/core/Rtabmap.h
View File

@@ -268,6 +268,7 @@ private:
bool _savedLocalizationIgnored;
bool _loopCovLimited;
bool _loopGPS;
int _maxOdomCacheSize;
std::pair<int, float> _loopClosureHypothesis;
std::pair<int, float> _highestHypothesis;
@@ -301,6 +302,8 @@ private:
int _lastLocalizationNodeId; // for localization mode
std::map<int, std::pair<cv::Point3d, Transform> > _gpsGeocentricCache;
bool _currentSessionHasGPS;
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
// Planning stuff
int _pathStatus;