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Local scan matching: set larger scan points for max scan points when it is not set. Fixed missing scan Ids in links' user data to correctly visualize proximity links by space in DatabaseViewer. CloudViewer: using line instead of arrow between the referential and the frustum. removed parameter "RGBD/ProximityPathScansMerged" as visual proximity by space already does that.

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This commit is contained in:
matlabbe
2016-05-20 11:44:50 -04:00
parent b29ce28877
commit 9f6af75f79
11 changed files with 109 additions and 108 deletions
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7
corelib/src/Memory.cpp
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@@ -2290,6 +2290,7 @@ Transform Memory::computeIcpTransformMulti(
SensorData assembledData;
Transform toPose = poses.at(toId);
std::string msg;
int maxPoints = fromScan.cols;
pcl::PointCloud<pcl::PointXYZ>::Ptr assembledToClouds(new pcl::PointCloud<pcl::PointXYZ>);
for(std::map<int, Transform>::const_iterator iter = poses.begin(); iter!=poses.end(); ++iter)
{
@@ -2301,6 +2302,10 @@ Transform Memory::computeIcpTransformMulti(
cv::Mat scan;
s->sensorData().uncompressData(0, 0, &scan);
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud = util3d::laserScanToPointCloud(scan, toPose.inverse() * iter->second);
if(scan.cols > maxPoints)
{
maxPoints = scan.cols;
}
*assembledToClouds += *cloud;
}
else
@@ -2311,7 +2316,7 @@ Transform Memory::computeIcpTransformMulti(
}
if(assembledToClouds->size())
{
assembledData.setLaserScanRaw(util3d::laserScanFromPointCloud(*assembledToClouds, Transform()), fromS->sensorData().laserScanMaxPts(), fromS->sensorData().laserScanMaxRange());
assembledData.setLaserScanRaw(util3d::laserScanFromPointCloud(*assembledToClouds, Transform()), fromS->sensorData().laserScanMaxPts()?fromS->sensorData().laserScanMaxPts():maxPoints, fromS->sensorData().laserScanMaxRange());
}
Transform guess = poses.at(fromId).inverse() * poses.at(toId);

9
corelib/src/Parameters.cpp
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@@ -155,14 +155,17 @@ const std::map<std::string, std::pair<bool, std::string> > & Parameters::getRemo
{
// removed parameters
// 0.11.6
removedParameters_.insert(std::make_pair("RGBD/ProximityPathScansMerged", std::make_pair(false, "")));
// 0.11.3
removedParameters_.insert(std::make_pair("Mem/ImageDecimation", std::make_pair(true, Parameters::kMemImagePostDecimation())));
removedParameters_.insert(std::make_pair("Mem/ImageDecimation", std::make_pair(true, Parameters::kMemImagePostDecimation())));
// 0.11.2
removedParameters_.insert(std::make_pair("OdomLocalMap/HistorySize", std::make_pair(true, Parameters::kOdomF2MMaxSize())));
removedParameters_.insert(std::make_pair("OdomLocalMap/FixedMapPath", std::make_pair(true, Parameters::kOdomF2MFixedMapPath())));
removedParameters_.insert(std::make_pair("OdomF2F/GuessMotion", std::make_pair(true, Parameters::kOdomGuessMotion())));
removedParameters_.insert(std::make_pair("OdomF2F/KeyFrameThr", std::make_pair(false, Parameters::kOdomKeyFrameThr())));
removedParameters_.insert(std::make_pair("OdomF2F/KeyFrameThr", std::make_pair(false, Parameters::kOdomKeyFrameThr())));
// 0.11.0
removedParameters_.insert(std::make_pair("OdomBow/LocalHistorySize", std::make_pair(true, Parameters::kOdomF2MMaxSize())));
@@ -244,7 +247,7 @@ const std::map<std::string, std::pair<bool, std::string> > & Parameters::getRemo
removedParameters_.insert(std::make_pair("RGBD/LocalLoopDetectionBySpace", std::make_pair(true, Parameters::kRGBDProximityBySpace())));
removedParameters_.insert(std::make_pair("RGBD/LocalLoopDetectionTime", std::make_pair(true, Parameters::kRGBDProximityByTime())));
removedParameters_.insert(std::make_pair("RGBD/LocalLoopDetectionSpace", std::make_pair(true, Parameters::kRGBDProximityBySpace())));
removedParameters_.insert(std::make_pair("RGBD/LocalLoopDetectionPathScansMerged", std::make_pair(true, Parameters::kRGBDProximityPathScansMerged())));
removedParameters_.insert(std::make_pair("RGBD/LocalLoopDetectionPathScansMerged", std::make_pair(false, "")));
removedParameters_.insert(std::make_pair("RGBD/LocalLoopDetectionMaxGraphDepth", std::make_pair(true, Parameters::kRGBDProximityMaxGraphDepth())));
removedParameters_.insert(std::make_pair("RGBD/LocalLoopDetectionPathFilteringRadius", std::make_pair(true, Parameters::kRGBDProximityPathFilteringRadius())));
removedParameters_.insert(std::make_pair("RGBD/LocalLoopDetectionPathRawPosesUsed", std::make_pair(true, Parameters::kRGBDProximityPathRawPosesUsed())));

11
corelib/src/RegistrationIcp.cpp
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@@ -113,7 +113,7 @@ Transform RegistrationIcp::computeTransformationImpl(
if(!guess.isNull() && !dataFrom.laserScanRaw().empty() && !dataTo.laserScanRaw().empty())
{
// ICP with guess transform
int maxLaserScans = dataTo.laserScanMaxPts();
int maxLaserScans = dataTo.laserScanMaxPts()?dataTo.laserScanMaxPts():dataFrom.laserScanMaxPts();
cv::Mat fromScan = dataFrom.laserScanRaw();
cv::Mat toScan = dataTo.laserScanRaw();
if(_downsamplingStep>1)
@@ -309,8 +309,13 @@ Transform RegistrationIcp::computeTransformationImpl(
}
else
{
UWARN("Maximum laser scans points not set for signature %d, correspondences ratio set relative instead of absolute!",
dataTo.id());
static bool warningShown = false;
if(!warningShown)
{
UWARN("Maximum laser scans points not set for signature %d, correspondences ratio set relative instead of absolute! This message will only appear once.",
dataTo.id());
warningShown = true;
}
correspondencesRatio = float(correspondences)/float(toScan.cols>fromScan.cols?toScan.cols:fromScan.cols);
}

61
corelib/src/Rtabmap.cpp
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@@ -100,7 +100,6 @@ Rtabmap::Rtabmap() :
_proximityMaxGraphDepth(Parameters::defaultRGBDProximityMaxGraphDepth()),
_proximityFilteringRadius(Parameters::defaultRGBDProximityPathFilteringRadius()),
_proximityRawPosesUsed(Parameters::defaultRGBDProximityPathRawPosesUsed()),
_proximityScansMerged(Parameters::defaultRGBDProximityPathScansMerged()),
_proximityAngle(Parameters::defaultRGBDProximityAngle()*M_PI/180.0f),
_databasePath(""),
_optimizeFromGraphEnd(Parameters::defaultRGBDOptimizeFromGraphEnd()),
@@ -411,7 +410,6 @@ void Rtabmap::parseParameters(const ParametersMap & parameters)
Parameters::parse(parameters, Parameters::kRGBDProximityMaxGraphDepth(), _proximityMaxGraphDepth);
Parameters::parse(parameters, Parameters::kRGBDProximityPathFilteringRadius(), _proximityFilteringRadius);
Parameters::parse(parameters, Parameters::kRGBDProximityPathRawPosesUsed(), _proximityRawPosesUsed);
Parameters::parse(parameters, Parameters::kRGBDProximityPathScansMerged(), _proximityScansMerged);
Parameters::parse(parameters, Parameters::kRGBDProximityAngle(), _proximityAngle);
_proximityAngle *= M_PI/180.0f;
Parameters::parse(parameters, Parameters::kRGBDOptimizeFromGraphEnd(), _optimizeFromGraphEnd);
@@ -1901,47 +1899,37 @@ bool Rtabmap::process(
(_proximityFilteringRadius <= 0.0f ||
_optimizedPoses.at(signature->id()).getDistanceSquared(_optimizedPoses.at(nearestId)) < _proximityFilteringRadius*_proximityFilteringRadius))
{
if(!_proximityScansMerged)
{
//only keep the nearest node
std::map<int, Transform> tmp;
tmp.insert(*path.find(nearestId));
path = tmp;
}
else
// Assemble scans in the path and do ICP only
if(_proximityRawPosesUsed)
{
// Assemble scans in the path and do ICP only
if(_proximityRawPosesUsed)
//optimize the path's poses locally
path = optimizeGraph(nearestId, uKeysSet(path), std::map<int, Transform>(), false);
// transform local poses in optimized graph referential
UASSERT(uContains(path, nearestId));
Transform t = _optimizedPoses.at(nearestId) * path.at(nearestId).inverse();
for(std::map<int, Transform>::iterator jter=path.begin(); jter!=path.end(); ++jter)
{
//optimize the path's poses locally
path = optimizeGraph(nearestId, uKeysSet(path), std::map<int, Transform>(), false);
// transform local poses in optimized graph referential
UASSERT(uContains(path, nearestId));
Transform t = _optimizedPoses.at(nearestId) * path.at(nearestId).inverse();
for(std::map<int, Transform>::iterator jter=path.begin(); jter!=path.end(); ++jter)
{
jter->second = t * jter->second;
}
}
if(path.size() > 2 && _proximityFilteringRadius > 0.0f)
{
// path filtering
std::map<int, Transform> filteredPath = graph::radiusPosesFiltering(path, _proximityFilteringRadius, 0, true);
// make sure the current pose is still here
filteredPath.insert(*path.find(nearestId));
path = filteredPath;
jter->second = t * jter->second;
}
}
std::map<int, Transform> filteredPath = path;
if(path.size() > 2 && _proximityFilteringRadius > 0.0f)
{
// path filtering
filteredPath = graph::radiusPosesFiltering(path, _proximityFilteringRadius, 0, true);
// make sure the current pose is still here
filteredPath.insert(*path.find(nearestId));
}
if(path.size() > 0)
if(filteredPath.size() > 0)
{
// add current node to poses
path.insert(std::make_pair(signature->id(), _optimizedPoses.at(signature->id())));
filteredPath.insert(std::make_pair(signature->id(), _optimizedPoses.at(signature->id())));
//The nearest will be the reference for a loop closure transform
if(signature->getLinks().find(nearestId) == signature->getLinks().end())
{
RegistrationInfo info;
Transform transform = _memory->computeIcpTransformMulti(signature->id(), nearestId, path, &info);
Transform transform = _memory->computeIcpTransformMulti(signature->id(), nearestId, filteredPath, &info);
if(!transform.isNull())
{
if(_proximityFilteringRadius <= 0 || transform.getNormSquared() <= _proximityFilteringRadius*_proximityFilteringRadius)
@@ -1958,14 +1946,11 @@ bool Rtabmap::process(
stream << "SCANS:";
for(std::map<int, Transform>::iterator iter=path.begin(); iter!=path.end(); ++iter)
{
if(iter->first!=signature->id())
if(iter != path.begin())
{
if(iter != path.begin())
{
stream << ";";
}
stream << uNumber2Str(iter->first);
stream << ";";
}
stream << uNumber2Str(iter->first);
}
std::string scansStr = stream.str();
scanMatchingIds = cv::Mat(1, int(scansStr.size()+1), CV_8SC1, (void *)scansStr.c_str());