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rtabmap: Adjust transforms with gravity on localization mode if Optimizer/GravitySigma is not null

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matlabbe
2019-04-05 16:58:57 -04:00
parent 61098be315
commit ae12caff04
1 changed files with 71 additions and 9 deletions
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80
corelib/src/Rtabmap.cpp
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@@ -1032,15 +1032,28 @@ bool Rtabmap::process(
} }
else if(_optimizedPoses.size() && _mapCorrection.isIdentity() && !_lastLocalizationPose.isNull() && _lastLocalizationNodeId == 0) else if(_optimizedPoses.size() && _mapCorrection.isIdentity() && !_lastLocalizationPose.isNull() && _lastLocalizationNodeId == 0)
{ {
// Localization mode, set map->odom so that odom is moved back to last saved localization // Localization mode
_mapCorrection = _lastLocalizationPose * odomPose.inverse(); if(!_optimizeFromGraphEnd)
std::map<int, Transform> nodesOnly(_optimizedPoses.lower_bound(1), _optimizedPoses.end()); {
_lastLocalizationNodeId = graph::findNearestNode(nodesOnly, _lastLocalizationPose); //set map->odom so that odom is moved back to last saved localization
UWARN("Update map correction based on last localization saved in database! correction = %s, nearest id = %d of last pose = %s, odom = %s", _mapCorrection = _lastLocalizationPose * odomPose.inverse();
_mapCorrection.prettyPrint().c_str(), std::map<int, Transform> nodesOnly(_optimizedPoses.lower_bound(1), _optimizedPoses.end());
_lastLocalizationNodeId, _lastLocalizationNodeId = graph::findNearestNode(nodesOnly, _lastLocalizationPose);
_lastLocalizationPose.prettyPrint().c_str(), UWARN("Update map correction based on last localization saved in database! correction = %s, nearest id = %d of last pose = %s, odom = %s",
odomPose.prettyPrint().c_str()); _mapCorrection.prettyPrint().c_str(),
_lastLocalizationNodeId,
_lastLocalizationPose.prettyPrint().c_str(),
odomPose.prettyPrint().c_str());
}
else
{
//move optimized poses accordingly to last saved localization
Transform mapCorrectionInv = odomPose * _lastLocalizationPose.inverse();
for(std::map<int, Transform>::iterator iter=_optimizedPoses.begin(); iter!=_optimizedPoses.end(); ++iter)
{
iter->second = mapCorrectionInv * iter->second;
}
}
} }
} }
@@ -2519,6 +2532,31 @@ bool Rtabmap::process(
// in case of 3d landmarks, transform constraint to 2D // in case of 3d landmarks, transform constraint to 2D
u = u.to3DoF(); u = u.to3DoF();
} }
else if(_graphOptimizer->gravitySigma() > 0)
{
// Adjust transform with gravity
Transform transform = localizationLinks.begin()->second.transform();
int loopId = localizationLinks.begin()->first;
if(loopId < 0)
{
//For landmarks, use transform against other node looking the landmark
// (because we don't assume that landmarks are aligned with gravity)
int landmarkId = loopId;
const Signature * loopS = _memory->getSignature(landmarkDetectedNodeRef);
transform = transform * loopS->getLandmarks().at(landmarkId).transform().inverse();
loopId = landmarkDetectedNodeRef;
oldPose = _optimizedPoses.at(loopId);
}
float roll,pitch,yaw;
_memory->getSignature(loopId)->getPose().getEulerAngles(roll, pitch, yaw);
Transform targetRotation = signature->getPose().rotation()*transform.rotation();
targetRotation = Transform(0,0,0,roll,pitch,targetRotation.theta());
Transform error = transform.rotation().inverse() * signature->getPose().rotation().inverse() * targetRotation;
transform *= error;
u = signature->getPose() * transform;
}
Transform up = u * oldPose.inverse(); Transform up = u * oldPose.inverse();
for(std::map<int, Transform>::iterator iter=_optimizedPoses.begin(); iter!=_optimizedPoses.end(); ++iter) for(std::map<int, Transform>::iterator iter=_optimizedPoses.begin(); iter!=_optimizedPoses.end(); ++iter)
{ {
@@ -2534,6 +2572,30 @@ bool Rtabmap::process(
// in case of 3d landmarks, transform constraint to 2D // in case of 3d landmarks, transform constraint to 2D
newPose = newPose.to3DoF(); newPose = newPose.to3DoF();
} }
else if(_graphOptimizer->gravitySigma() > 0)
{
// Adjust transform with gravity
Transform transform = localizationLinks.begin()->second.transform();
int loopId = localizationLinks.begin()->first;
if(loopId < 0)
{
//For landmarks, use transform against other node looking the landmark
// (because we don't assume that landmarks are aligned with gravity)
int landmarkId = loopId;
const Signature * loopS = _memory->getSignature(landmarkDetectedNodeRef);
transform = transform * loopS->getLandmarks().at(landmarkId).transform().inverse();
loopId = landmarkDetectedNodeRef;
}
float roll,pitch,yaw;
_memory->getSignature(loopId)->getPose().getEulerAngles(roll, pitch, yaw);
Transform targetRotation = signature->getPose().rotation()*transform.rotation();
targetRotation = Transform(0,0,0,roll,pitch,targetRotation.theta());
Transform error = transform.rotation().inverse() * signature->getPose().rotation().inverse() * targetRotation;
transform *= error;
newPose = _optimizedPoses.at(loopId) * transform.inverse();
}
_optimizedPoses.at(signature->id()) = newPose; _optimizedPoses.at(signature->id()) = newPose;
} }
localizationCovariance = localizationLinks.begin()->second.infMatrix().inv(); localizationCovariance = localizationLinks.begin()->second.infMatrix().inv();