i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-01 17:10:26 +08:00
Code Issues Packages Projects Releases Wiki Activity

Fixed bug where very long paths (over maxGraphDepth) were used for scan matching. Added "RGBD/ProximityMaxPaths" parameter (default 3) to limit the number of path comparisons for proximity detection.

Browse Source
This commit is contained in:
matlabbe
2016-08-12 18:43:12 -04:00
parent a0d76eabe5
commit ae7436a41b
8 changed files with 132 additions and 136 deletions
Download Patch File Download Diff File Expand all files Collapse all files

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

@@ -324,7 +324,8 @@ class RTABMAP_EXP Parameters
RTABMAP_PARAM(RGBD, ProximityByTime, bool, false, "Detection over all locations in STM.");
RTABMAP_PARAM(RGBD, ProximityBySpace, bool, true, "Detection over locations (in Working Memory or STM) near in space.");
RTABMAP_PARAM(RGBD, ProximityMaxGraphDepth, int, 50, "Maximum depth from the current/last loop closure location and the local loop closure hypotheses. Set 0 to ignore.");
RTABMAP_PARAM(RGBD, ProximityPathFilteringRadius, float, 0.5, "Path filtering radius.");
RTABMAP_PARAM(RGBD, ProximityMaxPaths, int, 3, "Maximum paths compared (from the most recent) for proximity detection by space. 0 means no limit.");
RTABMAP_PARAM(RGBD, ProximityPathFilteringRadius, float, 0.5, "Path filtering radius to reduce the number of nodes to compare in a path. A path should also be inside that radius to be considered for proximity detection.");
RTABMAP_PARAM(RGBD, ProximityPathRawPosesUsed, bool, true, "When comparing to a local path, merge the scan using the odometry poses (with neighbor link optimizations) instead of the ones in the optimized local graph.");
RTABMAP_PARAM(RGBD, ProximityAngle, float, 45, "Maximum angle (degrees) for visual proximity detection.");

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

@@ -142,7 +142,7 @@ public:
const Transform & getPathTransformToGoal() const {return _pathTransformToGoal;}
std::map<int, Transform> getForwardWMPoses(int fromId, int maxNearestNeighbors, float radius, int maxDiffID) const;
std::list<std::map<int, Transform> > getPaths(std::map<int, Transform> poses) const;
std::map<int, std::map<int, Transform> > getPaths(std::map<int, Transform> poses, const Transform & target, int maxGraphDepth = 0) const;
void adjustLikelihood(std::map<int, float> & likelihood) const;
std::pair<int, float> selectHypothesis(const std::map<int, float> & posterior,
const std::map<int, float> & likelihood) const;
@@ -195,6 +195,7 @@ private:
float _localRadius;
float _localImmunizationRatio;
int _proximityMaxGraphDepth;
int _proximityMaxPaths;
float _proximityFilteringRadius;
bool _proximityRawPosesUsed;
float _proximityAngle;

2
corelib/include/rtabmap/core/Statistics.h
View File

@@ -69,6 +69,8 @@ class RTABMAP_EXP Statistics
RTABMAP_STATS(Proximity, Time_detections,);
RTABMAP_STATS(Proximity, Space_last_detection_id,);
RTABMAP_STATS(Proximity, Space_paths,);
RTABMAP_STATS(Proximity, Space_visual_paths_checked,);
RTABMAP_STATS(Proximity, Space_scan_paths_checked,);
RTABMAP_STATS(Proximity, Space_detections_added_visually,);
RTABMAP_STATS(Proximity, Space_detections_added_icp_only,);