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Parameters: added RGBD/LoopCovLimited, refactored "detect more loop closures" in MainWindow/DBViewer/rtabmap

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matlabbe
2018-10-01 20:22:20 -04:00
parent 0059a4bc1b
commit b5dec56eaf
14 changed files with 468 additions and 319 deletions
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12
corelib/include/rtabmap/core/Graph.h
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@@ -102,6 +102,18 @@ Transform RTABMAP_EXP calcRMSE(
float & rotational_min,
float & rotational_max);
void RTABMAP_EXP computeMaxGraphErrors(
const std::map<int, Transform> & poses,
const std::multimap<int, Link> & links,
float & maxLinearErrorRatio,
float & maxAngularErrorRatio,
float & maxLinearError,
float & maxAngularError,
const Link ** maxLinearErrorLink = 0,
const Link ** maxAngularErrorLink = 0);
std::vector<double> getMaxOdomInf(const std::multimap<int, Link> & links);
std::multimap<int, Link>::iterator RTABMAP_EXP findLink(
std::multimap<int, Link> & links,
int from,

2
corelib/include/rtabmap/core/Memory.h
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@@ -206,6 +206,7 @@ public:
int getLastGlobalLoopClosureId() const {return _lastGlobalLoopClosureId;}
const Feature2D * getFeature2D() const {return _feature2D;}
bool isGraphReduced() const {return _reduceGraph;}
const std::vector<double> & getOdomMaxInf() const {return _odomMaxInf;}
void dumpMemoryTree(const char * fileNameTree) const;
virtual void dumpMemory(std::string directory) const;
@@ -315,6 +316,7 @@ private:
GPS _gpsOrigin;
std::vector<CameraModel> _rectCameraModels;
StereoCameraModel _rectStereoCameraModel;
std::vector<double> _odomMaxInf;
std::map<int, Signature *> _signatures; // TODO : check if a signature is already added? although it is not supposed to occur...
std::set<int> _stMem; // id

1
corelib/include/rtabmap/core/Parameters.h
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@@ -353,6 +353,7 @@ class RTABMAP_EXP Parameters
RTABMAP_PARAM(RGBD, LoopClosureReextractFeatures, bool, false, "Extract features even if there are some already in the nodes.");
RTABMAP_PARAM(RGBD, LocalBundleOnLoopClosure, bool, false, "Do local bundle adjustment with neighborhood of the loop closure.");
RTABMAP_PARAM(RGBD, CreateOccupancyGrid, bool, false, "Create local occupancy grid maps. See \"Grid\" 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.");
// Local/Proximity loop closure detection
RTABMAP_PARAM(RGBD, ProximityByTime, bool, false, "Detection over all locations in STM.");

2
corelib/include/rtabmap/core/Rtabmap.h
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@@ -168,6 +168,7 @@ public:
std::map<int, Signature> * signatures = 0);
int detectMoreLoopClosures(float clusterRadius = 0.5f, float clusterAngle = M_PI/6.0f, int iterations = 1, const ProgressState * state = 0);
int refineLinks();
cv::Mat getInformation(const cv::Mat & covariance) const;
int getPathStatus() const {return _pathStatus;} // -1=failed 0=idle/executing 1=success
void clearPath(int status); // -1=failed 0=idle/executing 1=success
@@ -259,6 +260,7 @@ private:
float _pathLinearVelocity;
float _pathAngularVelocity;
bool _savedLocalizationIgnored;
bool _loopCovLimited;
std::pair<int, float> _loopClosureHypothesis;
std::pair<int, float> _highestHypothesis;