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

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This commit is contained in:
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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80
guilib/src/DatabaseViewer.cpp
View File

@@ -3201,6 +3201,14 @@ void DatabaseViewer::detectMoreLoopClosures()
progressDialog->setMinimumWidth(800);
progressDialog->show();
const ParametersMap & parameters = ui_->parameters_toolbox->getParameters();
bool loopCovLimited = Parameters::defaultRGBDLoopCovLimited();
Parameters::parse(parameters, Parameters::kRGBDLoopCovLimited(), loopCovLimited);
if(loopCovLimited)
{
odomMaxInf_ = graph::getMaxOdomInf(updateLinksWithModifications(links_));
}
int iterations = ui_->spinBox_detectMore_iterations->value();
UASSERT(iterations > 0);
int added = 0;
@@ -3269,6 +3277,8 @@ void DatabaseViewer::detectMoreLoopClosures()
}
}
odomMaxInf_.clear();
if(added)
{
this->updateGraphView();
@@ -6157,6 +6167,14 @@ bool DatabaseViewer::addConstraint(int from, int to, bool silent)
ParametersMap parameters = ui_->parameters_toolbox->getParameters();
Registration * reg = Registration::create(parameters);
bool loopCovLimited = Parameters::defaultRGBDLoopCovLimited();
Parameters::parse(parameters, Parameters::kRGBDLoopCovLimited(), loopCovLimited);
std::vector<double> odomMaxInf = odomMaxInf_;
if(loopCovLimited && odomMaxInf_.empty())
{
odomMaxInf = graph::getMaxOdomInf(updateLinksWithModifications(links_));
}
Transform t;
RegistrationInfo info;
@@ -6229,16 +6247,19 @@ bool DatabaseViewer::addConstraint(int from, int to, bool silent)
if(!t.isNull())
{
if(!t.isIdentity())
cv::Mat information = info.covariance.inv();
if(odomMaxInf.size() == 6 && information.cols==6 && information.rows==6)
{
// normalize variance
info.covariance *= t.getNorm();
if(info.covariance.at<double>(0,0)<=0.0)
for(int i=0; i<6; ++i)
{
info.covariance = cv::Mat::eye(6,6,CV_64FC1)*0.0001; // epsilon if exact transform
if(information.at<double>(i,i) > odomMaxInf[i])
{
information.at<double>(i,i) = odomMaxInf[i];
}
}
}
newLink = Link(from, to, Link::kUserClosure, t, info.covariance.inv());
newLink = Link(from, to, Link::kUserClosure, t, information);
}
else if(!silent)
{
@@ -6297,44 +6318,15 @@ bool DatabaseViewer::addConstraint(int from, int to, bool silent)
{
float maxLinearError = 0.0f;
float maxAngularError = 0.0f;
for(std::multimap<int, Link>::iterator iter=links.begin(); iter!=links.end(); ++iter)
{
// ignore links with high variance
if(iter->second.transVariance() <= 1.0 && iter->second.from() != iter->second.to())
{
Transform t1 = uValue(poses, iter->second.from(), Transform());
Transform t2 = uValue(poses, iter->second.to(), Transform());
Transform t = t1.inverse()*t2;
float linearError = uMax3(
fabs(iter->second.transform().x() - t.x()),
fabs(iter->second.transform().y() - t.y()),
fabs(iter->second.transform().z() - t.z()));
float opt_roll,opt__pitch,opt__yaw;
float link_roll,link_pitch,link_yaw;
t.getEulerAngles(opt_roll, opt__pitch, opt__yaw);
iter->second.transform().getEulerAngles(link_roll, link_pitch, link_yaw);
float angularError = uMax3(
fabs(opt_roll - link_roll),
fabs(opt__pitch - link_pitch),
fabs(opt__yaw - link_yaw));
float stddevLinear = sqrt(iter->second.transVariance());
float linearErrorRatio = linearError/stddevLinear;
if(linearErrorRatio > maxLinearErrorRatio)
{
maxLinearError = linearError;
maxLinearErrorRatio = linearErrorRatio;
maxLinearLink = &iter->second;
}
float stddevAngular = sqrt(iter->second.rotVariance());
float angularErrorRatio = angularError/stddevAngular;
if(angularErrorRatio > maxAngularErrorRatio)
{
maxAngularError = angularError;
maxAngularErrorRatio = angularErrorRatio;
maxAngularLink = &iter->second;
}
}
}
graph::computeMaxGraphErrors(
poses,
links,
maxLinearErrorRatio,
maxAngularErrorRatio,
maxLinearError,
maxAngularError,
&maxLinearLink,
&maxAngularLink);
if(maxLinearLink)
{
UINFO("Max optimization linear error = %f m (link %d->%d, var=%f, ratio error/std=%f)", maxLinearError, maxLinearLink->from(), maxLinearLink->to(), maxLinearLink->transVariance(), maxLinearError/sqrt(maxLinearLink->transVariance()));

2
guilib/src/ExportCloudsDialog.cpp
View File

@@ -976,7 +976,7 @@ void ExportCloudsDialog::viewClouds(
{
viewer->setBackfaceCulling(true, false);
}
viewer->setLighting(true);
viewer->setLighting(false);
viewer->setDefaultBackgroundColor(QColor(40, 40, 40, 255));
viewer->buildPickingLocator(true);

123
guilib/src/MainWindow.cpp
View File

@@ -5465,6 +5465,14 @@ void MainWindow::postProcessing()
{
UDEBUG("");
bool loopCovLimited = Parameters::defaultRGBDLoopCovLimited();
Parameters::parse(parameters, Parameters::kRGBDLoopCovLimited(), loopCovLimited);
std::vector<double> odomMaxInf;
if(loopCovLimited)
{
odomMaxInf = graph::getMaxOdomInf(_currentLinksMap);
}
UASSERT(detectLoopClosureIterations>0);
for(int n=0; n<detectLoopClosureIterations && !_progressCanceled; ++n)
{
@@ -5573,18 +5581,19 @@ void MainWindow::postProcessing()
delete registration;
if(!transform.isNull())
{
if(!transform.isIdentity())
{
// normalize variance
info.covariance *= transform.getNorm();
if(info.covariance.at<double>(0,0)<=0.0)
{
info.covariance = cv::Mat::eye(6,6,CV_64FC1)*0.0001; // epsilon if exact transform
}
}
//optimize the graph to see if the new constraint is globally valid
bool updateConstraint = true;
cv::Mat information = info.covariance.inv();
if(odomMaxInf.size() == 6 && information.cols==6 && information.rows==6)
{
for(int i=0; i<6; ++i)
{
if(information.at<double>(i,i) > odomMaxInf[i])
{
information.at<double>(i,i) = odomMaxInf[i];
}
}
}
if(optimizeMaxError > 0.0f && optimizeIterations > 0)
{
int fromId = from;
@@ -5599,7 +5608,7 @@ void MainWindow::postProcessing()
}
}
std::multimap<int, Link> linksIn = _currentLinksMap;
linksIn.insert(std::make_pair(from, Link(from, to, Link::kUserClosure, transform, info.covariance.inv())));
linksIn.insert(std::make_pair(from, Link(from, to, Link::kUserClosure, transform, information)));
const Link * maxLinearLink = 0;
const Link * maxAngularLink = 0;
float maxLinearError = 0.0f;
@@ -5618,60 +5627,54 @@ void MainWindow::postProcessing()
std::string msg;
if(poses.size())
{
for(std::multimap<int, Link>::iterator iter=links.begin(); iter!=links.end(); ++iter)
{
// ignore links with high variance
if(iter->second.transVariance() <= 1.0 && iter->second.from() != iter->second.to())
{
UASSERT(poses.find(iter->second.from())!=poses.end());
UASSERT(poses.find(iter->second.to())!=poses.end());
Transform t1 = poses.at(iter->second.from());
Transform t2 = poses.at(iter->second.to());
UASSERT(!t1.isNull() && !t2.isNull());
Transform t = t1.inverse()*t2;
float linearError = uMax3(
fabs(iter->second.transform().x() - t.x()),
fabs(iter->second.transform().y() - t.y()),
fabs(iter->second.transform().z() - t.z()));
Eigen::Vector3f vA = t1.toEigen3f().linear()*Eigen::Vector3f(1,0,0);
Eigen::Vector3f vB = t2.toEigen3f().linear()*Eigen::Vector3f(1,0,0);
float angularError = pcl::getAngle3D(Eigen::Vector4f(vA[0], vA[1], vA[2], 0), Eigen::Vector4f(vB[0], vB[1], vB[2], 0));
if(linearError > maxLinearError)
{
maxLinearError = linearError;
maxLinearLink = &iter->second;
}
if(angularError > maxAngularError)
{
maxAngularError = angularError;
maxAngularLink = &iter->second;
}
}
}
float maxLinearErrorRatio = 0.0f;
float maxAngularErrorRatio = 0.0f;
graph::computeMaxGraphErrors(
poses,
links,
maxLinearErrorRatio,
maxAngularErrorRatio,
maxLinearError,
maxAngularError,
&maxLinearLink,
&maxAngularLink);
if(maxLinearLink)
{
UINFO("Max optimization linear error = %f m (link %d->%d)", maxLinearError, maxLinearLink->from(), maxLinearLink->to());
if(maxLinearErrorRatio > optimizeMaxError)
{
msg = uFormat("Rejecting edge %d->%d because "
"graph error is too large after optimization (%f m for edge %d->%d with ratio %f > std=%f m). "
"\"%s\" is %f.",
from,
to,
maxLinearError,
maxLinearLink->from(),
maxLinearLink->to(),
maxLinearErrorRatio,
sqrt(maxLinearLink->transVariance()),
Parameters::kRGBDOptimizeMaxError().c_str(),
optimizeMaxError);
}
}
if(maxAngularLink)
else if(maxAngularLink)
{
UINFO("Max optimization angular error = %f deg (link %d->%d)", maxAngularError*180.0f/M_PI, maxAngularLink->from(), maxAngularLink->to());
}
if(maxLinearError > optimizeMaxError)
{
msg = uFormat("Rejecting edge %d->%d because "
"graph error is too large after optimization (%f m for edge %d->%d, %f deg for edge %d->%d). "
"\"%s\" is %f m.",
from,
to,
maxLinearError,
maxLinearLink->from(),
maxLinearLink->to(),
maxAngularError*180.0f/M_PI,
maxAngularLink?maxAngularLink->from():0,
maxAngularLink?maxAngularLink->to():0,
Parameters::kRGBDOptimizeMaxError().c_str(),
optimizeMaxError);
if(maxAngularErrorRatio > optimizeMaxError)
{
msg = uFormat("Rejecting edge %d->%d because "
"graph error is too large after optimization (%f deg for edge %d->%d with ratio %f > std=%f deg). "
"\"%s\" is %f m.",
from,
to,
maxAngularError*180.0f/M_PI,
maxAngularLink->from(),
maxAngularLink->to(),
maxAngularErrorRatio,
sqrt(maxAngularLink->rotVariance()),
Parameters::kRGBDOptimizeMaxError().c_str(),
optimizeMaxError);
}
}
}
else
@@ -5695,7 +5698,7 @@ void MainWindow::postProcessing()
addedLinks.insert(from);
addedLinks.insert(to);
_currentLinksMap.insert(std::make_pair(from, Link(from, to, Link::kUserClosure, transform, info.covariance.inv())));
_currentLinksMap.insert(std::make_pair(from, Link(from, to, Link::kUserClosure, transform, information)));
++loopClosuresAdded;
_progressDialog->appendText(tr("Detected loop closure %1->%2! (%3/%4)").arg(from).arg(to).arg(i+1).arg(clusters.size()));
}

1
guilib/src/PreferencesDialog.cpp
View File

@@ -864,6 +864,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_ui->rgdb_newMapOdomChange->setObjectName(Parameters::kRGBDNewMapOdomChangeDistance().c_str());
_ui->odomScanHistory->setObjectName(Parameters::kRGBDNeighborLinkRefining().c_str());
_ui->spinBox_maxLocalLocationsRetrieved->setObjectName(Parameters::kRGBDMaxLocalRetrieved().c_str());
_ui->rgbd_loopCovLimited->setObjectName(Parameters::kRGBDLoopCovLimited().c_str());
_ui->graphOptimization_type->setObjectName(Parameters::kOptimizerStrategy().c_str());
_ui->graphOptimization_iterations->setObjectName(Parameters::kOptimizerIterations().c_str());

244
guilib/src/ui/preferencesDialog.ui
View File

@@ -94,9 +94,9 @@
<property name="geometry">
<rect>
<x>0</x>
<y>-287</y>
<width>681</width>
<height>2943</height>
<y>0</y>
<width>673</width>
<height>2939</height>
</rect>
</property>
<layout class="QVBoxLayout" name="verticalLayout_16">
@@ -117,7 +117,7 @@
<enum>QFrame::Raised</enum>
</property>
<property name="currentIndex">
<number>5</number>
<number>12</number>
</property>
<widget class="QWidget" name="page_22">
<layout class="QVBoxLayout" name="verticalLayout_29" stretch="0,1">
@@ -8896,51 +8896,9 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="0" column="0">
<widget class="QDoubleSpinBox" name="rgdb_linearUpdate">
<property name="suffix">
<string> m</string>
</property>
<property name="decimals">
<number>3</number>
</property>
<property name="singleStep">
<double>0.100000000000000</double>
</property>
</widget>
</item>
<item row="10" column="0">
<item row="11" column="0">
<widget class="QSpinBox" name="spinBox_maxLocalLocationsRetrieved"/>
</item>
<item row="0" column="1">
<widget class="QLabel" name="label_153">
<property name="text">
<string>Linear update: Minimum linear displacement to update the map. Note that Weight Update is done prior to this, so weights are still updated.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QDoubleSpinBox" name="rgdb_angularUpdate">
<property name="suffix">
<string> rad</string>
</property>
<property name="decimals">
<number>2</number>
</property>
<property name="maximum">
<double>3.140000000000000</double>
</property>
<property name="singleStep">
<double>0.100000000000000</double>
</property>
</widget>
</item>
<item row="7" column="0">
<widget class="QCheckBox" name="loopClosure_reextract">
<property name="text">
@@ -8967,7 +8925,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="11" column="1">
<item row="12" column="1">
<widget class="QLabel" name="label_scanMatching_5">
<property name="text">
<string>Ratio of working memory for which local nodes are immunized from transfer.</string>
@@ -9013,53 +8971,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="4" column="1">
<widget class="QLabel" name="label_scanMatching_2">
<property name="text">
<string>When loading a database, ignore last saved localization pose from previous session. If true, RTAB-Map won't assume it is restarting from the same place than where it shut down previously.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="8" column="0">
<widget class="QCheckBox" name="loopClosure_bunlde">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="12" column="1">
<widget class="QLabel" name="label_space2">
<property name="text">
<string>Local radius for nodes selection in the local map. This parameter is used in some approaches of the sub-panels.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="10" column="1">
<widget class="QLabel" name="label_scanMatching_3">
<property name="text">
<string>Maximum local locations retrieved (0=disabled) near the current pose in the local map or on the current planned path (those on the planned path have priority).</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="12" column="0">
<item row="13" column="0">
<widget class="QDoubleSpinBox" name="localDetection_radius">
<property name="suffix">
<string> m</string>
@@ -9076,7 +8988,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="11" column="0">
<item row="12" column="0">
<widget class="QDoubleSpinBox" name="rgdb_localImmunizationRatio">
<property name="suffix">
<string/>
@@ -9121,22 +9033,6 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QDoubleSpinBox" name="rgdb_angularSpeedUpdate">
<property name="suffix">
<string> rad/s</string>
</property>
<property name="decimals">
<number>2</number>
</property>
<property name="maximum">
<double>3.140000000000000</double>
</property>
<property name="singleStep">
<double>0.100000000000000</double>
</property>
</widget>
</item>
<item row="8" column="1">
<widget class="QLabel" name="label_scanMatching_10">
<property name="text">
@@ -9170,6 +9066,130 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="0" column="0">
<widget class="QDoubleSpinBox" name="rgdb_linearUpdate">
<property name="suffix">
<string> m</string>
</property>
<property name="decimals">
<number>3</number>
</property>
<property name="singleStep">
<double>0.100000000000000</double>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="label_153">
<property name="text">
<string>Linear update: Minimum linear displacement to update the map. Note that Weight Update is done prior to this, so weights are still updated.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QDoubleSpinBox" name="rgdb_angularUpdate">
<property name="suffix">
<string> rad</string>
</property>
<property name="decimals">
<number>2</number>
</property>
<property name="maximum">
<double>3.140000000000000</double>
</property>
<property name="singleStep">
<double>0.100000000000000</double>
</property>
</widget>
</item>
<item row="4" column="1">
<widget class="QLabel" name="label_scanMatching_2">
<property name="text">
<string>When loading a database, ignore last saved localization pose from previous session. If true, RTAB-Map won't assume it is restarting from the same place than where it shut down previously.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="8" column="0">
<widget class="QCheckBox" name="loopClosure_bunlde">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="13" column="1">
<widget class="QLabel" name="label_space2">
<property name="text">
<string>Local radius for nodes selection in the local map. This parameter is used in some approaches of the sub-panels.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="11" column="1">
<widget class="QLabel" name="label_scanMatching_3">
<property name="text">
<string>Maximum local locations retrieved (0=disabled) near the current pose in the local map or on the current planned path (those on the planned path have priority).</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QDoubleSpinBox" name="rgdb_angularSpeedUpdate">
<property name="suffix">
<string> rad/s</string>
</property>
<property name="decimals">
<number>2</number>
</property>
<property name="maximum">
<double>3.140000000000000</double>
</property>
<property name="singleStep">
<double>0.100000000000000</double>
</property>
</widget>
</item>
<item row="10" column="1">
<widget class="QLabel" name="label_scanMatching_12">
<property name="text">
<string>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.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="10" column="0">
<widget class="QCheckBox" name="rgbd_loopCovLimited">
<property name="text">
<string/>
</property>
</widget>
</item>
</layout>
</widget>
</item>