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Marker priors (#859)

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* Added MarkerPriors parameter

* Fixed Marker/Priors format to use '|' instead ';'. Fixed landmark priors not used.

* Marker: added priors variance parameters

* g2o: refactored backward compatibility includes

* fixed build with old g2o
This commit is contained in:
matlabbe
2022-04-28 09:18:30 -04:00
committed by GitHub
parent 190071678f
commit b646c5e1db
14 changed files with 731 additions and 283 deletions
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7
corelib/include/rtabmap/core/Parameters.h
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@@ -780,8 +780,11 @@ class RTABMAP_EXP Parameters
RTABMAP_PARAM(Marker, VarianceLinear, float, 0.001, "Linear variance to set on marker detections.");
RTABMAP_PARAM(Marker, VarianceAngular, float, 0.01, "Angular variance to set on marker detections. Set to >=9999 to use only position (xyz) constraint in graph optimization.");
RTABMAP_PARAM(Marker, CornerRefinementMethod, int, 0, "Corner refinement method (0: None, 1: Subpixel, 2:contour, 3: AprilTag2). For OpenCV <3.3.0, this is \"doCornerRefinement\" parameter: set 0 for false and 1 for true.");
RTABMAP_PARAM(Marker, MaxRange, float, 0.0, "Maximum range in which markers will be detected. <=0 for unlimited range.");
RTABMAP_PARAM(Marker, MinRange, float, 0.0, "Miniminum range in which markers will be detected. <=0 for unlimited range.");
RTABMAP_PARAM(Marker, MaxRange, float, 0.0, "Maximum range in which markers will be detected. <=0 for unlimited range.");
RTABMAP_PARAM(Marker, MinRange, float, 0.0, "Miniminum range in which markers will be detected. <=0 for unlimited range.");
RTABMAP_PARAM_STR(Marker, Priors, "", "World prior locations of the markers. The map will be transformed in marker's world frame when a tag is detected. Format is the marker's ID followed by its position (angles in rad), markers are separated by vertical line (\"id1 x y z roll pitch yaw|id2 x y z roll pitch yaw\"). Example: \"1 0 0 1 0 0 0|2 1 0 1 0 0 1.57\" (marker 2 is 1 meter forward than marker 1 with 90 deg yaw rotation).");
RTABMAP_PARAM(Marker, PriorsVarianceLinear, float, 0.001, "Linear variance to set on marker priors.");
RTABMAP_PARAM(Marker, PriorsVarianceAngular, float, 0.001, "Angular variance to set on marker priors.");
RTABMAP_PARAM(ImuFilter, MadgwickGain, double, 0.1, "Gain of the filter. Higher values lead to faster convergence but more noise. Lower values lead to slower convergence but smoother signal, belongs in [0, 1].");
RTABMAP_PARAM(ImuFilter, MadgwickZeta, double, 0.0, "Gyro drift gain (approx. rad/s), belongs in [-1, 1].");

3
corelib/include/rtabmap/core/Rtabmap.h
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@@ -324,6 +324,8 @@ private:
bool _loopGPS;
int _maxOdomCacheSize;
bool _createGlobalScanMap;
float _markerPriorsLinearVariance;
float _markerPriorsAngularVariance;
std::pair<int, float> _loopClosureHypothesis;
std::pair<int, float> _highestHypothesis;
@@ -364,6 +366,7 @@ private:
std::map<int, Transform> _odomCachePoses; // used in localization mode to reject loop closures
std::multimap<int, Link> _odomCacheConstraints; // used in localization mode to reject loop closures
std::vector<float> _odomCorrectionAcc;
std::map<int, Transform> _markerPriors;
// Planning stuff
int _pathStatus;