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Added CameraStereoImages class to read stereo images from a directory. Added a particle filter to smooth odometry trajectory. Added parameter RGBD/OptimizeEpsilon to limit TORO iterations when error improvement is small. Added Rtabmap/CreateIntermediateNodes parameter: this can be used to keep all odometry poses 'between' nodes used for loop closure detection. Added PnP approach to loop closure constraint estimation. Fixed decimation of stereo images when image size is odd.

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This commit is contained in:
matlabbe
2015-06-11 16:57:16 -04:00
parent feba562c1b
commit b8dccc2228
49 changed files with 2651 additions and 729 deletions
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29
corelib/src/Graph.cpp
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@@ -110,17 +110,19 @@ Optimizer * Optimizer::create(Optimizer::Type & type, const ParametersMap & para
return optimizer;
}
Optimizer::Optimizer(int iterations, bool slam2d, bool covarianceIgnored) :
Optimizer::Optimizer(int iterations, bool slam2d, bool covarianceIgnored, double epsilon) :
iterations_(iterations),
slam2d_(slam2d),
covarianceIgnored_(covarianceIgnored)
covarianceIgnored_(covarianceIgnored),
epsilon_(epsilon)
{
}
Optimizer::Optimizer(const ParametersMap & parameters) :
iterations_(100),
slam2d_(false),
covarianceIgnored_(false)
iterations_(Parameters::defaultRGBDOptimizeIterations()),
slam2d_(Parameters::defaultRGBDOptimizeSlam2D()),
covarianceIgnored_(Parameters::defaultRGBDOptimizeVarianceIgnored()),
epsilon_(Parameters::defaultRGBDOptimizeEpsilon())
{
parseParameters(parameters);
}
@@ -130,6 +132,7 @@ void Optimizer::parseParameters(const ParametersMap & parameters)
Parameters::parse(parameters, Parameters::kRGBDOptimizeIterations(), iterations_);
Parameters::parse(parameters, Parameters::kRGBDOptimizeVarianceIgnored(), covarianceIgnored_);
Parameters::parse(parameters, Parameters::kRGBDOptimizeSlam2D(), slam2d_);
Parameters::parse(parameters, Parameters::kRGBDOptimizeEpsilon(), epsilon_);
}
void Optimizer::getConnectedGraph(
@@ -350,6 +353,7 @@ std::map<int, Transform> TOROOptimizer::optimize(
}
UINFO("TORO iterate begin (iterations=%d)", iterations());
double lasterror = 0;
for (int i=0; i<iterations(); i++)
{
if(intermediateGraphes && i>0)
@@ -382,12 +386,14 @@ std::map<int, Transform> TOROOptimizer::optimize(
}
intermediateGraphes->push_back(tmpPoses);
}
double error = 0;
if(isSlam2d())
{
pg2.iterate();
// compute the error and dump it
double error=pg2.error();
error=pg2.error();
UDEBUG("iteration %d global error=%f error/constraint=%f", i, error, error/pg2.edges.size());
}
else
@@ -396,10 +402,19 @@ std::map<int, Transform> TOROOptimizer::optimize(
// compute the error and dump it
double mte, mre, are, ate;
double error=pg3.error(&mre, &mte, &are, &ate);
error=pg3.error(&mre, &mte, &are, &ate);
UDEBUG("i %d RotGain=%f global error=%f error/constraint=%f",
i, pg3.getRotGain(), error, error/pg3.edges.size());
}
// early stop condition
double errorDelta = lasterror - error;
if(i>0 && errorDelta < this->epsilon())
{
UDEBUG("Stop optimizing, not enough improvement (%f < %f)", errorDelta, this->epsilon());
break;
}
lasterror = error;
}
UINFO("TORO iterate end");