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Added RGBD/LocalizationSmoothing parameter and fixed related issues (#1032)

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* removed code

* added landmark in graph optimization checks

* reverted smoothing, only if there is already a previous localization link

* Added RGBDLocalizationSmoothing parameter

* Update .appveyor.yml

* Update .appveyor.yml

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This commit is contained in:
matlabbe
2023-05-14 13:03:52 -07:00
committed by GitHub
parent 2da448f4ee
commit ba33c080bc
8 changed files with 320 additions and 273 deletions
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1
corelib/include/rtabmap/core/Parameters.h
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@@ -376,6 +376,7 @@ class RTABMAP_CORE_EXPORT Parameters
RTABMAP_PARAM(RGBD, MarkerDetection, bool, false, "Detect static markers to be added as landmarks for graph optimization. If input data have already landmarks, this will be ignored. See \"Marker\" 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.");
RTABMAP_PARAM(RGBD, MaxOdomCacheSize, int, 10, uFormat("Maximum odometry cache size. Used only in localization mode (when %s=false). This is used to get smoother localizations and to verify localization transforms (when %s!=0) to make sure we don't teleport to a location very similar to one we previously localized on. Set 0 to disable caching.", kMemIncrementalMemory().c_str(), kRGBDOptimizeMaxError().c_str()));
RTABMAP_PARAM(RGBD, LocalizationSmoothing, bool, true, uFormat("Adjust localization constraints based on optimized odometry cache poses (when %s>0).", kRGBDMaxOdomCacheSize().c_str()));
// Local/Proximity loop closure detection
RTABMAP_PARAM(RGBD, ProximityByTime, bool, false, "Detection over all locations in STM.");

1
corelib/include/rtabmap/core/Rtabmap.h
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@@ -326,6 +326,7 @@ private:
bool _loopCovLimited;
bool _loopGPS;
int _maxOdomCacheSize;
bool _localizationSmoothing;
bool _createGlobalScanMap;
float _markerPriorsLinearVariance;
float _markerPriorsAngularVariance;