i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-02 17:40:23 +08:00
Code Issues Packages Projects Releases Wiki Activity

Adding options to bound OdometryF2M keyframes (#1448)

Browse Source 
* Added OdomF2M/BundleAdjustmentMinMotion and OdomF2M/BundleAdjustmentMaxKeyFramesPerFeature parameters

* Added new odom stats localBundleMaxKeyFramesForInlier

* Adjusted how localBundleMaxKeyFramesForInlier is computed when OdomF2M/BundleAdjustmentMaxFrames is used.

* optimization: Dont compute average pixel distance if parameter is not used
This commit is contained in:
matlabbe
2025-02-21 16:33:29 -08:00
committed by GitHub
parent d77a3e3e7c
commit c0e83ce9e9
7 changed files with 285 additions and 149 deletions
Download Patch File Download Diff File Expand all files Collapse all files

6
corelib/include/rtabmap/core/OdometryInfo.h
View File

@@ -49,6 +49,8 @@ public:
localBundleOutliers(0),
localBundleConstraints(0),
localBundleTime(0),
localBundleAvgInlierDistance(0.0f),
localBundleMaxKeyFramesForInlier(0),
keyFrameAdded(false),
timeDeskewing(0.0f),
timeEstimation(0.0f),
@@ -76,6 +78,8 @@ public:
output.localBundleTime = localBundleTime;
output.localBundlePoses = localBundlePoses;
output.localBundleModels = localBundleModels;
output.localBundleAvgInlierDistance = localBundleAvgInlierDistance;
output.localBundleMaxKeyFramesForInlier = localBundleMaxKeyFramesForInlier;
output.keyFrameAdded = keyFrameAdded;
output.timeDeskewing = timeDeskewing;
output.timeEstimation = timeEstimation;
@@ -106,6 +110,8 @@ public:
float localBundleTime;
std::map<int, Transform> localBundlePoses;
std::map<int, std::vector<CameraModel> > localBundleModels;
float localBundleAvgInlierDistance;
int localBundleMaxKeyFramesForInlier;
bool keyFrameAdded;
float timeDeskewing;
float timeEstimation;

2
corelib/include/rtabmap/core/Parameters.h
View File

@@ -488,6 +488,8 @@ class RTABMAP_CORE_EXPORT Parameters
RTABMAP_PARAM(OdomF2M, BundleAdjustment, int, 0, "Local bundle adjustment: 0=disabled, 1=g2o, 2=cvsba, 3=Ceres.");
#endif
RTABMAP_PARAM(OdomF2M, BundleAdjustmentMaxFrames, int, 10, "Maximum frames used for bundle adjustment (0=inf or all current frames in the local map).");
RTABMAP_PARAM(OdomF2M, BundleAdjustmentMinMotion, float, 0.0, "To create a new keyframe with bundle adjustment, a minimum motion (in pixels) can be required. The motion is computed by the average distance between inliers of the previous keyframe and new frame.");
RTABMAP_PARAM(OdomF2M, BundleAdjustmentMaxKeyFramesPerFeature, int, 0, "Maximum keyframes per feature for bundle adjustment. 0 means not limit.");
// Odometry Mono
RTABMAP_PARAM(OdomMono, InitMinFlow, float, 100, "Minimum optical flow required for the initialization step.");

2
corelib/include/rtabmap/core/odometry/OdometryF2M.h
View File

@@ -69,6 +69,8 @@ private:
float scanMapMaxRange_;
int bundleAdjustment_;
int bundleMaxFrames_;
float bundleMinMotion_;
int bundleMaxKeyFramesPerFeature_;
float validDepthRatio_;
int pointToPlaneK_;
float pointToPlaneRadius_;