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iSAM2 integration (#1249)

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* isam2 integration

* fonctional iSAM2, added related parameters

* updated default params after testing large-scale enviroment

* proximity search optimization

* boost<1.68 fix

* boost version

* Fixed map not showing in graphview

* iSAM2: supporting MM/localization/multi-session modes
This commit is contained in:
matlabbe
2024-03-27 17:18:02 -07:00
committed by GitHub
parent bfeb487dba
commit cc17ebe92b
10 changed files with 450 additions and 84 deletions
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8
guilib/src/MainWindow.cpp
View File

@@ -3429,7 +3429,8 @@ void MainWindow::updateMapCloud(
}
}
cv::Mat map8U;
if((_ui->graphicsView_graphView->isVisible() || _preferencesDialog->getGridMapShown()))
if((_ui->graphicsView_graphView->isVisible() && _ui->graphicsView_graphView->isGridMapVisible()) ||
(_cloudViewer->isVisible() && _preferencesDialog->getGridMapShown()))
{
float xMin, yMin;
float resolution = _occupancyGrid->getCellSize();
@@ -3438,7 +3439,6 @@ void MainWindow::updateMapCloud(
if(_preferencesDialog->isOctomap2dGrid())
{
map8S = _octomap->createProjectionMap(xMin, yMin, resolution, 0, _preferencesDialog->getOctomapTreeDepth());
}
else
#endif
@@ -3458,12 +3458,12 @@ void MainWindow::updateMapCloud(
//convert to gray scaled map
map8U = util3d::convertMap2Image8U(map8S);
if(_preferencesDialog->getGridMapShown())
if(_cloudViewer->isVisible() && _preferencesDialog->getGridMapShown())
{
float opacity = _preferencesDialog->getGridMapOpacity();
_cloudViewer->addOccupancyGridMap(map8U, resolution, xMin, yMin, opacity);
}
if(_ui->graphicsView_graphView->isVisible())
if(_ui->graphicsView_graphView->isVisible() && _ui->graphicsView_graphView->isGridMapVisible())
{
_ui->graphicsView_graphView->updateMap(map8U, resolution, xMin, yMin);
}

3
guilib/src/PreferencesDialog.cpp
View File

@@ -1137,6 +1137,9 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_ui->doubleSpinBox_g2o_baseline->setObjectName(Parameters::kg2oBaseline().c_str());
_ui->comboBox_gtsam_optimizer->setObjectName(Parameters::kGTSAMOptimizer().c_str());
_ui->gtsam_incremental->setObjectName(Parameters::kGTSAMIncremental().c_str());
_ui->gtsam_incremental_threshold->setObjectName(Parameters::kGTSAMIncRelinearizeThreshold().c_str());
_ui->gtsam_incremental_skip->setObjectName(Parameters::kGTSAMIncRelinearizeSkip().c_str());
_ui->graphPlan_goalReachedRadius->setObjectName(Parameters::kRGBDGoalReachedRadius().c_str());
_ui->graphPlan_goalsSavedInUserData->setObjectName(Parameters::kRGBDGoalsSavedInUserData().c_str());

69
guilib/src/ui/preferencesDialog.ui
View File

@@ -23285,6 +23285,16 @@ Lower the ratio -&gt; higher the precision.</string>
</item>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_742">
<property name="text">
<string>iSAM2: Do graph optimization incrementally to increase optimization speed on loop closures. Note that only GaussNewton and Dogleg optimization algorithms are supported in this mode.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="label_364">
<property name="text">
@@ -23295,6 +23305,65 @@ Lower the ratio -&gt; higher the precision.</string>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QDoubleSpinBox" name="gtsam_incremental_threshold">
<property name="decimals">
<number>4</number>
</property>
<property name="minimum">
<double>0.000100000000000</double>
</property>
<property name="maximum">
<double>999.000000000000000</double>
</property>
<property name="singleStep">
<double>0.100000000000000</double>
</property>
<property name="value">
<double>0.100000000000000</double>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QLabel" name="label_743">
<property name="text">
<string>Only relinearize variables whose linear delta magnitude is greater than this threshold. See GTSAM::ISAM2 doc for more info.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QCheckBox" name="gtsam_incremental">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QSpinBox" name="gtsam_incremental_skip">
<property name="minimum">
<number>1</number>
</property>
<property name="maximum">
<number>10000</number>
</property>
<property name="value">
<number>10</number>
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QLabel" name="label_744">
<property name="text">
<string>Only relinearize any variables every X calls to ISAM2::update(). See GTSAM::ISAM2 doc for more info.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
</layout>
</widget>
</item>