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Added path immunization between the nearest local location and the current pose. New parameter: "RGBD/LocalImmunizationRatio"

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Mathieu Labbe
2015-05-04 16:00:21 -04:00
parent 26305588da
commit cf5f998e06
9 changed files with 257 additions and 158 deletions
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2
corelib/include/rtabmap/core/Memory.h
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@@ -160,7 +160,7 @@ public:
// RGB-D stuff
void getMetricConstraints(
const std::vector<int> & ids,
const std::set<int> & ids,
std::map<int, Transform> & poses,
std::multimap<int, Link> & links,
bool lookInDatabase = false);

6
corelib/include/rtabmap/core/Parameters.h
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@@ -191,7 +191,7 @@ class RTABMAP_EXP Parameters
RTABMAP_PARAM(Mem, RecentWmRatio, float, 0.2, "Ratio of locations after the last loop closure in WM that cannot be transferred.");
RTABMAP_PARAM(Mem, TransferSortingByWeightId, bool, false, "On transfer, signatures are sorted by weight->ID only (i.e. the oldest of the lowest weighted signatures are transferred first). If false, the signatures are sorted by weight->Age->ID (i.e. the oldest inserted in WM of the lowest weighted signatures are transferred first). Note that retrieval updates the age, not the ID.");
RTABMAP_PARAM(Mem, RehearsalIdUpdatedToNewOne, bool, false, "On merge, update to new id. When false, no copy.");
RTABMAP_PARAM(Mem, RehearsalWeightIgnoredWhileMoving, bool, true, "When the robot is moving, weights are not updated on rehearsal.");
RTABMAP_PARAM(Mem, RehearsalWeightIgnoredWhileMoving, bool, false, "When the robot is moving, weights are not updated on rehearsal.");
RTABMAP_PARAM(Mem, GenerateIds, bool, true, "True=Generate location IDs, False=use input image IDs.");
RTABMAP_PARAM(Mem, BadSignaturesIgnored, bool, false, "Bad signatures are ignored.");
RTABMAP_PARAM(Mem, InitWMWithAllNodes, bool, false, "Initialize the Working Memory with all nodes in Long-Term Memory. When false, it is initialized with nodes of the previous session.");
@@ -290,15 +290,15 @@ class RTABMAP_EXP Parameters
RTABMAP_PARAM(RGBD, OptimizeFromGraphEnd, bool, false, "Optimize graph from the newest node. If false, the graph is optimized from the oldest node of the current graph (this adds an overhead computation to detect to oldest mode of the current graph, but it can be useful to preserve the map referential from the oldest node). Warning when set to false: when some nodes are transferred, the first referential of the local map may change, resulting in momentary changes in robot/map position (which are annoying in teleoperation).");
RTABMAP_PARAM(RGBD, GoalReachedRadius, float, 0.5, "Goal reached radius (m).");
RTABMAP_PARAM(RGBD, PlanVirtualLinks, bool, true, "Before planning in the graph, close nodes are linked together. Radius is defined by \"RGBD/GoalReachedRadius\" parameter.");
RTABMAP_PARAM(RGBD, PlanVirtualLinksMaxDiffID, int, 50, "Max difference ID to add virtual links before planning.");
RTABMAP_PARAM(RGBD, GoalsSavedInUserData, bool, true, "When a goal is received and processed with success, it is saved in user data of the location with this format: \"GOAL:#\".");
RTABMAP_PARAM(RGBD, MaxLocalRetrieved, unsigned int, 2, "Maximum local locations retrieved (0=disabled) near the current pose in the local map or on the current planned path (those on the planned path have priority).");
RTABMAP_PARAM(RGBD, LocalRadius, float, 10, "Local radius (m) for nodes selection in the local map. This parameter is used in some approaches about the local map management.");
RTABMAP_PARAM(RGBD, LocalImmunizationRatio, float, 0.25, "Ratio of working memory for which local nodes are immunized from transfer.");
// Local loop closure detection
RTABMAP_PARAM(RGBD, LocalLoopDetectionTime, bool, false, "Detection over all locations in STM.");
RTABMAP_PARAM(RGBD, LocalLoopDetectionSpace, bool, false, "Detection over locations (in Working Memory or STM) near in space.");
RTABMAP_PARAM(RGBD, LocalLoopDetectionMaxGraphDepth, int, 20, "Maximum depth from the current/last loop closure location and the local loop closure hypotheses. Set 0 to ignore.");
RTABMAP_PARAM(RGBD, LocalLoopDetectionMaxGraphDepth, int, 50, "Maximum depth from the current/last loop closure location and the local loop closure hypotheses. Set 0 to ignore.");
RTABMAP_PARAM(RGBD, LocalLoopDetectionPathFilteringRadius, float, 0.5, "Path filtering radius.");
RTABMAP_PARAM(RGBD, LocalLoopDetectionPathOdomPosesUsed, bool, true, "When comparing to a local path, merge the scan using the odometry poses instead of the ones in the optimized local graph.");

4
corelib/include/rtabmap/core/Rtabmap.h
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@@ -151,7 +151,7 @@ private:
std::multimap<int, Link> * constraints = 0) const;
std::map<int, Transform> optimizeGraph(
int fromId,
const std::vector<int> & ids,
const std::set<int> & ids,
bool lookInDatabase,
std::multimap<int, Link> * constraints = 0) const;
void updateGoalIndex();
@@ -184,6 +184,7 @@ private:
bool _localLoopClosureDetectionTime;
bool _localLoopClosureDetectionSpace;
float _localRadius;
float _localImmunizationRatio;
int _localDetectMaxGraphDepth;
float _localPathFilteringRadius;
bool _localPathOdomPosesUsed;
@@ -197,7 +198,6 @@ private:
bool _startNewMapOnLoopClosure;
float _goalReachedRadius; // meters
bool _planVirtualLinks;
int _planVirtualLinksMaxDiffID;
bool _goalsSavedInUserData;
std::pair<int, float> _loopClosureHypothesis;

3
corelib/include/rtabmap/core/Statistics.h
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@@ -77,6 +77,9 @@ class RTABMAP_EXP Statistics
RTABMAP_STATS(Memory, Working_memory_size,);
RTABMAP_STATS(Memory, Short_time_memory_size,);
RTABMAP_STATS(Memory, Signatures_removed,);
RTABMAP_STATS(Memory, Immunized_globally,);
RTABMAP_STATS(Memory, Immunized_locally,);
RTABMAP_STATS(Memory, Immunized_locally_max,);
RTABMAP_STATS(Memory, Signatures_retrieved,);
RTABMAP_STATS(Memory, Images_buffered,);
RTABMAP_STATS(Memory, Rehearsal_sim,);