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Added parameter Rtabmap/LoopGPS (default true) to enabled/disable the use of GPS in likelihood computation

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matlabbe
2018-10-22 14:39:30 -04:00
parent 3bc8fc4c11
commit d2abc3a237
5 changed files with 54 additions and 25 deletions
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1
corelib/include/rtabmap/core/Parameters.h
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@@ -193,6 +193,7 @@ class RTABMAP_EXP Parameters
// Hypotheses selection
RTABMAP_PARAM(Rtabmap, LoopThr, float, 0.11, "Loop closing threshold.");
RTABMAP_PARAM(Rtabmap, LoopRatio, float, 0, "The loop closure hypothesis must be over LoopRatio x lastHypothesisValue.");
RTABMAP_PARAM(Rtabmap, LoopGPS, bool, true, uFormat("Use GPS to filter likelihood (if GPS is recorded). Only locations inside the local radius \"%s\" of the current GPS location are considered for loop closure detection.", kRGBDLocalRadius().c_str()));
// Memory
RTABMAP_PARAM(Mem, RehearsalSimilarity, float, 0.6, "Rehearsal similarity.");

1
corelib/include/rtabmap/core/Rtabmap.h
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@@ -261,6 +261,7 @@ private:
float _pathAngularVelocity;
bool _savedLocalizationIgnored;
bool _loopCovLimited;
bool _loopGPS;
std::pair<int, float> _loopClosureHypothesis;
std::pair<int, float> _highestHypothesis;

52
corelib/src/Rtabmap.cpp
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@@ -124,6 +124,7 @@ Rtabmap::Rtabmap() :
_pathAngularVelocity(Parameters::defaultRGBDPlanAngularVelocity()),
_savedLocalizationIgnored(Parameters::defaultRGBDSavedLocalizationIgnored()),
_loopCovLimited(Parameters::defaultRGBDLoopCovLimited()),
_loopGPS(Parameters::defaultRtabmapLoopGPS()),
_loopClosureHypothesis(0,0.0f),
_highestHypothesis(0,0.0f),
_lastProcessTime(0.0),
@@ -469,6 +470,7 @@ void Rtabmap::parseParameters(const ParametersMap & parameters)
Parameters::parse(parameters, Parameters::kRGBDPlanAngularVelocity(), _pathAngularVelocity);
Parameters::parse(parameters, Parameters::kRGBDSavedLocalizationIgnored(), _savedLocalizationIgnored);
Parameters::parse(parameters, Parameters::kRGBDLoopCovLimited(), _loopCovLimited);
Parameters::parse(parameters, Parameters::kRtabmapLoopGPS(), _loopGPS);
UASSERT(_rgbdLinearUpdate >= 0.0f);
UASSERT(_rgbdAngularUpdate >= 0.0f);
@@ -1399,37 +1401,41 @@ bool Rtabmap::process(
ULOGGER_INFO("computing likelihood...");
std::list<int> signaturesToCompare;
GPS originGPS = signature->sensorData().gps();
GPS originGPS;
Transform originOffsetENU = Transform::getIdentity();
if(originGPS.stamp() == 0.0 && _currentSessionHasGPS)
if(_loopGPS)
{
UTimer tmpT;
if(_optimizedPoses.size() && _memory->isIncremental())
originGPS = signature->sensorData().gps();
if(originGPS.stamp() == 0.0 && _currentSessionHasGPS)
{
//Search for latest node having GPS linked to current signature not too far.
std::map<int, float> nearestIds = graph::getNodesInRadius(signature->id(), _optimizedPoses, _localRadius);
for(std::map<int, float>::reverse_iterator iter=nearestIds.rbegin(); iter!=nearestIds.rend(); ++iter)
UTimer tmpT;
if(_optimizedPoses.size() && _memory->isIncremental())
{
const Signature * s = _memory->getSignature(iter->first);
UASSERT(s!=0);
if(s->sensorData().gps().stamp() > 0.0)
//Search for latest node having GPS linked to current signature not too far.
std::map<int, float> nearestIds = graph::getNodesInRadius(signature->id(), _optimizedPoses, _localRadius);
for(std::map<int, float>::reverse_iterator iter=nearestIds.rbegin(); iter!=nearestIds.rend(); ++iter)
{
originGPS = s->sensorData().gps();
const Transform & sPose = _optimizedPoses.at(s->id());
Transform localToENU(0,0,(float)((-(originGPS.bearing()-90))*M_PI/180.0) - sPose.theta());
originOffsetENU = localToENU * (sPose.rotation()*(sPose.inverse()*_optimizedPoses.at(signature->id())));
break;
const Signature * s = _memory->getSignature(iter->first);
UASSERT(s!=0);
if(s->sensorData().gps().stamp() > 0.0)
{
originGPS = s->sensorData().gps();
const Transform & sPose = _optimizedPoses.at(s->id());
Transform localToENU(0,0,(float)((-(originGPS.bearing()-90))*M_PI/180.0) - sPose.theta());
originOffsetENU = localToENU * (sPose.rotation()*(sPose.inverse()*_optimizedPoses.at(signature->id())));
break;
}
}
}
//else if(!_memory->isIncremental()) // TODO, how can we estimate current GPS position in localization?
//{
//}
}
if(originGPS.stamp() > 0.0)
{
// no need to save it if it is in localization mode
_gpsGeocentricCache.insert(std::make_pair(signature->id(), std::make_pair(originGPS.toGeodeticCoords().toGeocentric_WGS84(), originOffsetENU)));
}
//else if(!_memory->isIncremental()) // TODO, how can we estimate current GPS position in localization?
//{
//}
}
if(originGPS.stamp() > 0.0)
{
// no need to save it if it is in localization mode
_gpsGeocentricCache.insert(std::make_pair(signature->id(), std::make_pair(originGPS.toGeodeticCoords().toGeocentric_WGS84(), originOffsetENU)));
}
for(std::map<int, double>::const_iterator iter=_memory->getWorkingMem().begin();