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Added Rtabmap/StartNewMapOnGoodSignature parameter

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matlabbe
2018-05-24 14:53:47 -04:00
parent 4df9ac995a
commit d34a529116
7 changed files with 108 additions and 28 deletions
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1
corelib/include/rtabmap/core/Parameters.h
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@@ -186,6 +186,7 @@ class RTABMAP_EXP Parameters
RTABMAP_PARAM(Rtabmap, StatisticLogged, bool, false, "Logging enabled.");
RTABMAP_PARAM(Rtabmap, StatisticLoggedHeaders, bool, true, "Add column header description to log files.");
RTABMAP_PARAM(Rtabmap, StartNewMapOnLoopClosure, bool, false, "Start a new map only if there is a global loop closure with a previous map.");
RTABMAP_PARAM(Rtabmap, StartNewMapOnGoodSignature, bool, false, uFormat("Start a new map only if the first signature is not bad (i.e., has enough features, see %s).", kKpBadSignRatio().c_str()));
RTABMAP_PARAM(Rtabmap, ImagesAlreadyRectified, bool, true, "Images are already rectified. By default RTAB-Map assumes that received images are rectified. If they are not, they can be rectified by RTAB-Map if this parameter is false.");
// Hypotheses selection

1
corelib/include/rtabmap/core/Rtabmap.h
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@@ -249,6 +249,7 @@ private:
bool _optimizeFromGraphEnd;
float _optimizationMaxLinearError;
bool _startNewMapOnLoopClosure;
bool _startNewMapOnGoodSignature;
float _goalReachedRadius; // meters
bool _goalsSavedInUserData;
int _pathStuckIterations;

6
corelib/src/Memory.cpp
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@@ -3548,10 +3548,10 @@ Signature * Memory::createSignature(const SensorData & inputData, const Transfor
}
int treeSize= int(_workingMem.size() + _stMem.size());
int meanWordsPerLocation = 0;
if(treeSize > 0)
int meanWordsPerLocation = _feature2D->getMaxFeatures()>0?_feature2D->getMaxFeatures():0;
if(treeSize > 1)
{
meanWordsPerLocation = _vwd->getTotalActiveReferences() / treeSize;
meanWordsPerLocation = _vwd->getTotalActiveReferences() / (treeSize-1); // ignore virtual signature
}
if(_parallelized && !isIntermediateNode)

6
corelib/src/Parameters.cpp
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@@ -796,17 +796,15 @@ void Parameters::readINI(const std::string & configFile, ParametersMap & paramet
key = uReplaceChar(key, '\\', '/'); // Ini files use \ by default for separators, so replace them
// look for old parameter name
bool addParameter = true;
std::map<std::string, std::pair<bool, std::string> >::const_iterator oldIter = Parameters::getRemovedParameters().find(key);
if(oldIter!=Parameters::getRemovedParameters().end())
{
addParameter = oldIter->second.first;
if(addParameter)
if(oldIter->second.first)
{
if(parameters.find(oldIter->second.second) == parameters.end())
{
key = oldIter->second.second;
UWARN("Parameter migration from \"%s\" to \"%s\" (value=%s, default=%s).",
UINFO("Parameter migration from \"%s\" to \"%s\" (value=%s, default=%s).",
oldIter->first.c_str(), oldIter->second.second.c_str(), iter->second, Parameters::getDefaultParameters().at(oldIter->second.second).c_str());
}
}

11
corelib/src/Rtabmap.cpp
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@@ -116,6 +116,7 @@ Rtabmap::Rtabmap() :
_optimizeFromGraphEnd(Parameters::defaultRGBDOptimizeFromGraphEnd()),
_optimizationMaxLinearError(Parameters::defaultRGBDOptimizeMaxError()),
_startNewMapOnLoopClosure(Parameters::defaultRtabmapStartNewMapOnLoopClosure()),
_startNewMapOnGoodSignature(Parameters::defaultRtabmapStartNewMapOnGoodSignature()),
_goalReachedRadius(Parameters::defaultRGBDGoalReachedRadius()),
_goalsSavedInUserData(Parameters::defaultRGBDGoalsSavedInUserData()),
_pathStuckIterations(Parameters::defaultRGBDPlanStuckIterations()),
@@ -456,6 +457,7 @@ void Rtabmap::parseParameters(const ParametersMap & parameters)
Parameters::parse(parameters, Parameters::kRGBDOptimizeFromGraphEnd(), _optimizeFromGraphEnd);
Parameters::parse(parameters, Parameters::kRGBDOptimizeMaxError(), _optimizationMaxLinearError);
Parameters::parse(parameters, Parameters::kRtabmapStartNewMapOnLoopClosure(), _startNewMapOnLoopClosure);
Parameters::parse(parameters, Parameters::kRtabmapStartNewMapOnGoodSignature(), _startNewMapOnGoodSignature);
Parameters::parse(parameters, Parameters::kRGBDGoalReachedRadius(), _goalReachedRadius);
Parameters::parse(parameters, Parameters::kRGBDGoalsSavedInUserData(), _goalsSavedInUserData);
Parameters::parse(parameters, Parameters::kRGBDPlanStuckIterations(), _pathStuckIterations);
@@ -2578,6 +2580,15 @@ bool Rtabmap::process(
signaturesRemoved.push_back(signature->id());
_memory->deleteLocation(signature->id());
}
else if(_startNewMapOnGoodSignature &&
signature->isBadSignature() &&
graph::filterLinks(signature->getLinks(), Link::kPosePrior).size() == 0) // alone in the current map
{
UWARN("Ignoring location %d because a good signature (with enough features) is required before starting a new map!",
signature->id());
signaturesRemoved.push_back(signature->id());
_memory->deleteLocation(signature->id());
}
else if((smallDisplacement || tooFastMovement) && _loopClosureHypothesis.first == 0 && lastProximitySpaceClosureId == 0)
{
// Don't delete the location if a loop closure is detected