i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-02 01:20:25 +08:00
Code Issues Packages Projects Releases Wiki Activity

increased version to 0.8.4: Database Link's "variance" field split into "rot_variance" and "trans_variance". Added Parameter LccIcp/HighTransitionalVariance

Browse Source
This commit is contained in:
Mathieu Labbe
2015-02-24 16:06:02 -05:00
parent f514cfa5fe
commit eb96fe1249
24 changed files with 317 additions and 267 deletions
Download Patch File Download Diff File Expand all files Collapse all files

31
guilib/src/DatabaseViewer.cpp
View File

@@ -244,11 +244,23 @@ void DatabaseViewer::closeEvent(QCloseEvent* event)
std::multimap<int, rtabmap::Link>::iterator refinedIter = rtabmap::graph::findLink(linksRefined_, iter->second.from(), iter->second.to());
if(refinedIter != linksRefined_.end())
{
memory_->addLink(refinedIter->second.to(), refinedIter->second.from(), refinedIter->second.transform(), refinedIter->second.type(), refinedIter->second.variance());
memory_->addLink(
refinedIter->second.to(),
refinedIter->second.from(),
refinedIter->second.transform(),
refinedIter->second.type(),
refinedIter->second.rotVariance(),
refinedIter->second.transVariance());
}
else
{
memory_->addLink(iter->second.to(), iter->second.from(), iter->second.transform(), iter->second.type(), iter->second.variance());
memory_->addLink(
iter->second.to(),
iter->second.from(),
iter->second.transform(),
iter->second.type(),
iter->second.rotVariance(),
iter->second.transVariance());
}
}
@@ -257,7 +269,12 @@ void DatabaseViewer::closeEvent(QCloseEvent* event)
{
if(!containsLink(linksAdded_, iter->second.from(), iter->second.to()))
{
memory_->updateLink(iter->second.from(), iter->second.to(), iter->second.transform(), iter->second.variance());
memory_->updateLink(
iter->second.from(),
iter->second.to(),
iter->second.transform(),
iter->second.rotVariance(),
iter->second.transVariance());
}
}
@@ -1431,7 +1448,7 @@ void DatabaseViewer::updateConstraintView(const rtabmap::Link & linkIn,
ui_->checkBox_showOptimized->setEnabled(false);
UASSERT(!t.isNull() && memory_);
ui_->label_constraint->setText(QString("%1 (%2=%3)").arg(t.prettyPrint().c_str()).arg(QChar(0xc3, 0x03)).arg(sqrt(link.variance())));
ui_->label_constraint->setText(QString("%1 (%2r=%3 %4t=%5)").arg(t.prettyPrint().c_str()).arg(QChar(0xc3, 0x03)).arg(sqrt(link.rotVariance())).arg(QChar(0xc3, 0x03)).arg(sqrt(link.transVariance())));
if(link.type() == Link::kNeighbor &&
graphes_.size() &&
(int)graphes_.size()-1 == ui_->horizontalSlider_iterations->maximum())
@@ -2042,7 +2059,7 @@ void DatabaseViewer::refineConstraint(int from, int to, bool updateGraph)
if(hasConverged && !transform.isNull())
{
Link newLink(currentLink.from(), currentLink.to(), currentLink.type(), transform*t, variance);
Link newLink(currentLink.from(), currentLink.to(), currentLink.type(), transform*t, variance, variance);
bool updated = false;
std::multimap<int, Link>::iterator iter = linksRefined_.find(currentLink.from());
@@ -2147,7 +2164,7 @@ void DatabaseViewer::refineConstraintVisually(int from, int to, bool updateGraph
if(!t.isNull())
{
Link newLink(currentLink.from(), currentLink.to(), currentLink.type(), t, variance);
Link newLink(currentLink.from(), currentLink.to(), currentLink.type(), t, variance, variance);
bool updated = false;
std::multimap<int, Link>::iterator iter = linksRefined_.find(currentLink.from());
@@ -2275,7 +2292,7 @@ bool DatabaseViewer::addConstraint(int from, int to, bool silent, bool updateGra
}
// transform is valid, make a link
linksAdded_.insert(std::make_pair(from, Link(from, to, Link::kUserClosure, t, variance)));
linksAdded_.insert(std::make_pair(from, Link(from, to, Link::kUserClosure, t, variance, variance)));
updateSlider = true;
}
}

4
guilib/src/MainWindow.cpp
View File

@@ -3193,7 +3193,7 @@ void MainWindow::postProcessing()
UINFO("Added new loop closure between %d and %d.", from, to);
addedLinks.insert(from);
addedLinks.insert(to);
_currentLinksMap.insert(std::make_pair(from, Link(from, to, Link::kUserClosure, transform, variance)));
_currentLinksMap.insert(std::make_pair(from, Link(from, to, Link::kUserClosure, transform, variance, variance)));
++loopClosuresAdded;
_initProgressDialog->appendText(tr("Detected loop closure %1->%2! (%3/%4)").arg(from).arg(to).arg(i+1).arg(clusters.size()));
}
@@ -3349,7 +3349,7 @@ void MainWindow::postProcessing()
if(!transform.isNull() && hasConverged &&
correspondencesRatio >= correspondenceRatio)
{
Link newLink(from, to, iter->second.type(), transform*iter->second.transform(), variance);
Link newLink(from, to, iter->second.type(), transform*iter->second.transform(), variance, variance);
iter->second = newLink;
}
else

4
guilib/src/PreferencesDialog.cpp
View File

@@ -495,6 +495,8 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_ui->loopClosure_icp2Iterations->setObjectName(Parameters::kLccIcp2Iterations().c_str());
_ui->loopClosure_icp2Ratio->setObjectName(Parameters::kLccIcp2CorrespondenceRatio().c_str());
_ui->loopClosure_icp2Voxel->setObjectName(Parameters::kLccIcp2VoxelSize().c_str());
_ui->loopClosure_highICPTransitionalVariance->setObjectName(Parameters::kLccIcpHighTransitionalVariance().c_str());
//Odometry
_ui->odom_strategy->setObjectName(Parameters::kOdomStrategy().c_str());
@@ -2478,7 +2480,6 @@ void PreferencesDialog::addParameter(const QObject * object, bool value)
this->addParameters(_ui->groupBox_graphOptimization);
this->addParameters(_ui->groupBox_localDetection_time);
this->addParameters(_ui->groupBox_localDetection_space);
this->addParameters(_ui->groupBox_globalConstraints);
this->addParameters(_ui->groupBox_visualTransform2);
}
@@ -2487,7 +2488,6 @@ void PreferencesDialog::addParameter(const QObject * object, bool value)
// RGBD panel
if(value && groupBox == _ui->groupBox_localDetection_time)
{
this->addParameters(_ui->groupBox_globalConstraints);
this->addParameters(_ui->groupBox_visualTransform2);
}
if(value && groupBox == _ui->groupBox_localDetection_space)

253
guilib/src/ui/preferencesDialog.ui
View File

@@ -63,9 +63,9 @@
<property name="geometry">
<rect>
<x>0</x>
<y>-522</y>
<y>0</y>
<width>744</width>
<height>1179</height>
<height>1101</height>
</rect>
</property>
<layout class="QVBoxLayout" name="verticalLayout_16">
@@ -86,7 +86,7 @@
<enum>QFrame::Raised</enum>
</property>
<property name="currentIndex">
<number>3</number>
<number>21</number>
</property>
<widget class="QWidget" name="page_22">
<layout class="QVBoxLayout" name="verticalLayout_29">
@@ -4986,7 +4986,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
<item row="3" column="1">
<widget class="QLabel" name="label_scanMatching">
<property name="text">
<string>Laser scan matching for odometry pose correction. ICP 2D only is used here.</string>
<string>Odometry pose correction using laser scan matching. ICP 2D only is used here.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
@@ -5029,125 +5029,6 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</layout>
</widget>
</item>
<item>
<widget class="QGroupBox" name="groupBox_globalConstraints">
<property name="title">
<string>Global loop closure constraints</string>
</property>
<layout class="QVBoxLayout" name="verticalLayout_20">
<item>
<widget class="QLabel" name="label_55">
<property name="text">
<string>When a global loop closure is detected by the Bayes filter, a transform is computed between the current location and the old one. If a transform cannot be computed, the loop closure is rejected. The computation of the transform is done in 2 steps: </string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item>
<layout class="QGridLayout" name="gridLayout_10" columnstretch="0,1">
<item row="0" column="1">
<widget class="QLabel" name="label_57">
<property name="text">
<string>A transformation is computed using the 3D visual word correspondences. See &quot;Loop closure constraint&quot; panel for parameters.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="0" column="0">
<widget class="QLabel" name="label_17">
<property name="text">
<string>1)</string>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_64">
<property name="text">
<string>Then if enabled, the visual transform is used as a guess for ICP estimation (3D or 2D). See &quot;ICP&quot; panel for parameters.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QLabel" name="label_18">
<property name="text">
<string>2)</string>
</property>
</widget>
</item>
</layout>
</item>
<item>
<layout class="QGridLayout" name="gridLayout_48" columnstretch="0,1">
<item row="0" column="0">
<widget class="QComboBox" name="globalDetection_icpType">
<property name="sizeAdjustPolicy">
<enum>QComboBox::AdjustToContents</enum>
</property>
<item>
<property name="text">
<string>No ICP</string>
</property>
</item>
<item>
<property name="text">
<string>ICP 3D (e.g. Kinect depth)</string>
</property>
</item>
<item>
<property name="text">
<string>ICP 2D (e.g. Laser scan)</string>
</property>
</item>
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="label_19">
<property name="text">
<string>Use ICP estimation. If ICP 2D is selected, laser scans are required.</string>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QDoubleSpinBox" name="globalDetection_icpMaxDistance">
<property name="suffix">
<string> m</string>
</property>
<property name="decimals">
<number>2</number>
</property>
<property name="maximum">
<double>1.000000000000000</double>
</property>
<property name="singleStep">
<double>0.010000000000000</double>
</property>
<property name="value">
<double>0.200000000000000</double>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_51">
<property name="text">
<string>Maximum ICP correction distance accepted. A large translation difference between the visual transformation and ICP transformation results in wrong transformations in most cases.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
</layout>
</item>
</layout>
</widget>
</item>
<item>
<widget class="QGroupBox" name="groupBox_graphOptimization">
<property name="title">
@@ -5405,7 +5286,7 @@ Warning when set to false: when some nodes are transferred, the first referentia
<item>
<widget class="QLabel" name="label_16">
<property name="text">
<string>Parameters to compute a transform from 3D visual word correspondences.</string>
<string>When a global loop closure is detected by the Bayes filter, a transform is computed between the current location and the old one. If a transform cannot be computed, the loop closure is rejected. A transformation is computed using the 3D visual word correspondences.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
@@ -5523,12 +5404,44 @@ Warning when set to false: when some nodes are transferred, the first referentia
</property>
</widget>
</item>
<item row="5" column="0">
<widget class="QComboBox" name="globalDetection_icpType">
<property name="sizeAdjustPolicy">
<enum>QComboBox::AdjustToContents</enum>
</property>
<item>
<property name="text">
<string>No ICP</string>
</property>
</item>
<item>
<property name="text">
<string>ICP 3D (e.g. Kinect depth)</string>
</property>
</item>
<item>
<property name="text">
<string>ICP 2D (e.g. Laser scan)</string>
</property>
</item>
</widget>
</item>
<item row="5" column="1">
<widget class="QLabel" name="label_57">
<property name="text">
<string>When enabled, the visual transform is used as a guess for ICP estimation (3D or 2D). See &quot;ICP&quot; panel for parameters.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
</layout>
</item>
<item>
<widget class="QGroupBox" name="groupBox_reextract">
<property name="title">
<string>Re-extract features</string>
<string>Re-extract features on global loop closure</string>
</property>
<property name="checkable">
<bool>true</bool>
@@ -5537,16 +5450,6 @@ Warning when set to false: when some nodes are transferred, the first referentia
<bool>true</bool>
</property>
<layout class="QVBoxLayout" name="verticalLayout_46">
<item>
<widget class="QLabel" name="label_171">
<property name="text">
<string>If not activated, when a loop closure constraint must be computed, the words already extracted for the loop closure detector are used. These words are limited (see Visual Word-&gt;Words Per Image) and matched to the loop closure detection vocabulary. When the vocabulary is large, there maybe less corresponding words on a loop closure.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="label_182">
<property name="text">
@@ -5558,9 +5461,9 @@ Warning when set to false: when some nodes are transferred, the first referentia
</widget>
</item>
<item>
<widget class="QLabel" name="label_183">
<widget class="QLabel" name="label_171">
<property name="text">
<string>Note that this is used only for global loop closure, so not for local loop closure in time.</string>
<string>If not activated, when a loop closure constraint must be computed, the words already extracted for the loop closure detector are used. These words are limited (see Visual Word-&gt;Words Per Image) and matched to the loop closure detection vocabulary. When the vocabulary is large, there maybe less corresponding words on a loop closure.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
@@ -5749,7 +5652,7 @@ Lower the ratio -&gt; higher the precision. 0 means disabled, matching the neare
<property name="title">
<string>ICP</string>
</property>
<layout class="QVBoxLayout" name="verticalLayout_51">
<layout class="QVBoxLayout" name="verticalLayout_20">
<item>
<widget class="QLabel" name="label_7">
<property name="text">
@@ -5757,15 +5660,62 @@ Lower the ratio -&gt; higher the precision. 0 means disabled, matching the neare
</property>
</widget>
</item>
<item>
<layout class="QGridLayout" name="gridLayout_48" columnstretch="0,1">
<item row="1" column="0">
<widget class="QCheckBox" name="loopClosure_highICPTransitionalVariance">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="0" column="0">
<widget class="QDoubleSpinBox" name="globalDetection_icpMaxDistance">
<property name="suffix">
<string> m</string>
</property>
<property name="decimals">
<number>2</number>
</property>
<property name="maximum">
<double>1.000000000000000</double>
</property>
<property name="singleStep">
<double>0.010000000000000</double>
</property>
<property name="value">
<double>0.200000000000000</double>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="label_51">
<property name="text">
<string>Maximum ICP correction distance accepted. A large translation difference between the visual transformation and ICP transformation results in wrong transformations in most cases.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_80">
<property name="text">
<string>Set high transitional variance on odometry pose correction and on local loop closure in space. Particularly useful when the robot is moving in hallways with short-range laser rangefinder. Only used with ICP 2D.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
</layout>
</item>
<item>
<widget class="QGroupBox" name="groupBox_loopClosure_icp3">
<property name="title">
<string>ICP 3D - Point To Plane (e.g. Kinect depth)</string>
</property>
<layout class="QFormLayout" name="formLayout_3">
<property name="fieldGrowthPolicy">
<enum>QFormLayout::AllNonFixedFieldsGrow</enum>
</property>
<layout class="QGridLayout" name="gridLayout_53" columnstretch="0,1">
<item row="0" column="0">
<widget class="QSpinBox" name="loopClosure_icpDecimation">
<property name="minimum">
@@ -5936,6 +5886,13 @@ Lower the ratio -&gt; higher the precision. 0 means disabled, matching the neare
</property>
</widget>
</item>
<item row="7" column="0">
<widget class="QCheckBox" name="loopClosure_icpPointToPlane">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="7" column="1">
<widget class="QLabel" name="label_144">
<property name="text">
@@ -5946,13 +5903,6 @@ Lower the ratio -&gt; higher the precision. 0 means disabled, matching the neare
</property>
</widget>
</item>
<item row="7" column="0">
<widget class="QCheckBox" name="loopClosure_icpPointToPlane">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="8" column="0">
<widget class="QSpinBox" name="loopClosure_icpPointToPlaneNormals">
<property name="minimum">
@@ -5984,10 +5934,7 @@ Lower the ratio -&gt; higher the precision. 0 means disabled, matching the neare
<property name="title">
<string>ICP 2D (e.g. Laser scan)</string>
</property>
<layout class="QFormLayout" name="formLayout_4">
<property name="fieldGrowthPolicy">
<enum>QFormLayout::AllNonFixedFieldsGrow</enum>
</property>
<layout class="QGridLayout" name="gridLayout_52" columnstretch="0,1">
<item row="0" column="0">
<widget class="QDoubleSpinBox" name="loopClosure_icp2MaxCorrespondenceDistance">
<property name="minimum">