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Replaced all optimizeIncremental() by optimizeMultiSession() to fix GTSAM errors when merging multiple maps together. DBReader: always publish saved stamp. DBViewer: added actions to set covariance of all neighbor or loop closure links.

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This commit is contained in:
matlabbe
2018-10-15 17:07:18 -04:00
parent b2c012d8bc
commit f1546c1fca
15 changed files with 285 additions and 82 deletions
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4
corelib/include/rtabmap/core/DBDriver.h
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@@ -103,7 +103,7 @@ public:
void savePreviewImage(const cv::Mat & image) const;
cv::Mat loadPreviewImage() const;
void saveOptimizedPoses(const std::map<int, Transform> & optimizedPoses, const Transform & lastlocalizationPose) const;
std::map<int, Transform> loadOptimizedPoses(Transform * lastlocalizationPose) const;
std::map<int, Transform> loadOptimizedPoses(Transform * lastlocalizationPose = 0) const;
void save2DMap(const cv::Mat & map, float xMin, float yMin, float cellSize) const;
cv::Mat load2DMap(float & xMin, float & yMin, float & cellSize) const;
void saveOptimizedMesh(
@@ -232,7 +232,7 @@ protected:
virtual void savePreviewImageQuery(const cv::Mat & image) const = 0;
virtual cv::Mat loadPreviewImageQuery() const = 0;
virtual void saveOptimizedPosesQuery(const std::map<int, Transform> & optimizedPoses, const Transform & lastlocalizationPose) const = 0;
virtual std::map<int, Transform> loadOptimizedPosesQuery(Transform * lastlocalizationPose) const = 0;
virtual std::map<int, Transform> loadOptimizedPosesQuery(Transform * lastlocalizationPose = 0) const = 0;
virtual void save2DMapQuery(const cv::Mat & map, float xMin, float yMin, float cellSize) const = 0;
virtual cv::Mat load2DMapQuery(float & xMin, float & yMin, float & cellSize) const = 0;
virtual void saveOptimizedMeshQuery(

2
corelib/include/rtabmap/core/DBDriverSqlite3.h
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@@ -104,7 +104,7 @@ protected:
virtual void savePreviewImageQuery(const cv::Mat & image) const;
virtual cv::Mat loadPreviewImageQuery() const;
virtual void saveOptimizedPosesQuery(const std::map<int, Transform> & optimizedPoses, const Transform & lastlocalizationPose) const;
virtual std::map<int, Transform> loadOptimizedPosesQuery(Transform * lastlocalizationPose) const;
virtual std::map<int, Transform> loadOptimizedPosesQuery(Transform * lastlocalizationPose = 0) const;
virtual void save2DMapQuery(const cv::Mat & map, float xMin, float yMin, float cellSize) const;
virtual cv::Mat load2DMapQuery(float & xMin, float & yMin, float & cellSize) const;
virtual void saveOptimizedMeshQuery(

3
corelib/include/rtabmap/core/Graph.h
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@@ -135,6 +135,9 @@ std::multimap<int, int>::const_iterator RTABMAP_EXP findLink(
int from,
int to,
bool checkBothWays = true);
std::list<Link> RTABMAP_EXP findLinks(
const std::multimap<int, Link> & links,
int from);
std::multimap<int, Link> RTABMAP_EXP filterDuplicateLinks(
const std::multimap<int, Link> & links);

8
corelib/include/rtabmap/core/Optimizer.h
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@@ -95,6 +95,14 @@ public:
double * finalError = 0,
int * iterationsDone = 0);
std::map<int, Transform> optimizeMultiSession(
int rootId,
const std::map<int, Transform> & poses,
const std::multimap<int, Link> & constraints,
std::list<std::map<int, Transform> > * intermediateGraphes = 0,
double * finalError = 0,
int * iterationsDone = 0);
std::map<int, Transform> optimize(
int rootId,
const std::map<int, Transform> & poses,