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Added optimizeFromGraphEnd (default true) parameter. It can be used to keep the map referential from the oldest node in the current graph

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1441 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2014-06-25 23:00:35 +00:00
parent bb3c8afd45
commit f34907f92f
9 changed files with 171 additions and 88 deletions
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31
corelib/src/Rtabmap.cpp
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@@ -91,6 +91,7 @@ Rtabmap::Rtabmap() :
_localDetectMaxDiffID(Parameters::defaultRGBDLocalLoopDetectionMaxDiffID()),
_toroIterations(Parameters::defaultRGBDToroIterations()),
_databasePath(""),
_optimizeFromGraphEnd(Parameters::defaultRGBDOptimizeFromGraphEnd()),
_lcHypothesisId(0),
_lcHypothesisValue(0),
_retrievedId(0),
@@ -339,6 +340,7 @@ void Rtabmap::parseParameters(const ParametersMap & parameters)
Parameters::parse(parameters, Parameters::kRGBDLocalLoopDetectionNeighbors(), _localDetectMaxNeighbors);
Parameters::parse(parameters, Parameters::kRGBDLocalLoopDetectionMaxDiffID(), _localDetectMaxDiffID);
Parameters::parse(parameters, Parameters::kRGBDToroIterations(), _toroIterations);
Parameters::parse(parameters, Parameters::kRGBDOptimizeFromGraphEnd(), _optimizeFromGraphEnd);
// RGB-D SLAM stuff
if((iter=parameters.find(Parameters::kLccIcpType())) != parameters.end())
@@ -826,13 +828,6 @@ bool Rtabmap::process(const Image & image)
}
}
// Reset map correction if we are mapping!
if(_memory->isIncremental() && !_mapCorrection.isIdentity())
{
UWARN("Reset map correction because we are now mapping!");
_mapCorrection.setIdentity();
}
Transform newPose = _mapCorrection * signature->getPose();
_optimizedPoses.insert(std::make_pair(signature->id(), newPose));
@@ -1358,6 +1353,13 @@ bool Rtabmap::process(const Image & image)
UINFO("Update map correction: SLAM mode");
// SLAM mode!
optimizeCurrentMap(signature->id(), false, _optimizedPoses, &_constraints);
// Update map correction, it should be identify when optimizing from the last node
_mapCorrection = _optimizedPoses.at(signature->id()) * signature->getPose().inverse();
if(_mapCorrection.getNormSquared() > 0.001f && _optimizeFromGraphEnd)
{
UERROR("Map correction should be identity when optimizing from the last node. T=%s", _mapCorrection.prettyPrint().c_str());
}
}
else if(_lcHypothesisId > 0 || localSpaceClosureId > 0 || signaturesRetrieved.size())
{
@@ -1957,6 +1959,21 @@ void Rtabmap::optimizeCurrentMap(
std::map<int, int> ids = _memory->getNeighborsId(id, 0, lookInDatabase?-1:0, true);
UDEBUG("ids=%d", (int)ids.size());
if(!_optimizeFromGraphEnd && ids.size() > 1)
{
UTimer timer;
UDEBUG("Optimize from the first location (%d) instead of the last (%d) "
"in the local graph. Recomputing neighbors depth...");
int first = ids.begin()->first;
ids = _memory->getNeighborsId(first, 0, lookInDatabase?-1:0, true);
UDEBUG("Optimize from the first location (%d) instead of the last (%d) "
"in the local graph. Recomputing neighbors depth... time=%fs",
first,
id,
timer.ticks());
}
std::map<int, Transform> poses;
std::multimap<int, Link> edgeConstraints;