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fixed TOROOptimizer::loadGraph(), added some assert to make usre that rotational and transitional variances are not null

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This commit is contained in:
Mathieu Labbe
2015-04-01 12:50:29 -04:00
parent 3eb103f239
commit f847bb9f9f
4 changed files with 29 additions and 14 deletions
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2
corelib/include/rtabmap/core/Graph.h
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@@ -99,7 +99,7 @@ public:
static bool loadGraph(
const std::string & fileName,
std::map<int, Transform> & poses,
std::multimap<int, std::pair<int, Transform> > & edgeConstraints);
std::multimap<int, Link> & edgeConstraints);
public:
TOROOptimizer(int iterations = 100, bool slam2d = false, bool covarianceIgnored = false) :

2
corelib/include/rtabmap/core/Link.h
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@@ -29,6 +29,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#define LINK_H_
#include <rtabmap/core/Transform.h>
#include <rtabmap/utilite/ULogger.h>
namespace rtabmap {
@@ -52,6 +53,7 @@ public:
rotVariance_(rotVariance),
transVariance_(transVariance)
{
UASSERT_MSG(rotVariance_ > 0 && transVariance_ > 0, "Rotational and transitional variances should not be null! (set to 1 if unknown)");
}
bool isValid() const {return from_ > 0 && to_ > 0 && !transform_.isNull() && type_!=kUndef;}

37
corelib/src/Graph.cpp
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@@ -506,7 +506,7 @@ bool TOROOptimizer::saveGraph(
bool TOROOptimizer::loadGraph(
const std::string & fileName,
std::map<int, Transform> & poses,
std::multimap<int, std::pair<int, Transform> > & edgeConstraints)
std::multimap<int, Link> & edgeConstraints)
{
FILE * file = 0;
#ifdef _MSC_VER
@@ -517,10 +517,10 @@ bool TOROOptimizer::loadGraph(
if(file)
{
char line[200];
while ( fgets (line , 200 , file) != NULL )
char line[400];
while ( fgets (line , 400 , file) != NULL )
{
std::vector<std::string> strList = uListToVector(uSplit(line, ' '));
std::vector<std::string> strList = uListToVector(uSplit(uReplaceChar(line, '\n', ' '), ' '));
if(strList.size() == 8)
{
//VERTEX3
@@ -532,14 +532,13 @@ bool TOROOptimizer::loadGraph(
float pitch = uStr2Float(strList[6]);
float yaw = uStr2Float(strList[7]);
Transform pose = Transform::fromEigen3f(pcl::getTransformation(x, y, z, roll, pitch, yaw));
std::map<int, Transform>::iterator iter = poses.find(id);
if(iter != poses.end())
if(poses.find(id) == poses.end())
{
iter->second = pose;
poses.insert(std::make_pair(id, pose));
}
else
{
UFATAL("");
UFATAL("Pose %d already added", id);
}
}
else if(strList.size() == 30)
@@ -553,20 +552,32 @@ bool TOROOptimizer::loadGraph(
float roll = uStr2Float(strList[6]);
float pitch = uStr2Float(strList[7]);
float yaw = uStr2Float(strList[8]);
float infR = uStr2Float(strList[9]);
float infP = uStr2Float(strList[15]);
float infW = uStr2Float(strList[20]);
UASSERT_MSG(infR > 0 && infP > 0 && infW > 0, uFormat("Information matrix should not be null! line=\"%s\"", line).c_str());
float rotVariance = infR<=infP && infR<=infW?infR:infP<=infW?infP:infW; // maximum variance
float infX = uStr2Float(strList[24]);
float infY = uStr2Float(strList[27]);
float infZ = uStr2Float(strList[29]);
UASSERT_MSG(infX > 0 && infY > 0 && infZ > 0, uFormat("Information matrix should not be null! line=\"%s\"", line).c_str());
float transVariance = 1.0f/(infX<=infY && infX<=infZ?infX:infY<=infW?infY:infZ); // maximum variance
UINFO("id=%d rotV=%f transV=%f", idFrom, rotVariance, transVariance);
Transform transform = Transform::fromEigen3f(pcl::getTransformation(x, y, z, roll, pitch, yaw));
if(poses.find(idFrom) != poses.end() && poses.find(idTo) != poses.end())
{
std::pair<int, Transform> edge(idTo, transform);
edgeConstraints.insert(std::pair<int, std::pair<int, Transform> >(idFrom, edge));
//Link type is unknown
Link link(idFrom, idTo, Link::kUndef, transform, rotVariance, transVariance);
edgeConstraints.insert(std::pair<int, Link>(idFrom, link));
}
else
{
UFATAL("");
UFATAL("Referred poses from the link not exist!");
}
}
else
else if(strList.size())
{
UFATAL("Error parsing map file %s", fileName.c_str());
UFATAL("Error parsing graph file %s on line \"%s\" (strList.size()=%d)", fileName.c_str(), line, (int)strList.size());
}
}

2
corelib/src/SensorData.cpp
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@@ -103,6 +103,7 @@ SensorData::SensorData(const cv::Mat & image,
depthOrRightImage.type() == CV_8U); // Right stereo image
UASSERT(!depthOrRightImage.empty() && _fx>0.0f && _fyOrBaseline>0.0f && _cx>=0.0f && _cy>=0.0f);
UASSERT(!_localTransform.isNull());
UASSERT_MSG(_poseRotVariance>0 && _poseTransVariance>0, "Rotational and transitional variances should not be null! (set to 1 if unknown)");
}
// Metric constructor + 2d depth
@@ -143,6 +144,7 @@ SensorData::SensorData(const cv::Mat & laserScan,
depthOrRightImage.type() == CV_8U); // Right stereo image
UASSERT(!depthOrRightImage.empty() && _fx>0.0f && _fyOrBaseline>0.0f && _cx>=0.0f && _cy>=0.0f);
UASSERT(!_localTransform.isNull());
UASSERT_MSG(_poseRotVariance>0 && _poseTransVariance>0, "Rotational and transitional variances should not be null! (set to 1 if unknown)");
}
bool SensorData::empty() const