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Added Optimizer/GravitySigma parameter (with GTSAM support).

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matlabbe
2019-03-31 15:51:50 -04:00
parent 35933cafba
commit fc9c762516
17 changed files with 565 additions and 40 deletions
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1
corelib/include/rtabmap/core/Link.h
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@@ -48,6 +48,7 @@ public:
kNeighborMerged,
kPosePrior, // Absolute pose in /world frame, From == To
kLandmark, // Transform /base_link -­­> /landmark, "From" is node observing the landmark "To"
kPoseOdom, // Pose in /odom frame, From == To (mainly used for gravity constraints)
kEnd,
kAllWithLandmarks = 98,
kAllWithoutLandmarks = 99,

6
corelib/include/rtabmap/core/Optimizer.h
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@@ -90,6 +90,7 @@ public:
bool isRobust() const {return robust_;}
bool priorsIgnored() const {return priorsIgnored_;}
bool landmarksIgnored() const {return landmarksIgnored_;}
float gravitySigma() const {return gravitySigma_;}
// setters
void setIterations(int iterations) {iterations_ = iterations;}
@@ -99,6 +100,7 @@ public:
void setRobust(bool enabled) {robust_ = enabled;}
void setPriorsIgnored(bool enabled) {priorsIgnored_ = enabled;}
void setLandmarksIgnored(bool enabled) {landmarksIgnored_ = enabled;}
void setGravitySigma(float value) {gravitySigma_ = value;}
virtual void parseParameters(const ParametersMap & parameters);
@@ -175,7 +177,8 @@ protected:
double epsilon = Parameters::defaultOptimizerEpsilon(),
bool robust = Parameters::defaultOptimizerRobust(),
bool priorsIgnored = Parameters::defaultOptimizerPriorsIgnored(),
bool landmarksIgnored = Parameters::defaultOptimizerLandmarksIgnored());
bool landmarksIgnored = Parameters::defaultOptimizerLandmarksIgnored(),
float gravitySigma = Parameters::defaultOptimizerGravitySigma());
Optimizer(const ParametersMap & parameters);
private:
@@ -186,6 +189,7 @@ private:
bool robust_;
bool priorsIgnored_;
bool landmarksIgnored_;
float gravitySigma_;
};
} /* namespace rtabmap */

1
corelib/include/rtabmap/core/Parameters.h
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@@ -388,6 +388,7 @@ class RTABMAP_EXP Parameters
RTABMAP_PARAM(Optimizer, Robust, bool, false, uFormat("Robust graph optimization using Vertigo (only work for g2o and GTSAM optimization strategies). Not compatible with \"%s\" if enabled.", kRGBDOptimizeMaxError().c_str()));
RTABMAP_PARAM(Optimizer, PriorsIgnored, bool, true, "Ignore prior constraints (global pose or GPS) while optimizing. Currently only g2o and gtsam optimization supports this.");
RTABMAP_PARAM(Optimizer, LandmarksIgnored, bool, false, "Ignore landmark constraints while optimizing. Currently only g2o and gtsam optimization supports this.");
RTABMAP_PARAM(Optimizer, GravitySigma, float, 0.0, uFormat("Gravity sigma value (>=0, typically between 0.1 and 0.3). Optimization is done while preserving gravity orientation of the poses. This should be used only with visual/lidar inertial odometry approaches, for which we assume that all odometry poses are aligned with gravity. Set to 0 to disable gravity constraints. Currently supported only with GTSAM optimization strategy (see %s).", kOptimizerStrategy().c_str()));
#ifdef RTABMAP_ORB_SLAM2
RTABMAP_PARAM(g2o, Solver, int, 3, "0=csparse 1=pcg 2=cholmod 3=Eigen");