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Added RGBD/ProximityMergedScanCovFactor parameter. Localization: fixed output height when Reg/Force3DoF=true but input poses are 6DoF. Transform: added is3DoF() and is4DoF() functions. GTSAM: when Reg/Force3DoF=true, copy input roll,pitch,z values for output poses. RegIcp: fixed working memory dir '~' conversion. RGBD/ProximityGlobalScanMap: fixed map::at error when some nodes don't have scans.

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matlabbe
2022-01-12 16:14:42 -05:00
parent a4ec95963e
commit fcec98105d
14 changed files with 122 additions and 43 deletions
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3
corelib/include/rtabmap/core/Optimizer.h
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@@ -75,7 +75,8 @@ public:
const std::map<int, Transform> & posesIn,
const std::multimap<int, Link> & linksIn,
std::map<int, Transform> & posesOut,
std::multimap<int, Link> & linksOut) const;
std::multimap<int, Link> & linksOut,
bool adjustPosesWithConstraints = true) const;
public:
virtual ~Optimizer() {}

1
corelib/include/rtabmap/core/Parameters.h
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@@ -386,6 +386,7 @@ class RTABMAP_EXP Parameters
RTABMAP_PARAM(RGBD, ProximityAngle, float, 45, "Maximum angle (degrees) for one-to-one proximity detection.");
RTABMAP_PARAM(RGBD, ProximityOdomGuess, bool, false, "Use odometry as motion guess for one-to-one proximity detection.");
RTABMAP_PARAM(RGBD, ProximityGlobalScanMap, bool, false, uFormat("Create a global assembled map from laser scans for one-to-many proximity detection, replacing the original one-to-many proximity detection (i.e., detection against local paths). Only used in localization mode (%s=false), otherwise original one-to-many proximity detection is done. Note also that if graph is modified (i.e., memory management is enabled or robot jumps from one disjoint session to another in same database), the global scan map is cleared and one-to-many proximity detection is reverted to original approach.", kMemIncrementalMemory().c_str()));
RTABMAP_PARAM(RGBD, ProximityMergedScanCovFactor, double, 100.0, uFormat("Covariance factor for one-to-many proximity detection (when %s>0 and scans are used).", kRGBDProximityPathMaxNeighbors().c_str()));
// Graph optimization
#ifdef RTABMAP_GTSAM

1
corelib/include/rtabmap/core/Rtabmap.h
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@@ -307,6 +307,7 @@ private:
bool _proximityRawPosesUsed;
float _proximityAngle;
bool _proximityOdomGuess;
double _proximityMergedScanCovFactor;
std::string _databasePath;
bool _optimizeFromGraphEnd;
float _optimizationMaxError;

2
corelib/include/rtabmap/core/Transform.h
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@@ -104,6 +104,8 @@ public:
Transform translation() const;
Transform to3DoF() const;
Transform to4DoF() const;
bool is3DoF() const;
bool is4DoF() const;
cv::Mat rotationMatrix() const;
cv::Mat translationMatrix() const;