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Fixed occupancy grid not reconstructed if it was not saved in previous run

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matlabbe
2018-04-30 13:06:25 -04:00
parent a92748167d
commit 6c10d9fecf
3 changed files with 8 additions and 5 deletions
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launch/demo/demo_robot_mapping.launch
+5 -4
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@@ -44,10 +44,11 @@
<param name="Reg/Strategy" type="string" value="1"/> <!-- 0=Visual, 1=ICP, 2=Visual+ICP --> <param name="Reg/Strategy" type="string" value="1"/> <!-- 0=Visual, 1=ICP, 2=Visual+ICP -->
<param name="Vis/InlierDistance" type="string" value="0.1"/> <!-- 3D visual words correspondence distance --> <param name="Vis/InlierDistance" type="string" value="0.1"/> <!-- 3D visual words correspondence distance -->
<param name="RGBD/OptimizeFromGraphEnd" type="string" value="false"/> <!-- Optimize graph from initial node so /map -> /odom transform will be generated --> <param name="RGBD/OptimizeFromGraphEnd" type="string" value="false"/> <!-- Optimize graph from initial node so /map -> /odom transform will be generated -->
<param name="Reg/Force3DoF" type="string" value="true"/> <param name="RGBD/OptimizeMaxError" type="string" value="2.0"/> <!-- Reject any loop closure causing large errors (>2x link's covariance) in the map -->
<param name="Grid/FromDepth" type="string" value="false"/> <param name="Reg/Force3DoF" type="string" value="true"/> <!-- 2D SLAM -->
<param name="Mem/STMSize" type="string" value="30"/> <!--increased to 30 to avoid adding too many loop closures on just seen locations --> <param name="Grid/FromDepth" type="string" value="false"/> <!-- Create 2D occupancy grid from laser scan -->
<param name="RGBD/LocalRadius" type="string" value="5"/> <!--limit length of proximity detections --> <param name="Mem/STMSize" type="string" value="30"/> <!-- increased to 30 to avoid adding too many loop closures on just seen locations -->
<param name="RGBD/LocalRadius" type="string" value="5"/> <!-- limit length of proximity detections -->
<!-- localization mode --> <!-- localization mode -->
<param if="$(arg localization)" name="Mem/IncrementalMemory" type="string" value="false"/> <param if="$(arg localization)" name="Mem/IncrementalMemory" type="string" value="false"/>
src/CoreWrapper.cpp
+2
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@@ -478,6 +478,7 @@ void CoreWrapper::onInit()
cv::Mat map = rtabmap_.getMemory()->load2DMap(xMin, yMin, gridCellSize); cv::Mat map = rtabmap_.getMemory()->load2DMap(xMin, yMin, gridCellSize);
if(!map.empty()) if(!map.empty())
{ {
NODELET_INFO("rtabmap: 2D occupancy grid map loaded.\n");
mapsManager_.set2DMap(map, xMin, yMin, gridCellSize, rtabmap_.getLocalOptimizedPoses()); mapsManager_.set2DMap(map, xMin, yMin, gridCellSize, rtabmap_.getLocalOptimizedPoses());
} }
} }
@@ -647,6 +648,7 @@ CoreWrapper::~CoreWrapper()
cv::Mat pixels = mapsManager_.getGridMap(xMin, yMin, gridCellSize); cv::Mat pixels = mapsManager_.getGridMap(xMin, yMin, gridCellSize);
if(!pixels.empty()) if(!pixels.empty())
{ {
printf("rtabmap: 2D occupancy grid map saved.\n");
rtabmap_.getMemory()->save2DMap(pixels, xMin, yMin, gridCellSize); rtabmap_.getMemory()->save2DMap(pixels, xMin, yMin, gridCellSize);
} }
} }
src/MapsManager.cpp
+1 -1
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@@ -495,7 +495,7 @@ std::map<int, rtabmap::Transform> MapsManager::updateMapCaches(
"save them back in the database for next sessions. This warning is only shown once.", "save them back in the database for next sessions. This warning is only shown once.",
data.id(), Parameters::kRGBDCreateOccupancyGrid().c_str()); data.id(), Parameters::kRGBDCreateOccupancyGrid().c_str());
} }
if(memory && occupancySavedInDB) if(memory && occupancySavedInDB && generateGrid)
{ {
// if we are here, it is because we loaded a database with old nodes not having occupancy grid set // if we are here, it is because we loaded a database with old nodes not having occupancy grid set
// try reload again // try reload again