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0.10.12: Added rtabmap::getLastLocalizationPose() method (to get last corrected pose either in mapping or localization mode)

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matlabbe
2015-11-25 15:45:27 -05:00
parent 10d683a38e
commit cd39a8c027
2 changed files with 4 additions and 3 deletions
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corelib/include/rtabmap/core/Rtabmap.h
+2 -1
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@@ -100,6 +100,7 @@ public:
const Memory * getMemory() const {return _memory;} const Memory * getMemory() const {return _memory;}
float getGoalReachedRadius() const {return _goalReachedRadius;} float getGoalReachedRadius() const {return _goalReachedRadius;}
float getLocalRadius() const {return _localRadius;} float getLocalRadius() const {return _localRadius;}
const Transform & getLastLocalizationPose() const {return _lastLocalizationPose;}
float getTimeThreshold() const {return _maxTimeAllowed;} // in ms float getTimeThreshold() const {return _maxTimeAllowed;} // in ms
void setTimeThreshold(float maxTimeAllowed); // in ms void setTimeThreshold(float maxTimeAllowed); // in ms
@@ -242,7 +243,7 @@ private:
std::map<int, Transform> _optimizedPoses; std::map<int, Transform> _optimizedPoses;
std::multimap<int, Link> _constraints; std::multimap<int, Link> _constraints;
Transform _mapCorrection; Transform _mapCorrection;
Transform _lastLocalizationPose; // for localization mode Transform _lastLocalizationPose; // Corrected odometry pose. In mapping mode, this corresponds to last pose return by getLocalOptimizedPoses().
int _lastLocalizationNodeId; // for localization mode int _lastLocalizationNodeId; // for localization mode
// Planning stuff // Planning stuff
corelib/src/Rtabmap.cpp
+2 -2
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@@ -1097,7 +1097,7 @@ bool Rtabmap::process(
// Update Poses and Constraints // Update Poses and Constraints
_optimizedPoses.insert(std::make_pair(signature->id(), newPose)); _optimizedPoses.insert(std::make_pair(signature->id(), newPose));
_lastLocalizationPose = newPose; // used in localization mode only (path planning) _lastLocalizationPose = newPose; // keep in cache the latest corrected pose
if(signature->getLinks().size() == 1 && if(signature->getLinks().size() == 1 &&
signature->getLinks().begin()->second.type() == Link::kNeighbor) signature->getLinks().begin()->second.type() == Link::kNeighbor)
{ {
@@ -2266,7 +2266,7 @@ bool Rtabmap::process(
// Update map correction, it should be identify when optimizing from the last node // Update map correction, it should be identify when optimizing from the last node
_mapCorrection = _optimizedPoses.at(signature->id()) * signature->getPose().inverse(); _mapCorrection = _optimizedPoses.at(signature->id()) * signature->getPose().inverse();
_lastLocalizationPose = _optimizedPoses.at(signature->id()); // update in case we switch to localization mode _lastLocalizationPose = _optimizedPoses.at(signature->id()); // update
if(_mapCorrection.getNormSquared() > 0.001f && _optimizeFromGraphEnd) if(_mapCorrection.getNormSquared() > 0.001f && _optimizeFromGraphEnd)
{ {
UERROR("Map correction should be identity when optimizing from the last node. T=%s", _mapCorrection.prettyPrint().c_str()); UERROR("Map correction should be identity when optimizing from the last node. T=%s", _mapCorrection.prettyPrint().c_str());