Rejecting last loop closures if optimization fails. Fixed _lastLocali…

…zationNodeId not found in optimized poses in Localization mode.
introlab · Dec 1, 2015 · 60f34fe · 60f34fe
1 parent 4d97ba8
commit 60f34fe
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Showing 2 changed files with 42 additions and 4 deletions.
diff --git a/corelib/src/Graph.cpp b/corelib/src/Graph.cpp
@@ -958,6 +958,8 @@ std::map<int, Transform> G2OOptimizer::optimize(
 		UDEBUG("Initial optimization...");
 		optimizer.initializeOptimization();
 
+		UASSERT(optimizer.verifyInformationMatrices());
+
 		UINFO("g2o optimizing begin (max iterations=%d, robust=%d)", iterations(), isRobust()?1:0);
 		int it = 0;
 		UTimer timer;
@@ -1017,6 +1019,14 @@ std::map<int, Transform> G2OOptimizer::optimize(
 				optimizer.computeActiveErrors();
 				double chi2 = optimizer.activeRobustChi2();
 				UDEBUG("iteration %d: %d nodes, %d edges, chi2: %f", i, (int)optimizer.vertices().size(), (int)optimizer.edges().size(), chi2);
+
+				if(i>0 && optimizer.activeRobustChi2() > 1000000000000.0)
+	               		{
+                        		UWARN("g2o: Large optimimzation error detected (%f), aborting optimization!");
+                        		return optimizedPoses;
+               	 		}
+
+
 				double errorDelta = lastError - chi2;
 				if(i>0 && errorDelta < this->epsilon())
 				{
@@ -1054,6 +1064,12 @@ std::map<int, Transform> G2OOptimizer::optimize(
 		}
 		UINFO("g2o optimizing end (%d iterations done, error=%f, time = %f s)", it, optimizer.activeRobustChi2(), timer.ticks());
 
+		if(optimizer.activeRobustChi2() > 1000000000000.0)
+		{
+			UWARN("g2o: Large optimimzation error detected (%f), aborting optimization!");
+			return optimizedPoses;
+		}
+
 		if(isSlam2d())
 		{
 			for(std::map<int, Transform>::const_iterator iter = poses.begin(); iter!=poses.end(); ++iter)

diff --git a/corelib/src/Rtabmap.cpp b/corelib/src/Rtabmap.cpp
@@ -2213,12 +2213,24 @@ bool Rtabmap::process(
 			std::map<int, Transform> poses = _optimizedPoses;
 			std::multimap<int, Link> constraints;
 			optimizeCurrentMap(signature->id(), false, poses, &constraints, &optimizationError, &optimizationIterations);
-			UASSERT(poses.find(signature->id()) != poses.end());
 
 			// Check added loop closures have broken the graph
 			// (in case of wrong loop closures).
 			bool updateConstraints = true;
-			if(_memory->isIncremental() && // FIXME: not tested in localization mode, so do it only in mapping mode
+			if(poses.empty())
+			{
+				UWARN("Graph optimization failed! Rejecting last loop closures added.");
+				for(std::list<std::pair<int, int> >::iterator iter=loopClosureLinksAdded.begin(); iter!=loopClosureLinksAdded.end(); ++iter)
+                              	{
+                                	_memory->removeLink(iter->first, iter->second);
+                                        UWARN("Loop closure %d->%d rejected!", iter->first, iter->second);
+                                 }
+                                updateConstraints = false;
+                                _loopClosureHypothesis.first = 0;
+                                lastLocalSpaceClosureId = 0;
+                                rejectedHypothesis = true;
+			}
+			else if(_memory->isIncremental() && // FIXME: not tested in localization mode, so do it only in mapping mode
 			  _optimizationMaxLinearError > 0.0f &&
 			  loopClosureLinksAdded.size())
 			{
@@ -2498,7 +2510,7 @@ bool Rtabmap::process(
 			}
 			else
 			{
-				UASSERT_MSG(uContains(_optimizedPoses, _lastLocalizationNodeId), uFormat("id=%d", _lastLocalizationNodeId).c_str());
+				UASSERT_MSG(uContains(_optimizedPoses, _lastLocalizationNodeId), uFormat("id=%d isInWM?=%d", _lastLocalizationNodeId, _memory->isInWM(_lastLocalizationNodeId)?1:0).c_str());
 				id = _lastLocalizationNodeId;
 				UDEBUG("Refresh local map from %d", id);
 			}
@@ -2512,13 +2524,18 @@ bool Rtabmap::process(
 		}
 		if(id > 0)
 		{
+			if(_lastLocalizationNodeId != 0)
+                        {
+                        	_lastLocalizationNodeId = id;
+                        }
 			UASSERT_MSG(_memory->getSignature(id) != 0, uFormat("id=%d", id).c_str());
 			std::map<int, int> ids = _memory->getNeighborsId(id, 0, 0, true);
 			for(std::map<int, Transform>::iterator iter=_optimizedPoses.begin(); iter!=_optimizedPoses.end();)
 			{
 				if(!uContains(ids, iter->first))
 				{
 					UDEBUG("Removed %d from local map", iter->first);
+					UASSERT(iter->first != _lastLocalizationNodeId);
 					_optimizedPoses.erase(iter++);
 				}
 				else
@@ -2957,7 +2974,12 @@ void Rtabmap::optimizeCurrentMap(
 		}
 		else
 		{
-			UERROR("Failed to optimize the graph! Keeping the graph without optimization...");
+			UERROR("Failed to optimize the graph! returning empty optimized poses...");
+			optimizedPoses.clear();
+			if(constraints)
+			{
+				constraints->clear();
+			}
 		}
 	}
 }