void LoopClosing::CorrectLoop()
{
// Send a stop signal to Local Mapping
// Avoid new keyframes are inserted while correcting the loop
mpLocalMapper->RequestStop();
// Wait until Local Mapping has effectively stopped
//ros::Rate r(1e4);
//while(ros::ok() && !mpLocalMapper->isStopped())
while(!mpLocalMapper->isStopped())
{
//r.sleep();
boost::this_thread::sleep(boost::posix_time::milliseconds(10000));
}
// Ensure current keyframe is updated
mpCurrentKF->UpdateConnections();
// Retrive keyframes connected to the current keyframe and compute corrected Sim3 pose by propagation
mvpCurrentConnectedKFs = mpCurrentKF->GetVectorCovisibleKeyFrames();
mvpCurrentConnectedKFs.push_back(mpCurrentKF);
KeyFrameAndPose CorrectedSim3, NonCorrectedSim3;
CorrectedSim3[mpCurrentKF]=mg2oScw;
cv::Mat Twc = mpCurrentKF->GetPoseInverse();
for(vector<KeyFrame*>::iterator vit=mvpCurrentConnectedKFs.begin(), vend=mvpCurrentConnectedKFs.end(); vit!=vend; vit++)
{
KeyFrame* pKFi = *vit;
cv::Mat Tiw = pKFi->GetPose();
if(pKFi!=mpCurrentKF)
{
cv::Mat Tic = Tiw*Twc;
cv::Mat Ric = Tic.rowRange(0,3).colRange(0,3);
cv::Mat tic = Tic.rowRange(0,3).col(3);
g2o::Sim3 g2oSic(Converter::toMatrix3d(Ric),Converter::toVector3d(tic),1.0);
g2o::Sim3 g2oCorrectedSiw = g2oSic*mg2oScw;
//Pose corrected with the Sim3 of the loop closure
CorrectedSim3[pKFi]=g2oCorrectedSiw;
}
cv::Mat Riw = Tiw.rowRange(0,3).colRange(0,3);
cv::Mat tiw = Tiw.rowRange(0,3).col(3);
g2o::Sim3 g2oSiw(Converter::toMatrix3d(Riw),Converter::toVector3d(tiw),1.0);
//Pose without correction
NonCorrectedSim3[pKFi]=g2oSiw;
}
// Correct all MapPoints obsrved by current keyframe and neighbors, so that they align with the other side of the loop
for(KeyFrameAndPose::iterator mit=CorrectedSim3.begin(), mend=CorrectedSim3.end(); mit!=mend; mit++)
{
KeyFrame* pKFi = mit->first;
g2o::Sim3 g2oCorrectedSiw = mit->second;
g2o::Sim3 g2oCorrectedSwi = g2oCorrectedSiw.inverse();
g2o::Sim3 g2oSiw =NonCorrectedSim3[pKFi];
vector<MapPoint*> vpMPsi = pKFi->GetMapPointMatches();
for(size_t iMP=0, endMPi = vpMPsi.size(); iMP<endMPi; iMP++)
{
MapPoint* pMPi = vpMPsi[iMP];
if(!pMPi)
continue;
if(pMPi->isBad())
continue;
if(pMPi->mnCorrectedByKF==mpCurrentKF->mnId)
continue;
// Project with non-corrected pose and project back with corrected pose
cv::Mat P3Dw = pMPi->GetWorldPos();
Eigen::Matrix<double,3,1> eigP3Dw = Converter::toVector3d(P3Dw);
Eigen::Matrix<double,3,1> eigCorrectedP3Dw = g2oCorrectedSwi.map(g2oSiw.map(eigP3Dw));
cv::Mat cvCorrectedP3Dw = Converter::toCvMat(eigCorrectedP3Dw);
pMPi->SetWorldPos(cvCorrectedP3Dw);
pMPi->mnCorrectedByKF = mpCurrentKF->mnId;
pMPi->mnCorrectedReference = pKFi->mnId;
pMPi->UpdateNormalAndDepth();
}
// Update keyframe pose with corrected Sim3. First transform Sim3 to SE3 (scale translation)
Eigen::Matrix3d eigR = g2oCorrectedSiw.rotation().toRotationMatrix();
Eigen::Vector3d eigt = g2oCorrectedSiw.translation();
double s = g2oCorrectedSiw.scale();
eigt *=(1./s); //[R t/s;0 1]
cv::Mat correctedTiw = Converter::toCvSE3(eigR,eigt);
pKFi->SetPose(correctedTiw);
// Make sure connections are updated
pKFi->UpdateConnections();
}
// Start Loop Fusion
// Update matched map points and replace if duplicated
for(size_t i=0; i<mvpCurrentMatchedPoints.size(); i++)
{
if(mvpCurrentMatchedPoints[i])
{
MapPoint* pLoopMP = mvpCurrentMatchedPoints[i];
MapPoint* pCurMP = mpCurrentKF->GetMapPoint(i);
if(pCurMP)
pCurMP->Replace(pLoopMP);
else
{
mpCurrentKF->AddMapPoint(pLoopMP,i);
pLoopMP->AddObservation(mpCurrentKF,i);
pLoopMP->ComputeDistinctiveDescriptors();
}
}
}
// Project MapPoints observed in the neighborhood of the loop keyframe
// into the current keyframe and neighbors using corrected poses.
// Fuse duplications.
SearchAndFuse(CorrectedSim3);
// After the MapPoint fusion, new links in the covisibility graph will appear attaching both sides of the loop
map<KeyFrame*, set<KeyFrame*> > LoopConnections;
for(vector<KeyFrame*>::iterator vit=mvpCurrentConnectedKFs.begin(), vend=mvpCurrentConnectedKFs.end(); vit!=vend; vit++)
{
KeyFrame* pKFi = *vit;
vector<KeyFrame*> vpPreviousNeighbors = pKFi->GetVectorCovisibleKeyFrames();
// Update connections. Detect new links.
pKFi->UpdateConnections();
LoopConnections[pKFi]=pKFi->GetConnectedKeyFrames();
for(vector<KeyFrame*>::iterator vit_prev=vpPreviousNeighbors.begin(), vend_prev=vpPreviousNeighbors.end(); vit_prev!=vend_prev; vit_prev++)
{
LoopConnections[pKFi].erase(*vit_prev);
}
for(vector<KeyFrame*>::iterator vit2=mvpCurrentConnectedKFs.begin(), vend2=mvpCurrentConnectedKFs.end(); vit2!=vend2; vit2++)
{
LoopConnections[pKFi].erase(*vit2);
}
}
mpTracker->ForceRelocalisation();
Optimizer::OptimizeEssentialGraph(mpMap, mpMatchedKF, mpCurrentKF, mg2oScw, NonCorrectedSim3, CorrectedSim3, LoopConnections);
//Add edge
mpMatchedKF->AddLoopEdge(mpCurrentKF);
mpCurrentKF->AddLoopEdge(mpMatchedKF);
std::cout << "Loop Closed!" << std::endl;
// Loop closed. Release Local Mapping.
mpLocalMapper->Release();
mpMap->SetFlagAfterBA();
mLastLoopKFid = mpCurrentKF->mnId;
}
void KeyFrame::SetBadFlag()
{
{
boost::mutex::scoped_lock lock(mMutexConnections);
if(mnId==0)
return;
else if(mbNotErase)
{
mbToBeErased = true;
return;
}
}
for(map<KeyFrame*,int>::iterator mit = mConnectedKeyFrameWeights.begin(), mend=mConnectedKeyFrameWeights.end(); mit!=mend; mit++)
mit->first->EraseConnection(this);
for(size_t i=0; i<mvpMapPoints.size(); i++)
if(mvpMapPoints[i])
mvpMapPoints[i]->EraseObservation(this);
{
boost::mutex::scoped_lock lock(mMutexConnections);
boost::mutex::scoped_lock lock1(mMutexFeatures);
mConnectedKeyFrameWeights.clear();
mvpOrderedConnectedKeyFrames.clear();
// Update Spanning Tree
set<KeyFrame*> sParentCandidates;
sParentCandidates.insert(mpParent);
// Assign at each iteration one children with a parent (the pair with highest covisibility weight)
// Include that children as new parent candidate for the rest
while(!mspChildrens.empty())
{
bool bContinue = false;
int max = -1;
KeyFrame* pC;
KeyFrame* pP;
for(set<KeyFrame*>::iterator sit=mspChildrens.begin(), send=mspChildrens.end(); sit!=send; sit++)
{
KeyFrame* pKF = *sit;
if(pKF->isBad())
continue;
// Check if a parent candidate is connected to the keyframe
vector<KeyFrame*> vpConnected = pKF->GetVectorCovisibleKeyFrames();
for(size_t i=0, iend=vpConnected.size(); i<iend; i++)
{
for(set<KeyFrame*>::iterator spcit=sParentCandidates.begin(), spcend=sParentCandidates.end(); spcit!=spcend; spcit++)
{
if(vpConnected[i]->mnId == (*spcit)->mnId)
{
int w = pKF->GetWeight(vpConnected[i]);
if(w>max)
{
pC = pKF;
pP = vpConnected[i];
max = w;
bContinue = true;
}
}
}
}
}
if(bContinue)
{
pC->ChangeParent(pP);
sParentCandidates.insert(pC);
mspChildrens.erase(pC);
}
else
break;
}
// If a children has no covisibility links with any parent candidate, assign to the original parent of this KF
if(!mspChildrens.empty())
for(set<KeyFrame*>::iterator sit=mspChildrens.begin(); sit!=mspChildrens.end(); sit++)
{
(*sit)->ChangeParent(mpParent);
}
mpParent->EraseChild(this);
mbBad = true;
}
mpMap->EraseKeyFrame(this);
mpKeyFrameDB->erase(this);
}