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Added OdomBow/FixedLocalMapPath parameter

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matlabbe
2015-06-25 16:04:42 -04:00
parent 91a4506956
commit 01f2f1348c
12 changed files with 209 additions and 56 deletions
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2
corelib/include/rtabmap/core/Memory.h
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@@ -83,7 +83,7 @@ public:
std::list<int> forget(const std::set<int> & ignoredIds = std::set<int>());
std::set<int> reactivateSignatures(const std::list<int> & ids, unsigned int maxLoaded, double & timeDbAccess);
std::list<int> cleanup(const std::list<int> & ignoredIds = std::list<int>());
int cleanup();
void emptyTrash();
void joinTrashThread();
bool addLink(const Link & link);

1
corelib/include/rtabmap/core/Odometry.h
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@@ -118,6 +118,7 @@ private:
private:
//Parameters
int _localHistoryMaxSize;
std::string _fixedLocalMapPath;
Memory * _memory;
std::multimap<int, pcl::PointXYZ> localMap_;

1
corelib/include/rtabmap/core/Parameters.h
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@@ -339,6 +339,7 @@ class RTABMAP_EXP Parameters
RTABMAP_PARAM(OdomBow, LocalHistorySize, int, 1000, "Local history size: If > 0 (example 5000), the odometry will maintain a local map of X maximum words.");
RTABMAP_PARAM(OdomBow, NNType, int, 3, "kNNFlannNaive=0, kNNFlannKdTree=1, kNNFlannLSH=2, kNNBruteForce=3, kNNBruteForceGPU=4");
RTABMAP_PARAM(OdomBow, NNDR, float, 0.8, "NNDR: nearest neighbor distance ratio.");
RTABMAP_PARAM_STR(OdomBow, FixedLocalMapPath, "", "Path to a fixed map (RTAB-Map's database) to be used for odometry. Odometry will be constraint to this map. RGB-only images can be used if odometry PnP estimation is used.")
// Odometry Mono
RTABMAP_PARAM(OdomMono, InitMinFlow, float, 100, "Minimum optical flow required for the initialization step.");