mirror of
https://github.com/introlab/rtabmap.git
synced 2026-09-02 01:20:25 +08:00
updated some default parameters mostly related to stereo odometry (flow, stereo, bayes prediction, likelihood tf-idf)
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1995 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
@@ -142,6 +142,11 @@ private:
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int flowIterations_;
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double flowEps_;
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int flowMaxLevel_;
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int stereoWinSize_;
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int stereoIterations_;
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double stereoEps_;
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int stereoMaxLevel_;
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float stereoMaxSlope_;
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int subPixWinSize_;
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@@ -169,7 +169,7 @@ class RTABMAP_EXP Parameters
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RTABMAP_PARAM(Kp, BadSignRatio, float, 0.2, "Bad signature ratio (less than Ratio x AverageWordsPerImage = bad).");
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RTABMAP_PARAM(Kp, NndrRatio, float, 0.8, "NNDR ratio (A matching pair is detected, if its distance is closer than X times the distance of the second nearest neighbor.)");
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RTABMAP_PARAM(Kp, DetectorStrategy, int, 0, "0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF 7=BRISK.");
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RTABMAP_PARAM(Kp, TfIdfLikelihoodUsed, bool, false, "Use of the td-idf strategy to compute the likelihood.");
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RTABMAP_PARAM(Kp, TfIdfLikelihoodUsed, bool, true, "Use of the td-idf strategy to compute the likelihood.");
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RTABMAP_PARAM(Kp, Parallelized, bool, true, "If the dictionary update and signature creation were parallelized.");
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RTABMAP_PARAM_STR(Kp, RoiRatios, "0.0 0.0 0.0 0.0", "Region of interest ratios [left, right, top, bottom].");
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RTABMAP_PARAM_STR(Kp, DictionaryPath, "", "Path of the pre-computed dictionary");
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@@ -237,7 +237,7 @@ class RTABMAP_EXP Parameters
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// BayesFilter
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RTABMAP_PARAM(Bayes, VirtualPlacePriorThr, float, 0.9, "Virtual place prior");
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RTABMAP_PARAM_STR(Bayes, PredictionLC, "0.1 0.36 0.30 0.16 0.062 0.0151 0.00255 0.000324 2.5e-05 1.3e-06 4.8e-08 1.2e-09 1.9e-11 2.2e-13 1.7e-15 8.5e-18 2.9e-20 6.9e-23", "Prediction of loop closures (Gaussian-like, here with sigma=1.6) - Format: {VirtualPlaceProb, LoopClosureProb, NeighborLvl1, NeighborLvl2, ...}.");
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RTABMAP_PARAM(Bayes, FullPredictionUpdate, bool, true, "Regenerate all the prediction matrix on each iteration (otherwise only removed/added ids are updated).");
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RTABMAP_PARAM(Bayes, FullPredictionUpdate, bool, false, "Regenerate all the prediction matrix on each iteration (otherwise only removed/added ids are updated).");
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// Verify hypotheses
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RTABMAP_PARAM(VhEp, MatchCountMin, int, 8, "Minimum of matching visual words pairs to accept the loop hypothesis.");
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@@ -266,14 +266,14 @@ class RTABMAP_EXP Parameters
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RTABMAP_PARAM(Odom, LinearUpdate, float, 0.0, "Min linear displacement to update odometry.");
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RTABMAP_PARAM(Odom, AngularUpdate, float, 0.0, "Min angular displacement to update odometry.");
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RTABMAP_PARAM(Odom, MaxFeatures, int, 0, "0 no limits.");
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RTABMAP_PARAM(Odom, InlierDistance, float, 0.01, "Maximum distance for visual word correspondences.");
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RTABMAP_PARAM(Odom, InlierDistance, float, 0.02, "Maximum distance for visual word correspondences.");
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RTABMAP_PARAM(Odom, MinInliers, int, 20, "Minimum visual word correspondences to compute geometry transform.");
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RTABMAP_PARAM(Odom, Iterations, int, 30, "Maximum iterations to compute the transform from visual words.");
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RTABMAP_PARAM(Odom, RefineIterations, int, 5, "Number of iterations used to refine the transformation found by RANSAC. 0 means that the transformation is not refined.");
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RTABMAP_PARAM(Odom, MaxDepth, float, 4.0, "Max depth of the words (0 means no limit).");
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RTABMAP_PARAM(Odom, ResetCountdown, int, 0, "Automatically reset odometry after X consecutive images on which odometry cannot be computed (value=0 disables auto-reset).");
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RTABMAP_PARAM_STR(Odom, RoiRatios, "0.0 0.0 0.0 0.0", "Region of interest ratios [left, right, top, bottom].");
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RTABMAP_PARAM(Odom, RefineIterations, int, 5, "Number of iterations used to refine the transformation found by RANSAC. 0 means that the transformation is not refined.");
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RTABMAP_PARAM(Odom, FeaturesRatio, float, 0.5, "Minimum ratio of keypoints between the current image and the last image to compute odometry.");
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RTABMAP_PARAM(Odom, FeaturesRatio, float, 0.0, "Minimum ratio of keypoints between the current image and the last image to compute odometry.");
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// Odometry Bag-of-words
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RTABMAP_PARAM(OdomBow, LocalHistorySize, int, 1000, "Local history size: If > 0 (example 5000), the odometry will maintain a local map of X maximum words.");
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@@ -281,23 +281,21 @@ class RTABMAP_EXP Parameters
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RTABMAP_PARAM(OdomBow, NNDR, float, 0.8, "NNDR: nearest neighbor distance ratio.");
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// Odometry common stuff between BOW and Optical Flow approaches
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RTABMAP_PARAM(OdomFlow, WinSize, int, 9, "Used for optical flow approach and for stereo matching. See cv::calcOpticalFlowPyrLK().");
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RTABMAP_PARAM(OdomFlow, Iterations, int, 20, "Used for optical flow approach and for stereo matching. See cv::calcOpticalFlowPyrLK().");
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RTABMAP_PARAM(OdomFlow, Eps, double, 0.02, "Used for optical flow approach and for stereo matching. See cv::calcOpticalFlowPyrLK().");
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RTABMAP_PARAM(OdomFlow, MaxLevel, int, 4, "Used for optical flow approach and for stereo matching. See cv::calcOpticalFlowPyrLK().");
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RTABMAP_PARAM(OdomFlow, WinSize, int, 16, "Used for optical flow approach and for stereo matching. See cv::calcOpticalFlowPyrLK().");
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RTABMAP_PARAM(OdomFlow, Iterations, int, 30, "Used for optical flow approach and for stereo matching. See cv::calcOpticalFlowPyrLK().");
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RTABMAP_PARAM(OdomFlow, Eps, double, 0.01, "Used for optical flow approach and for stereo matching. See cv::calcOpticalFlowPyrLK().");
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RTABMAP_PARAM(OdomFlow, MaxLevel, int, 3, "Used for optical flow approach and for stereo matching. See cv::calcOpticalFlowPyrLK().");
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RTABMAP_PARAM(OdomSubPix, WinSize, int, 3, "Can be used with BOW and optical flow approaches. See cv::cornerSubPix().");
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RTABMAP_PARAM(OdomSubPix, Iterations, int, 0, "Can be used with BOW and optical flow approaches. See cv::cornerSubPix(). 0 disables sub pixel refining.");
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RTABMAP_PARAM(OdomSubPix, Eps, double, 0.02, "Can be used with BOW and optical flow approaches. See cv::cornerSubPix().");
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RTABMAP_PARAM(OdomStereo, MaxSlope, float, 0.1, "The maximum slope for each stereo pairs.");
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// Loop closure constraint
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RTABMAP_PARAM(LccIcp, Type, int, 0, "0=No ICP, 1=ICP 3D, 2=ICP 2D");
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RTABMAP_PARAM(LccIcp, MaxDistance, float, 0.2, "Maximum ICP correction distance accepted (m).");
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RTABMAP_PARAM(LccBow, MinInliers, int, 20, "Minimum visual word correspondences to compute geometry transform.");
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RTABMAP_PARAM(LccBow, InlierDistance, float, 0.01, "Maximum distance for visual word correspondences.");
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RTABMAP_PARAM(LccBow, InlierDistance, float, 0.02, "Maximum distance for visual word correspondences.");
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RTABMAP_PARAM(LccBow, Iterations, int, 100, "Maximum iterations to compute the transform from visual words.");
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RTABMAP_PARAM(LccBow, MaxDepth, float, 4.0, "Max depth of the words (0 means no limit).");
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RTABMAP_PARAM(LccBow, Force2D, bool, false, "Force 2D transform (3Dof: x,y and yaw).")
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@@ -324,10 +322,10 @@ class RTABMAP_EXP Parameters
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RTABMAP_PARAM(LccIcp2, VoxelSize, float, 0.005, "Voxel size to be used for ICP computation.");
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// Stereo disparity
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RTABMAP_PARAM(Stereo, WinSize, int, 9, "See cv::calcOpticalFlowPyrLK().");
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RTABMAP_PARAM(Stereo, Iterations, int, 20, "See cv::calcOpticalFlowPyrLK().");
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RTABMAP_PARAM(Stereo, Eps, double, 0.02, "See cv::calcOpticalFlowPyrLK().");
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RTABMAP_PARAM(Stereo, MaxLevel, int, 4, "See cv::calcOpticalFlowPyrLK().");
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RTABMAP_PARAM(Stereo, WinSize, int, 16, "See cv::calcOpticalFlowPyrLK().");
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RTABMAP_PARAM(Stereo, Iterations, int, 30, "See cv::calcOpticalFlowPyrLK().");
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RTABMAP_PARAM(Stereo, Eps, double, 0.01, "See cv::calcOpticalFlowPyrLK().");
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RTABMAP_PARAM(Stereo, MaxLevel, int, 3, "See cv::calcOpticalFlowPyrLK().");
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RTABMAP_PARAM(Stereo, MaxSlope, float, 0.1, "The maximum slope for each stereo pairs.");
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public:
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@@ -153,26 +153,12 @@ OdometryBOW::OdometryBOW(const ParametersMap & parameters) :
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customParameters.insert(ParametersPair(Parameters::kKpDetectorStrategy(), uNumber2Str(featureType)));
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// Memory's stereo parameters, copy from Odometry
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int flowWinSize = Parameters::defaultOdomFlowWinSize();
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int flowIterations_ = Parameters::defaultOdomFlowIterations();
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double flowEps_ = Parameters::defaultOdomFlowEps();
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int flowMaxLevel_ = Parameters::defaultOdomFlowMaxLevel();
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float stereoMaxSlope_ = Parameters::defaultOdomStereoMaxSlope();
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int subPixWinSize_ = Parameters::defaultOdomSubPixWinSize();
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int subPixIterations_ = Parameters::defaultOdomSubPixIterations();
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double subPixEps_ = Parameters::defaultOdomSubPixEps();
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Parameters::parse(parameters, Parameters::kOdomFlowWinSize(), flowWinSize);
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Parameters::parse(parameters, Parameters::kOdomFlowIterations(), flowIterations_);
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Parameters::parse(parameters, Parameters::kOdomFlowEps(), flowEps_);
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Parameters::parse(parameters, Parameters::kOdomFlowMaxLevel(), flowMaxLevel_);
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Parameters::parse(parameters, Parameters::kOdomSubPixWinSize(), subPixWinSize_);
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Parameters::parse(parameters, Parameters::kOdomSubPixIterations(), subPixIterations_);
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Parameters::parse(parameters, Parameters::kOdomSubPixEps(), subPixEps_);
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customParameters.insert(ParametersPair(Parameters::kStereoWinSize(), uNumber2Str(flowWinSize)));
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customParameters.insert(ParametersPair(Parameters::kStereoIterations(), uNumber2Str(flowIterations_)));
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customParameters.insert(ParametersPair(Parameters::kStereoEps(), uNumber2Str(flowEps_)));
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customParameters.insert(ParametersPair(Parameters::kStereoMaxLevel(), uNumber2Str(flowMaxLevel_)));
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customParameters.insert(ParametersPair(Parameters::kStereoMaxSlope(), uNumber2Str(stereoMaxSlope_)));
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customParameters.insert(ParametersPair(Parameters::kKpSubPixWinSize(), uNumber2Str(subPixWinSize_)));
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customParameters.insert(ParametersPair(Parameters::kKpSubPixIterations(), uNumber2Str(subPixIterations_)));
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customParameters.insert(ParametersPair(Parameters::kKpSubPixEps(), uNumber2Str(subPixEps_)));
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@@ -482,7 +468,11 @@ OdometryOpticalFlow::OdometryOpticalFlow(const ParametersMap & parameters) :
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flowIterations_(Parameters::defaultOdomFlowIterations()),
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flowEps_(Parameters::defaultOdomFlowEps()),
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flowMaxLevel_(Parameters::defaultOdomFlowMaxLevel()),
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stereoMaxSlope_(Parameters::defaultOdomStereoMaxSlope()),
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stereoWinSize_(Parameters::defaultStereoWinSize()),
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stereoIterations_(Parameters::defaultStereoIterations()),
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stereoEps_(Parameters::defaultStereoEps()),
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stereoMaxLevel_(Parameters::defaultStereoMaxLevel()),
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stereoMaxSlope_(Parameters::defaultStereoMaxSlope()),
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subPixWinSize_(Parameters::defaultOdomSubPixWinSize()),
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subPixIterations_(Parameters::defaultOdomSubPixIterations()),
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subPixEps_(Parameters::defaultOdomSubPixEps()),
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@@ -492,7 +482,11 @@ OdometryOpticalFlow::OdometryOpticalFlow(const ParametersMap & parameters) :
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Parameters::parse(parameters, Parameters::kOdomFlowIterations(), flowIterations_);
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Parameters::parse(parameters, Parameters::kOdomFlowEps(), flowEps_);
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Parameters::parse(parameters, Parameters::kOdomFlowMaxLevel(), flowMaxLevel_);
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Parameters::parse(parameters, Parameters::kOdomStereoMaxSlope(), stereoMaxSlope_);
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Parameters::parse(parameters, Parameters::kStereoWinSize(), stereoWinSize_);
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Parameters::parse(parameters, Parameters::kStereoIterations(), stereoIterations_);
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Parameters::parse(parameters, Parameters::kStereoEps(), stereoEps_);
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Parameters::parse(parameters, Parameters::kStereoMaxLevel(), stereoMaxLevel_);
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Parameters::parse(parameters, Parameters::kStereoMaxSlope(), stereoMaxSlope_);
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Parameters::parse(parameters, Parameters::kOdomSubPixWinSize(), subPixWinSize_);
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Parameters::parse(parameters, Parameters::kOdomSubPixIterations(), subPixIterations_);
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Parameters::parse(parameters, Parameters::kOdomSubPixEps(), subPixEps_);
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@@ -613,8 +607,8 @@ Transform OdometryOpticalFlow::computeTransformStereo(
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lastCornersKeptRight,
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statusLast,
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errLast,
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cv::Size(flowWinSize_, flowWinSize_), flowMaxLevel_,
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cv::TermCriteria(cv::TermCriteria::COUNT+cv::TermCriteria::EPS, flowIterations_, flowEps_),
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cv::Size(stereoWinSize_, stereoWinSize_), stereoMaxLevel_,
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cv::TermCriteria(cv::TermCriteria::COUNT+cv::TermCriteria::EPS, stereoIterations_, stereoEps_),
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cv::OPTFLOW_LK_GET_MIN_EIGENVALS, 1e-4);
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UDEBUG("");
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@@ -643,8 +637,8 @@ Transform OdometryOpticalFlow::computeTransformStereo(
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newCornersKeptRight,
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statusNew,
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errNew,
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cv::Size(flowWinSize_, flowWinSize_), flowMaxLevel_,
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cv::TermCriteria(cv::TermCriteria::COUNT+cv::TermCriteria::EPS, flowIterations_, flowEps_),
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cv::Size(stereoWinSize_, stereoWinSize_), stereoMaxLevel_,
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cv::TermCriteria(cv::TermCriteria::COUNT+cv::TermCriteria::EPS, stereoIterations_, stereoEps_),
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cv::OPTFLOW_LK_GET_MIN_EIGENVALS, 1e-4);
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UDEBUG("Getting correspondences begin");
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@@ -482,7 +482,6 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
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_ui->odom_flow_maxLevel->setObjectName(Parameters::kOdomFlowMaxLevel().c_str());
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_ui->odom_flow_iterations->setObjectName(Parameters::kOdomFlowIterations().c_str());
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_ui->odom_flow_eps->setObjectName(Parameters::kOdomFlowEps().c_str());
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_ui->odom_stereo_maxSlope->setObjectName(Parameters::kOdomStereoMaxSlope().c_str());
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_ui->odom_subpix_winSize->setObjectName(Parameters::kOdomSubPixWinSize().c_str());
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_ui->odom_subpix_iterations->setObjectName(Parameters::kOdomSubPixIterations().c_str());
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_ui->odom_subpix_eps->setObjectName(Parameters::kOdomSubPixEps().c_str());
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@@ -64,8 +64,8 @@
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<rect>
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<x>0</x>
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<y>0</y>
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<width>736</width>
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<height>754</height>
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<width>744</width>
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<height>932</height>
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</rect>
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</property>
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<layout class="QVBoxLayout" name="verticalLayout_16">
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@@ -6167,7 +6167,7 @@ Lower the ratio -> higher the precision. 0 means disabled, matching the neare
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</widget>
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</item>
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<item>
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<layout class="QGridLayout" name="gridLayout_27" columnstretch="0,1">
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<layout class="QGridLayout" name="gridLayout_27" columnstretch="0,0">
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<item row="4" column="1">
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<widget class="QLabel" name="label_47">
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<property name="text">
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@@ -6316,7 +6316,7 @@ Lower the ratio -> higher the precision. 0 means disabled, matching the neare
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<property name="text">
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<string>Odometry strategy:
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1-BOW matches features extracted from both frames using nearest neighbor with descriptors, then computes RANSAC transformation estimation with corresponding 3D features.
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2-Optical flow estimates the location of 2D features from last frame to new frame, then computes RANSAC transformation with corresponding 3D features.</string>
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2-Optical flow estimate the location of 2D features from last frame to new frame, then computes RANSAC transformation with corresponding 3D features.</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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@@ -6821,7 +6821,7 @@ Lower the ratio -> higher the precision. 0 means disabled, matching the neare
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<item>
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<widget class="QGroupBox" name="groupBox_odometryFlow3">
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<property name="title">
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<string>Optical Flow / Stereo</string>
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<string>Optical Flow</string>
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</property>
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<layout class="QVBoxLayout" name="verticalLayout_53">
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<item>
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@@ -6955,58 +6955,6 @@ Lower the ratio -> higher the precision. 0 means disabled, matching the neare
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</layout>
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</widget>
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</item>
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<item>
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<widget class="QGroupBox" name="groupBox_12">
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<property name="title">
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<string>Stereo</string>
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</property>
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<layout class="QVBoxLayout" name="verticalLayout_61">
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<item>
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<widget class="QLabel" name="label_217">
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<property name="text">
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<string>Note that when stereo images are used, the same optical flow parameters above are used to estimate the stereo pairs.</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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</property>
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</widget>
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</item>
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<item>
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<layout class="QGridLayout" name="gridLayout_31" columnstretch="0,1">
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<item row="0" column="0">
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<widget class="QDoubleSpinBox" name="odom_stereo_maxSlope">
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<property name="decimals">
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<number>3</number>
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</property>
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<property name="minimum">
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<double>0.001000000000000</double>
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</property>
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<property name="maximum">
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<double>1.000000000000000</double>
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</property>
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<property name="singleStep">
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<double>0.010000000000000</double>
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</property>
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<property name="value">
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<double>0.100000000000000</double>
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</property>
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</widget>
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</item>
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<item row="0" column="1">
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<widget class="QLabel" name="label_196">
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<property name="text">
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<string>The maximum slope for each stereo pairs. This will filter bad matches from calcOpticalFlowPyrLK().</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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</property>
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</widget>
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</item>
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</layout>
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</item>
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</layout>
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</widget>
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</item>
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</layout>
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</widget>
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</item>
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