i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-02 01:20:25 +08:00
Code Issues Packages Projects Releases Wiki Activity

updated some default parameters mostly related to stereo odometry (flow, stereo, bayes prediction, likelihood tf-idf)

Browse Source 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1995 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2014-11-13 22:28:59 +00:00
parent ae3947988d
commit 18596b9627
5 changed files with 38 additions and 94 deletions
Download Patch File Download Diff File Expand all files Collapse all files

5
corelib/include/rtabmap/core/Odometry.h
View File

@@ -142,6 +142,11 @@ private:
int flowIterations_;
double flowEps_;
int flowMaxLevel_;
int stereoWinSize_;
int stereoIterations_;
double stereoEps_;
int stereoMaxLevel_;
float stereoMaxSlope_;
int subPixWinSize_;

30
corelib/include/rtabmap/core/Parameters.h
View File

@@ -169,7 +169,7 @@ class RTABMAP_EXP Parameters
RTABMAP_PARAM(Kp, BadSignRatio, float, 0.2, "Bad signature ratio (less than Ratio x AverageWordsPerImage = bad).");
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.)");
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.");
RTABMAP_PARAM(Kp, TfIdfLikelihoodUsed, bool, false, "Use of the td-idf strategy to compute the likelihood.");
RTABMAP_PARAM(Kp, TfIdfLikelihoodUsed, bool, true, "Use of the td-idf strategy to compute the likelihood.");
RTABMAP_PARAM(Kp, Parallelized, bool, true, "If the dictionary update and signature creation were parallelized.");
RTABMAP_PARAM_STR(Kp, RoiRatios, "0.0 0.0 0.0 0.0", "Region of interest ratios [left, right, top, bottom].");
RTABMAP_PARAM_STR(Kp, DictionaryPath, "", "Path of the pre-computed dictionary");
@@ -237,7 +237,7 @@ class RTABMAP_EXP Parameters
// BayesFilter
RTABMAP_PARAM(Bayes, VirtualPlacePriorThr, float, 0.9, "Virtual place prior");
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, ...}.");
RTABMAP_PARAM(Bayes, FullPredictionUpdate, bool, true, "Regenerate all the prediction matrix on each iteration (otherwise only removed/added ids are updated).");
RTABMAP_PARAM(Bayes, FullPredictionUpdate, bool, false, "Regenerate all the prediction matrix on each iteration (otherwise only removed/added ids are updated).");
// Verify hypotheses
RTABMAP_PARAM(VhEp, MatchCountMin, int, 8, "Minimum of matching visual words pairs to accept the loop hypothesis.");
@@ -266,14 +266,14 @@ class RTABMAP_EXP Parameters
RTABMAP_PARAM(Odom, LinearUpdate, float, 0.0, "Min linear displacement to update odometry.");
RTABMAP_PARAM(Odom, AngularUpdate, float, 0.0, "Min angular displacement to update odometry.");
RTABMAP_PARAM(Odom, MaxFeatures, int, 0, "0 no limits.");
RTABMAP_PARAM(Odom, InlierDistance, float, 0.01, "Maximum distance for visual word correspondences.");
RTABMAP_PARAM(Odom, InlierDistance, float, 0.02, "Maximum distance for visual word correspondences.");
RTABMAP_PARAM(Odom, MinInliers, int, 20, "Minimum visual word correspondences to compute geometry transform.");
RTABMAP_PARAM(Odom, Iterations, int, 30, "Maximum iterations to compute the transform from visual words.");
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.");
RTABMAP_PARAM(Odom, MaxDepth, float, 4.0, "Max depth of the words (0 means no limit).");
RTABMAP_PARAM(Odom, ResetCountdown, int, 0, "Automatically reset odometry after X consecutive images on which odometry cannot be computed (value=0 disables auto-reset).");
RTABMAP_PARAM_STR(Odom, RoiRatios, "0.0 0.0 0.0 0.0", "Region of interest ratios [left, right, top, bottom].");
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.");
RTABMAP_PARAM(Odom, FeaturesRatio, float, 0.5, "Minimum ratio of keypoints between the current image and the last image to compute odometry.");
RTABMAP_PARAM(Odom, FeaturesRatio, float, 0.0, "Minimum ratio of keypoints between the current image and the last image to compute odometry.");
// Odometry Bag-of-words
RTABMAP_PARAM(OdomBow, LocalHistorySize, int, 1000, "Local history size: If > 0 (example 5000), the odometry will maintain a local map of X maximum words.");
@@ -281,23 +281,21 @@ class RTABMAP_EXP Parameters
RTABMAP_PARAM(OdomBow, NNDR, float, 0.8, "NNDR: nearest neighbor distance ratio.");
// Odometry common stuff between BOW and Optical Flow approaches
RTABMAP_PARAM(OdomFlow, WinSize, int, 9, "Used for optical flow approach and for stereo matching. See cv::calcOpticalFlowPyrLK().");
RTABMAP_PARAM(OdomFlow, Iterations, int, 20, "Used for optical flow approach and for stereo matching. See cv::calcOpticalFlowPyrLK().");
RTABMAP_PARAM(OdomFlow, Eps, double, 0.02, "Used for optical flow approach and for stereo matching. See cv::calcOpticalFlowPyrLK().");
RTABMAP_PARAM(OdomFlow, MaxLevel, int, 4, "Used for optical flow approach and for stereo matching. See cv::calcOpticalFlowPyrLK().");
RTABMAP_PARAM(OdomFlow, WinSize, int, 16, "Used for optical flow approach and for stereo matching. See cv::calcOpticalFlowPyrLK().");
RTABMAP_PARAM(OdomFlow, Iterations, int, 30, "Used for optical flow approach and for stereo matching. See cv::calcOpticalFlowPyrLK().");
RTABMAP_PARAM(OdomFlow, Eps, double, 0.01, "Used for optical flow approach and for stereo matching. See cv::calcOpticalFlowPyrLK().");
RTABMAP_PARAM(OdomFlow, MaxLevel, int, 3, "Used for optical flow approach and for stereo matching. See cv::calcOpticalFlowPyrLK().");
RTABMAP_PARAM(OdomSubPix, WinSize, int, 3, "Can be used with BOW and optical flow approaches. See cv::cornerSubPix().");
RTABMAP_PARAM(OdomSubPix, Iterations, int, 0, "Can be used with BOW and optical flow approaches. See cv::cornerSubPix(). 0 disables sub pixel refining.");
RTABMAP_PARAM(OdomSubPix, Eps, double, 0.02, "Can be used with BOW and optical flow approaches. See cv::cornerSubPix().");
RTABMAP_PARAM(OdomStereo, MaxSlope, float, 0.1, "The maximum slope for each stereo pairs.");
// Loop closure constraint
RTABMAP_PARAM(LccIcp, Type, int, 0, "0=No ICP, 1=ICP 3D, 2=ICP 2D");
RTABMAP_PARAM(LccIcp, MaxDistance, float, 0.2, "Maximum ICP correction distance accepted (m).");
RTABMAP_PARAM(LccBow, MinInliers, int, 20, "Minimum visual word correspondences to compute geometry transform.");
RTABMAP_PARAM(LccBow, InlierDistance, float, 0.01, "Maximum distance for visual word correspondences.");
RTABMAP_PARAM(LccBow, InlierDistance, float, 0.02, "Maximum distance for visual word correspondences.");
RTABMAP_PARAM(LccBow, Iterations, int, 100, "Maximum iterations to compute the transform from visual words.");
RTABMAP_PARAM(LccBow, MaxDepth, float, 4.0, "Max depth of the words (0 means no limit).");
RTABMAP_PARAM(LccBow, Force2D, bool, false, "Force 2D transform (3Dof: x,y and yaw).")
@@ -324,10 +322,10 @@ class RTABMAP_EXP Parameters
RTABMAP_PARAM(LccIcp2, VoxelSize, float, 0.005, "Voxel size to be used for ICP computation.");
// Stereo disparity
RTABMAP_PARAM(Stereo, WinSize, int, 9, "See cv::calcOpticalFlowPyrLK().");
RTABMAP_PARAM(Stereo, Iterations, int, 20, "See cv::calcOpticalFlowPyrLK().");
RTABMAP_PARAM(Stereo, Eps, double, 0.02, "See cv::calcOpticalFlowPyrLK().");
RTABMAP_PARAM(Stereo, MaxLevel, int, 4, "See cv::calcOpticalFlowPyrLK().");
RTABMAP_PARAM(Stereo, WinSize, int, 16, "See cv::calcOpticalFlowPyrLK().");
RTABMAP_PARAM(Stereo, Iterations, int, 30, "See cv::calcOpticalFlowPyrLK().");
RTABMAP_PARAM(Stereo, Eps, double, 0.01, "See cv::calcOpticalFlowPyrLK().");
RTABMAP_PARAM(Stereo, MaxLevel, int, 3, "See cv::calcOpticalFlowPyrLK().");
RTABMAP_PARAM(Stereo, MaxSlope, float, 0.1, "The maximum slope for each stereo pairs.");
public: