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

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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
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34
corelib/src/Odometry.cpp
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@@ -153,26 +153,12 @@ OdometryBOW::OdometryBOW(const ParametersMap & parameters) :
customParameters.insert(ParametersPair(Parameters::kKpDetectorStrategy(), uNumber2Str(featureType)));
// Memory's stereo parameters, copy from Odometry
int flowWinSize = Parameters::defaultOdomFlowWinSize();
int flowIterations_ = Parameters::defaultOdomFlowIterations();
double flowEps_ = Parameters::defaultOdomFlowEps();
int flowMaxLevel_ = Parameters::defaultOdomFlowMaxLevel();
float stereoMaxSlope_ = Parameters::defaultOdomStereoMaxSlope();
int subPixWinSize_ = Parameters::defaultOdomSubPixWinSize();
int subPixIterations_ = Parameters::defaultOdomSubPixIterations();
double subPixEps_ = Parameters::defaultOdomSubPixEps();
Parameters::parse(parameters, Parameters::kOdomFlowWinSize(), flowWinSize);
Parameters::parse(parameters, Parameters::kOdomFlowIterations(), flowIterations_);
Parameters::parse(parameters, Parameters::kOdomFlowEps(), flowEps_);
Parameters::parse(parameters, Parameters::kOdomFlowMaxLevel(), flowMaxLevel_);
Parameters::parse(parameters, Parameters::kOdomSubPixWinSize(), subPixWinSize_);
Parameters::parse(parameters, Parameters::kOdomSubPixIterations(), subPixIterations_);
Parameters::parse(parameters, Parameters::kOdomSubPixEps(), subPixEps_);
customParameters.insert(ParametersPair(Parameters::kStereoWinSize(), uNumber2Str(flowWinSize)));
customParameters.insert(ParametersPair(Parameters::kStereoIterations(), uNumber2Str(flowIterations_)));
customParameters.insert(ParametersPair(Parameters::kStereoEps(), uNumber2Str(flowEps_)));
customParameters.insert(ParametersPair(Parameters::kStereoMaxLevel(), uNumber2Str(flowMaxLevel_)));
customParameters.insert(ParametersPair(Parameters::kStereoMaxSlope(), uNumber2Str(stereoMaxSlope_)));
customParameters.insert(ParametersPair(Parameters::kKpSubPixWinSize(), uNumber2Str(subPixWinSize_)));
customParameters.insert(ParametersPair(Parameters::kKpSubPixIterations(), uNumber2Str(subPixIterations_)));
customParameters.insert(ParametersPair(Parameters::kKpSubPixEps(), uNumber2Str(subPixEps_)));
@@ -482,7 +468,11 @@ OdometryOpticalFlow::OdometryOpticalFlow(const ParametersMap & parameters) :
flowIterations_(Parameters::defaultOdomFlowIterations()),
flowEps_(Parameters::defaultOdomFlowEps()),
flowMaxLevel_(Parameters::defaultOdomFlowMaxLevel()),
stereoMaxSlope_(Parameters::defaultOdomStereoMaxSlope()),
stereoWinSize_(Parameters::defaultStereoWinSize()),
stereoIterations_(Parameters::defaultStereoIterations()),
stereoEps_(Parameters::defaultStereoEps()),
stereoMaxLevel_(Parameters::defaultStereoMaxLevel()),
stereoMaxSlope_(Parameters::defaultStereoMaxSlope()),
subPixWinSize_(Parameters::defaultOdomSubPixWinSize()),
subPixIterations_(Parameters::defaultOdomSubPixIterations()),
subPixEps_(Parameters::defaultOdomSubPixEps()),
@@ -492,7 +482,11 @@ OdometryOpticalFlow::OdometryOpticalFlow(const ParametersMap & parameters) :
Parameters::parse(parameters, Parameters::kOdomFlowIterations(), flowIterations_);
Parameters::parse(parameters, Parameters::kOdomFlowEps(), flowEps_);
Parameters::parse(parameters, Parameters::kOdomFlowMaxLevel(), flowMaxLevel_);
Parameters::parse(parameters, Parameters::kOdomStereoMaxSlope(), stereoMaxSlope_);
Parameters::parse(parameters, Parameters::kStereoWinSize(), stereoWinSize_);
Parameters::parse(parameters, Parameters::kStereoIterations(), stereoIterations_);
Parameters::parse(parameters, Parameters::kStereoEps(), stereoEps_);
Parameters::parse(parameters, Parameters::kStereoMaxLevel(), stereoMaxLevel_);
Parameters::parse(parameters, Parameters::kStereoMaxSlope(), stereoMaxSlope_);
Parameters::parse(parameters, Parameters::kOdomSubPixWinSize(), subPixWinSize_);
Parameters::parse(parameters, Parameters::kOdomSubPixIterations(), subPixIterations_);
Parameters::parse(parameters, Parameters::kOdomSubPixEps(), subPixEps_);
@@ -613,8 +607,8 @@ Transform OdometryOpticalFlow::computeTransformStereo(
lastCornersKeptRight,
statusLast,
errLast,
cv::Size(flowWinSize_, flowWinSize_), flowMaxLevel_,
cv::TermCriteria(cv::TermCriteria::COUNT+cv::TermCriteria::EPS, flowIterations_, flowEps_),
cv::Size(stereoWinSize_, stereoWinSize_), stereoMaxLevel_,
cv::TermCriteria(cv::TermCriteria::COUNT+cv::TermCriteria::EPS, stereoIterations_, stereoEps_),
cv::OPTFLOW_LK_GET_MIN_EIGENVALS, 1e-4);
UDEBUG("");
@@ -643,8 +637,8 @@ Transform OdometryOpticalFlow::computeTransformStereo(
newCornersKeptRight,
statusNew,
errNew,
cv::Size(flowWinSize_, flowWinSize_), flowMaxLevel_,
cv::TermCriteria(cv::TermCriteria::COUNT+cv::TermCriteria::EPS, flowIterations_, flowEps_),
cv::Size(stereoWinSize_, stereoWinSize_), stereoMaxLevel_,
cv::TermCriteria(cv::TermCriteria::COUNT+cv::TermCriteria::EPS, stereoIterations_, stereoEps_),
cv::OPTFLOW_LK_GET_MIN_EIGENVALS, 1e-4);
UDEBUG("Getting correspondences begin");