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Bump 0.20.8 version. Parameters: updated default of Vis/CorGuessWinSize=40 (was 20), GFTT/MinDistance=7 (was 3), Optimizer/GravitySigma=0.3 if built with g2o or gtsam. Those parameters help for smooth tracking on latest sensors with higher resolution and use IMU by default if available. Updated docker jfr2018 to use original parameters. CameraStereoZed: wait for imu to be available before sending frames (Zed-m and Zed2).

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matlabbe
2021-01-08 13:04:24 -05:00
parent 792c967d46
commit 1a967127d9
12 changed files with 46 additions and 86 deletions
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8
corelib/include/rtabmap/core/Parameters.h
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@@ -296,7 +296,7 @@ class RTABMAP_EXP Parameters
RTABMAP_PARAM(FAST, CV, int, 0, "Enable FastCV implementation if non-zero (and RTAB-Map is built with FastCV support). Values should be 9 and 10.");
RTABMAP_PARAM(GFTT, QualityLevel, double, 0.001, "");
RTABMAP_PARAM(GFTT, MinDistance, double, 3, "");
RTABMAP_PARAM(GFTT, MinDistance, double, 7, "");
RTABMAP_PARAM(GFTT, BlockSize, int, 3, "");
RTABMAP_PARAM(GFTT, UseHarrisDetector, bool, false, "");
RTABMAP_PARAM(GFTT, K, double, 0.04, "");
@@ -408,7 +408,11 @@ class RTABMAP_EXP Parameters
RTABMAP_PARAM(Optimizer, Robust, bool, false, uFormat("Robust graph optimization using Vertigo (only work for g2o and GTSAM optimization strategies). Not compatible with \"%s\" if enabled.", kRGBDOptimizeMaxError().c_str()));
RTABMAP_PARAM(Optimizer, PriorsIgnored, bool, true, "Ignore prior constraints (global pose or GPS) while optimizing. Currently only g2o and gtsam optimization supports this.");
RTABMAP_PARAM(Optimizer, LandmarksIgnored, bool, false, "Ignore landmark constraints while optimizing. Currently only g2o and gtsam optimization supports this.");
#if defined(RTABMAP_G2O) || defined(RTABMAP_GTSAM)
RTABMAP_PARAM(Optimizer, GravitySigma, float, 0.3, uFormat("Gravity sigma value (>=0, typically between 0.1 and 0.3). Optimization is done while preserving gravity orientation of the poses. This should be used only with visual/lidar inertial odometry approaches, for which we assume that all odometry poses are aligned with gravity. Set to 0 to disable gravity constraints. Currently supported only with g2o and GTSAM optimization strategies (see %s).", kOptimizerStrategy().c_str()));
#else
RTABMAP_PARAM(Optimizer, GravitySigma, float, 0.0, uFormat("Gravity sigma value (>=0, typically between 0.1 and 0.3). Optimization is done while preserving gravity orientation of the poses. This should be used only with visual/lidar inertial odometry approaches, for which we assume that all odometry poses are aligned with gravity. Set to 0 to disable gravity constraints. Currently supported only with g2o and GTSAM optimization strategies (see %s).", kOptimizerStrategy().c_str()));
#endif
#ifdef RTABMAP_ORB_SLAM2
RTABMAP_PARAM(g2o, Solver, int, 3, "0=csparse 1=pcg 2=cholmod 3=Eigen");
@@ -605,7 +609,7 @@ class RTABMAP_EXP Parameters
RTABMAP_PARAM(Vis, CorType, int, 0, "Correspondences computation approach: 0=Features Matching, 1=Optical Flow");
RTABMAP_PARAM(Vis, CorNNType, int, 1, uFormat("[%s=0] kNNFlannNaive=0, kNNFlannKdTree=1, kNNFlannLSH=2, kNNBruteForce=3, kNNBruteForceGPU=4, BruteForceCrossCheck=5, SuperGlue=6, GMS=7. Used for features matching approach.", kVisCorType().c_str()));
RTABMAP_PARAM(Vis, CorNNDR, float, 0.8, uFormat("[%s=0] NNDR: nearest neighbor distance ratio. Used for knn features matching approach.", kVisCorType().c_str()));
RTABMAP_PARAM(Vis, CorGuessWinSize, int, 20, uFormat("[%s=0] Matching window size (pixels) around projected points when a guess transform is provided to find correspondences. 0 means disabled.", kVisCorType().c_str()));
RTABMAP_PARAM(Vis, CorGuessWinSize, int, 40, uFormat("[%s=0] Matching window size (pixels) around projected points when a guess transform is provided to find correspondences. 0 means disabled.", kVisCorType().c_str()));
RTABMAP_PARAM(Vis, CorGuessMatchToProjection, bool, false, uFormat("[%s=0] Match frame's corners to source's projected points (when guess transform is provided) instead of projected points to frame's corners.", kVisCorType().c_str()));
RTABMAP_PARAM(Vis, CorFlowWinSize, int, 16, uFormat("[%s=1] See cv::calcOpticalFlowPyrLK(). Used for optical flow approach.", kVisCorType().c_str()));
RTABMAP_PARAM(Vis, CorFlowIterations, int, 30, uFormat("[%s=1] See cv::calcOpticalFlowPyrLK(). Used for optical flow approach.", kVisCorType().c_str()));