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Added parameter Kp/NewWordsComparedTogether for dictionary, always true but when comparing loop closures with Reextracting features, it is set to false to save time.

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fixed crash when calling getMap without rtabmap yet initialized.
Parameter "LccReextract/LoopClosureFeatures" is now named "LccReextract/Activated"


git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1855 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2014-10-14 21:48:50 +00:00
parent 39a9c4ebd8
commit 22ce2525fc
7 changed files with 86 additions and 58 deletions
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3
corelib/include/rtabmap/core/Parameters.h
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@@ -174,6 +174,7 @@ class RTABMAP_EXP Parameters
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");
RTABMAP_PARAM(Kp, NewWordsComparedTogether, bool, true, "When adding new words to dictionary, they are compared also with each other (to detect same words in the same signature).");
//Database
RTABMAP_PARAM(DbSqlite3, InMemory, bool, false, "Using database in the memory instead of a file on the hard disk.");
@@ -294,7 +295,7 @@ class RTABMAP_EXP Parameters
RTABMAP_PARAM(LccBow, Iterations, int, 100, "Maximum iterations to compute the transform from visual words.");
RTABMAP_PARAM(LccBow, MaxDepth, float, 5.0, "Max depth of the words (0 means no limit).");
RTABMAP_PARAM(LccBow, Force2D, bool, false, "Force 2D transform (3Dof: x,y and yaw).")
RTABMAP_PARAM(LccReextract, LoopClosureFeatures, bool, false, "Re-extract features on global loop closure.");
RTABMAP_PARAM(LccReextract, Activated, bool, false, "Activate re-extracting features on global loop closure.");
RTABMAP_PARAM(LccReextract, NNType, int, 3, "kNNFlannNaive=0, kNNFlannKdTree=1, kNNFlannLSH=2, kNNBruteForce=3, kNNBruteForceGPU=4.");
RTABMAP_PARAM(LccReextract, NNDR, float, 0.7, "NNDR: nearest neighbor distance ratio.");
RTABMAP_PARAM(LccReextract, FeatureType, int, 4, "0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF 7=BRISK.");

1
corelib/include/rtabmap/core/VWDictionary.h
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@@ -98,6 +98,7 @@ private:
bool _incrementalDictionary;
float _nndrRatio;
std::string _dictionaryPath; // a pre-computed dictionary (.txt)
bool _newWordsComparedTogether;
int _lastWordId;
cv::flann::Index * _flannIndex;
cv::Mat _dataTree;

18
corelib/src/Rtabmap.cpp
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@@ -100,7 +100,7 @@ Rtabmap::Rtabmap() :
_toroIterations(Parameters::defaultRGBDToroIterations()),
_databasePath(""),
_optimizeFromGraphEnd(Parameters::defaultRGBDOptimizeFromGraphEnd()),
_reextractLoopClosureFeatures(Parameters::defaultLccReextractLoopClosureFeatures()),
_reextractLoopClosureFeatures(Parameters::defaultLccReextractActivated()),
_reextractNNType(Parameters::defaultLccReextractNNType()),
_reextractNNDR(Parameters::defaultLccReextractNNDR()),
_reextractFeatureType(Parameters::defaultLccReextractFeatureType()),
@@ -355,7 +355,7 @@ void Rtabmap::parseParameters(const ParametersMap & parameters)
Parameters::parse(parameters, Parameters::kRGBDLocalLoopDetectionMaxDiffID(), _localDetectMaxDiffID);
Parameters::parse(parameters, Parameters::kRGBDToroIterations(), _toroIterations);
Parameters::parse(parameters, Parameters::kRGBDOptimizeFromGraphEnd(), _optimizeFromGraphEnd);
Parameters::parse(parameters, Parameters::kLccReextractLoopClosureFeatures(), _reextractLoopClosureFeatures);
Parameters::parse(parameters, Parameters::kLccReextractActivated(), _reextractLoopClosureFeatures);
Parameters::parse(parameters, Parameters::kLccReextractNNType(), _reextractNNType);
Parameters::parse(parameters, Parameters::kLccReextractNNDR(), _reextractNNDR);
Parameters::parse(parameters, Parameters::kLccReextractFeatureType(), _reextractFeatureType);
@@ -1286,6 +1286,7 @@ bool Rtabmap::process(const SensorData & data)
uInsert(customParameters, ParametersPair(Parameters::kMemRehearsalSimilarity(), "1.0")); // desactivate rehearsal
uInsert(customParameters, ParametersPair(Parameters::kMemImageKept(), "false"));
uInsert(customParameters, ParametersPair(Parameters::kMemSTMSize(), "0"));
uInsert(customParameters, ParametersPair(Parameters::kKpNewWordsComparedTogether(), "false"));
uInsert(customParameters, ParametersPair(Parameters::kKpNNStrategy(), uNumber2Str(_reextractNNType))); // bruteforce
uInsert(customParameters, ParametersPair(Parameters::kKpNndrRatio(), uNumber2Str(_reextractNNDR)));
uInsert(customParameters, ParametersPair(Parameters::kKpDetectorStrategy(), uNumber2Str(_reextractFeatureType))); // FAST/BRIEF
@@ -2296,6 +2297,7 @@ void Rtabmap::get3DMap(std::map<int, std::vector<unsigned char> > & images,
bool optimized,
bool global) const
{
UDEBUG("");
if(_memory && _memory->getLastWorkingSignature())
{
if(optimized)
@@ -2349,10 +2351,14 @@ void Rtabmap::get3DMap(std::map<int, std::vector<unsigned char> > & images,
mapIds.insert(std::make_pair(*iter, _memory->getMapId(*iter)));
}
}
else if(_memory->getStMem().size() || _memory->getWorkingMem().size())
else if(_memory && (_memory->getStMem().size() || _memory->getWorkingMem().size()))
{
UERROR("Last working signature is null!?");
}
else if(_memory == 0)
{
UWARN("Memory not initialized...");
}
}
void Rtabmap::getGraph(
@@ -2386,10 +2392,14 @@ void Rtabmap::getGraph(
mapIds.insert(std::make_pair(*iter, _memory->getMapId(*iter)));
}
}
else if(_memory->getStMem().size() || _memory->getWorkingMem().size())
else if(_memory && (_memory->getStMem().size() || _memory->getWorkingMem().size()))
{
UERROR("Last working signature is null!?");
}
else if(_memory == 0)
{
UWARN("Memory not initialized...");
}
}
void Rtabmap::readParameters(const std::string & configFile, ParametersMap & parameters)

4
corelib/src/VWDictionary.cpp
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@@ -50,6 +50,7 @@ VWDictionary::VWDictionary(const ParametersMap & parameters) :
_incrementalDictionary(Parameters::defaultKpIncrementalDictionary()),
_nndrRatio(Parameters::defaultKpNndrRatio()),
_dictionaryPath(Parameters::defaultKpDictionaryPath()),
_newWordsComparedTogether(Parameters::defaultKpNewWordsComparedTogether()),
_lastWordId(0),
_flannIndex(new cv::flann::Index()),
_strategy(kNNUndef)
@@ -68,6 +69,7 @@ void VWDictionary::parseParameters(const ParametersMap & parameters)
{
ParametersMap::const_iterator iter;
Parameters::parse(parameters, Parameters::kKpNndrRatio(), _nndrRatio);
Parameters::parse(parameters, Parameters::kKpNewWordsComparedTogether(), _newWordsComparedTogether);
UASSERT(_nndrRatio > 0.0f);
@@ -505,7 +507,7 @@ std::list<int> VWDictionary::addNewWords(const cv::Mat & descriptors,
}
// Check if this descriptor matches with a word from the last signature (a word not already added to the tree)
if(newWords.rows)
if(_newWordsComparedTogether && newWords.rows)
{
cv::flann::Index linearSeach;
linearSeach.build(newWords, cv::flann::LinearIndexParams(), type == CV_32F?cvflann::FLANN_DIST_L2:cvflann::FLANN_DIST_HAMMING);

2
corelib/src/util3d.cpp
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@@ -1879,7 +1879,7 @@ void optimizeTOROGraph(
"TORO is not able to find the root of the graph!)");
pg.initializeOptimization();
UDEBUG("TORO iterate begin");
UDEBUG("TORO iterate begin (iterations=%d)", toroIterations);
for (int i=0; i<toroIterations; i++)
{
if(intermediateGraphes && (toroInitialGuess || i>0))