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

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

Browse Source 
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
Download Patch File Download Diff File Expand all files Collapse all files

3
corelib/include/rtabmap/core/Parameters.h
View File

@@ -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
View File

@@ -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;