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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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corelib/src/VWDictionary.cpp
+3 -1
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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);