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-Refactored HypVerification classes (added verification by signatures' similarity), there is no more complicated rejectedHypReason, now it's only true if valide or false if verification fails...

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git-svn-id: http://rtabmap.googlecode.com/svn/branches/0.3/rtabmap@86 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2011-06-09 02:56:31 +00:00
parent c59d461c81
commit 25c2a9f07e
13 changed files with 202 additions and 367 deletions
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3
corelib/include/rtabmap/core/Parameters.h
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@@ -121,7 +121,7 @@ typedef std::pair<const std::string, std::string> ParametersPair;
class RTABMAP_EXP Parameters
{
// Rtabmap parameters
RTABMAP_PARAM(Rtabmap, VhStrategy, int, 0); // Simple 0, Epipolar 1
RTABMAP_PARAM(Rtabmap, VhStrategy, int, 0); // None 0, Similarity 1, Epipolar 2
RTABMAP_PARAM(Rtabmap, PublishStats, bool, true); // Publishing statistics
RTABMAP_PARAM(Rtabmap, ReactivationThr, float, 0.0); // Reactivation threshold
RTABMAP_PARAM(Rtabmap, TimeThr, float, 0.7); // Maximum time allowed for the detector (s) (0 means infinity)
@@ -197,6 +197,7 @@ class RTABMAP_EXP Parameters
RTABMAP_PARAM_STR(Bayes, PredictionLC, "0.1 0.24 0.18 0.1 0.04 0.01"); // Prediction of loop closures (Gaussian-like, must be pair size) - Format: {VirtualPlaceProb, LoopClosureProb, BackwardNeighborLvl1, ForwardNeighborLvl1, BackwardNeighborLvl2, ForwardNeighborLvl2, ...}
// Verify hypotheses
RTABMAP_PARAM(Vh, Similarity, float, 0.5); // Minimum similarity to accept an hypothesis
RTABMAP_PARAM(VhEp, MatchCountMin, int, 8); // Minimum of matching visual words pairs to accept the loop hypothesis
RTABMAP_PARAM(VhEp, RansacParam1, float, 3.0); // Fundamental matrix (see cvFindFundamentalMat()): Max distance (in pixels) from the epipolar line for a point to be inlier
RTABMAP_PARAM(VhEp, RansacParam2, float, 0.99); // Fundamental matrix (see cvFindFundamentalMat()): Performance of the RANSAC

6
corelib/include/rtabmap/core/Rtabmap.h
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@@ -39,7 +39,7 @@ namespace rtabmap
class Signature;
class VerifyHypotheses;
class HypVerificator;
class Memory;
class BayesFilter;
class SMState;
@@ -60,7 +60,7 @@ public:
kStateDeletingMemory
};
enum VhStrategy {kVhSimple, kVhEpipolar, kVhUndef};
enum VhStrategy {kVhNone, kVhSim, kVhEpipolar, kVhUndef};
static const char * kDefaultIniFileName;
static const char * kDefaultIniFilePath;
@@ -153,7 +153,7 @@ private:
// Abstract classes containing all loop closure
// strategies for a type of signature or configuration.
VerifyHypotheses * _vhStrategy;
HypVerificator * _vhStrategy;
BayesFilter * _bayesFilter;
Memory * _memory;

2
corelib/include/rtabmap/core/RtabmapEvent.h
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@@ -46,7 +46,7 @@ namespace rtabmap
class RTABMAP_EXP Statistics
{
RTABMAP_STATS(Loop, Closure_id,);
RTABMAP_STATS(Loop, Rejected_reason,);
RTABMAP_STATS(Loop, RejectedHypothesis,);
RTABMAP_STATS(Loop, Highest_hypothesis_id,);
RTABMAP_STATS(Loop, Highest_hypothesis_value,);
RTABMAP_STATS(Loop, Vp_likelihood,);