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OdomF2M: added Odom/KeyFrameThr=0.5 and OdomF2M/MaxNewFeatures=0 parameters. Set Odom/GuessMotion to false by default.

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matlabbe
2016-03-01 20:47:46 -05:00
parent b6fb947310
commit 264146d8b3
10 changed files with 180 additions and 100 deletions
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2
corelib/include/rtabmap/core/OdometryF2F.h
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@@ -50,7 +50,7 @@ private:
private:
//Parameters:
int keyFrameThr_;
float keyFrameThr_;
Registration * registrationPipeline_;
Signature refFrame_;

2
corelib/include/rtabmap/core/OdometryF2M.h
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@@ -51,6 +51,8 @@ private:
private:
//Parameters
int maximumMapSize_;
float keyFrameThr_;
int maxNewFeatures_;
std::string fixedMapPath_;
RegistrationVis * regVis_;

15
corelib/include/rtabmap/core/Parameters.h
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@@ -358,11 +358,13 @@ class RTABMAP_EXP Parameters
RTABMAP_PARAM(Odom, ParticleLambdaR, float, 100, "Lambda of rotational components (roll,pitch,yaw).");
RTABMAP_PARAM(Odom, KalmanProcessNoise, float, 0.001, "Process noise covariance value.");
RTABMAP_PARAM(Odom, KalmanMeasurementNoise, float, 0.01, "Process measurement covariance value.");
RTABMAP_PARAM(Odom, GuessMotion, bool, true, "Guess next transformation from the last motion computed.");
RTABMAP_PARAM(Odom, GuessMotion, bool, false, "Guess next transformation from the last motion computed.");
RTABMAP_PARAM(Odom, KeyFrameThr, float, 0.5, "Create a new keyframe when the number of inliers drops under this ratio of features in last frame. Setting the value to 0 means that a keyframe is created for each processed frame.");
// Odometry Bag-of-words
RTABMAP_PARAM(OdomF2M, MaxSize, int, 1000, "Local map size: If > 0 (example 5000), the odometry will maintain a local map of X maximum words.");
RTABMAP_PARAM_STR(OdomF2M, FixedMapPath, "", "Path to a fixed map (RTAB-Map's database) to be used for odometry. Odometry will be constraint to this map. RGB-only images can be used if odometry PnP estimation is used.")
RTABMAP_PARAM(OdomF2M, MaxNewFeatures, int, 0, "Maximum features added to local map (nearest to farthest) from a new key-frame. 0 means no limit.");
RTABMAP_PARAM_STR(OdomF2M, FixedMapPath, "", "Path to a fixed map (RTAB-Map's database) to be used for odometry. Odometry will be constraint to this map. RGB-only images can be used if odometry PnP estimation is used.")
// Odometry Mono
RTABMAP_PARAM(OdomMono, InitMinFlow, float, 100, "Minimum optical flow required for the initialization step.");
@@ -370,9 +372,6 @@ class RTABMAP_EXP Parameters
RTABMAP_PARAM(OdomMono, MinTranslation, float, 0.02, "Minimum translation to add new points to local map. On initialization, translation x 5 is used as the minimum.");
RTABMAP_PARAM(OdomMono, MaxVariance, float, 0.01, "Maximum variance to add new points to local map.");
// Odometry Optical Flow
RTABMAP_PARAM(OdomF2F, KeyFrameThr, int, 500, "Create a new keyframe when the number of inliers drops under this threshold. Setting the value to 0 means that a keyframe is created for each processed frame.");
// Common registration parameters
RTABMAP_PARAM(Reg, VarianceFromInliersCount, bool, false, "Set variance as the inverse of the number of inliers. Otherwise, the variance is computed as the average 3D position error of the inliers.");
RTABMAP_PARAM(Reg, Strategy, int, 0, "0=Vis, 1=Icp, 2=VisIcp");
@@ -385,11 +384,7 @@ class RTABMAP_EXP Parameters
RTABMAP_PARAM(Vis, RefineIterations, int, 5, "[Vis/EstimationType = 0] Number of iterations used to refine the transformation found by RANSAC. 0 means that the transformation is not refined.");
RTABMAP_PARAM(Vis, PnPReprojError, float, 2.0, "[Vis/EstimationType = 1] PnP reprojection error.");
RTABMAP_PARAM(Vis, PnPFlags, int, 1, "[Vis/EstimationType = 1] PnP flags: 0=Iterative, 1=EPNP, 2=P3P");
#ifdef RTABMAP_OPENCV3
RTABMAP_PARAM(Vis, PnPRefineIterations, int, 0, "[Vis/EstimationType = 1] Refine iterations.");
#else
RTABMAP_PARAM(Vis, PnPRefineIterations, int, 1, "[Vis/EstimationType = 1] Refine iterations.");
#endif
RTABMAP_PARAM(Vis, EpipolarGeometryVar, float, 0.02, "[Vis/EstimationType = 2] Epipolar geometry maximum variance to accept the transformation.");
RTABMAP_PARAM(Vis, MinInliers, int, 10, "Minimum feature correspondences to compute/accept the transformation.");
RTABMAP_PARAM(Vis, Iterations, int, 100, "Maximum iterations to compute the transform.");
@@ -404,7 +399,7 @@ class RTABMAP_EXP Parameters
RTABMAP_PARAM(Vis, CorType, int, 0, "Correspondences computation approach: 0=Features Matching, 1=Optical Flow");
RTABMAP_PARAM(Vis, CorNNType, int, 3, "[Vis/CorrespondenceType=0] kNNFlannNaive=0, kNNFlannKdTree=1, kNNFlannLSH=2, kNNBruteForce=3, kNNBruteForceGPU=4. Used for features matching approach.");
RTABMAP_PARAM(Vis, CorNNDR, float, 0.8, "[Vis/CorrespondenceType=0] NNDR: nearest neighbor distance ratio. Used for features matching approach.");
RTABMAP_PARAM(Vis, CorGuessWinSize, int, 0, "[Vis/CorrespondenceType=0] Matching window size (pixels) around projected points when a guess transform is provided to find correspondences. 0 means disabled.");
RTABMAP_PARAM(Vis, CorGuessWinSize, int, 16, "[Vis/CorrespondenceType=0] Matching window size (pixels) around projected points when a guess transform is provided to find correspondences. 0 means disabled.");
RTABMAP_PARAM(Vis, CorFlowWinSize, int, 16, "[Vis/CorrespondenceType=1] See cv::calcOpticalFlowPyrLK(). Used for optical flow approach.");
RTABMAP_PARAM(Vis, CorFlowIterations, int, 30, "[Vis/CorrespondenceType=1] See cv::calcOpticalFlowPyrLK(). Used for optical flow approach.");
RTABMAP_PARAM(Vis, CorFlowEps, float, 0.01, "[Vis/CorrespondenceType=1] See cv::calcOpticalFlowPyrLK(). Used for optical flow approach.");