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If OpenCV nonfree module is not found, RTAB-Map will still build but with disabled SURF/SIFT options. Default BOW dictionary will be ORB in this case.

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@2071 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2014-11-21 23:37:23 +00:00
parent 08d0bc4ad5
commit 374ef280f2
10 changed files with 223 additions and 32 deletions
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44
corelib/include/rtabmap/core/Parameters.h
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@@ -30,6 +30,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
// default parameters
#include "rtabmap/core/RtabmapExp.h" // DLL export/import defines
#include "rtabmap/core/Version.h" // DLL export/import defines
#include <string>
#include <map>
@@ -102,6 +103,37 @@ typedef std::pair<std::string, std::string> ParametersPair;
Dummy##PREFIX##NAME dummy##PREFIX##NAME;
// end define PARAM
/**
* Macro used to create parameter's key and default value.
* This macro must be used only in the Parameters class definition (in this file).
* They are automatically added to the default parameters map of the class Parameters.
* Example:
* @code
* //for PARAM(Video, ImageWidth, int, 640), the output will be :
* public:
* static std::string kVideoImageWidth() {return std::string("Video/ImageWidth");}
* static int defaultVideoImageWidth() {return 640;}
* private:
* class DummyVideoImageWidth {
* public:
* DummyVideoImageWidth() {parameters_.insert(ParametersPair("Video/ImageWidth", "640"));}
* };
* DummyVideoImageWidth dummyVideoImageWidth;
* @endcode
*/
#define RTABMAP_PARAM_COND(PREFIX, NAME, TYPE, COND, DEFAULT_VALUE1, DEFAULT_VALUE2, DESCRIPTION) \
public: \
static std::string k##PREFIX##NAME() {return std::string(#PREFIX "/" #NAME);} \
static TYPE default##PREFIX##NAME() {return COND?DEFAULT_VALUE1:DEFAULT_VALUE2;} \
private: \
class Dummy##PREFIX##NAME { \
public: \
Dummy##PREFIX##NAME() {parameters_.insert(ParametersPair(#PREFIX "/" #NAME, COND?#DEFAULT_VALUE1:#DEFAULT_VALUE2)); \
descriptions_.insert(ParametersPair(#PREFIX "/" #NAME, DESCRIPTION));} \
}; \
Dummy##PREFIX##NAME dummy##PREFIX##NAME;
// end define PARAM
/**
* Class Parameters.
* This class is used to manage all custom parameters
@@ -162,13 +194,13 @@ class RTABMAP_EXP Parameters
RTABMAP_PARAM(Mem, InitWMWithAllNodes, bool, false, "Initialize the Working Memory with all nodes in Long-Term Memory. When false, it is initialized with nodes of the previous session.")
// KeypointMemory (Keypoint-based)
RTABMAP_PARAM(Kp, NNStrategy, int, 1, "kNNFlannNaive=0, kNNFlannKdTree=1, kNNFlannLSH=2, kNNBruteForce=3, kNNBruteForceGPU=4");
RTABMAP_PARAM_COND(Kp, NNStrategy, int, RTABMAP_NONFREE, 1, 3, "kNNFlannNaive=0, kNNFlannKdTree=1, kNNFlannLSH=2, kNNBruteForce=3, kNNBruteForceGPU=4");
RTABMAP_PARAM(Kp, IncrementalDictionary, bool, true, "");
RTABMAP_PARAM(Kp, MaxDepth, float, 0.0, "Filter extracted keypoints by depth (0=inf)");
RTABMAP_PARAM(Kp, WordsPerImage, int, 400, "");
RTABMAP_PARAM(Kp, BadSignRatio, float, 0.2, "Bad signature ratio (less than Ratio x AverageWordsPerImage = bad).");
RTABMAP_PARAM(Kp, NndrRatio, float, 0.8, "NNDR ratio (A matching pair is detected, if its distance is closer than X times the distance of the second nearest neighbor.)");
RTABMAP_PARAM(Kp, DetectorStrategy, int, 0, "0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF 7=BRISK.");
RTABMAP_PARAM_COND(Kp, DetectorStrategy, int, RTABMAP_NONFREE, 0, 2, "0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF 7=BRISK.");
RTABMAP_PARAM(Kp, TfIdfLikelihoodUsed, bool, true, "Use of the td-idf strategy to compute the likelihood.");
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].");
@@ -210,14 +242,14 @@ class RTABMAP_EXP Parameters
RTABMAP_PARAM(GFTT, MaxCorners, int, 400, "");
RTABMAP_PARAM(GFTT, QualityLevel, double, 0.01, "");
RTABMAP_PARAM(GFTT, MinDistance, double, 1, "");
RTABMAP_PARAM(GFTT, MinDistance, double, 5, "");
RTABMAP_PARAM(GFTT, BlockSize, int, 3, "");
RTABMAP_PARAM(GFTT, UseHarrisDetector, bool, false, "");
RTABMAP_PARAM(GFTT, K, double, 0.04, "");
RTABMAP_PARAM(ORB, NFeatures, int, 500, "The maximum number of features to retain.");
RTABMAP_PARAM(ORB, NFeatures, int, 400, "The maximum number of features to retain.");
RTABMAP_PARAM(ORB, ScaleFactor, float, 1.2, "Pyramid decimation ratio, greater than 1. scaleFactor==2 means the classical pyramid, where each next level has 4x less pixels than the previous, but such a big scale factor will degrade feature matching scores dramatically. On the other hand, too close to 1 scale factor will mean that to cover certain scale range you will need more pyramid levels and so the speed will suffer.");
RTABMAP_PARAM(ORB, NLevels, int, 8, "The number of pyramid levels. The smallest level will have linear size equal to input_image_linear_size/pow(scaleFactor, nlevels).");
RTABMAP_PARAM(ORB, NLevels, int, 1, "The number of pyramid levels. The smallest level will have linear size equal to input_image_linear_size/pow(scaleFactor, nlevels).");
RTABMAP_PARAM(ORB, EdgeThreshold, int, 31, "This is size of the border where the features are not detected. It should roughly match the patchSize parameter.");
RTABMAP_PARAM(ORB, FirstLevel, int, 0, "It should be 0 in the current implementation.");
RTABMAP_PARAM(ORB, WTA_K, int, 2, "The number of points that produce each element of the oriented BRIEF descriptor. The default value 2 means the BRIEF where we take a random point pair and compare their brightnesses, so we get 0/1 response. Other possible values are 3 and 4. For example, 3 means that we take 3 random points (of course, those point coordinates are random, but they are generated from the pre-defined seed, so each element of BRIEF descriptor is computed deterministically from the pixel rectangle), find point of maximum brightness and output index of the winner (0, 1 or 2). Such output will occupy 2 bits, and therefore it will need a special variant of Hamming distance, denoted as NORM_HAMMING2 (2 bits per bin). When WTA_K=4, we take 4 random points to compute each bin (that will also occupy 2 bits with possible values 0, 1, 2 or 3).");
@@ -300,7 +332,7 @@ class RTABMAP_EXP Parameters
RTABMAP_PARAM(LccBow, Iterations, int, 100, "Maximum iterations to compute the transform from visual words.");
RTABMAP_PARAM(LccBow, MaxDepth, float, 4.0, "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, Activated, bool, false, "Activate re-extracting features on global loop closure.");
RTABMAP_PARAM_COND(LccReextract, Activated, bool, RTABMAP_NONFREE, false, true, "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.");