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Parameters: Mem/LaserScanNormalRadius should be a float

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matlabbe
2018-09-27 14:28:51 -04:00
parent 790b0e5cf7
commit 3b74534567
3 changed files with 10 additions and 4 deletions
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2
corelib/include/rtabmap/core/Memory.h
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@@ -291,7 +291,7 @@ private:
float _laserScanDownsampleStepSize;
float _laserScanVoxelSize;
int _laserScanNormalK;
int _laserScanNormalRadius;
float _laserScanNormalRadius;
bool _reextractLoopClosureFeatures;
bool _localBundleOnLoopClosure;
float _rehearsalMaxDistance;

2
corelib/include/rtabmap/core/Parameters.h
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@@ -220,7 +220,7 @@ class RTABMAP_EXP Parameters
RTABMAP_PARAM(Mem, LaserScanDownsampleStepSize, int, 1, "If > 1, downsample the laser scans when creating a signature.");
RTABMAP_PARAM(Mem, LaserScanVoxelSize, float, 0.0, uFormat("If > 0 m, voxel filtering is done on laser scans when creating a signature. If the laser scan had normals, they will be removed. To recompute the normals, make sure to use \"%s\" or \"%s\" parameters.", kMemLaserScanNormalK().c_str(), kMemLaserScanNormalRadius().c_str()).c_str());
RTABMAP_PARAM(Mem, LaserScanNormalK, int, 0, "If > 0 and laser scans don't have normals, normals will be computed with K search neighbors when creating a signature.");
RTABMAP_PARAM(Mem, LaserScanNormalRadius, int, 0, "If > 0 m and laser scans don't have normals, normals will be computed with radius search neighbors when creating a signature.");
RTABMAP_PARAM(Mem, LaserScanNormalRadius, float, 0.0, "If > 0 m and laser scans don't have normals, normals will be computed with radius search neighbors when creating a signature.");
RTABMAP_PARAM(Mem, UseOdomFeatures, bool, true, "Use odometry features.");
RTABMAP_PARAM(Mem, CovOffDiagIgnored, bool, true, "Ignore off diagonal values of the covariance matrix.");

10
corelib/src/Memory.cpp
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@@ -4302,9 +4302,10 @@ Signature * Memory::createSignature(const SensorData & inputData, const Transfor
UDEBUG("inliers=%d", (int)inliers.size());
// words3D should have the same size than words
// words3D should have the same size than words if not empty
float bad_point = std::numeric_limits<float>::quiet_NaN ();
UASSERT(words.size() == words3D.size());
UASSERT(words3D.size() == 0 || words.size() == words3D.size());
bool words3DWasEmpty = words3D.empty();
int added3DPointsWithoutDepth = 0;
for(std::multimap<int, cv::KeyPoint>::const_iterator iter=words.begin(); iter!=words.end(); ++iter)
{
@@ -4327,6 +4328,11 @@ Signature * Memory::createSignature(const SensorData & inputData, const Transfor
iter3D->second = jter->second;
++added3DPointsWithoutDepth;
}
else if(words3DWasEmpty && jter == inliers.end())
{
// duplicate
words3D.insert(std::make_pair(iter->first, cv::Point3f(bad_point,bad_point,bad_point)));
}
}
UDEBUG("added3DPointsWithoutDepth=%d", added3DPointsWithoutDepth);
if(stats) stats->addStatistic(Statistics::kMemoryTriangulated_points(), (float)added3DPointsWithoutDepth);