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Merged master -> devel, updated default post-processing parameters

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matlabbe
2015-08-15 12:58:29 -04:00
parent 5e1124240d 15e75d17cc
commit 40866d5e78
14 changed files with 624 additions and 23 deletions
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44
corelib/include/rtabmap/core/Graph.h
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@@ -34,6 +34,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <list>
#include <rtabmap/core/Link.h>
#include <rtabmap/core/Parameters.h>
#include <rtabmap/core/Signature.h>
namespace rtabmap {
class Memory;
@@ -49,7 +50,8 @@ public:
enum Type {
kTypeUndef = -1,
kTypeTORO = 0,
kTypeG2O = 1
kTypeG2O = 1,
kTypeCVSBA = 2
};
static Optimizer * create(const ParametersMap & parameters);
static Optimizer * create(Optimizer::Type & type, const ParametersMap & parameters = ParametersMap());
@@ -73,11 +75,17 @@ public:
bool isCovarianceIgnored() const {return covarianceIgnored_;}
double epsilon() const {return epsilon_;}
// inherited classes should implement one of these methods
virtual std::map<int, Transform> optimize(
int rootId,
const std::map<int, Transform> & poses,
const std::multimap<int, Link> & constraints,
std::list<std::map<int, Transform> > * intermediateGraphes = 0) = 0;
std::list<std::map<int, Transform> > * intermediateGraphes = 0);
virtual std::map<int, Transform> optimizeBA(
int rootId,
const std::map<int, Transform> & poses,
const std::multimap<int, Link> & links,
const std::map<int, Signature> & signatures);
virtual void parseParameters(const ParametersMap & parameters);
@@ -145,6 +153,38 @@ public:
std::list<std::map<int, Transform> > * intermediateGraphes = 0);
};
class CVSBAOptimizer : public Optimizer
{
public:
static bool available();
public:
CVSBAOptimizer(int iterations = 100, bool slam2d = false, bool covarianceIgnored = false) :
Optimizer(iterations, slam2d, covarianceIgnored),
inlierDistance_(0.02),
minInliers_(10){}
CVSBAOptimizer(const ParametersMap & parameters) :
Optimizer(parameters),
inlierDistance_(0.02),
minInliers_(10){}
virtual ~CVSBAOptimizer() {}
virtual Type type() const {return kTypeCVSBA;}
void setInlierDistance(float inlierDistance) {inlierDistance_ = inlierDistance;}
void setMinInliers(int minInliers) {minInliers_ = minInliers;}
virtual std::map<int, Transform> optimizeBA(
int rootId,
const std::map<int, Transform> & poses,
const std::multimap<int, Link> & links,
const std::map<int, Signature> & signatures);
private:
float inlierDistance_;
float minInliers_;
};
////////////////////////////////////////////
// Graph utilities
////////////////////////////////////////////

8
corelib/include/rtabmap/core/Parameters.h
View File

@@ -314,7 +314,7 @@ class RTABMAP_EXP Parameters
RTABMAP_PARAM(Odom, Strategy, int, 0, "0=Bag-of-words 1=Optical Flow");
RTABMAP_PARAM(Odom, FeatureType, int, 6, "0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF 7=BRISK.");
RTABMAP_PARAM(Odom, EstimationType, int, 0, "Motion estimation approach: 0:3D->3D, 1:3D->2D (PnP)");
RTABMAP_PARAM(Odom, MaxFeatures, int, 400, "0 no limits.");
RTABMAP_PARAM(Odom, MaxFeatures, int, 1000, "0 no limits.");
RTABMAP_PARAM(Odom, InlierDistance, float, 0.02, "Maximum distance for visual word correspondences.");
RTABMAP_PARAM(Odom, MinInliers, int, 20, "Minimum visual word correspondences to compute geometry transform.");
RTABMAP_PARAM(Odom, Iterations, int, 100, "Maximum iterations to compute the transform from visual words.");
@@ -364,8 +364,8 @@ class RTABMAP_EXP Parameters
RTABMAP_PARAM(LccIcp, MaxRotation, float, 0.78, "Maximum ICP rotation correction accepted (rad).");
RTABMAP_PARAM(LccBow, EstimationType, int, 0, "Motion estimation approach: 0:3D->3D, 1:3D->2D (PnP), 2:2D->2D (Epipolar Geometry)");
RTABMAP_PARAM(LccBow, MinInliers, int, 20, "Minimum visual word correspondences to compute geometry transform.");
RTABMAP_PARAM(LccBow, InlierDistance, float, 0.02, "Maximum distance for visual word correspondences.");
RTABMAP_PARAM(LccBow, MinInliers, int, 10, "Minimum visual word correspondences to compute geometry transform.");
RTABMAP_PARAM(LccBow, InlierDistance, float, 0.05, "Maximum distance for visual word correspondences.");
RTABMAP_PARAM(LccBow, Iterations, int, 100, "Maximum iterations to compute the transform from visual words.");
RTABMAP_PARAM(LccBow, RefineIterations, int, 10, "Number of iterations used to refine the transformation found by RANSAC. 0 means that the transformation is not refined.");
RTABMAP_PARAM(LccBow, Force2D, bool, false, "Force 2D transform (3Dof: x,y and yaw).");
@@ -376,7 +376,7 @@ class RTABMAP_EXP Parameters
RTABMAP_PARAM(LccReextract, NNType, int, 3, "kNNFlannNaive=0, kNNFlannKdTree=1, kNNFlannLSH=2, kNNBruteForce=3, kNNBruteForceGPU=4.");
RTABMAP_PARAM(LccReextract, NNDR, float, 0.8, "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.");
RTABMAP_PARAM(LccReextract, MaxWords, int, 600, "0 no limits.");
RTABMAP_PARAM(LccReextract, MaxWords, int, 1000, "0 no limits.");
RTABMAP_PARAM(LccReextract, MaxDepth, float, 0.0, "Max depth of the words (0 means no limit).");
RTABMAP_PARAM(LccIcp3, Decimation, int, 8, "Depth image decimation.");