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Updated NNDR default for binary descriptors to 0.9. Delete log files by default if database doesn't exist on rtabmap init.

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Mathieu Labbe
2014-12-04 16:34:39 -05:00
parent bb85735e0f
commit 4126687625
3 changed files with 7 additions and 4 deletions
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3
bin/.gitignore vendored
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@@ -16,3 +16,6 @@
/rtabmap-vocabularyComparison /rtabmap-vocabularyComparison
/uresourcegenerator /uresourcegenerator
/uresourcegenerator-0.3.0 /uresourcegenerator-0.3.0
/librtabmap_cored.so
/librtabmap_guid.so
/librtabmap_utilited.so

6
corelib/include/rtabmap/core/Parameters.h
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@@ -179,7 +179,7 @@ class RTABMAP_EXP Parameters
// Hypotheses selection // Hypotheses selection
RTABMAP_PARAM(Rtabmap, LoopThr, float, 0.11, "Loop closing threshold."); RTABMAP_PARAM(Rtabmap, LoopThr, float, 0.11, "Loop closing threshold.");
RTABMAP_PARAM(Rtabmap, LoopRatio, float, 0.9, "The loop closure hypothesis must be over LoopRatio x lastHypothesisValue."); RTABMAP_PARAM(Rtabmap, LoopRatio, float, 0.0, "The loop closure hypothesis must be over LoopRatio x lastHypothesisValue.");
// Memory // Memory
RTABMAP_PARAM(Mem, RehearsalSimilarity, float, 0.6, "Rehearsal similarity."); RTABMAP_PARAM(Mem, RehearsalSimilarity, float, 0.6, "Rehearsal similarity.");
@@ -199,7 +199,7 @@ class RTABMAP_EXP Parameters
RTABMAP_PARAM(Kp, MaxDepth, float, 0.0, "Filter extracted keypoints by depth (0=inf)"); RTABMAP_PARAM(Kp, MaxDepth, float, 0.0, "Filter extracted keypoints by depth (0=inf)");
RTABMAP_PARAM(Kp, WordsPerImage, int, 400, ""); 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, 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_COND(Kp, NndrRatio, float, RTABMAP_NONFREE, 0.8, 0.9, "NNDR ratio (A matching pair is detected, if its distance is closer than X times the distance of the second nearest neighbor.)");
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_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, 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(Kp, Parallelized, bool, true, "If the dictionary update and signature creation were parallelized.");
@@ -311,7 +311,7 @@ class RTABMAP_EXP Parameters
// Odometry Bag-of-words // Odometry Bag-of-words
RTABMAP_PARAM(OdomBow, LocalHistorySize, int, 1000, "Local history size: If > 0 (example 5000), the odometry will maintain a local map of X maximum words."); RTABMAP_PARAM(OdomBow, LocalHistorySize, int, 1000, "Local history size: If > 0 (example 5000), the odometry will maintain a local map of X maximum words.");
RTABMAP_PARAM(OdomBow, NNType, int, 3, "kNNFlannNaive=0, kNNFlannKdTree=1, kNNFlannLSH=2, kNNBruteForce=3, kNNBruteForceGPU=4"); RTABMAP_PARAM(OdomBow, NNType, int, 3, "kNNFlannNaive=0, kNNFlannKdTree=1, kNNFlannLSH=2, kNNBruteForce=3, kNNBruteForceGPU=4");
RTABMAP_PARAM(OdomBow, NNDR, float, 0.8, "NNDR: nearest neighbor distance ratio."); RTABMAP_PARAM(OdomBow, NNDR, float, 0.9, "NNDR: nearest neighbor distance ratio.");
// Odometry common stuff between BOW and Optical Flow approaches // Odometry common stuff between BOW and Optical Flow approaches
RTABMAP_PARAM(OdomFlow, WinSize, int, 16, "Used for optical flow approach and for stereo matching. See cv::calcOpticalFlowPyrLK()."); RTABMAP_PARAM(OdomFlow, WinSize, int, 16, "Used for optical flow approach and for stereo matching. See cv::calcOpticalFlowPyrLK().");

2
corelib/src/Rtabmap.cpp
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@@ -261,7 +261,7 @@ void Rtabmap::init(const ParametersMap & parameters, const std::string & databas
} }
UINFO("Using database \"%s\".", _databasePath.c_str()); UINFO("Using database \"%s\".", _databasePath.c_str());
this->parseParameters(parameters); this->parseParameters(parameters);
setupLogFiles(); setupLogFiles(!UFile::exists(_databasePath));
} }
void Rtabmap::init(const std::string & configFile, const std::string & databasePath) void Rtabmap::init(const std::string & configFile, const std::string & databasePath)