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Increased SPTorch/Threshold decimals for more fine tuning in DBViewer

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matlabbe
2020-05-01 19:59:28 -04:00
parent 3e9cff4053
commit 45223b306a
1 changed files with 7 additions and 7 deletions
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14
corelib/include/rtabmap/core/Parameters.h
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@@ -241,12 +241,12 @@ class RTABMAP_EXP Parameters
#ifndef RTABMAP_NONFREE
#ifdef RTABMAP_OPENCV3
// OpenCV 3 without xFeatures2D module doesn't have BRIEF
RTABMAP_PARAM(Kp, DetectorStrategy, int, 8, "0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF 7=BRISK 8=GFTT/ORB 9=KAZE 10=ORB-OCTREE.");
RTABMAP_PARAM(Kp, DetectorStrategy, int, 8, "0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF 7=BRISK 8=GFTT/ORB 9=KAZE 10=ORB-OCTREE 11=SuperPoint Torch.");
#else
RTABMAP_PARAM(Kp, DetectorStrategy, int, 6, "0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF 7=BRISK 8=GFTT/ORB 9=KAZE 10=ORB-OCTREE.");
RTABMAP_PARAM(Kp, DetectorStrategy, int, 6, "0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF 7=BRISK 8=GFTT/ORB 9=KAZE 10=ORB-OCTREE 11=SuperPoint Torch.");
#endif
#else
RTABMAP_PARAM(Kp, DetectorStrategy, int, 6, "0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF 7=BRISK 8=GFTT/ORB 9=KAZE 10=ORB-OCTREE.");
RTABMAP_PARAM(Kp, DetectorStrategy, int, 6, "0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF 7=BRISK 8=GFTT/ORB 9=KAZE 10=ORB-OCTREE 11=SuperPoint Torch.");
#endif
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.");
@@ -325,7 +325,7 @@ class RTABMAP_EXP Parameters
RTABMAP_PARAM(KAZE, Diffusivity, int, 1, "Diffusivity type: 0=DIFF_PM_G1, 1=DIFF_PM_G2, 2=DIFF_WEICKERT or 3=DIFF_CHARBONNIER.");
RTABMAP_PARAM_STR(SPTorch, ModelPath, "", "[Required] Path to pre-trained weights Torch file of SuperPoint (*.pt).");
RTABMAP_PARAM(SPTorch, Threshold, float, 0.2, "Detector response threshold to accept keypoint.");
RTABMAP_PARAM(SPTorch, Threshold, float, 0.200, "Detector response threshold to accept keypoint.");
RTABMAP_PARAM(SPTorch, NMS, bool, true, "If true, non-maximum suppression is applied to detected keypoints.");
RTABMAP_PARAM(SPTorch, MinDistance, int, 4, uFormat("[%s=true] Minimum distance (pixels) between keypoints.", kSPTorchNMS().c_str()));
RTABMAP_PARAM(SPTorch, Cuda, bool, false, "Use Cuda device for Torch, otherwise CPU device is used by default.");
@@ -586,12 +586,12 @@ class RTABMAP_EXP Parameters
#ifndef RTABMAP_NONFREE
#ifdef RTABMAP_OPENCV3
// OpenCV 3 without xFeatures2D module doesn't have BRIEF
RTABMAP_PARAM(Vis, FeatureType, int, 8, "0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF 7=BRISK 8=GFTT/ORB 9=KAZE 10=ORB-OCTREE.");
RTABMAP_PARAM(Vis, FeatureType, int, 8, "0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF 7=BRISK 8=GFTT/ORB 9=KAZE 10=ORB-OCTREE 11=SuperPoint Torch.");
#else
RTABMAP_PARAM(Vis, FeatureType, int, 6, "0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF 7=BRISK 8=GFTT/ORB 9=KAZE 10=ORB-OCTREE.");
RTABMAP_PARAM(Vis, FeatureType, int, 6, "0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF 7=BRISK 8=GFTT/ORB 9=KAZE 10=ORB-OCTREE 11=SuperPoint Torch.");
#endif
#else
RTABMAP_PARAM(Vis, FeatureType, int, 6, "0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF 7=BRISK 8=GFTT/ORB 9=KAZE 10=ORB-OCTREE.");
RTABMAP_PARAM(Vis, FeatureType, int, 6, "0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF 7=BRISK 8=GFTT/ORB 9=KAZE 10=ORB-OCTREE 11=SuperPoint Torch.");
#endif
RTABMAP_PARAM(Vis, MaxFeatures, int, 1000, "0 no limits.");
RTABMAP_PARAM(Vis, MaxDepth, float, 0, "Max depth of the features (0 means no limit).");