i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-01 17:10:26 +08:00
Code Issues Packages Projects Releases Wiki Activity

Removed DisableReactivation parameter (indirectly included by the RetrievalThr when = to 1)

Browse Source 
Some default parameters' values modified for robot learning

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@316 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2011-09-16 17:37:54 +00:00
parent 3eb8bcbfa4
commit 4a3317dd06
7 changed files with 41 additions and 72 deletions
Download Patch File Download Diff File Expand all files Collapse all files

13
corelib/include/rtabmap/core/Parameters.h
View File

@@ -123,16 +123,15 @@ class RTABMAP_EXP Parameters
// Rtabmap parameters
RTABMAP_PARAM(Rtabmap, VhStrategy, int, 0); // None 0, Similarity 1, Epipolar 2
RTABMAP_PARAM(Rtabmap, PublishStats, bool, true); // Publishing statistics
RTABMAP_PARAM(Rtabmap, ReactivationThr, float, 0.0); // Reactivation threshold
RTABMAP_PARAM(Rtabmap, RetrievalThr, float, 0.0); // Reactivation threshold
RTABMAP_PARAM(Rtabmap, TimeThr, float, 0.7); // Maximum time allowed for the detector (s) (0 means infinity)
RTABMAP_PARAM(Rtabmap, DisableReactivation, bool, false); // Memory reactivation when a loop closure occurs : 0=enable, 1=disable
RTABMAP_PARAM(Rtabmap, SMStateBufferSize, int, 1); // Data buffer size (0 min inf)
RTABMAP_PARAM(Rtabmap, MinMemorySizeForLoopDetection, unsigned int, 15); //Minimum size of the memory to create loop closure hypotheses
RTABMAP_PARAM(Rtabmap, MinMemorySizeForLoopDetection, unsigned int, 25); //Minimum size of the memory to create loop closure hypotheses
RTABMAP_PARAM_STR(Rtabmap, WorkingDirectory, Parameters::getDefaultWorkingDirectory()); // Working directory
RTABMAP_PARAM(Rtabmap, LocalGraphCleaned, bool, false); // Clean the neighborhood of the retrieved id
RTABMAP_PARAM(Rtabmap, MaxRetrieved, unsigned int, 2); // Maximum locations retrieved at the same time from LTM
RTABMAP_PARAM(Rtabmap, ActionsByTime, bool, false); // Select next actions using directly the more recent neighbor of the current node, otherwise, highest hypothesis is used
RTABMAP_PARAM(Rtabmap, ActionsSentRejectHyp, bool, false); // Actions sent also on rejected hypotheses (on decreasing hypotheses)
RTABMAP_PARAM(Rtabmap, ActionsByTime, bool, true); // Select next actions using directly the more recent neighbor of the current node, otherwise, highest hypothesis is used
RTABMAP_PARAM(Rtabmap, ActionsSentRejectHyp, bool, true); // Actions sent also on rejected hypotheses (on decreasing hypotheses)
RTABMAP_PARAM(Rtabmap, ConfidenceThr, float, 0.0); // Actions are not sent when the loop closure hypothesis is under the confidence threshold
// Hypotheses selection
@@ -154,7 +153,7 @@ class RTABMAP_EXP Parameters
RTABMAP_PARAM(Kp, NNStrategy, int, 2); // Naive 0, kdTree 1, kdForest 2
RTABMAP_PARAM(Kp, IncrementalDictionary, bool, true);
RTABMAP_PARAM(Kp, WordsPerImage, int, 400);
RTABMAP_PARAM(Kp, BadSignRatio, float, 0.05); //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, MinDistUsed, bool, false); // The nearest neighbor must have a distance < minDist
RTABMAP_PARAM(Kp, MinDist, float, 0.05); // Matching a descriptor with a word (euclidean distance ^ 2)
RTABMAP_PARAM(Kp, NndrUsed, bool, true); // If NNDR ratio is used
@@ -179,7 +178,7 @@ class RTABMAP_EXP Parameters
RTABMAP_PARAM(DbSqlite3, JournalMode, int, 0); // 0=DELETE, 1=TRUNCATE, 2=PERSIST, 3=MEMORY, 4=OFF (see sqlite3 doc : "PRAGMA journal_mode")
RTABMAP_PARAM(SURF, Extended, bool, false); // true=128, false=64
RTABMAP_PARAM(SURF, HessianThreshold, float, 100.0);
RTABMAP_PARAM(SURF, HessianThreshold, float, 150.0);
RTABMAP_PARAM(SURF, Octaves, int, 4);
RTABMAP_PARAM(SURF, OctaveLayers, int, 2);
RTABMAP_PARAM(SURF, GpuVersion, bool, false);

4
corelib/include/rtabmap/core/Rtabmap.h
View File

@@ -92,7 +92,6 @@ public:
int getTotalMemSize() const;
const std::string & getGraphFileName() const {return _graphFileName;}
void setReactivationDisabled(bool reactivationDisabled);
void setMaxTimeAllowed(float maxTimeAllowed); // in sec
void setDataBufferSize(int size);
void setWorkingDirectory(std::string path);
@@ -124,13 +123,12 @@ private:
private:
// Modifiable parameters
bool _publishStats;
bool _reactivationDisabled;
float _maxTimeAllowed; // in sec
int _smStateBufferMaxSize;
unsigned int _minMemorySizeForLoopDetection;
float _loopThr;
float _loopRatio;
float _remThr;
float _retrievalThr;
bool _localGraphCleaned;
unsigned int _maxRetrieved;
bool _actionsByTime;

20
corelib/src/Rtabmap.cpp
View File

@@ -54,13 +54,12 @@ const char * Rtabmap::kDefaultIniFileName = "rtabmap.ini";
Rtabmap::Rtabmap() :
_publishStats(Parameters::defaultRtabmapPublishStats()),
_reactivationDisabled(Parameters::defaultRtabmapDisableReactivation()),
_maxTimeAllowed(Parameters::defaultRtabmapTimeThr()), // 1 sec
_smStateBufferMaxSize(Parameters::defaultRtabmapSMStateBufferSize()),
_minMemorySizeForLoopDetection(Parameters::defaultRtabmapMinMemorySizeForLoopDetection()),
_loopThr(Parameters::defaultRtabmapLoopThr()),
_loopRatio(Parameters::defaultRtabmapLoopRatio()),
_remThr(Parameters::defaultRtabmapReactivationThr()),
_retrievalThr(Parameters::defaultRtabmapRetrievalThr()),
_localGraphCleaned(Parameters::defaultRtabmapLocalGraphCleaned()),
_maxRetrieved(Parameters::defaultRtabmapMaxRetrieved()),
_actionsByTime(Parameters::defaultRtabmapActionsByTime()),
@@ -236,10 +235,6 @@ void Rtabmap::parseParameters(const ParametersMap & parameters)
{
_publishStats = uStr2Bool(iter->second.c_str());
}
if((iter=parameters.find(Parameters::kRtabmapDisableReactivation())) != parameters.end())
{
_reactivationDisabled = uStr2Bool(iter->second.c_str());
}
if((iter=parameters.find(Parameters::kRtabmapTimeThr())) != parameters.end())
{
_maxTimeAllowed = std::atof(iter->second.c_str());
@@ -252,9 +247,9 @@ void Rtabmap::parseParameters(const ParametersMap & parameters)
{
_loopRatio = std::atof(iter->second.c_str());
}
if((iter=parameters.find(Parameters::kRtabmapReactivationThr())) != parameters.end())
if((iter=parameters.find(Parameters::kRtabmapRetrievalThr())) != parameters.end())
{
_remThr = std::atof(iter->second.c_str());
_retrievalThr = std::atof(iter->second.c_str());
}
if((iter=parameters.find(Parameters::kRtabmapSMStateBufferSize())) != parameters.end())
{
@@ -698,7 +693,7 @@ void Rtabmap::process()
// If a loop closure occurred the last frame, activate neighbors
// for the likelihood
//============================================================
if(!_reactivationDisabled && _reactivateId > 0 )
if(_reactivateId > 0 )
{
//Load neighbors
ULOGGER_INFO("Reactivating signatures... around id=%d", _reactivateId);
@@ -880,7 +875,7 @@ void Rtabmap::process()
{
//using highest hypothesis
this->selectHypotheses(posterior, hyp, false);
if(likelihood.at(hyp.front().first) > _remThr)
if(likelihood.at(hyp.front().first) > _retrievalThr)
{
_reactivateId = hyp.front().first;
}
@@ -1319,11 +1314,6 @@ SMState * Rtabmap::getSMState()
}
// SETTERS
void Rtabmap::setReactivationDisabled(bool reactivationDisabled)
{
_reactivationDisabled = reactivationDisabled;
}
void Rtabmap::setMaxTimeAllowed(float maxTimeAllowed)
{
//must be positive, 0 mean inf time allowed (no time limit)