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

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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
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20
corelib/src/Rtabmap.cpp
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@@ -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)