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Added "RGBD/ProximityPathMaxNeighbors" parameter

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matlabbe
2016-08-25 14:30:23 -04:00
parent edee909324
commit 4d8200fef3
5 changed files with 41 additions and 13 deletions
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5
corelib/include/rtabmap/core/Parameters.h
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@@ -318,7 +318,7 @@ class RTABMAP_EXP Parameters
RTABMAP_PARAM(RGBD, LocalRadius, float, 10, "Local radius (m) for nodes selection in the local map. This parameter is used in some approaches about the local map management.");
RTABMAP_PARAM(RGBD, LocalImmunizationRatio, float, 0.25, "Ratio of working memory for which local nodes are immunized from transfer.");
RTABMAP_PARAM(RGBD, ScanMatchingIdsSavedInLinks, bool, true, "Save scan matching IDs in link's user data.");
RTABMAP_PARAM(RGBD, NeighborLinkRefining, bool, false, "When a new node is added to the graph, the transformation of its neighbor link to the previous node is refined using ICP (laser scans required!).");
RTABMAP_PARAM(RGBD, NeighborLinkRefining, bool, false, uFormat("When a new node is added to the graph, the transformation of its neighbor link to the previous node is refined using registration approach selected (%s).", kRegStrategy().c_str()));
RTABMAP_PARAM(RGBD, LoopClosureReextractFeatures, bool, false, "Extract features even if there are some already in the nodes.");
RTABMAP_PARAM(RGBD, CreateOccupancyGrid, bool, false, "Create local occupancy grid maps. See \"Grid\" group for parameters.");
@@ -328,6 +328,7 @@ class RTABMAP_EXP Parameters
RTABMAP_PARAM(RGBD, ProximityMaxGraphDepth, int, 50, "Maximum depth from the current/last loop closure location and the local loop closure hypotheses. Set 0 to ignore.");
RTABMAP_PARAM(RGBD, ProximityMaxPaths, int, 3, "Maximum paths compared (from the most recent) for proximity detection by space. 0 means no limit.");
RTABMAP_PARAM(RGBD, ProximityPathFilteringRadius, float, 0.5, "Path filtering radius to reduce the number of nodes to compare in a path. A path should also be inside that radius to be considered for proximity detection.");
RTABMAP_PARAM(RGBD, ProximityPathMaxNeighbors, int, 10, "Maximum neighbor nodes compared on each path.");
RTABMAP_PARAM(RGBD, ProximityPathRawPosesUsed, bool, true, "When comparing to a local path, merge the scan using the odometry poses (with neighbor link optimizations) instead of the ones in the optimized local graph.");
RTABMAP_PARAM(RGBD, ProximityAngle, float, 45, "Maximum angle (degrees) for visual proximity detection.");
@@ -430,7 +431,7 @@ class RTABMAP_EXP Parameters
// ICP registration parameters
RTABMAP_PARAM(Icp, MaxTranslation, float, 0.2, "Maximum ICP translation correction accepted (m).");
RTABMAP_PARAM(Icp, MaxRotation, float, 0.78, "Maximum ICP rotation correction accepted (rad).");
RTABMAP_PARAM(Icp, VoxelSize, float, 0.025, "Uniform sampling voxel size (0=disabled).");
RTABMAP_PARAM(Icp, VoxelSize, float, 0.0, "Uniform sampling voxel size (0=disabled).");
RTABMAP_PARAM(Icp, DownsamplingStep, int, 1, "Downsampling step size (1=no sampling). This is done before uniform sampling.");
RTABMAP_PARAM(Icp, MaxCorrespondenceDistance, float, 0.05, "Max distance for point correspondences.");
RTABMAP_PARAM(Icp, Iterations, int, 30, "Max iterations.");

1
corelib/include/rtabmap/core/Rtabmap.h
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@@ -196,6 +196,7 @@ private:
float _localImmunizationRatio;
int _proximityMaxGraphDepth;
int _proximityMaxPaths;
int _proximityMaxNeighbors;
float _proximityFilteringRadius;
bool _proximityRawPosesUsed;
float _proximityAngle;

4
corelib/src/Rtabmap.cpp
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@@ -99,6 +99,7 @@ Rtabmap::Rtabmap() :
_localImmunizationRatio(Parameters::defaultRGBDLocalImmunizationRatio()),
_proximityMaxGraphDepth(Parameters::defaultRGBDProximityMaxGraphDepth()),
_proximityMaxPaths(Parameters::defaultRGBDProximityMaxPaths()),
_proximityMaxNeighbors(Parameters::defaultRGBDProximityPathMaxNeighbors()),
_proximityFilteringRadius(Parameters::defaultRGBDProximityPathFilteringRadius()),
_proximityRawPosesUsed(Parameters::defaultRGBDProximityPathRawPosesUsed()),
_proximityAngle(Parameters::defaultRGBDProximityAngle()*M_PI/180.0f),
@@ -411,6 +412,7 @@ void Rtabmap::parseParameters(const ParametersMap & parameters)
Parameters::parse(parameters, Parameters::kRGBDLocalImmunizationRatio(), _localImmunizationRatio);
Parameters::parse(parameters, Parameters::kRGBDProximityMaxGraphDepth(), _proximityMaxGraphDepth);
Parameters::parse(parameters, Parameters::kRGBDProximityMaxPaths(), _proximityMaxPaths);
Parameters::parse(parameters, Parameters::kRGBDProximityPathMaxNeighbors(), _proximityMaxNeighbors);
Parameters::parse(parameters, Parameters::kRGBDProximityPathFilteringRadius(), _proximityFilteringRadius);
Parameters::parse(parameters, Parameters::kRGBDProximityPathRawPosesUsed(), _proximityRawPosesUsed);
if(Parameters::parse(parameters, Parameters::kRGBDProximityAngle(), _proximityAngle))
@@ -1819,7 +1821,7 @@ bool Rtabmap::process(
UDEBUG("nearestPoses=%d", (int)nearestPoses.size());
// segment poses by paths, only one detection per path
std::map<int, std::map<int, Transform> > nearestPaths = getPaths(nearestPoses, _optimizedPoses.at(signature->id()), _proximityMaxGraphDepth);
std::map<int, std::map<int, Transform> > nearestPaths = getPaths(nearestPoses, _optimizedPoses.at(signature->id()), _proximityMaxNeighbors);
UDEBUG("nearestPaths=%d proximityMaxPaths=%d", (int)nearestPaths.size(), _proximityMaxPaths);
for(std::map<int, std::map<int, Transform> >::const_reverse_iterator iter=nearestPaths.rbegin();