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

Added "RGBD/ProximityPathMaxNeighbors" parameter

Browse Source
This commit is contained in:
matlabbe
2016-08-25 14:30:23 -04:00
parent edee909324
commit 4d8200fef3
5 changed files with 41 additions and 13 deletions
Download Patch File Download Diff File Expand all files Collapse all files

5
corelib/include/rtabmap/core/Parameters.h
View File

@@ -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
View File

@@ -196,6 +196,7 @@ private:
float _localImmunizationRatio;
int _proximityMaxGraphDepth;
int _proximityMaxPaths;
int _proximityMaxNeighbors;
float _proximityFilteringRadius;
bool _proximityRawPosesUsed;
float _proximityAngle;