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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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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();