i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-02 09:30:25 +08:00
Code Issues Packages Projects Releases Wiki Activity

fixed a compilation warning and updated usage of benchmarking tools

Browse Source
This commit is contained in:
matlabbe
2018-02-02 08:51:38 -05:00
parent 61199eff9c
commit 70991cf173
4 changed files with 19 additions and 32 deletions
Download Patch File Download Diff File Expand all files Collapse all files

2
corelib/include/rtabmap/core/VWDictionary.h
View File

@@ -109,12 +109,12 @@ protected:
private: private:
bool _incrementalDictionary; bool _incrementalDictionary;
bool _incrementalFlann; bool _incrementalFlann;
float _rebalancingFactor;
float _nndrRatio; float _nndrRatio;
std::string _dictionaryPath; // a pre-computed dictionary (.txt) std::string _dictionaryPath; // a pre-computed dictionary (.txt)
bool _newWordsComparedTogether; bool _newWordsComparedTogether;
int _lastWordId; int _lastWordId;
bool useDistanceL1_; bool useDistanceL1_;
float _rebalancingFactor;
FlannIndex * _flannIndex; FlannIndex * _flannIndex;
cv::Mat _dataTree; cv::Mat _dataTree;
NNStrategy _strategy; NNStrategy _strategy;

7
tools/EurocDataset/main.cpp
View File

@@ -61,7 +61,12 @@ void showUsage()
" --disp Generate full disparity.\n" " --disp Generate full disparity.\n"
"%s\n" "%s\n"
"Example:\n\n" "Example:\n\n"
" $ rtabmap-euroc_dataset --Rtabmap/DetectionRate 4 ~/EuRoC/V1_03_difficult\n\n", rtabmap::Parameters::showUsage()); " $ rtabmap-euroc_dataset \\\n"
" --Rtabmap/PublishRAMUsage true\\\n"
" --Rtabmap/DetectionRate 2\\\n"
" --RGBD/LinearUpdate 0\\\n"
" --Mem/STMSize 30\\\n"
" ~/EuRoC/V1_03_difficult\n\n", rtabmap::Parameters::showUsage());
exit(1); exit(1);
} }

24
tools/KittiDataset/main.cpp
View File

@@ -69,24 +69,16 @@ void showUsage()
"%s\n" "%s\n"
"Example:\n\n" "Example:\n\n"
" $ rtabmap-kitti_dataset \\\n" " $ rtabmap-kitti_dataset \\\n"
" --Vis/BundleAdjustment 1\\\n" " --Rtabmap/PublishRAMUsage true\\\n"
" --Vis/PnPRefineIterations 0\\\n"
" --Vis/MaxFeatures 1800\\\n"
" --Vis/BundleAdjustment 1\\\n"
" --Vis/Iterations 300\\\n"
" --GFTT/QualityLevel 0.01\\\n"
" --GFTT/MinDistance 7\\\n"
" --Odom/GuessMotion true\\\n"
" --OdomF2M/BundleAdjustment 1\\\n"
" --Mem/UseOdomFeatures true\\\n"
" --Kp/DetectorStrategy true\\\n"
" --Kp/MaxFeatures 900\\\n"
" --Rtabmap/DetectionRate 2\\\n" " --Rtabmap/DetectionRate 2\\\n"
" --Rtabmap/CreateIntermediateNodes true\\\n" " --Rtabmap/CreateIntermediateNodes true\\\n"
" --RGBD/ProximityBySpace false\\\n" " --RGBD/LinearUpdate 0\\\n"
" --Stereo/MaxLevel 5\\\n" " --GFTT/QualityLevel 0.01\\\n"
" --Stereo/MaxDisparity 256\\\n" " --GFTT/MinDistance 7\\\n"
" --Stereo/MinDisparity 0.5\\\n" " --OdomF2M/MaxSize 3000\\\n"
" --Mem/STMSize 30\\\n"
" --Kp/MaxFeatures 750\\\n"
" --Vis/MaxFeatures 1500\\\n"
" --gt \"~/KITTI/devkit/cpp/data/odometry/poses/07.txt\"\\\n" " --gt \"~/KITTI/devkit/cpp/data/odometry/poses/07.txt\"\\\n"
" ~/KITTI/dataset/sequences/07\n\n", rtabmap::Parameters::showUsage()); " ~/KITTI/dataset/sequences/07\n\n", rtabmap::Parameters::showUsage());
exit(1); exit(1);

18
tools/RgbdDataset/main.cpp
View File

@@ -61,20 +61,10 @@ void showUsage()
"%s\n" "%s\n"
"Example:\n\n" "Example:\n\n"
" $ rtabmap-rgbd_dataset \\\n" " $ rtabmap-rgbd_dataset \\\n"
" --Vis/BundleAdjustment 1\\\n" " --Rtabmap/PublishRAMUsage true\\\n"
" --Vis/PnPRefineIterations 0\\\n" " --Rtabmap/DetectionRate 2\\\n"
" --Vis/BundleAdjustment 1\\\n" " --RGBD/LinearUpdate 0\\\n"
" --Vis/Iterations 300\\\n" " --Mem/STMSize 30\\\n"
" --GFTT/QualityLevel 0.001\\\n"
" --GFTT/MinDistance 3\\\n"
" --Odom/GuessMotion true\\\n"
" --OdomF2M/BundleAdjustment 1\\\n"
" --Mem/UseOdomFeatures true\\\n"
" --Kp/DetectorStrategy true\\\n"
" --Kp/MaxFeatures 600\\\n"
" --Rtabmap/DetectionRate 4\\\n"
" --Rtabmap/CreateIntermediateNodes true\\\n"
" --RGBD/ProximityBySpace false\\\n"
" ~/rgbd_dataset_freiburg3_long_office_household\n\n", rtabmap::Parameters::showUsage()); " ~/rgbd_dataset_freiburg3_long_office_household\n\n", rtabmap::Parameters::showUsage());
exit(1); exit(1);
} }