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Updated some parameter group names: OdomBow->OdomLocalMap, OdomFlow->OdomF2F

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matlabbe
2016-01-13 12:55:51 -05:00
parent 3293906677
commit 78f47ac619
6 changed files with 24 additions and 19 deletions
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8
corelib/include/rtabmap/core/Parameters.h
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@@ -346,8 +346,8 @@ class RTABMAP_EXP Parameters
RTABMAP_PARAM(Odom, KalmanMeasurementNoise, float, 0.01, "Process measurement covariance value.");
// Odometry Bag-of-words
RTABMAP_PARAM(OdomBow, LocalHistorySize, int, 1000, "Local history size: If > 0 (example 5000), the odometry will maintain a local map of X maximum words.");
RTABMAP_PARAM_STR(OdomBow, FixedLocalMapPath, "", "Path to a fixed map (RTAB-Map's database) to be used for odometry. Odometry will be constraint to this map. RGB-only images can be used if odometry PnP estimation is used.")
RTABMAP_PARAM(OdomLocalMap, HistorySize, int, 1000, "Local history size: If > 0 (example 5000), the odometry will maintain a local map of X maximum words.");
RTABMAP_PARAM_STR(OdomLocalMap, FixedMapPath, "", "Path to a fixed map (RTAB-Map's database) to be used for odometry. Odometry will be constraint to this map. RGB-only images can be used if odometry PnP estimation is used.")
// Odometry Mono
RTABMAP_PARAM(OdomMono, InitMinFlow, float, 100, "Minimum optical flow required for the initialization step.");
@@ -356,8 +356,8 @@ class RTABMAP_EXP Parameters
RTABMAP_PARAM(OdomMono, MaxVariance, float, 0.01, "Maximum variance to add new points to local map.");
// Odometry Optical Flow
RTABMAP_PARAM(OdomFlow, KeyFrameThr, int, 0, "Create a new keyframe when the number of inliers drops under this threshold. Setting the value to 0 means that a keyframe is created for each processed frame.");
RTABMAP_PARAM(OdomFlow, GuessMotion, bool, true, "Guess optical flow from the last motion computed.");
RTABMAP_PARAM(OdomF2F, KeyFrameThr, int, 0, "Create a new keyframe when the number of inliers drops under this threshold. Setting the value to 0 means that a keyframe is created for each processed frame.");
RTABMAP_PARAM(OdomF2F, GuessMotion, bool, true, "Guess next transformation from the last motion computed.");
// Common registration parameters
RTABMAP_PARAM(Reg, VarianceFromInliersCount, bool, false, "Set variance as the inverse of the number of inliers. Otherwise, the variance is computed as the average 3D position error of the inliers.");