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

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This commit is contained in:
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/src/OdometryF2F.cpp
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@@ -36,13 +36,13 @@ namespace rtabmap {
OdometryF2F::OdometryF2F(const ParametersMap & parameters) :
Odometry(parameters),
keyFrameThr_(Parameters::defaultOdomFlowKeyFrameThr()),
guessFromMotion_(Parameters::defaultOdomFlowGuessMotion()),
keyFrameThr_(Parameters::defaultOdomF2FKeyFrameThr()),
guessFromMotion_(Parameters::defaultOdomF2FGuessMotion()),
motionSinceLastKeyFrame_(Transform::getIdentity())
{
registrationPipeline_ = Registration::create(parameters);
Parameters::parse(parameters, Parameters::kOdomFlowKeyFrameThr(), keyFrameThr_);
Parameters::parse(parameters, Parameters::kOdomFlowGuessMotion(), guessFromMotion_);
Parameters::parse(parameters, Parameters::kOdomF2FKeyFrameThr(), keyFrameThr_);
Parameters::parse(parameters, Parameters::kOdomF2FGuessMotion(), guessFromMotion_);
}
OdometryF2F::~OdometryF2F()

8
corelib/src/OdometryLocalMap.cpp
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@@ -52,14 +52,14 @@ namespace rtabmap {
OdometryLocalMap::OdometryLocalMap(const ParametersMap & parameters) :
Odometry(parameters),
localHistoryMaxSize_(Parameters::defaultOdomBowLocalHistorySize()),
fixedLocalMapPath_(Parameters::defaultOdomBowFixedLocalMapPath()),
localHistoryMaxSize_(Parameters::defaultOdomLocalMapHistorySize()),
fixedLocalMapPath_(Parameters::defaultOdomLocalMapFixedMapPath()),
memory_(0),
regVis_(new RegistrationVis(parameters))
{
UDEBUG("");
Parameters::parse(parameters, Parameters::kOdomBowLocalHistorySize(), localHistoryMaxSize_);
Parameters::parse(parameters, Parameters::kOdomBowFixedLocalMapPath(), fixedLocalMapPath_);
Parameters::parse(parameters, Parameters::kOdomLocalMapHistorySize(), localHistoryMaxSize_);
Parameters::parse(parameters, Parameters::kOdomLocalMapFixedMapPath(), fixedLocalMapPath_);
ParametersMap customParameters;
float minDepth = Parameters::defaultVisMinDepth();

4
corelib/src/OdometryMono.cpp
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@@ -59,7 +59,7 @@ OdometryMono::OdometryMono(const rtabmap::ParametersMap & parameters) :
pnpReprojError_(Parameters::defaultVisPnPReprojError()),
pnpFlags_(Parameters::defaultVisPnPFlags()),
pnpRefineIterations_(Parameters::defaultVisPnPRefineIterations()),
localHistoryMaxSize_(Parameters::defaultOdomBowLocalHistorySize()),
localHistoryMaxSize_(Parameters::defaultOdomLocalMapHistorySize()),
initMinFlow_(Parameters::defaultOdomMonoInitMinFlow()),
initMinTranslation_(Parameters::defaultOdomMonoInitMinTranslation()),
minTranslation_(Parameters::defaultOdomMonoMinTranslation()),
@@ -77,7 +77,7 @@ OdometryMono::OdometryMono(const rtabmap::ParametersMap & parameters) :
Parameters::parse(parameters, Parameters::kVisPnPReprojError(), pnpReprojError_);
Parameters::parse(parameters, Parameters::kVisPnPFlags(), pnpFlags_);
Parameters::parse(parameters, Parameters::kVisPnPRefineIterations(), pnpRefineIterations_);
Parameters::parse(parameters, Parameters::kOdomBowLocalHistorySize(), localHistoryMaxSize_);
Parameters::parse(parameters, Parameters::kOdomLocalMapHistorySize(), localHistoryMaxSize_);
Parameters::parse(parameters, Parameters::kOdomMonoInitMinFlow(), initMinFlow_);
Parameters::parse(parameters, Parameters::kOdomMonoInitMinTranslation(), initMinTranslation_);

7
corelib/src/Parameters.cpp
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@@ -141,6 +141,11 @@ const std::map<std::string, std::pair<bool, std::string> > & Parameters::getRemo
// removed parameters
// 0.11.0
removedParameters_.insert(std::make_pair("OdomBow/LocalHistorySize", std::make_pair(true, Parameters::kOdomLocalMapHistorySize())));
removedParameters_.insert(std::make_pair("OdomBow/FixedLocalMapPath", std::make_pair(true, Parameters::kOdomLocalMapFixedMapPath())));
removedParameters_.insert(std::make_pair("OdomFlow/KeyFrameThr", std::make_pair(true, Parameters::kOdomF2FKeyFrameThr())));
removedParameters_.insert(std::make_pair("OdomFlow/GuessMotion", std::make_pair(true, Parameters::kOdomF2FGuessMotion())));
removedParameters_.insert(std::make_pair("Kp/WordsPerImage", std::make_pair(true, Parameters::kKpMaxFeatures())));
removedParameters_.insert(std::make_pair("Mem/LaserScanVoxelSize", std::make_pair(false, Parameters::kMemLaserScanDownsampleStepSize())));
@@ -241,7 +246,7 @@ const std::map<std::string, std::pair<bool, std::string> > & Parameters::getRemo
removedParameters_.insert(std::make_pair("RGBD/LocalLoopDetectionMaxDiffID", std::make_pair(false, "")));
removedParameters_.insert(std::make_pair("Odom/Type", std::make_pair(true, Parameters::kVisFeatureType())));
removedParameters_.insert(std::make_pair("Odom/MaxWords", std::make_pair(true, Parameters::kVisMaxFeatures())));
removedParameters_.insert(std::make_pair("Odom/LocalHistory", std::make_pair(true, Parameters::kOdomBowLocalHistorySize())));
removedParameters_.insert(std::make_pair("Odom/LocalHistory", std::make_pair(true, Parameters::kOdomLocalMapHistorySize())));
removedParameters_.insert(std::make_pair("Odom/NearestNeighbor", std::make_pair(true, Parameters::kVisCorNNType())));
removedParameters_.insert(std::make_pair("Odom/NNDR", std::make_pair(true, Parameters::kVisCorNNDR())));
}