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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."); RTABMAP_PARAM(Odom, KalmanMeasurementNoise, float, 0.01, "Process measurement covariance value.");
// Odometry Bag-of-words // 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(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(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_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 // Odometry Mono
RTABMAP_PARAM(OdomMono, InitMinFlow, float, 100, "Minimum optical flow required for the initialization step."); 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."); RTABMAP_PARAM(OdomMono, MaxVariance, float, 0.01, "Maximum variance to add new points to local map.");
// Odometry Optical Flow // 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(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(OdomFlow, GuessMotion, bool, true, "Guess optical flow from the last motion computed."); RTABMAP_PARAM(OdomF2F, GuessMotion, bool, true, "Guess next transformation from the last motion computed.");
// Common registration parameters // 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."); 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.");

8
corelib/src/OdometryF2F.cpp
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@@ -36,13 +36,13 @@ namespace rtabmap {
OdometryF2F::OdometryF2F(const ParametersMap & parameters) : OdometryF2F::OdometryF2F(const ParametersMap & parameters) :
Odometry(parameters), Odometry(parameters),
keyFrameThr_(Parameters::defaultOdomFlowKeyFrameThr()), keyFrameThr_(Parameters::defaultOdomF2FKeyFrameThr()),
guessFromMotion_(Parameters::defaultOdomFlowGuessMotion()), guessFromMotion_(Parameters::defaultOdomF2FGuessMotion()),
motionSinceLastKeyFrame_(Transform::getIdentity()) motionSinceLastKeyFrame_(Transform::getIdentity())
{ {
registrationPipeline_ = Registration::create(parameters); registrationPipeline_ = Registration::create(parameters);
Parameters::parse(parameters, Parameters::kOdomFlowKeyFrameThr(), keyFrameThr_); Parameters::parse(parameters, Parameters::kOdomF2FKeyFrameThr(), keyFrameThr_);
Parameters::parse(parameters, Parameters::kOdomFlowGuessMotion(), guessFromMotion_); Parameters::parse(parameters, Parameters::kOdomF2FGuessMotion(), guessFromMotion_);
} }
OdometryF2F::~OdometryF2F() OdometryF2F::~OdometryF2F()

8
corelib/src/OdometryLocalMap.cpp
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@@ -52,14 +52,14 @@ namespace rtabmap {
OdometryLocalMap::OdometryLocalMap(const ParametersMap & parameters) : OdometryLocalMap::OdometryLocalMap(const ParametersMap & parameters) :
Odometry(parameters), Odometry(parameters),
localHistoryMaxSize_(Parameters::defaultOdomBowLocalHistorySize()), localHistoryMaxSize_(Parameters::defaultOdomLocalMapHistorySize()),
fixedLocalMapPath_(Parameters::defaultOdomBowFixedLocalMapPath()), fixedLocalMapPath_(Parameters::defaultOdomLocalMapFixedMapPath()),
memory_(0), memory_(0),
regVis_(new RegistrationVis(parameters)) regVis_(new RegistrationVis(parameters))
{ {
UDEBUG(""); UDEBUG("");
Parameters::parse(parameters, Parameters::kOdomBowLocalHistorySize(), localHistoryMaxSize_); Parameters::parse(parameters, Parameters::kOdomLocalMapHistorySize(), localHistoryMaxSize_);
Parameters::parse(parameters, Parameters::kOdomBowFixedLocalMapPath(), fixedLocalMapPath_); Parameters::parse(parameters, Parameters::kOdomLocalMapFixedMapPath(), fixedLocalMapPath_);
ParametersMap customParameters; ParametersMap customParameters;
float minDepth = Parameters::defaultVisMinDepth(); 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()), pnpReprojError_(Parameters::defaultVisPnPReprojError()),
pnpFlags_(Parameters::defaultVisPnPFlags()), pnpFlags_(Parameters::defaultVisPnPFlags()),
pnpRefineIterations_(Parameters::defaultVisPnPRefineIterations()), pnpRefineIterations_(Parameters::defaultVisPnPRefineIterations()),
localHistoryMaxSize_(Parameters::defaultOdomBowLocalHistorySize()), localHistoryMaxSize_(Parameters::defaultOdomLocalMapHistorySize()),
initMinFlow_(Parameters::defaultOdomMonoInitMinFlow()), initMinFlow_(Parameters::defaultOdomMonoInitMinFlow()),
initMinTranslation_(Parameters::defaultOdomMonoInitMinTranslation()), initMinTranslation_(Parameters::defaultOdomMonoInitMinTranslation()),
minTranslation_(Parameters::defaultOdomMonoMinTranslation()), minTranslation_(Parameters::defaultOdomMonoMinTranslation()),
@@ -77,7 +77,7 @@ OdometryMono::OdometryMono(const rtabmap::ParametersMap & parameters) :
Parameters::parse(parameters, Parameters::kVisPnPReprojError(), pnpReprojError_); Parameters::parse(parameters, Parameters::kVisPnPReprojError(), pnpReprojError_);
Parameters::parse(parameters, Parameters::kVisPnPFlags(), pnpFlags_); Parameters::parse(parameters, Parameters::kVisPnPFlags(), pnpFlags_);
Parameters::parse(parameters, Parameters::kVisPnPRefineIterations(), pnpRefineIterations_); 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::kOdomMonoInitMinFlow(), initMinFlow_);
Parameters::parse(parameters, Parameters::kOdomMonoInitMinTranslation(), initMinTranslation_); 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 // removed parameters
// 0.11.0 // 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("Kp/WordsPerImage", std::make_pair(true, Parameters::kKpMaxFeatures())));
removedParameters_.insert(std::make_pair("Mem/LaserScanVoxelSize", std::make_pair(false, Parameters::kMemLaserScanDownsampleStepSize()))); 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("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/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/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/NearestNeighbor", std::make_pair(true, Parameters::kVisCorNNType())));
removedParameters_.insert(std::make_pair("Odom/NNDR", std::make_pair(true, Parameters::kVisCorNNDR()))); removedParameters_.insert(std::make_pair("Odom/NNDR", std::make_pair(true, Parameters::kVisCorNNDR())));
} }

8
guilib/src/PreferencesDialog.cpp
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@@ -689,17 +689,17 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_ui->odom_dataBufferSize->setObjectName(Parameters::kOdomImageBufferSize().c_str()); _ui->odom_dataBufferSize->setObjectName(Parameters::kOdomImageBufferSize().c_str());
//Odometry BOW //Odometry BOW
_ui->odom_localHistory->setObjectName(Parameters::kOdomBowLocalHistorySize().c_str()); _ui->odom_localHistory->setObjectName(Parameters::kOdomLocalMapHistorySize().c_str());
_ui->odom_fixedLocalMapPath->setObjectName(Parameters::kOdomBowFixedLocalMapPath().c_str()); _ui->odom_fixedLocalMapPath->setObjectName(Parameters::kOdomLocalMapFixedMapPath().c_str());
connect(_ui->toolButton_odomBowFixedLocalMap, SIGNAL(clicked()), this, SLOT(changeOdomBowFixedLocalMapPath())); connect(_ui->toolButton_odomBowFixedLocalMap, SIGNAL(clicked()), this, SLOT(changeOdomBowFixedLocalMapPath()));
//Odometry Optical Flow //Odometry Optical Flow
_ui->odom_flow_keyframeThr->setObjectName(Parameters::kOdomFlowKeyFrameThr().c_str()); _ui->odom_flow_keyframeThr->setObjectName(Parameters::kOdomF2FKeyFrameThr().c_str());
_ui->odom_flow_winSize_2->setObjectName(Parameters::kVisCorFlowWinSize().c_str()); _ui->odom_flow_winSize_2->setObjectName(Parameters::kVisCorFlowWinSize().c_str());
_ui->odom_flow_maxLevel_2->setObjectName(Parameters::kVisCorFlowMaxLevel().c_str()); _ui->odom_flow_maxLevel_2->setObjectName(Parameters::kVisCorFlowMaxLevel().c_str());
_ui->odom_flow_iterations_2->setObjectName(Parameters::kVisCorFlowIterations().c_str()); _ui->odom_flow_iterations_2->setObjectName(Parameters::kVisCorFlowIterations().c_str());
_ui->odom_flow_eps_2->setObjectName(Parameters::kVisCorFlowEps().c_str()); _ui->odom_flow_eps_2->setObjectName(Parameters::kVisCorFlowEps().c_str());
_ui->odom_flow_guessMotion->setObjectName(Parameters::kOdomFlowGuessMotion().c_str()); _ui->odom_flow_guessMotion->setObjectName(Parameters::kOdomF2FGuessMotion().c_str());
//Odometry Mono //Odometry Mono
_ui->doubleSpinBox_minFlow->setObjectName(Parameters::kOdomMonoInitMinFlow().c_str()); _ui->doubleSpinBox_minFlow->setObjectName(Parameters::kOdomMonoInitMinFlow().c_str());