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VWDictionary: Ignore kdtree strategy when RTAB-Map is not build with OpenCV nonfree module

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Updated parameter LccReextract/MaxWords=600

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@2072 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2014-11-22 16:44:42 +00:00
parent 374ef280f2
commit a067f1369e
2 changed files with 12 additions and 3 deletions
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2
corelib/include/rtabmap/core/Parameters.h
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@@ -336,7 +336,7 @@ class RTABMAP_EXP Parameters
RTABMAP_PARAM(LccReextract, NNType, int, 3, "kNNFlannNaive=0, kNNFlannKdTree=1, kNNFlannLSH=2, kNNBruteForce=3, kNNBruteForceGPU=4."); RTABMAP_PARAM(LccReextract, NNType, int, 3, "kNNFlannNaive=0, kNNFlannKdTree=1, kNNFlannLSH=2, kNNBruteForce=3, kNNBruteForceGPU=4.");
RTABMAP_PARAM(LccReextract, NNDR, float, 0.7, "NNDR: nearest neighbor distance ratio."); RTABMAP_PARAM(LccReextract, NNDR, float, 0.7, "NNDR: nearest neighbor distance ratio.");
RTABMAP_PARAM(LccReextract, FeatureType, int, 4, "0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF 7=BRISK."); RTABMAP_PARAM(LccReextract, FeatureType, int, 4, "0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF 7=BRISK.");
RTABMAP_PARAM(LccReextract, MaxWords, int, 0, "0 no limits."); RTABMAP_PARAM(LccReextract, MaxWords, int, 600, "0 no limits.");
RTABMAP_PARAM(LccIcp3, Decimation, int, 8, "Depth image decimation."); RTABMAP_PARAM(LccIcp3, Decimation, int, 8, "Depth image decimation.");
RTABMAP_PARAM(LccIcp3, MaxDepth, float, 4.0, "Max cloud depth."); RTABMAP_PARAM(LccIcp3, MaxDepth, float, 4.0, "Max cloud depth.");

13
corelib/src/VWDictionary.cpp
View File

@@ -53,7 +53,7 @@ VWDictionary::VWDictionary(const ParametersMap & parameters) :
_newWordsComparedTogether(Parameters::defaultKpNewWordsComparedTogether()), _newWordsComparedTogether(Parameters::defaultKpNewWordsComparedTogether()),
_lastWordId(0), _lastWordId(0),
_flannIndex(new cv::flann::Index()), _flannIndex(new cv::flann::Index()),
_strategy(kNNUndef) _strategy(kNNBruteForce)
{ {
this->setNNStrategy((NNStrategy)Parameters::defaultKpNNStrategy()); this->setNNStrategy((NNStrategy)Parameters::defaultKpNNStrategy());
this->parseParameters(parameters); this->parseParameters(parameters);
@@ -222,7 +222,16 @@ void VWDictionary::setNNStrategy(NNStrategy strategy)
strategy = kNNBruteForce; strategy = kNNBruteForce;
} }
_strategy = strategy; if(RTABMAP_NONFREE == 0 && strategy == kNNFlannKdTree)
{
UWARN("KdTree (%d) nearest neighbor is not available because RTAB-Map isn't built "
"with OpenCV nonfree module (KdTree only used for SURF/SIFT features). "
"NN strategy is not modified (current=%d).", (int)kNNFlannKdTree, (int)_strategy);
}
else
{
_strategy = strategy;
}
} }
} }