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New parameter: Mem/ImageDecimation (save downscaled images in database), Updated default parameter RGBD/LocalLoopDetectionMaxDiffID to 50

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Mathieu Labbe
2015-02-13 15:25:40 -05:00
parent 7c65dbf6bb
commit ad05c5902a
10 changed files with 193 additions and 77 deletions
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7
corelib/include/rtabmap/core/Memory.h
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@@ -123,8 +123,7 @@ public:
bool isInWM(int signatureId) const {return _workingMem.find(signatureId) != _workingMem.end();}
bool isInLTM(int signatureId) const {return !this->isInSTM(signatureId) && !this->isInWM(signatureId);}
bool isIDsGenerated() const {return _generateIds;}
int getLastGlobalLoopClosureParentId() const {return _lastGlobalLoopClosureParentId;}
int getLastGlobalLoopClosureChildId() const {return _lastGlobalLoopClosureChildId;}
int getLastGlobalLoopClosureId() const {return _lastGlobalLoopClosureId;}
const Feature2D * getFeature2D() const {return _feature2D;}
void setRoi(const std::string & roi);
@@ -209,12 +208,12 @@ private:
bool _idUpdatedToNewOneRehearsal;
bool _generateIds;
bool _badSignaturesIgnored;
int _imageDecimation;
int _idCount;
int _idMapCount;
Signature * _lastSignature;
int _lastGlobalLoopClosureParentId;
int _lastGlobalLoopClosureChildId;
int _lastGlobalLoopClosureId;
bool _memoryChanged; // False by default, become true only when Memory::update() is called.
bool _linksChanged; // False by default, become true when links are modified.
int _signaturesAdded;

6
corelib/include/rtabmap/core/Parameters.h
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@@ -192,7 +192,9 @@ class RTABMAP_EXP Parameters
RTABMAP_PARAM(Mem, RehearsalIdUpdatedToNewOne, bool, false, "On merge, update to new id. When false, no copy.");
RTABMAP_PARAM(Mem, GenerateIds, bool, true, "True=Generate location Ids, False=use input image ids.");
RTABMAP_PARAM(Mem, BadSignaturesIgnored, bool, false, "Bad signatures are ignored.");
RTABMAP_PARAM(Mem, InitWMWithAllNodes, bool, false, "Initialize the Working Memory with all nodes in Long-Term Memory. When false, it is initialized with nodes of the previous session.")
RTABMAP_PARAM(Mem, InitWMWithAllNodes, bool, false, "Initialize the Working Memory with all nodes in Long-Term Memory. When false, it is initialized with nodes of the previous session.");
RTABMAP_PARAM(Mem, ImageDecimation, int, 1, "Image decimation (>=1).");
// KeypointMemory (Keypoint-based)
RTABMAP_PARAM_COND(Kp, NNStrategy, int, RTABMAP_NONFREE, 1, 3, "kNNFlannNaive=0, kNNFlannKdTree=1, kNNFlannLSH=2, kNNBruteForce=3, kNNBruteForceGPU=4");
@@ -294,7 +296,7 @@ class RTABMAP_EXP Parameters
RTABMAP_PARAM(RGBD, LocalLoopDetectionSpace, bool, false, "Detection over locations (in Working Memory or STM) near in space.");
RTABMAP_PARAM(RGBD, LocalLoopDetectionRadius, float, 15, "Maximum radius for space detection.");
RTABMAP_PARAM(RGBD, LocalLoopDetectionNeighbors, int, 20, "Maximum nearest neighbor.");
RTABMAP_PARAM(RGBD, LocalLoopDetectionMaxDiffID, int, 0, "Maximum ID difference between the current/last loop closure location and the local loop closure hypotheses. Set 0 to ignore.")
RTABMAP_PARAM(RGBD, LocalLoopDetectionMaxDiffID, int, 50, "Maximum ID difference between the current/last loop closure location and the local loop closure hypotheses. Set 0 to ignore.")
// Odometry
RTABMAP_PARAM(Odom, Strategy, int, 0, "0=Bag-of-words 1=Optical Flow");

4
corelib/include/rtabmap/core/Rtabmap.h
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@@ -97,7 +97,7 @@ public:
float getTimeThreshold() const {return _maxTimeAllowed;} // in ms
void setTimeThreshold(float maxTimeAllowed); // in ms
void triggerNewMap();
int triggerNewMap();
void generateDOTGraph(const std::string & path, int id=0, int margin=5);
void generateTOROGraph(const std::string & path, bool optimized, bool global);
void resetMemory();
@@ -186,6 +186,8 @@ private:
std::pair<int, float> _loopClosureHypothesis;
std::pair<int, float> _highestHypothesis;
double _lastProcessTime;
int _lastLocalLoopClosureParentId;
int _lastLocalLoopClosureChildId;
// Abstract classes containing all loop closure
// strategies for a type of signature or configuration.

5
corelib/include/rtabmap/core/Statistics.h
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@@ -60,8 +60,7 @@ class RTABMAP_EXP Statistics
RTABMAP_STATS(Loop, Hypothesis_ratio,);
RTABMAP_STATS(Loop, Hypothesis_reactivated,);
RTABMAP_STATS(Loop, VisualInliers,);
RTABMAP_STATS(Loop, Last_loop_closure_parent,);
RTABMAP_STATS(Loop, Last_loop_closure_child,);
RTABMAP_STATS(Loop, Last_id,);
RTABMAP_STATS(LocalLoop, Odom_corrected,);
RTABMAP_STATS(LocalLoop, Time_closures,);
@@ -69,6 +68,8 @@ class RTABMAP_EXP Statistics
RTABMAP_STATS(LocalLoop, Space_nearest_id,);
RTABMAP_STATS(LocalLoop, Space_neighbors,);
RTABMAP_STATS(LocalLoop, Space_diff_id,);
RTABMAP_STATS(LocalLoop, Space_last_parent,);
RTABMAP_STATS(LocalLoop, Space_last_child,);
RTABMAP_STATS(Memory, Working_memory_size,);
RTABMAP_STATS(Memory, Short_time_memory_size,);

2
corelib/include/rtabmap/core/util3d.h
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@@ -401,6 +401,8 @@ pcl::IndicesPtr RTABMAP_EXP concatenate(
const pcl::IndicesPtr & indicesA,
const pcl::IndicesPtr & indicesB);
cv::Mat RTABMAP_EXP decimate(const cv::Mat & image, int d);
///////////////////
// Templated PCL methods
///////////////////