i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-01 17:10:26 +08:00
Code Issues Packages Projects Releases Wiki Activity

Fixed Stereo parameters not used for OdometryBOW. Saving parameters in Memory and Feature2D to re-use old parameters when underlaying algorithm strategies are re-created.

Browse Source
This commit is contained in:
matlabbe
2016-01-04 11:41:13 -05:00
parent 51300dde06
commit b578fc732e
11 changed files with 37 additions and 26 deletions
Download Patch File Download Diff File Expand all files Collapse all files

2
corelib/include/rtabmap/core/Features2d.h
View File

@@ -148,6 +148,7 @@ public:
const std::vector<cv::KeyPoint> & keypoints) const;
virtual void parseParameters(const ParametersMap & parameters);
virtual const ParametersMap & getParameters() const {return parameters_;}
virtual Feature2D::Type getType() const = 0;
protected:
@@ -158,6 +159,7 @@ private:
virtual cv::Mat generateDescriptorsImpl(const cv::Mat & image, std::vector<cv::KeyPoint> & keypoints) const = 0;
private:
ParametersMap parameters_;
int maxFeatures_;
float _wordsMaxDepth; // 0=inf
float _wordsMinDepth;

2
corelib/include/rtabmap/core/Memory.h
View File

@@ -67,6 +67,7 @@ public:
virtual ~Memory();
virtual void parseParameters(const ParametersMap & parameters);
virtual const ParametersMap & getParameters() const {return parameters_;}
bool update(const SensorData & data,
Statistics * stats = 0);
bool update(const SensorData & data,
@@ -222,6 +223,7 @@ protected:
private:
// parameters
ParametersMap parameters_;
float _similarityThreshold;
bool _rawDataKept;
bool _binDataKept;

3
corelib/include/rtabmap/core/Rtabmap.h
View File

@@ -112,6 +112,7 @@ public:
void dumpPrediction() const;
void dumpData() const;
void parseParameters(const ParametersMap & parameters);
const ParametersMap & getParameters() const {return _parameters;}
void setWorkingDirectory(std::string path);
void rejectLoopClosure(int oldId, int newId);
void get3DMap(std::map<int, Signature> & signatures,
@@ -215,7 +216,7 @@ private:
EpipolarGeometry * _epipolarGeometry;
BayesFilter * _bayesFilter;
Optimizer * _graphOptimizer;
ParametersMap _modifiedParameters;
ParametersMap _parameters;
Memory * _memory;

4
corelib/src/Features2d.cpp
View File

@@ -354,6 +354,8 @@ Feature2D::~Feature2D()
}
void Feature2D::parseParameters(const ParametersMap & parameters)
{
uInsert(parameters_, parameters);
Parameters::parse(parameters, Parameters::kKpMaxFeatures(), maxFeatures_);
Parameters::parse(parameters, Parameters::kKpMaxDepth(), _wordsMaxDepth);
Parameters::parse(parameters, Parameters::kKpMinDepth(), _wordsMinDepth);
@@ -399,7 +401,7 @@ void Feature2D::parseParameters(const ParametersMap & parameters)
if((iter=parameters.find(Parameters::kStereoOpticalFlow())) != parameters.end())
{
delete _stereo;
_stereo = Stereo::create(parameters);
_stereo = Stereo::create(parameters_);
}
else
{

4
corelib/src/Memory.cpp
View File

@@ -377,6 +377,8 @@ Memory::~Memory()
void Memory::parseParameters(const ParametersMap & parameters)
{
uInsert(parameters_, parameters);
UDEBUG("");
ParametersMap::const_iterator iter;
@@ -438,7 +440,7 @@ void Memory::parseParameters(const ParametersMap & parameters)
_feature2D = 0;
}
_feature2D = Feature2D::create(detectorStrategy, parameters);
_feature2D = Feature2D::create(detectorStrategy, parameters_);
}
else if(_feature2D)
{

10
corelib/src/OdometryBOW.cpp
View File

@@ -96,14 +96,8 @@ OdometryBOW::OdometryBOW(const ParametersMap & parameters) :
for(ParametersMap::const_iterator iter=parameters.begin(); iter!=parameters.end(); ++iter)
{
std::string group = uSplit(iter->first, '/').front();
if(group.compare("SURF") == 0 ||
group.compare("SIFT") == 0 ||
group.compare("BRIEF") == 0 ||
group.compare("FAST") == 0 ||
group.compare("ORB") == 0 ||
group.compare("FREAK") == 0 ||
group.compare("GFTT") == 0 ||
group.compare("BRISK") == 0)
if(Parameters::isFeatureParameter(iter->first) ||
group.compare("Stereo") == 0)
{
customParameters.insert(*iter);
}

9
corelib/src/RegistrationVis.cpp
View File

@@ -60,15 +60,6 @@ RegistrationVis::RegistrationVis(const ParametersMap & parameters) :
_flowMaxLevel(Parameters::defaultVisCorFlowMaxLevel())
{
_featureParameters = Parameters::getDefaultParameters();
uInsert(_featureParameters, ParametersPair(Parameters::kMemIncrementalMemory(), "true")); // make sure it is incremental
uInsert(_featureParameters, ParametersPair(Parameters::kMemRehearsalSimilarity(), "1.0")); // desactivate rehearsal
uInsert(_featureParameters, ParametersPair(Parameters::kMemBinDataKept(), "false"));
uInsert(_featureParameters, ParametersPair(Parameters::kMemSTMSize(), "0"));
uInsert(_featureParameters, ParametersPair(Parameters::kKpIncrementalDictionary(), "true")); // make sure it is incremental
uInsert(_featureParameters, ParametersPair(Parameters::kKpNewWordsComparedTogether(), "false"));
uInsert(_featureParameters, ParametersPair(Parameters::kKpBadSignRatio(), "0"));
uInsert(_featureParameters, ParametersPair(Parameters::kMemGenerateIds(), "true"));
uInsert(_featureParameters, ParametersPair(Parameters::kKpNNStrategy(), _featureParameters.at(Parameters::kVisCorNNType())));
uInsert(_featureParameters, ParametersPair(Parameters::kKpNndrRatio(), _featureParameters.at(Parameters::kVisCorNNDR())));
uInsert(_featureParameters, ParametersPair(Parameters::kKpDetectorStrategy(), _featureParameters.at(Parameters::kVisFeatureType())));

8
corelib/src/Rtabmap.cpp
View File

@@ -362,11 +362,13 @@ void Rtabmap::close(bool databaseSaved)
}
_databasePath.clear();
parseParameters(Parameters::getDefaultParameters()); // reset to default parameters
_modifiedParameters.clear();
_parameters.clear();
}
void Rtabmap::parseParameters(const ParametersMap & parameters)
{
uInsert(_parameters, parameters);
ULOGGER_DEBUG("");
ParametersMap::const_iterator iter;
if((iter=parameters.find(Parameters::kRtabmapWorkingDirectory())) != parameters.end())
@@ -481,7 +483,7 @@ void Rtabmap::parseParameters(const ParametersMap & parameters)
for(ParametersMap::const_iterator iter = parameters.begin(); iter!=parameters.end(); ++iter)
{
uInsert(_modifiedParameters, ParametersPair(iter->first, iter->second));
uInsert(_parameters, ParametersPair(iter->first, iter->second));
}
}
@@ -776,7 +778,7 @@ void Rtabmap::resetMemory()
if(_memory)
{
_memory->init(_databasePath, true, _modifiedParameters, true);
_memory->init(_databasePath, true, _parameters, true);
if(_memory->getLastWorkingSignature())
{
optimizeCurrentMap(_memory->getLastWorkingSignature()->id(), false, _optimizedPoses, &_constraints);

2
corelib/src/util2d.cpp
View File

@@ -225,7 +225,6 @@ std::vector<cv::Point2f> calcStereoCorrespondences(
{
if(level>0)
{
UDEBUG("");
tmpMaxDisparity = tmpMinDisparity+(bestScoreIndex+1)*(1<<level);
tmpMaxDisparity+=tmpMaxDisparity%level;
if(tmpMaxDisparity > maxDisparity)
@@ -247,7 +246,6 @@ std::vector<cv::Point2f> calcStereoCorrespondences(
if(bestScoreIndex>=0)
{
UDEBUG("");
//subpixel refining
int d = -(tmpMinDisparity+bestScoreIndex);