i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-02 01:20:25 +08:00
Code Issues Packages Projects Releases Wiki Activity

Refactored motion estimation parameters in the GUI.

Browse Source
This commit is contained in:
matlabbe
2015-06-27 01:43:29 -04:00
parent e5447be23a
commit b7faef35f1
14 changed files with 921 additions and 775 deletions
Download Patch File Download Diff File Expand all files Collapse all files

6
corelib/include/rtabmap/core/Memory.h
View File

@@ -178,7 +178,6 @@ public:
float getBowInlierDistance() const {return _bowInlierDistance;}
int getBowIterations() const {return _bowIterations;}
int getBowMinInliers() const {return _bowMinInliers;}
float getBowMaxDepth() const {return _bowMaxDepth;}
bool getBowForce2D() const {return _bowForce2D;}
Transform computeVisualTransform(int oldId, int newId, std::string * rejectedMsg = 0, int * inliers = 0, double * variance = 0) const;
Transform computeVisualTransform(const Signature & oldS, const Signature & newS, std::string * rejectedMsg = 0, int * inliers = 0, double * variance = 0) const;
@@ -271,11 +270,10 @@ private:
int _bowMinInliers;
float _bowInlierDistance;
int _bowIterations;
float _bowMaxDepth;
int _bowRefineIterations;
bool _bowForce2D;
bool _bowEpipolarGeometry;
float _bowEpipolarGeometryVar;
bool _bowPnPEstimation;
bool _bowEstimationType;
double _bowPnPReprojError;
int _bowPnPFlags;
float _icpMaxTranslation;

4
corelib/include/rtabmap/core/Odometry.h
View File

@@ -60,7 +60,7 @@ public:
int getRefineIterations() const {return _refineIterations;}
float getMaxDepth() const {return _maxDepth;}
bool isInfoDataFilled() const {return _fillInfoData;}
bool isPnPEstimationUsed() const {return _pnpEstimation;}
bool getEstimationType() const {return _estimationType;}
double getPnPReprojError() const {return _pnpReprojError;}
int getPnPFlags() const {return _pnpFlags;}
const Transform & previousTransform() const {return previousTransform_;}
@@ -85,7 +85,7 @@ private:
float _particleNoiseR;
float _particleLambdaR;
bool _fillInfoData;
bool _pnpEstimation;
int _estimationType;
double _pnpReprojError;
int _pnpFlags;
Transform _pose;

10
corelib/include/rtabmap/core/Parameters.h
View File

@@ -313,6 +313,7 @@ class RTABMAP_EXP Parameters
// Odometry
RTABMAP_PARAM(Odom, Strategy, int, 0, "0=Bag-of-words 1=Optical Flow");
RTABMAP_PARAM(Odom, FeatureType, int, 6, "0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF 7=BRISK.");
RTABMAP_PARAM(Odom, EstimationType, int, 0, "Motion estimation approach: 0:3D->3D, 1:3D->2D (PnP)");
RTABMAP_PARAM(Odom, MaxFeatures, int, 400, "0 no limits.");
RTABMAP_PARAM(Odom, InlierDistance, float, 0.02, "Maximum distance for visual word correspondences.");
RTABMAP_PARAM(Odom, MinInliers, int, 20, "Minimum visual word correspondences to compute geometry transform.");
@@ -325,7 +326,6 @@ class RTABMAP_EXP Parameters
RTABMAP_PARAM(Odom, Holonomic, bool, true, "If the robot is holonomic (strafing commands can be issued). If not, y value will be estimated from x and yaw values (y=x*tan(yaw)).");
RTABMAP_PARAM(Odom, FillInfoData, bool, true, "Fill info with data (inliers/outliers features).");
RTABMAP_PARAM(Odom, ImageBufferSize, unsigned int, 1, "Data buffer size (0 min inf).");
RTABMAP_PARAM(Odom, PnPEstimation, bool, false, "(PnP) Pose estimation from 2D to 3D correspondences instead of 3D to 3D correspondences.");
RTABMAP_PARAM(Odom, PnPReprojError, double, 5.0, "PnP reprojection error.");
RTABMAP_PARAM(Odom, PnPFlags, int, 1, "PnP flags: 0=Iterative, 1=EPNP, 2=P3P");
RTABMAP_PARAM(Odom, ParticleFiltering, bool, false, "Particle filtering to smooth the odometry trajectory.");
@@ -363,14 +363,13 @@ class RTABMAP_EXP Parameters
RTABMAP_PARAM(LccIcp, MaxTranslation, float, 0.2, "Maximum ICP translation correction accepted (m).");
RTABMAP_PARAM(LccIcp, MaxRotation, float, 0.78, "Maximum ICP rotation correction accepted (rad).");
RTABMAP_PARAM(LccBow, EstimationType, int, 0, "Motion estimation approach: 0:3D->3D, 1:3D->2D (PnP), 2:2D->2D (Epipolar Geometry)");
RTABMAP_PARAM(LccBow, MinInliers, int, 20, "Minimum visual word correspondences to compute geometry transform.");
RTABMAP_PARAM(LccBow, InlierDistance, float, 0.02, "Maximum distance for visual word correspondences.");
RTABMAP_PARAM(LccBow, Iterations, int, 100, "Maximum iterations to compute the transform from visual words.");
RTABMAP_PARAM(LccBow, MaxDepth, float, 4.0, "Max depth of the words (0 means no limit).");
RTABMAP_PARAM(LccBow, Force2D, bool, false, "Force 2D transform (3Dof: x,y and yaw).");
RTABMAP_PARAM(LccBow, EpipolarGeometry, bool, false, "Use epipolar geometry to compute the loop closure transform.");
RTABMAP_PARAM(LccBow, RefineIterations, int, 10, "Number of iterations used to refine the transformation found by RANSAC. 0 means that the transformation is not refined.");
RTABMAP_PARAM(LccBow, Force2D, bool, false, "Force 2D transform (3Dof: x,y and yaw).");
RTABMAP_PARAM(LccBow, EpipolarGeometryVar, float, 0.02, "Epipolar geometry maximum variance to accept the loop closure.");
RTABMAP_PARAM(LccBow, PnPEstimation, bool, false, "(PnP) Pose estimation from 2D to 3D correspondences instead of 3D to 3D correspondences.");
RTABMAP_PARAM(LccBow, PnPReprojError, double, 5.0, "PnP reprojection error.");
RTABMAP_PARAM(LccBow, PnPFlags, int, 1, "PnP flags: 0=Iterative, 1=EPNP, 2=P3P");
RTABMAP_PARAM_COND(LccReextract, Activated, bool, RTABMAP_NONFREE, false, true, "Activate re-extracting features on global loop closure.");
@@ -378,6 +377,7 @@ class RTABMAP_EXP Parameters
RTABMAP_PARAM(LccReextract, NNDR, float, 0.8, "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, MaxWords, int, 600, "0 no limits.");
RTABMAP_PARAM(LccReextract, MaxDepth, float, 0.0, "Max depth of the words (0 means no limit).");
RTABMAP_PARAM(LccIcp3, Decimation, int, 8, "Depth image decimation.");
RTABMAP_PARAM(LccIcp3, MaxDepth, float, 4.0, "Max cloud depth.");

1
corelib/include/rtabmap/core/Rtabmap.h
View File

@@ -193,6 +193,7 @@ private:
float _reextractNNDR;
int _reextractFeatureType;
int _reextractMaxWords;
float _reextractMaxDepth;
bool _startNewMapOnLoopClosure;
float _goalReachedRadius; // meters
bool _planVirtualLinks;