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Retrieval margin spreading +2

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Rollback change about last location in WM not used in posterior (now it is)
In consoleApp, surf extraction is done outside the rtabmap processing

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@295 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2011-07-19 21:52:33 +00:00
parent 73a2d589ab
commit bcbd35d368
4 changed files with 38 additions and 43 deletions
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15
corelib/ConsoleApp/main.cpp
View File

@@ -368,9 +368,6 @@ int main(int argc, char * argv[])
pm.insert(ParametersPair(Parameters::kRtabmapPublishStats(), uBool2str(false)));
rtabmap->init(pm);
printf("Avpd init time = %fs\n", timer.ticks());
// Start thread's task
@@ -396,6 +393,12 @@ int main(int argc, char * argv[])
}
printf("\nProcessing images...\n");
//setup camera
ParametersMap allParam;
Rtabmap::readParameters(rtabmap->getIniFilePath().c_str(), allParam);
pm.insert(allParam.begin(), allParam.end());
CamKeypointTreatment imageToSMState(pm);
UTimer iterationTimer;
int imagesProcessed = 0;
std::list<std::vector<float> > teleopActions;
@@ -407,9 +410,9 @@ int main(int argc, char * argv[])
int i=0;
while(image && g_forever)
{
SMState * smState = imageToSMState.process(image);
++imagesProcessed;
iterationTimer.start();
SMState * smState;
if(i<maxTeleopActions)
{
// ONLY TESTING HERE if maxTeleopActions>0
@@ -417,12 +420,12 @@ int main(int argc, char * argv[])
v[0] = 2;
v[1] = 0;
teleopActions.push_back(v);
smState = new SMState(std::list<std::vector<float> >(), teleopActions);
smState->setActuators(teleopActions);
smState->setImage(image);
}
else
{
smState = new SMState(std::list<std::vector<float> >(), actions);
smState->setActuators(actions);
smState->setImage(image);
}
rtabmap->process(smState);

32
corelib/src/KeypointMemory.cpp
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@@ -454,30 +454,26 @@ std::map<int, float> KeypointMemory::computeLikelihood(const Signature * signatu
const std::map<int, int> & wm = this->getWorkingMem();
for(std::map<int, int>::const_iterator iter = wm.begin(); iter!=wm.end(); ++iter)
{
//ignore the last in WM
if(iter->first != wm.rbegin()->first)
likelihood.insert(likelihood.end(), std::pair<int, float>(iter->first, 0));
if(_tfIdfNormalized)
{
likelihood.insert(likelihood.end(), std::pair<int, float>(iter->first, 0));
if(_tfIdfNormalized)
const KeypointSignature * s = dynamic_cast<const KeypointSignature *>(this->getSignature(iter->first));
float wordsCountRatio = -1; // default invalid
if(s)
{
const KeypointSignature * s = dynamic_cast<const KeypointSignature *>(this->getSignature(iter->first));
float wordsCountRatio = -1; // default invalid
if(s)
if(s->getWords().size() > newSurf->getWords().size())
{
if(s->getWords().size() > newSurf->getWords().size())
{
wordsCountRatio = float(newSurf->getWords().size()) / float(s->getWords().size());
}
else if(newSurf->getWords().size())
{
wordsCountRatio = float(s->getWords().size()) / float(newSurf->getWords().size());
}
calculatedWordsRatio.insert(std::pair<int, float>(iter->first, wordsCountRatio));
wordsCountRatio = float(newSurf->getWords().size()) / float(s->getWords().size());
}
else
else if(newSurf->getWords().size())
{
calculatedWordsRatio.insert(std::pair<int, float>(iter->first, wordsCountRatio));
wordsCountRatio = float(s->getWords().size()) / float(newSurf->getWords().size());
}
calculatedWordsRatio.insert(std::pair<int, float>(iter->first, wordsCountRatio));
}
else
{
calculatedWordsRatio.insert(std::pair<int, float>(iter->first, wordsCountRatio));
}
}
}

32
corelib/src/Memory.cpp
View File

@@ -660,25 +660,21 @@ std::map<int, float> Memory::computeLikelihood(const Signature * signature, cons
std::map<int, int>::const_iterator iter = wm.begin();
for(; iter!=wm.end(); ++iter)
{
//ignore the last in WM
if(iter->first != wm.rbegin()->first)
float sim = signature->compareTo(this->getSignature(iter->first));
likelihood.insert(likelihood.end(), std::pair<int, float>(iter->first, sim));
sumSimilarity += sim;
UDEBUG("sim %d with %d = %f", signature->id(), iter->first, sim);
if(sim>maxSim)
{
float sim = signature->compareTo(this->getSignature(iter->first));
likelihood.insert(likelihood.end(), std::pair<int, float>(iter->first, sim));
sumSimilarity += sim;
UDEBUG("sim %d with %d = %f", signature->id(), iter->first, sim);
if(sim>maxSim)
{
maxSim = sim;
}
if(sim)
{
++nonNulls;
}
else
{
++nulls;
}
maxSim = sim;
}
if(sim)
{
++nonNulls;
}
else
{
++nulls;
}
}
ULOGGER_DEBUG("sumSimilarity=%f, maxSim=%f, nonNulls=%d, nulls=%d)", sumSimilarity, maxSim, nonNulls, nulls);

2
corelib/src/Rtabmap.cpp
View File

@@ -892,7 +892,7 @@ void Rtabmap::process()
// We are loosing the next loop closures (it
// can be temporary occlusions/bad images),
//increment the retrieval margin
++_spreadMargin;
_spreadMargin+=2;
UDEBUG("Margin++");
}
//else don't change the margin