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Added parameter actionsSentRejectedHyp (actions also sent on rejected hypotheses or decreasing hyp), default false

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git-svn-id: http://rtabmap.googlecode.com/svn/branches/0.3/rtabmap@85 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2011-06-08 20:19:37 +00:00
parent edf8bbb735
commit c59d461c81
5 changed files with 35 additions and 7 deletions
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1
corelib/include/rtabmap/core/Parameters.h
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@@ -132,6 +132,7 @@ class RTABMAP_EXP Parameters
RTABMAP_PARAM(Rtabmap, LocalGraphCleaned, bool, false); // Clean the neighborhood of the retrieved id
RTABMAP_PARAM(Rtabmap, MaxRetrieved, unsigned int, 2); // Maximum locations retrieved at the same time from LTM
RTABMAP_PARAM(Rtabmap, ActionsByTime, bool, true); // Select next actions based on the more recent neighbor of the current node, otherwise, weight is also used
RTABMAP_PARAM(Rtabmap, ActionsSentRejectHyp, bool, false); // Actions sent also on rejected hypotheses (on decreasing hypotheses)
// Hypotheses selection
RTABMAP_PARAM(Rtabmap, LoopThr, float, 0.10); // Loop closing threshold

1
corelib/include/rtabmap/core/Rtabmap.h
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@@ -134,6 +134,7 @@ private:
bool _localGraphCleaned;
unsigned int _maxRetrieved;
bool _actionsByTime;
bool _actionsSentRejectHyp;
int _lcHypothesisId;
int _reactivateId;

9
corelib/src/Rtabmap.cpp
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@@ -64,6 +64,7 @@ Rtabmap::Rtabmap() :
_localGraphCleaned(Parameters::defaultRtabmapLocalGraphCleaned()),
_maxRetrieved(Parameters::defaultRtabmapMaxRetrieved()),
_actionsByTime(Parameters::defaultRtabmapActionsByTime()),
_actionsSentRejectHyp(Parameters::defaultRtabmapActionsSentRejectHyp()),
_lcHypothesisId(0),
_reactivateId(0),
_highestHypothesisValue(0),
@@ -269,7 +270,10 @@ void Rtabmap::parseParameters(const ParametersMap & parameters)
{
_actionsByTime = uStr2Bool(iter->second.c_str());
}
if((iter=parameters.find(Parameters::kRtabmapActionsSentRejectHyp())) != parameters.end())
{
_actionsSentRejectHyp = uStr2Bool(iter->second.c_str());
}
// By default, we create our strategies if they are not already created.
// If they already exists, we check the parameters if a change is requested
@@ -952,7 +956,8 @@ void Rtabmap::process()
sLoop = _memory->getSignature(highestHypothesisId);
}
if(sLoop)
// only send actions if rejectLoopReason!=3 (decreasing hypotheses)
if(sLoop && (_actionsSentRejectHyp || rejectLoopReason != 3))
{
// select the actions of the neighbor with the highest
// weight (select the more recent if some have the same weight)