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Enabled binary visual words for dictionary (for loop closure detection).

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1677 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2014-09-09 21:54:32 +00:00
parent e687302ce0
commit c8593df7eb
10 changed files with 102 additions and 30 deletions
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7
corelib/include/rtabmap/core/OdometryEvent.h
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@@ -37,19 +37,22 @@ class OdometryEvent : public UEvent
{
public:
OdometryEvent(
const SensorData & data, int quality = -1) :
const SensorData & data, int quality = -1, float time = 0.0f) :
_data(data),
_quality(quality) {}
_quality(quality),
_time(time){}
virtual ~OdometryEvent() {}
virtual std::string getClassName() const {return "OdometryEvent";}
bool isValid() const {return !_data.pose().isNull();}
const SensorData & data() const {return _data;}
int quality() const {return _quality;}
float time() const {return _time;} // seconds
private:
SensorData _data;
int _quality;
float _time; // seconds
};
class OdometryResetEvent : public UEvent

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

@@ -167,7 +167,7 @@ class RTABMAP_EXP Parameters
RTABMAP_PARAM(Kp, WordsPerImage, int, 400, "");
RTABMAP_PARAM(Kp, BadSignRatio, float, 0.2, "Bad signature ratio (less than Ratio x AverageWordsPerImage = bad).");
RTABMAP_PARAM(Kp, NndrRatio, float, 0.8, "NNDR ratio (A matching pair is detected, if its distance is closer than X times the distance of the second nearest neighbor.)");
RTABMAP_PARAM(Kp, DetectorStrategy, int, 0, "0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/BRIEF 6=GFTT/BRIEF.");
RTABMAP_PARAM(Kp, DetectorStrategy, int, 0, "0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF.");
RTABMAP_PARAM(Kp, TfIdfLikelihoodUsed, bool, false, "Use of the td-idf strategy to compute the likelihood.");
RTABMAP_PARAM(Kp, Parallelized, bool, true, "If the dictionary update and signature creation were parallelized.");
RTABMAP_PARAM_STR(Kp, RoiRatios, "0.0 0.0 0.0 0.0", "Region of interest ratios [left, right, top, bottom].");
@@ -251,7 +251,7 @@ class RTABMAP_EXP Parameters
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.")
// Odometry
RTABMAP_PARAM(Odom, Type, int, 0, "0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF.");
RTABMAP_PARAM(Odom, Type, int, 0, "0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF.");
RTABMAP_PARAM(Odom, LinearUpdate, float, 0.0, "Min linear displacement to update odometry.");
RTABMAP_PARAM(Odom, AngularUpdate, float, 0.0, "Min angular displacement to update odometry.");
RTABMAP_PARAM(Odom, MaxWords, int, 0, "0 no limits.");