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Added confidence threshold parameter

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@310 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2011-08-24 17:27:14 +00:00
parent 5dc005d454
commit d75bbb130c
5 changed files with 38 additions and 7 deletions
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1
corelib/include/rtabmap/core/Parameters.h
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@@ -133,6 +133,7 @@ class RTABMAP_EXP Parameters
RTABMAP_PARAM(Rtabmap, MaxRetrieved, unsigned int, 2); // Maximum locations retrieved at the same time from LTM
RTABMAP_PARAM(Rtabmap, ActionsByTime, bool, false); // Select next actions using directly the more recent neighbor of the current node, otherwise, highest hypothesis is used
RTABMAP_PARAM(Rtabmap, ActionsSentRejectHyp, bool, false); // Actions sent also on rejected hypotheses (on decreasing hypotheses)
RTABMAP_PARAM(Rtabmap, ConfidenceThr, float, 0.0); // Actions are not sent when the loop closure hypothesis is under the confidence threshold
// Hypotheses selection
RTABMAP_PARAM(Rtabmap, LoopThr, float, 0.10); // Loop closing threshold

1
corelib/include/rtabmap/core/Rtabmap.h
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@@ -135,6 +135,7 @@ private:
unsigned int _maxRetrieved;
bool _actionsByTime;
bool _actionsSentRejectHyp;
float _confidenceThr;
int _lcHypothesisId;
int _reactivateId;

7
corelib/src/Rtabmap.cpp
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@@ -65,6 +65,7 @@ Rtabmap::Rtabmap() :
_maxRetrieved(Parameters::defaultRtabmapMaxRetrieved()),
_actionsByTime(Parameters::defaultRtabmapActionsByTime()),
_actionsSentRejectHyp(Parameters::defaultRtabmapActionsSentRejectHyp()),
_confidenceThr(Parameters::defaultRtabmapConfidenceThr()),
_lcHypothesisId(0),
_reactivateId(0),
_highestHypothesisValue(0),
@@ -283,6 +284,10 @@ void Rtabmap::parseParameters(const ParametersMap & parameters)
{
_actionsSentRejectHyp = uStr2Bool(iter->second.c_str());
}
if((iter=parameters.find(Parameters::kRtabmapConfidenceThr())) != parameters.end())
{
_confidenceThr = std::atof(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
@@ -946,7 +951,7 @@ void Rtabmap::process()
}
// only send actions if rejectLoopReason!=3 (decreasing hypotheses)
if(sLoop && (_actionsSentRejectHyp || !rejectedHypothesis))
if(sLoop && (_actionsSentRejectHyp || !rejectedHypothesis) && (_highestHypothesisValue > _confidenceThr))
{
// select the actions of the neighbor with the highest
// weight (select the more recent if some have the same weight)