i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-01 17:10:26 +08:00
Code Issues Packages Projects Releases Wiki Activity

Added confidence threshold parameter

Browse Source 
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
Download Patch File Download Diff File Expand all files Collapse all files

7
corelib/src/Rtabmap.cpp
View File

@@ -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)