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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
View File

@@ -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
View File

@@ -135,6 +135,7 @@ private:
unsigned int _maxRetrieved;
bool _actionsByTime;
bool _actionsSentRejectHyp;
float _confidenceThr;
int _lcHypothesisId;
int _reactivateId;

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)

1
guilib/src/PreferencesDialog.cpp
View File

@@ -113,6 +113,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_ui->general_spinBox_maxRetrieved->setObjectName(Parameters::kRtabmapMaxRetrieved().c_str());
_ui->general_checkBox_actionsByTime->setObjectName(Parameters::kRtabmapActionsByTime().c_str());
_ui->general_checkBox_actionsSentRejectHyp->setObjectName(Parameters::kRtabmapActionsSentRejectHyp().c_str());
_ui->general_doubleSpinBox_confidenceThr->setObjectName(Parameters::kRtabmapConfidenceThr().c_str());
_ui->lineEdit_workingDirectory->setObjectName(Parameters::kRtabmapWorkingDirectory().c_str());
connect(_ui->toolButton_workingDirectory, SIGNAL(clicked()), this, SLOT(changeWorkingDirectory()));

35
guilib/src/ui/preferencesDialog.ui
View File

@@ -65,7 +65,7 @@
<enum>QFrame::Raised</enum>
</property>
<property name="currentIndex">
<number>0</number>
<number>2</number>
</property>
<widget class="QWidget" name="page_22">
<layout class="QVBoxLayout" name="verticalLayout_29">
@@ -806,7 +806,7 @@ when using the file type, logs are saved in Logrtabmap.txt (located in the worki
<property name="title">
<string>0RTAB-Map settings</string>
</property>
<layout class="QGridLayout" name="gridLayout_4" columnstretch="1,0,10">
<layout class="QGridLayout" name="gridLayout_4" columnstretch="1,0,0">
<item row="0" column="0">
<widget class="QCheckBox" name="general_checkBox_publishStats">
<property name="text">
@@ -930,21 +930,21 @@ when using the file type, logs are saved in Logrtabmap.txt (located in the worki
</property>
</widget>
</item>
<item row="9" column="0">
<item row="10" column="0">
<widget class="QLineEdit" name="lineEdit_workingDirectory">
<property name="readOnly">
<bool>true</bool>
</property>
</widget>
</item>
<item row="9" column="2">
<item row="10" column="2">
<widget class="QLabel" name="label_87">
<property name="text">
<string>Working directory (where the database is saved/loaded)</string>
</property>
</widget>
</item>
<item row="9" column="1">
<item row="10" column="1">
<widget class="QToolButton" name="toolButton_workingDirectory">
<property name="text">
<string>...</string>
@@ -1014,6 +1014,29 @@ when using the file type, logs are saved in Logrtabmap.txt (located in the worki
</property>
</widget>
</item>
<item row="9" column="2">
<widget class="QLabel" name="label_52">
<property name="text">
<string>Actions are not sent when the loop closure hypothesis is under the confidence threshold</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="9" column="0">
<widget class="QDoubleSpinBox" name="general_doubleSpinBox_confidenceThr">
<property name="maximum">
<double>1.000000000000000</double>
</property>
<property name="singleStep">
<double>0.010000000000000</double>
</property>
<property name="value">
<double>0.000000000000000</double>
</property>
</widget>
</item>
</layout>
</widget>
</item>
@@ -1110,7 +1133,7 @@ We can edit how will like the prediction used in the Bayes filter when there is
<rect>
<x>0</x>
<y>0</y>
<width>98</width>
<width>28</width>
<height>71</height>
</rect>
</property>