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Refactoring of some parameters (LocalLoopDetection* to Proximity*) and variables in code

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matlabbe
2015-11-25 12:15:41 -05:00
parent 56383d4cfb
commit da1129cf79
14 changed files with 290 additions and 308 deletions
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1
corelib/include/rtabmap/core/Memory.h
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@@ -239,7 +239,6 @@ private:
bool _badSignaturesIgnored;
int _imageDecimation;
float _laserScanDownsampleStepSize;
bool _localSpaceLinksKeptInWM;
bool _reextractLoopClosureFeatures;
float _rehearsalMaxDistance;
float _rehearsalMaxAngle;

17
corelib/include/rtabmap/core/Parameters.h
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@@ -200,7 +200,6 @@ class RTABMAP_EXP Parameters
RTABMAP_PARAM(Mem, InitWMWithAllNodes, bool, false, "Initialize the Working Memory with all nodes in Long-Term Memory. When false, it is initialized with nodes of the previous session.");
RTABMAP_PARAM(Mem, ImageDecimation, int, 1, "Image decimation (>=1) when creating a signature.");
RTABMAP_PARAM(Mem, LaserScanDownsampleStepSize, int, 1, "If > 1, downsample the laser scans when creating a signature.");
RTABMAP_PARAM(Mem, LocalSpaceLinksKeptInWM, bool, true, "If local space links are kept in WM.");
// KeypointMemory (Keypoint-based)
RTABMAP_PARAM_COND(Kp, NNStrategy, int, RTABMAP_NONFREE, 1, 3, "kNNFlannNaive=0, kNNFlannKdTree=1, kNNFlannLSH=2, kNNBruteForce=3, kNNBruteForceGPU=4");
@@ -300,17 +299,17 @@ class RTABMAP_EXP Parameters
RTABMAP_PARAM(RGBD, LocalRadius, float, 10, "Local radius (m) for nodes selection in the local map. This parameter is used in some approaches about the local map management.");
RTABMAP_PARAM(RGBD, LocalImmunizationRatio, float, 0.25, "Ratio of working memory for which local nodes are immunized from transfer.");
RTABMAP_PARAM(RGBD, ScanMatchingIdsSavedInLinks, bool, true, "Save scan matching IDs in link's user data.");
RTABMAP_PARAM(RGBD, IcpOdomRefining, bool, false, "If the newest added node's pose is refined using ICP with the previous node to correct odometry from pose to pose (laser scans required!).");
RTABMAP_PARAM(RGBD, IcpLoopClosureRefining, bool, false, "If the estimated loop closure transformation is refined using ICP (laser scans required!).");
RTABMAP_PARAM(RGBD, NeighborLinkRefining, bool, false, "When a new node is added to the graph, the transformation of its neighbor link to the previous node is refined using ICP (laser scans required!).");
RTABMAP_PARAM(RGBD, LoopClosureLinkRefining, bool, false, "If the estimated loop closure transformation is refined using ICP (laser scans required!).");
RTABMAP_PARAM(RGBD, LoopClosureReextractFeatures, bool, true, "Extract features even if there are some already in the nodes.");
// Local/Proximity loop closure detection
RTABMAP_PARAM(RGBD, LocalLoopDetectionTime, bool, false, "Detection over all locations in STM.");
RTABMAP_PARAM(RGBD, LocalLoopDetectionSpace, bool, true, "Detection over locations (in Working Memory or STM) near in space.");
RTABMAP_PARAM(RGBD, LocalLoopDetectionPathScansMerged, bool, true, "Merge close laser scans on each path. If false, only the nearest laser scan on the path is used for ICP.");
RTABMAP_PARAM(RGBD, LocalLoopDetectionMaxGraphDepth, int, 50, "Maximum depth from the current/last loop closure location and the local loop closure hypotheses. Set 0 to ignore.");
RTABMAP_PARAM(RGBD, LocalLoopDetectionPathFilteringRadius, float, 0.5, "Path filtering radius.");
RTABMAP_PARAM(RGBD, LocalLoopDetectionPathOdomPosesUsed, bool, true, "When comparing to a local path, merge the scan using the odometry poses instead of the ones in the optimized local graph.");
RTABMAP_PARAM(RGBD, ProximityByTime, bool, false, "Detection over all locations in STM.");
RTABMAP_PARAM(RGBD, ProximityBySpace, bool, true, "Detection over locations (in Working Memory or STM) near in space.");
RTABMAP_PARAM(RGBD, ProximityPathScansMerged, bool, true, "Merge close laser scans on each path. If false, only the nearest laser scan on the path is used for ICP.");
RTABMAP_PARAM(RGBD, ProximityMaxGraphDepth, int, 50, "Maximum depth from the current/last loop closure location and the local loop closure hypotheses. Set 0 to ignore.");
RTABMAP_PARAM(RGBD, ProximityPathFilteringRadius, float, 0.5, "Path filtering radius.");
RTABMAP_PARAM(RGBD, ProximityPathRawPosesUsed, bool, true, "When comparing to a local path, merge the scan using the odometry poses (with neighbor link optimizations) instead of the ones in the optimized local graph.");
// Graph optimization
RTABMAP_PARAM(RGBD, OptimizeStrategy, int, 0, "Graph optimization strategy: 0=TORO and 1=g2o.");

6
corelib/include/rtabmap/core/Registration.h
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@@ -39,7 +39,7 @@ public:
virtual ~Registration() {}
virtual void parseParameters(const ParametersMap & parameters)
{
Parameters::parse(parameters, Parameters::kRegVarianceFromInliersCount(), _bowVarianceFromInliersCount);
Parameters::parse(parameters, Parameters::kRegVarianceFromInliersCount(), _varianceFromInliersCount);
}
virtual Transform computeTransformation(
const Signature & from,
@@ -51,13 +51,13 @@ public:
float * inliersRatioOut = 0) = 0;
protected:
Registration(const ParametersMap & parameters = ParametersMap()) :
_bowVarianceFromInliersCount(Parameters::defaultRegVarianceFromInliersCount())
_varianceFromInliersCount(Parameters::defaultRegVarianceFromInliersCount())
{
this->parseParameters(parameters);
}
protected:
bool _bowVarianceFromInliersCount;
bool _varianceFromInliersCount;
};

18
corelib/include/rtabmap/core/RegistrationIcp.h
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@@ -61,16 +61,16 @@ public:
float * inliersRatioOut = 0);
private:
float _icpMaxTranslation;
float _icpMaxRotation;
float _maxTranslation;
float _maxRotation;
bool _icp2D;
float _icpVoxelSize;
int _icpDownsamplingStep;
float _icpMaxCorrespondenceDistance;
int _icpMaxIterations;
float _icpCorrespondenceRatio;
bool _icpPointToPlane;
int _icpPointToPlaneNormalNeighbors;
float _voxelSize;
int _downsamplingStep;
float _maxCorrespondenceDistance;
int _maxIterations;
float _correspondenceRatio;
bool _pointToPlane;
int _pointToPlaneNormalNeighbors;
};
}

40
corelib/include/rtabmap/core/RegistrationVis.h
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@@ -51,29 +51,29 @@ public:
float * varianceOut = 0,
float * inliersRatioOut = 0);
float getBowInlierDistance() const {return _bowInlierDistance;}
int getBowIterations() const {return _bowIterations;}
int getBowMinInliers() const {return _bowMinInliers;}
bool getBowForce2D() const {return _bowForce2D;}
float getBowInlierDistance() const {return _inlierDistance;}
int getBowIterations() const {return _iterations;}
int getBowMinInliers() const {return _minInliers;}
bool getBowForce2D() const {return _force2D;}
private:
int _bowMinInliers;
float _bowInlierDistance;
int _bowIterations;
int _bowRefineIterations;
bool _bowForce2D;
float _bowEpipolarGeometryVar;
int _bowEstimationType;
double _bowPnPReprojError;
int _bowPnPFlags;
int _minInliers;
float _inlierDistance;
int _iterations;
int _refineIterations;
bool _force2D;
float _epipolarGeometryVar;
int _estimationType;
double _PnPReprojError;
int _PnPFlags;
int _reextractNNType;
float _reextractNNDR;
int _reextractFeatureType;
int _reextractMaxWords;
float _reextractMaxDepth;
float _reextractMinDepth;
std::string _reextractRoiRatios;
int _NNType;
float _NNDR;
int _featureType;
int _maxWords;
float _maxDepth;
float _minDepth;
std::string _roiRatios;
int _subPixWinSize;
int _subPixIterations;

16
corelib/include/rtabmap/core/Rtabmap.h
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@@ -189,17 +189,17 @@ private:
float _rgbdLinearUpdate;
float _rgbdAngularUpdate;
float _newMapOdomChangeDistance;
bool _loopClosureIcpRefining;
bool _odomIcpRefining;
bool _localLoopClosureDetectionTime;
bool _localLoopClosureDetectionSpace;
bool _loopClosureRefining;
bool _neighborLinkRefining;
bool _proximityByTime;
bool _proximityBySpace;
bool _scanMatchingIdsSavedInLinks;
float _localRadius;
float _localImmunizationRatio;
int _localDetectMaxGraphDepth;
float _localPathFilteringRadius;
bool _localPathOdomPosesUsed;
bool _localPathScansMerged;
int _proximityMaxGraphDepth;
float _proximityFilteringRadius;
bool _proximityRawPosesUsed;
bool _proximityScansMerged;
std::string _databasePath;
bool _optimizeFromGraphEnd;
float _optimizationMaxLinearError;