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

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This commit is contained in:
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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corelib/src/Parameters.cpp
+32 -4
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@@ -76,9 +76,12 @@ const std::map<std::string, std::pair<bool, std::string> > & Parameters::getRemo
if(removedParameters_.empty())
{
// removed parameters
removedParameters_.insert(std::make_pair("Mem/LaserScanVoxelSize", std::make_pair(false, Parameters::kMemLaserScanDownsampleStepSize())));
removedParameters_.insert(std::make_pair("RGBD/PoseScanMatching", std::make_pair(true, Parameters::kRGBDIcpOdomRefining())));
// 0.11.0
removedParameters_.insert(std::make_pair("Mem/LaserScanVoxelSize", std::make_pair(false, Parameters::kMemLaserScanDownsampleStepSize())));
removedParameters_.insert(std::make_pair("Mem/LocalSpaceLinksKeptInWM", std::make_pair(false, "")));
removedParameters_.insert(std::make_pair("RGBD/PoseScanMatching", std::make_pair(true, Parameters::kRGBDNeighborLinkRefining())));
removedParameters_.insert(std::make_pair("Odom/FeatureType", std::make_pair(true, Parameters::kVisFeatureType())));
removedParameters_.insert(std::make_pair("Odom/EstimationType", std::make_pair(true, Parameters::kVisEstimationType())));
@@ -101,7 +104,7 @@ const std::map<std::string, std::pair<bool, std::string> > & Parameters::getRemo
removedParameters_.insert(std::make_pair("OdomSubPix/Iterations", std::make_pair(true, Parameters::kVisSubPixIterations())));
removedParameters_.insert(std::make_pair("OdomSubPix/Eps", std::make_pair(true, Parameters::kVisSubPixEps())));
removedParameters_.insert(std::make_pair("LccReextract/Activated", std::make_pair(false, Parameters::kRGBDLoopClosureReextractFeatures())));
removedParameters_.insert(std::make_pair("LccReextract/Activated", std::make_pair(true, Parameters::kRGBDLoopClosureReextractFeatures())));
removedParameters_.insert(std::make_pair("LccReextract/FeatureType", std::make_pair(false, Parameters::kVisFeatureType())));
removedParameters_.insert(std::make_pair("LccReextract/MaxWords", std::make_pair(false, Parameters::kVisMaxFeatures())));
removedParameters_.insert(std::make_pair("LccReextract/MaxDepth", std::make_pair(false, Parameters::kVisMaxDepth())));
@@ -120,7 +123,7 @@ const std::map<std::string, std::pair<bool, std::string> > & Parameters::getRemo
removedParameters_.insert(std::make_pair("LccBow/PnPFlags", std::make_pair(false, Parameters::kVisPnPFlags())));
removedParameters_.insert(std::make_pair("LccBow/EpipolarGeometryVar", std::make_pair(true, Parameters::kVisEpipolarGeometryVar())));
removedParameters_.insert(std::make_pair("LccIcp/Type", std::make_pair(true, Parameters::kRGBDIcpLoopClosureRefining())));
removedParameters_.insert(std::make_pair("LccIcp/Type", std::make_pair(true, Parameters::kRGBDLoopClosureLinkRefining())));
removedParameters_.insert(std::make_pair("LccIcp3/Decimation", std::make_pair(false, "")));
removedParameters_.insert(std::make_pair("LccIcp3/MaxDepth", std::make_pair(false, "")));
@@ -136,6 +139,31 @@ const std::map<std::string, std::pair<bool, std::string> > & Parameters::getRemo
removedParameters_.insert(std::make_pair("LccIcp2/Iterations", std::make_pair(true, Parameters::kIcpIterations())));
removedParameters_.insert(std::make_pair("LccIcp2/CorrespondenceRatio", std::make_pair(true, Parameters::kIcpCorrespondenceRatio())));
removedParameters_.insert(std::make_pair("LccIcp2/VoxelSize", std::make_pair(true, Parameters::kIcpVoxelSize())));
removedParameters_.insert(std::make_pair("RGBD/LocalLoopDetectionByTime", std::make_pair(true, Parameters::kRGBDProximityByTime())));
removedParameters_.insert(std::make_pair("RGBD/LocalLoopDetectionBySpace", std::make_pair(true, Parameters::kRGBDProximityBySpace())));
removedParameters_.insert(std::make_pair("RGBD/LocalLoopDetectionPathScansMerged", std::make_pair(true, Parameters::kRGBDProximityPathScansMerged())));
removedParameters_.insert(std::make_pair("RGBD/LocalLoopDetectionMaxGraphDepth", std::make_pair(true, Parameters::kRGBDProximityMaxGraphDepth())));
removedParameters_.insert(std::make_pair("RGBD/LocalLoopDetectionPathFilteringRadius", std::make_pair(true, Parameters::kRGBDProximityPathFilteringRadius())));
removedParameters_.insert(std::make_pair("RGBD/LocalLoopDetectionPathRawPosesUsed", std::make_pair(true, Parameters::kRGBDProximityPathRawPosesUsed())));
// before 0.11.0
removedParameters_.insert(std::make_pair("GFTT/MaxCorners", std::make_pair(true, Parameters::kVisMaxFeatures())));
removedParameters_.insert(std::make_pair("LccBow/MaxDepth", std::make_pair(true, Parameters::kVisMaxDepth())));
removedParameters_.insert(std::make_pair("LccReextract/LoopClosureFeatures", std::make_pair(true, Parameters::kRGBDLoopClosureReextractFeatures())));
removedParameters_.insert(std::make_pair("Rtabmap/DetectorStrategy", std::make_pair(true, Parameters::kKpDetectorStrategy())));
removedParameters_.insert(std::make_pair("RGBD/ScanMatchingSize", std::make_pair(true, Parameters::kRGBDNeighborLinkRefining())));
removedParameters_.insert(std::make_pair("RGBD/LocalLoopDetectionRadius", std::make_pair(true, Parameters::kRGBDLocalRadius())));
removedParameters_.insert(std::make_pair("RGBD/ToroIterations", std::make_pair(true, Parameters::kRGBDOptimizeIterations())));
removedParameters_.insert(std::make_pair("Mem/RehearsedNodesKept", std::make_pair(true, Parameters::kMemNotLinkedNodesKept())));
removedParameters_.insert(std::make_pair("RGBD/LocalLoopDetectionMaxDiffID", std::make_pair(true, Parameters::kRGBDProximityMaxGraphDepth())));
removedParameters_.insert(std::make_pair("RGBD/PlanVirtualLinksMaxDiffID", std::make_pair(false, "")));
removedParameters_.insert(std::make_pair("RGBD/LocalLoopDetectionMaxDiffID", std::make_pair(false, "")));
removedParameters_.insert(std::make_pair("Odom/Type", std::make_pair(true, Parameters::kVisFeatureType())));
removedParameters_.insert(std::make_pair("Odom/MaxWords", std::make_pair(true, Parameters::kVisMaxFeatures())));
removedParameters_.insert(std::make_pair("Odom/LocalHistory", std::make_pair(true, Parameters::kOdomBowLocalHistorySize())));
removedParameters_.insert(std::make_pair("Odom/NearestNeighbor", std::make_pair(true, Parameters::kVisNNType())));
removedParameters_.insert(std::make_pair("Odom/NNDR", std::make_pair(true, Parameters::kVisNNDR())));
}
return removedParameters_;
}