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Added parameters: Mem/ImagePreDecimation Mem/ImagePostDecimation Odom/ImageDecimation

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matlabbe
2016-04-08 16:15:08 -04:00
parent 0b3da6b246
commit dece54ca3e
12 changed files with 268 additions and 127 deletions
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3
corelib/include/rtabmap/core/Memory.h
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@@ -244,7 +244,8 @@ private:
bool _generateIds;
bool _badSignaturesIgnored;
bool _mapLabelsAdded;
int _imageDecimation;
int _imagePreDecimation;
int _imagePostDecimation;
float _laserScanDownsampleStepSize;
bool _reextractLoopClosureFeatures;
float _rehearsalMaxDistance;

1
corelib/include/rtabmap/core/Odometry.h
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@@ -83,6 +83,7 @@ private:
bool _fillInfoData;
float _kalmanProcessNoise;
float _kalmanMeasurementNoise;
int _imageDecimation;
Transform _pose;
int _resetCurrentCount;
double previousStamp_;

10
corelib/include/rtabmap/core/Parameters.h
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@@ -205,10 +205,11 @@ class RTABMAP_EXP Parameters
RTABMAP_PARAM(Mem, RehearsalWeightIgnoredWhileMoving, bool, false, "When the robot is moving, weights are not updated on rehearsal.");
RTABMAP_PARAM(Mem, GenerateIds, bool, true, "True=Generate location IDs, False=use input image IDs.");
RTABMAP_PARAM(Mem, BadSignaturesIgnored, bool, false, "Bad signatures are ignored.");
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, UseOdomFeatures, bool, false, "Use odometry features.");
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, ImagePreDecimation, int, 1, "Image decimation (>=1) before features extraction.");
RTABMAP_PARAM(Mem, ImagePostDecimation, int, 1, "Image decimation (>=1) of saved data in created signatures (after features extraction). Decimation is done from the original image.");
RTABMAP_PARAM(Mem, LaserScanDownsampleStepSize, int, 1, "If > 1, downsample the laser scans when creating a signature.");
RTABMAP_PARAM(Mem, UseOdomFeatures, bool, false, "Use odometry features.");
// KeypointMemory (Keypoint-based)
RTABMAP_PARAM(Kp, NNStrategy, int, 1, "kNNFlannNaive=0, kNNFlannKdTree=1, kNNFlannLSH=2, kNNBruteForce=3, kNNBruteForceGPU=4");
@@ -365,6 +366,7 @@ class RTABMAP_EXP Parameters
RTABMAP_PARAM(Odom, GuessMotion, bool, false, "Guess next transformation from the last motion computed.");
RTABMAP_PARAM(Odom, KeyFrameThr, float, 0.3, "[Visual] Create a new keyframe when the number of inliers drops under this ratio of features in last frame. Setting the value to 0 means that a keyframe is created for each processed frame.");
RTABMAP_PARAM(Odom, ScanKeyFrameThr, float, 0.7, "[Geometry] Create a new keyframe when the number of ICP inliers drops under this ratio of points in last frame's scan. Setting the value to 0 means that a keyframe is created for each processed frame.");
RTABMAP_PARAM(Odom, ImageDecimation, int, 1, "Decimation of the images before registration.");
// Odometry Bag-of-words
RTABMAP_PARAM(OdomF2M, MaxSize, int, 2000, "[Visual] Local map size: If > 0 (example 5000), the odometry will maintain a local map of X maximum words.");