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Added constraints editing to DatabaseViewer to add/reject loop closures, refine loop closures with ICP, detect more loop closures using the optimized map

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Added Feature2D::parseParameters()
 

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1632 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2014-08-11 15:23:06 +00:00
parent 52af62394e
commit df76e3cd29
13 changed files with 1961 additions and 378 deletions
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corelib/src/Memory.cpp
+15 -2
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@@ -63,8 +63,8 @@ Memory::Memory(const ParametersMap & parameters) :
_memoryChanged(false),
_signaturesAdded(0),
_feature2D(0),
_featureType(Feature2D::kFeatureUndef),
_feature2D(new SURF(parameters)),
_featureType(Feature2D::kFeatureSurf),
_badSignRatio(Parameters::defaultKpBadSignRatio()),
_tfIdfLikelihoodUsed(Parameters::defaultKpTfIdfLikelihoodUsed()),
_parallelized(Parameters::defaultKpParallelized()),
@@ -364,6 +364,7 @@ void Memory::parseParameters(const ParametersMap & parameters)
}
//Keypoint detector
UASSERT(_feature2D != 0);
Feature2D::Type detectorStrategy = Feature2D::kFeatureUndef;
if((iter=parameters.find(Parameters::kKpDetectorStrategy())) != parameters.end())
{
@@ -403,6 +404,10 @@ void Memory::parseParameters(const ParametersMap & parameters)
break;
}
}
else if(_feature2D)
{
_feature2D->parseParameters(parameters);
}
}
void Memory::preUpdate()
@@ -1626,6 +1631,10 @@ Transform Memory::computeVisualTransform(int oldId, int newId) const
{
return computeVisualTransform(*oldS, *newS);
}
else
{
UWARN("Did not find nodes %d and/or %d", oldId, newId);
}
return Transform();
}
@@ -2845,6 +2854,10 @@ void Memory::extractKeypointsAndDescriptors(
filterKeypointsByDepth(keypoints, depth, fx, fy, cx, cy, _wordsMaxDepth);
limitKeypoints(keypoints, _wordsPerImageTarget);
}
else
{
UWARN("feature2D not set!");
}
if(keypoints.size())
{