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added new statistics (features extracted current image, local map size) shown in GUI for Odometry

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1719 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2014-09-25 15:04:35 +00:00
parent c5eedd9a9d
commit ebeb116c0d
11 changed files with 135 additions and 37 deletions
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corelib/src/Rtabmap.cpp
+19 -13
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@@ -422,6 +422,11 @@ void Rtabmap::parseParameters(const ParametersMap & parameters)
{
_bayesFilter->parseParameters(parameters);
}
for(ParametersMap::const_iterator iter = parameters.begin(); iter!=parameters.end(); ++iter)
{
uInsert(_lastParameters, ParametersPair(iter->first, iter->second));
}
}
std::string Rtabmap::getDatabasePath() const
@@ -1274,19 +1279,20 @@ bool Rtabmap::process(const SensorData & data)
std::string rejectedMsg;
if(_reextractLoopClosureFeatures)
{
ParametersMap customParameters;
customParameters.insert(ParametersPair(Parameters::kLccBowInlierDistance(), uNumber2Str(_memory->getBowInlierDistance())));
customParameters.insert(ParametersPair(Parameters::kLccBowIterations(), uNumber2Str(_memory->getBowIterations())));
customParameters.insert(ParametersPair(Parameters::kLccBowMinInliers(), uNumber2Str(_memory->getBowMinInliers())));
customParameters.insert(ParametersPair(Parameters::kKpMaxDepth(), uNumber2Str(_memory->getBowMaxDepth())));
customParameters.insert(ParametersPair(Parameters::kLccBowForce2D(), uNumber2Str(_memory->getBowForce2D())));
customParameters.insert(ParametersPair(Parameters::kMemRehearsalSimilarity(), "1.0")); // desactivate rehearsal
customParameters.insert(ParametersPair(Parameters::kMemImageKept(), "false"));
customParameters.insert(ParametersPair(Parameters::kMemSTMSize(), "0"));
customParameters.insert(ParametersPair(Parameters::kKpNNStrategy(), uNumber2Str(_reextractNNType))); // bruteforce
customParameters.insert(ParametersPair(Parameters::kKpNndrRatio(), uNumber2Str(_reextractNNDR)));
customParameters.insert(ParametersPair(Parameters::kKpDetectorStrategy(), uNumber2Str(_reextractFeatureType))); // FAST/BRIEF
customParameters.insert(ParametersPair(Parameters::kKpWordsPerImage(), uNumber2Str(_reextractMaxWords)));
ParametersMap customParameters = _lastParameters;
// override some parameters
uInsert(customParameters, ParametersPair(Parameters::kMemRehearsalSimilarity(), "1.0")); // desactivate rehearsal
uInsert(customParameters, ParametersPair(Parameters::kMemImageKept(), "false"));
uInsert(customParameters, ParametersPair(Parameters::kMemSTMSize(), "0"));
uInsert(customParameters, ParametersPair(Parameters::kKpNNStrategy(), uNumber2Str(_reextractNNType))); // bruteforce
uInsert(customParameters, ParametersPair(Parameters::kKpNndrRatio(), uNumber2Str(_reextractNNDR)));
uInsert(customParameters, ParametersPair(Parameters::kKpDetectorStrategy(), uNumber2Str(_reextractFeatureType))); // FAST/BRIEF
uInsert(customParameters, ParametersPair(Parameters::kKpWordsPerImage(), uNumber2Str(_reextractMaxWords)));
for(ParametersMap::iterator iter = customParameters.begin(); iter!=customParameters.end(); ++iter)
{
UINFO("%s=%s", iter->first.c_str(), iter->second.c_str());
}
Memory memory(customParameters);