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Added parameter "RGBD/ProximityAngle"

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Updated default of GuessMotion parameters
Proximity detection by time: added guess transform based on optimized poses
RegistrationVis: ByPass OpticalFlow if no images are detected (use features matching instead if features are set)
solvePnPRansac() refining: using std dev instead of variance
Statistics panel: creating Camera/GUI/Odometry panels without the need to start detection (issue #51)
Statistics: Adding a GT panel when ground truth poses are detected with RMSE info
This commit is contained in:
matlabbe
2016-03-02 18:11:19 -05:00
parent bcd96a97a3
commit eefd557ab4
11 changed files with 240 additions and 48 deletions
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2
corelib/include/rtabmap/core/Memory.h
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@@ -181,7 +181,7 @@ public:
std::multimap<int, Link> & links,
bool lookInDatabase = false);
Transform computeTransform(int fromId, int toId, RegistrationInfo * info = 0);
Transform computeTransform(int fromId, int toId, Transform guess, RegistrationInfo * info = 0);
Transform computeIcpTransform(int fromId, int toId, Transform guess, RegistrationInfo * info = 0);
Transform computeIcpTransformMulti(
int newId,

5
corelib/include/rtabmap/core/Parameters.h
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@@ -326,6 +326,7 @@ class RTABMAP_EXP Parameters
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.");
RTABMAP_PARAM(RGBD, ProximityAngle, float, 45.0, "Maximum angle (degrees) for visual proximity detection.");
// Graph optimization
#ifdef RTABMAP_GTSAM
@@ -358,7 +359,7 @@ class RTABMAP_EXP Parameters
RTABMAP_PARAM(Odom, ParticleLambdaR, float, 100, "Lambda of rotational components (roll,pitch,yaw).");
RTABMAP_PARAM(Odom, KalmanProcessNoise, float, 0.001, "Process noise covariance value.");
RTABMAP_PARAM(Odom, KalmanMeasurementNoise, float, 0.01, "Process measurement covariance value.");
RTABMAP_PARAM(Odom, GuessMotion, bool, false, "Guess next transformation from the last motion computed.");
RTABMAP_PARAM(Odom, GuessMotion, bool, true, "Guess next transformation from the last motion computed.");
RTABMAP_PARAM(Odom, KeyFrameThr, float, 0.5, "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.");
// Odometry Bag-of-words
@@ -399,7 +400,7 @@ class RTABMAP_EXP Parameters
RTABMAP_PARAM(Vis, CorType, int, 0, "Correspondences computation approach: 0=Features Matching, 1=Optical Flow");
RTABMAP_PARAM(Vis, CorNNType, int, 3, "[Vis/CorrespondenceType=0] kNNFlannNaive=0, kNNFlannKdTree=1, kNNFlannLSH=2, kNNBruteForce=3, kNNBruteForceGPU=4. Used for features matching approach.");
RTABMAP_PARAM(Vis, CorNNDR, float, 0.8, "[Vis/CorrespondenceType=0] NNDR: nearest neighbor distance ratio. Used for features matching approach.");
RTABMAP_PARAM(Vis, CorGuessWinSize, int, 16, "[Vis/CorrespondenceType=0] Matching window size (pixels) around projected points when a guess transform is provided to find correspondences. 0 means disabled.");
RTABMAP_PARAM(Vis, CorGuessWinSize, int, 50, "[Vis/CorrespondenceType=0] Matching window size (pixels) around projected points when a guess transform is provided to find correspondences. 0 means disabled.");
RTABMAP_PARAM(Vis, CorFlowWinSize, int, 16, "[Vis/CorrespondenceType=1] See cv::calcOpticalFlowPyrLK(). Used for optical flow approach.");
RTABMAP_PARAM(Vis, CorFlowIterations, int, 30, "[Vis/CorrespondenceType=1] See cv::calcOpticalFlowPyrLK(). Used for optical flow approach.");
RTABMAP_PARAM(Vis, CorFlowEps, float, 0.01, "[Vis/CorrespondenceType=1] See cv::calcOpticalFlowPyrLK(). Used for optical flow approach.");

1
corelib/include/rtabmap/core/Rtabmap.h
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@@ -195,6 +195,7 @@ private:
float _proximityFilteringRadius;
bool _proximityRawPosesUsed;
bool _proximityScansMerged;
float _proximityAngle;
std::string _databasePath;
bool _optimizeFromGraphEnd;
float _optimizationMaxLinearError;