From 1b2f1baf3d602c5296c77c2c9b8ed85d5adcb903 Mon Sep 17 00:00:00 2001 From: matlabbe Date: Tue, 5 Jan 2016 15:12:08 -0500 Subject: [PATCH] Fixed wrong type of RegistrationVis::_PnPrefineIterations member --- corelib/include/rtabmap/core/Parameters.h | 8 ++++---- corelib/include/rtabmap/core/RegistrationVis.h | 4 ++-- 2 files changed, 6 insertions(+), 6 deletions(-) diff --git a/corelib/include/rtabmap/core/Parameters.h b/corelib/include/rtabmap/core/Parameters.h index f616713e..4dbf038c 100644 --- a/corelib/include/rtabmap/core/Parameters.h +++ b/corelib/include/rtabmap/core/Parameters.h @@ -331,7 +331,7 @@ class RTABMAP_EXP Parameters RTABMAP_PARAM(Optimizer, Robust, bool, true, "Robust graph optimization using Vertigo (only work for g2o and GTSAM optimization strategies)."); // Odometry - RTABMAP_PARAM(Odom, Strategy, int, 0, "0=Bag-of-words 1=Optical Flow"); + RTABMAP_PARAM(Odom, Strategy, int, 0, "0=Features Map 1=Frame-to-Frame"); RTABMAP_PARAM(Odom, ResetCountdown, int, 0, "Automatically reset odometry after X consecutive images on which odometry cannot be computed (value=0 disables auto-reset)."); RTABMAP_PARAM(Odom, Holonomic, bool, true, "If the robot is holonomic (strafing commands can be issued). If not, y value will be estimated from x and yaw values (y=x*tan(yaw))."); RTABMAP_PARAM(Odom, FillInfoData, bool, true, "Fill info with data (inliers/outliers features)."); @@ -367,7 +367,7 @@ class RTABMAP_EXP Parameters RTABMAP_PARAM(Vis, ForwardEstOnly, bool, true, "Forward estimation only (A->B). If false, a transformation is also computed in backward direction (B->A), then the two resulting transforms are merged (middle interpolation between the transforms)."); RTABMAP_PARAM(Vis, InlierDistance, float, 0.1, "[Vis/EstimationType = 0] Maximum distance for feature correspondences. Used by 3D->3D estimation approach."); RTABMAP_PARAM(Vis, RefineIterations, int, 10, "[Vis/EstimationType = 0] Number of iterations used to refine the transformation found by RANSAC. 0 means that the transformation is not refined."); - RTABMAP_PARAM(Vis, PnPReprojError, double, 5.0, "[Vis/EstimationType = 1] PnP reprojection error."); + RTABMAP_PARAM(Vis, PnPReprojError, float, 5.0, "[Vis/EstimationType = 1] PnP reprojection error."); RTABMAP_PARAM(Vis, PnPFlags, int, 1, "[Vis/EstimationType = 1] PnP flags: 0=Iterative, 1=EPNP, 2=P3P"); RTABMAP_PARAM(Vis, PnPRefineIterations, int, 1, "[Vis/EstimationType = 1] Refine iterations."); RTABMAP_PARAM(Vis, EpipolarGeometryVar, float, 0.02, "[Vis/EstimationType = 2] Epipolar geometry maximum variance to accept the transformation."); @@ -381,13 +381,13 @@ class RTABMAP_EXP Parameters RTABMAP_PARAM_STR(Vis, RoiRatios, "0.0 0.0 0.0 0.0", "Region of interest ratios [left, right, top, bottom]."); RTABMAP_PARAM(Vis, SubPixWinSize, int, 3, "See cv::cornerSubPix()."); RTABMAP_PARAM(Vis, SubPixIterations, int, 0, "See cv::cornerSubPix(). 0 disables sub pixel refining."); - RTABMAP_PARAM(Vis, SubPixEps, double, 0.02, "See cv::cornerSubPix()."); + RTABMAP_PARAM(Vis, SubPixEps, float, 0.02, "See cv::cornerSubPix()."); 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, 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, double, 0.01, "[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."); RTABMAP_PARAM(Vis, CorFlowMaxLevel, int, 3, "[Vis/CorrespondenceType=1] See cv::calcOpticalFlowPyrLK(). Used for optical flow approach."); diff --git a/corelib/include/rtabmap/core/RegistrationVis.h b/corelib/include/rtabmap/core/RegistrationVis.h index 7f095b56..dabbf7e6 100644 --- a/corelib/include/rtabmap/core/RegistrationVis.h +++ b/corelib/include/rtabmap/core/RegistrationVis.h @@ -65,9 +65,9 @@ private: float _epipolarGeometryVar; int _estimationType; bool _forwardEstimateOnly; - double _PnPReprojError; + float _PnPReprojError; int _PnPFlags; - bool _PnPRefineIterations; + int _PnPRefineIterations; int _correspondencesApproach; int _flowWinSize; int _flowIterations;