Added "RGBD/ProximityPathMaxNeighbors" parameter

corelib/include/rtabmap/core/Parameters.h

@@ -318,7 +318,7 @@ class RTABMAP_EXP Parameters
 	RTABMAP_PARAM(RGBD, LocalRadius,              float, 10,   "Local radius (m) for nodes selection in the local map. This parameter is used in some approaches about the local map management.");
 	RTABMAP_PARAM(RGBD, LocalImmunizationRatio,   float, 0.25, "Ratio of working memory for which local nodes are immunized from transfer.");
 	RTABMAP_PARAM(RGBD, ScanMatchingIdsSavedInLinks, bool, true,      "Save scan matching IDs in link's user data.");
-	RTABMAP_PARAM(RGBD, NeighborLinkRefining,          bool, false,  "When a new node is added to the graph, the transformation of its neighbor link to the previous node is refined using ICP (laser scans required!).");
+	RTABMAP_PARAM(RGBD, NeighborLinkRefining,          bool, false,  uFormat("When a new node is added to the graph, the transformation of its neighbor link to the previous node is refined using registration approach selected (%s).", kRegStrategy().c_str()));
 	RTABMAP_PARAM(RGBD, LoopClosureReextractFeatures,  bool, false,  "Extract features even if there are some already in the nodes.");
 	RTABMAP_PARAM(RGBD, CreateOccupancyGrid,          bool, false,  "Create local occupancy grid maps. See \"Grid\" group for parameters.");
 
@@ -328,6 +328,7 @@ 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, ProximityMaxPaths,            int, 3,       "Maximum paths compared (from the most recent) for proximity detection by space. 0 means no limit.");
 	RTABMAP_PARAM(RGBD, ProximityPathFilteringRadius, float, 0.5,   "Path filtering radius to reduce the number of nodes to compare in a path. A path should also be inside that radius to be considered for proximity detection.");
+	RTABMAP_PARAM(RGBD, ProximityPathMaxNeighbors,    int, 10,      "Maximum neighbor nodes compared on each path.");
 	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,    "Maximum angle (degrees) for visual proximity detection.");
 
@@ -430,7 +431,7 @@ class RTABMAP_EXP Parameters
 	// ICP registration parameters
 	RTABMAP_PARAM(Icp, MaxTranslation,            float, 0.2,   "Maximum ICP translation correction accepted (m).");
 	RTABMAP_PARAM(Icp, MaxRotation,               float, 0.78,  "Maximum ICP rotation correction accepted (rad).");
-	RTABMAP_PARAM(Icp, VoxelSize,                 float, 0.025, "Uniform sampling voxel size (0=disabled).");
+	RTABMAP_PARAM(Icp, VoxelSize,                 float, 0.0,   "Uniform sampling voxel size (0=disabled).");
 	RTABMAP_PARAM(Icp, DownsamplingStep,          int, 1, 	    "Downsampling step size (1=no sampling). This is done before uniform sampling.");
 	RTABMAP_PARAM(Icp, MaxCorrespondenceDistance, float, 0.05,  "Max distance for point correspondences.");
 	RTABMAP_PARAM(Icp, Iterations,                int, 30, 		"Max iterations.");

corelib/include/rtabmap/core/Rtabmap.h

@@ -196,6 +196,7 @@ private:
 	float _localImmunizationRatio;
 	int _proximityMaxGraphDepth;
 	int _proximityMaxPaths;
+	int _proximityMaxNeighbors;
 	float _proximityFilteringRadius;
 	bool _proximityRawPosesUsed;
 	float _proximityAngle;

corelib/src/Rtabmap.cpp

@@ -99,6 +99,7 @@ Rtabmap::Rtabmap() :
 	_localImmunizationRatio(Parameters::defaultRGBDLocalImmunizationRatio()),
 	_proximityMaxGraphDepth(Parameters::defaultRGBDProximityMaxGraphDepth()),
 	_proximityMaxPaths(Parameters::defaultRGBDProximityMaxPaths()),
+	_proximityMaxNeighbors(Parameters::defaultRGBDProximityPathMaxNeighbors()),
 	_proximityFilteringRadius(Parameters::defaultRGBDProximityPathFilteringRadius()),
 	_proximityRawPosesUsed(Parameters::defaultRGBDProximityPathRawPosesUsed()),
 	_proximityAngle(Parameters::defaultRGBDProximityAngle()*M_PI/180.0f),
@@ -411,6 +412,7 @@ void Rtabmap::parseParameters(const ParametersMap & parameters)
 	Parameters::parse(parameters, Parameters::kRGBDLocalImmunizationRatio(), _localImmunizationRatio);
 	Parameters::parse(parameters, Parameters::kRGBDProximityMaxGraphDepth(), _proximityMaxGraphDepth);
 	Parameters::parse(parameters, Parameters::kRGBDProximityMaxPaths(), _proximityMaxPaths);
+	Parameters::parse(parameters, Parameters::kRGBDProximityPathMaxNeighbors(), _proximityMaxNeighbors);
 	Parameters::parse(parameters, Parameters::kRGBDProximityPathFilteringRadius(), _proximityFilteringRadius);
 	Parameters::parse(parameters, Parameters::kRGBDProximityPathRawPosesUsed(), _proximityRawPosesUsed);
 	if(Parameters::parse(parameters, Parameters::kRGBDProximityAngle(), _proximityAngle))
@@ -1819,7 +1821,7 @@ bool Rtabmap::process(
 				UDEBUG("nearestPoses=%d", (int)nearestPoses.size());
 
 				// segment poses by paths, only one detection per path
-				std::map<int, std::map<int, Transform> > nearestPaths = getPaths(nearestPoses, _optimizedPoses.at(signature->id()), _proximityMaxGraphDepth);
+				std::map<int, std::map<int, Transform> > nearestPaths = getPaths(nearestPoses, _optimizedPoses.at(signature->id()), _proximityMaxNeighbors);
 				UDEBUG("nearestPaths=%d proximityMaxPaths=%d", (int)nearestPaths.size(), _proximityMaxPaths);
 
 				for(std::map<int, std::map<int, Transform> >::const_reverse_iterator iter=nearestPaths.rbegin();

guilib/src/PreferencesDialog.cpp

@@ -716,6 +716,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
 	_ui->groupBox_localDetection_space->setObjectName(Parameters::kRGBDProximityBySpace().c_str());
 	_ui->localDetection_radius->setObjectName(Parameters::kRGBDLocalRadius().c_str());
 	_ui->localDetection_maxDiffID->setObjectName(Parameters::kRGBDProximityMaxGraphDepth().c_str());
+	_ui->localDetection_maxNeighbors->setObjectName(Parameters::kRGBDProximityPathMaxNeighbors().c_str());
 	_ui->localDetection_maxPaths->setObjectName(Parameters::kRGBDProximityMaxPaths().c_str());
 	_ui->localDetection_pathFilteringRadius->setObjectName(Parameters::kRGBDProximityPathFilteringRadius().c_str());
 	_ui->localDetection_angle->setObjectName(Parameters::kRGBDProximityAngle().c_str());

guilib/src/ui/preferencesDialog.ui

@@ -86,7 +86,7 @@
                 <enum>QFrame::Raised</enum>
                </property>
                <property name="currentIndex">
-                <number>3</number>
+                <number>13</number>
                </property>
                <widget class="QWidget" name="page_22">
                 <layout class="QVBoxLayout" name="verticalLayout_29" stretch="0,1">
@@ -7185,7 +7185,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
                        <item row="3" column="1">
                         <widget class="QLabel" name="label_scanMatching">
                          <property name="text">
-                          <string>Neighbor link refining. When a new node is added to the graph, the transformation of its neighbor link with the previous node is refined using ICP (laser scans required!).</string>
+                          <string>Neighbor link refining. When a new node is added to the graph, the transformation of its neighbor link with the previous node is refined using the registration approach selected.</string>
                          </property>
                          <property name="wordWrap">
                           <bool>true</bool>
@@ -7352,7 +7352,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
                        </item>
                        <item>
                         <layout class="QGridLayout" name="gridLayout_50" columnstretch="0,1">
-                         <item row="3" column="0">
+                         <item row="4" column="0">
                           <widget class="QDoubleSpinBox" name="localDetection_pathFilteringRadius">
                            <property name="suffix">
                             <string> m</string>
@@ -7368,7 +7368,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
                            </property>
                           </widget>
                          </item>
-                         <item row="4" column="1">
+                         <item row="5" column="1">
                           <widget class="QLabel" name="label_scanMatching_4">
                            <property name="text">
                             <string>When comparing to a local path, merge the laser scans using the odometry poses instead of the ones in the optimized local graph.</string>
@@ -7381,7 +7381,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
                            </property>
                           </widget>
                          </item>
-                         <item row="3" column="1">
+                         <item row="4" column="1">
                           <widget class="QLabel" name="label_space3_3">
                            <property name="text">
                             <string>Path filtering radius to avoid merging laser scans which are close. 0 to ignore. A path should also be inside that radius to be considered for proximity detection.</string>
@@ -7394,7 +7394,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
                            </property>
                           </widget>
                          </item>
-                         <item row="4" column="0">
+                         <item row="5" column="0">
                           <widget class="QCheckBox" name="checkBox_localSpacePathOdomPosesUsed">
                            <property name="text">
                             <string/>
@@ -7424,7 +7424,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
                            </property>
                           </widget>
                          </item>
-                         <item row="6" column="1">
+                         <item row="7" column="1">
                           <widget class="QLabel" name="label_scanMatching_6">
                            <property name="text">
                             <string>Save scan matching IDs in link's user data.</string>
@@ -7437,14 +7437,14 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
                            </property>
                           </widget>
                          </item>
-                         <item row="6" column="0">
+                         <item row="7" column="0">
                           <widget class="QCheckBox" name="checkBox_localSpaceScanMatchingIDsSaved">
                            <property name="text">
                             <string/>
                            </property>
                           </widget>
                          </item>
-                         <item row="2" column="1">
+                         <item row="3" column="1">
                           <widget class="QLabel" name="label_scanMatching_8">
                            <property name="text">
                             <string>Maximum angle for visual proximity detection.</string>
@@ -7457,7 +7457,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
                            </property>
                           </widget>
                          </item>
-                         <item row="2" column="0">
+                         <item row="3" column="0">
                           <widget class="QDoubleSpinBox" name="localDetection_angle">
                            <property name="suffix">
                             <string> deg</string>
@@ -7496,6 +7496,29 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
                            </property>
                           </widget>
                          </item>
+                         <item row="2" column="1">
+                          <widget class="QLabel" name="label_space3_8">
+                           <property name="text">
+                            <string>Maximum neighbor nodes compared on each path.</string>
+                           </property>
+                           <property name="wordWrap">
+                            <bool>true</bool>
+                           </property>
+                           <property name="textInteractionFlags">
+                            <set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
+                           </property>
+                          </widget>
+                         </item>
+                         <item row="2" column="0">
+                          <widget class="QSpinBox" name="localDetection_maxNeighbors">
+                           <property name="maximum">
+                            <number>999</number>
+                           </property>
+                           <property name="value">
+                            <number>0</number>
+                           </property>
+                          </widget>
+                         </item>
                         </layout>
                        </item>
                       </layout>