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Added RGBD/ScanMatchingIdsSavedInLinks parameter

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matlabbe
2015-10-13 16:06:19 -04:00
parent 988e83cf1c
commit 88a3f425c1
5 changed files with 29 additions and 6 deletions
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corelib/include/rtabmap/core/Parameters.h
+1 -1
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@@ -201,7 +201,6 @@ class RTABMAP_EXP Parameters
RTABMAP_PARAM(Mem, LaserScanVoxelSize, float, 0.0, "If > 0.0, voxelize laser scans when creating a signature.");
RTABMAP_PARAM(Mem, LocalSpaceLinksKeptInWM, bool, true, "If local space links are kept in WM.");
// KeypointMemory (Keypoint-based)
RTABMAP_PARAM_COND(Kp, NNStrategy, int, RTABMAP_NONFREE, 1, 3, "kNNFlannNaive=0, kNNFlannKdTree=1, kNNFlannLSH=2, kNNBruteForce=3, kNNBruteForceGPU=4");
RTABMAP_PARAM(Kp, IncrementalDictionary, bool, true, "");
@@ -300,6 +299,7 @@ class RTABMAP_EXP Parameters
RTABMAP_PARAM(RGBD, MaxLocalRetrieved, unsigned int, 2, "Maximum local locations retrieved (0=disabled) near the current pose in the local map or on the current planned path (those on the planned path have priority).");
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.");
// Local loop closure detection
RTABMAP_PARAM(RGBD, LocalLoopDetectionTime, bool, false, "Detection over all locations in STM.");
corelib/include/rtabmap/core/Rtabmap.h
+1
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@@ -188,6 +188,7 @@ private:
bool _poseScanMatching;
bool _localLoopClosureDetectionTime;
bool _localLoopClosureDetectionSpace;
bool _scanMatchingIdsSavedInLinks;
float _localRadius;
float _localImmunizationRatio;
int _localDetectMaxGraphDepth;
corelib/src/Rtabmap.cpp
+3 -2
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@@ -94,6 +94,7 @@ Rtabmap::Rtabmap() :
_poseScanMatching(Parameters::defaultRGBDPoseScanMatching()),
_localLoopClosureDetectionTime(Parameters::defaultRGBDLocalLoopDetectionTime()),
_localLoopClosureDetectionSpace(Parameters::defaultRGBDLocalLoopDetectionSpace()),
_scanMatchingIdsSavedInLinks(Parameters::defaultRGBDScanMatchingIdsSavedInLinks()),
_localRadius(Parameters::defaultRGBDLocalRadius()),
_localImmunizationRatio(Parameters::defaultRGBDLocalImmunizationRatio()),
_localDetectMaxGraphDepth(Parameters::defaultRGBDLocalLoopDetectionMaxGraphDepth()),
@@ -402,6 +403,7 @@ void Rtabmap::parseParameters(const ParametersMap & parameters)
Parameters::parse(parameters, Parameters::kRGBDPoseScanMatching(), _poseScanMatching);
Parameters::parse(parameters, Parameters::kRGBDLocalLoopDetectionTime(), _localLoopClosureDetectionTime);
Parameters::parse(parameters, Parameters::kRGBDLocalLoopDetectionSpace(), _localLoopClosureDetectionSpace);
Parameters::parse(parameters, Parameters::kRGBDScanMatchingIdsSavedInLinks(), _scanMatchingIdsSavedInLinks);
Parameters::parse(parameters, Parameters::kRGBDLocalRadius(), _localRadius);
Parameters::parse(parameters, Parameters::kRGBDLocalImmunizationRatio(), _localImmunizationRatio);
Parameters::parse(parameters, Parameters::kRGBDLocalLoopDetectionMaxGraphDepth(), _localDetectMaxGraphDepth);
@@ -2068,8 +2070,7 @@ bool Rtabmap::process(
transform.prettyPrint().c_str());
cv::Mat scanMatchingIds;
bool _scanMatchingIdsSavedInUserData = true;
if(_scanMatchingIdsSavedInUserData)
if(_scanMatchingIdsSavedInLinks)
{
std::stringstream stream;
stream << "SCANS:";