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Fixed Stereo parameters not used for OdometryBOW. Saving parameters in Memory and Feature2D to re-use old parameters when underlaying algorithm strategies are re-created.

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matlabbe
2016-01-04 11:41:13 -05:00
parent 51300dde06
commit b578fc732e
11 changed files with 37 additions and 26 deletions
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corelib/src/RegistrationVis.cpp
-9
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@@ -60,15 +60,6 @@ RegistrationVis::RegistrationVis(const ParametersMap & parameters) :
_flowMaxLevel(Parameters::defaultVisCorFlowMaxLevel())
{
_featureParameters = Parameters::getDefaultParameters();
uInsert(_featureParameters, ParametersPair(Parameters::kMemIncrementalMemory(), "true")); // make sure it is incremental
uInsert(_featureParameters, ParametersPair(Parameters::kMemRehearsalSimilarity(), "1.0")); // desactivate rehearsal
uInsert(_featureParameters, ParametersPair(Parameters::kMemBinDataKept(), "false"));
uInsert(_featureParameters, ParametersPair(Parameters::kMemSTMSize(), "0"));
uInsert(_featureParameters, ParametersPair(Parameters::kKpIncrementalDictionary(), "true")); // make sure it is incremental
uInsert(_featureParameters, ParametersPair(Parameters::kKpNewWordsComparedTogether(), "false"));
uInsert(_featureParameters, ParametersPair(Parameters::kKpBadSignRatio(), "0"));
uInsert(_featureParameters, ParametersPair(Parameters::kMemGenerateIds(), "true"));
uInsert(_featureParameters, ParametersPair(Parameters::kKpNNStrategy(), _featureParameters.at(Parameters::kVisCorNNType())));
uInsert(_featureParameters, ParametersPair(Parameters::kKpNndrRatio(), _featureParameters.at(Parameters::kVisCorNNDR())));
uInsert(_featureParameters, ParametersPair(Parameters::kKpDetectorStrategy(), _featureParameters.at(Parameters::kVisFeatureType())));