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Refactored motion estimation parameters in the GUI.

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matlabbe
2015-06-27 01:43:29 -04:00
parent e5447be23a
commit b7faef35f1
14 changed files with 921 additions and 775 deletions
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corelib/src/Rtabmap.cpp
+4
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@@ -105,6 +105,7 @@ Rtabmap::Rtabmap() :
_reextractNNDR(Parameters::defaultLccReextractNNDR()),
_reextractFeatureType(Parameters::defaultLccReextractFeatureType()),
_reextractMaxWords(Parameters::defaultLccReextractMaxWords()),
_reextractMaxDepth(Parameters::defaultLccReextractMaxDepth()),
_startNewMapOnLoopClosure(Parameters::defaultRtabmapStartNewMapOnLoopClosure()),
_goalReachedRadius(Parameters::defaultRGBDGoalReachedRadius()),
_planVirtualLinks(Parameters::defaultRGBDPlanVirtualLinks()),
@@ -402,6 +403,7 @@ void Rtabmap::parseParameters(const ParametersMap & parameters)
Parameters::parse(parameters, Parameters::kLccReextractNNDR(), _reextractNNDR);
Parameters::parse(parameters, Parameters::kLccReextractFeatureType(), _reextractFeatureType);
Parameters::parse(parameters, Parameters::kLccReextractMaxWords(), _reextractMaxWords);
Parameters::parse(parameters, Parameters::kLccReextractMaxDepth(), _reextractMaxDepth);
Parameters::parse(parameters, Parameters::kRtabmapStartNewMapOnLoopClosure(), _startNewMapOnLoopClosure);
Parameters::parse(parameters, Parameters::kRGBDGoalReachedRadius(), _goalReachedRadius);
Parameters::parse(parameters, Parameters::kRGBDPlanVirtualLinks(), _planVirtualLinks);
@@ -1627,6 +1629,7 @@ bool Rtabmap::process(
uInsert(customParameters, ParametersPair(Parameters::kKpNndrRatio(), uNumber2Str(_reextractNNDR)));
uInsert(customParameters, ParametersPair(Parameters::kKpDetectorStrategy(), uNumber2Str(_reextractFeatureType))); // FAST/BRIEF
uInsert(customParameters, ParametersPair(Parameters::kKpWordsPerImage(), uNumber2Str(_reextractMaxWords)));
uInsert(customParameters, ParametersPair(Parameters::kKpMaxDepth(), uNumber2Str(_reextractMaxDepth)));
uInsert(customParameters, ParametersPair(Parameters::kKpBadSignRatio(), "0"));
uInsert(customParameters, ParametersPair(Parameters::kKpRoiRatios(), "0.0 0.0 0.0 0.0"));
uInsert(customParameters, ParametersPair(Parameters::kMemGenerateIds(), "false"));
@@ -1783,6 +1786,7 @@ bool Rtabmap::process(
uInsert(customParameters, ParametersPair(Parameters::kKpNndrRatio(), uNumber2Str(_reextractNNDR)));
uInsert(customParameters, ParametersPair(Parameters::kKpDetectorStrategy(), uNumber2Str(_reextractFeatureType))); // FAST/BRIEF
uInsert(customParameters, ParametersPair(Parameters::kKpWordsPerImage(), uNumber2Str(_reextractMaxWords)));
uInsert(customParameters, ParametersPair(Parameters::kKpMaxDepth(), uNumber2Str(_reextractMaxDepth)));
uInsert(customParameters, ParametersPair(Parameters::kKpBadSignRatio(), "0"));
uInsert(customParameters, ParametersPair(Parameters::kKpRoiRatios(), "0.0 0.0 0.0 0.0"));
uInsert(customParameters, ParametersPair(Parameters::kMemGenerateIds(), "false"));