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Explicitly set SURF features with KdTree dictionary in all demos to warn the user that the demos were tested using the nonfree version of RTAB-Map (warnings only appear if RTAB-Map free/BSD version is used)

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Mathieu Labbe
2014-12-01 14:29:42 -05:00
parent 6bad7bdf71
commit ea3c14eb1b
9 changed files with 18 additions and 0 deletions
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launch/demo/demo_appearance_localization.launch
+2
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@@ -20,6 +20,8 @@
<param name="Mem/STMSize" type="string" value="1"/> <!-- 1 location in short-term memory --> <param name="Mem/STMSize" type="string" value="1"/> <!-- 1 location in short-term memory -->
<param name="Mem/IncrementalMemory" type="string" value="false"/> <!-- false = Localization mode--> <param name="Mem/IncrementalMemory" type="string" value="false"/> <!-- false = Localization mode-->
<param name="Mem/BadSignaturesIgnored" type="string" value="true"/> <param name="Mem/BadSignaturesIgnored" type="string" value="true"/>
<param name="Kp/DetectorStrategy" type="string" value="0"/> <!-- use SURF -->
<param name="Kp/NNStrategy" type="string" value="1"/> <!-- kdTree -->
</node> </node>
<!-- visualization of the "infoEx" topic sent by rtabmap node --> <!-- visualization of the "infoEx" topic sent by rtabmap node -->
launch/demo/demo_appearance_mapping.launch
+2
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@@ -23,6 +23,8 @@
<param name="Mem/IncrementalMemory" type="string" value="true"/> <!-- true = SLAM mode --> <param name="Mem/IncrementalMemory" type="string" value="true"/> <!-- true = SLAM mode -->
<param name="Mem/RehearsalIdUpdatedToNewOne" type="string" value="true"/> <!-- On merging, update to new ID--> <param name="Mem/RehearsalIdUpdatedToNewOne" type="string" value="true"/> <!-- On merging, update to new ID-->
<param name="Mem/BadSignaturesIgnored" type="string" value="true"/> <param name="Mem/BadSignaturesIgnored" type="string" value="true"/>
<param name="Kp/DetectorStrategy" type="string" value="0"/> <!-- use SURF -->
<param name="Kp/NNStrategy" type="string" value="1"/> <!-- kdTree -->
</node> </node>
<!-- visualization of the "infoEx" topic sent by rtabmap node --> <!-- visualization of the "infoEx" topic sent by rtabmap node -->
launch/demo/demo_find_object.launch
+2
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@@ -42,6 +42,8 @@
<param name="Rtabmap/TimeThr" type="string" value="700"/> <param name="Rtabmap/TimeThr" type="string" value="700"/>
<param name="Mem/RehearsalSimilarity" type="string" value="0.45"/> <param name="Mem/RehearsalSimilarity" type="string" value="0.45"/>
<param name="Mem/RehearsedNodesKept" type="string" value="false"/> <param name="Mem/RehearsedNodesKept" type="string" value="false"/>
<param name="Kp/DetectorStrategy" type="string" value="0"/> <!-- use SURF -->
<param name="Kp/NNStrategy" type="string" value="1"/> <!-- kdTree -->
</node> </node>
</group> </group>
launch/demo/demo_multi-session_mapping.launch
+2
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@@ -43,6 +43,8 @@
<param name="Mem/RehearsalSimilarity" type="string" value="0.45"/> <param name="Mem/RehearsalSimilarity" type="string" value="0.45"/>
<param name="Kp/TfIdfLikelihoodUsed" type="string" value="false"/> <param name="Kp/TfIdfLikelihoodUsed" type="string" value="false"/>
<param name="Bayes/FullPredictionUpdate" type="string" value="true"/> <param name="Bayes/FullPredictionUpdate" type="string" value="true"/>
<param name="Kp/DetectorStrategy" type="string" value="0"/> <!-- use SURF -->
<param name="Kp/NNStrategy" type="string" value="1"/> <!-- kdTree -->
</node> </node>
<!-- Visualisation (client side) --> <!-- Visualisation (client side) -->
launch/demo/demo_robot_localization.launch
+2
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@@ -41,6 +41,8 @@
<param name="LccIcp2/MaxFitness" type="string" value="10"/> <param name="LccIcp2/MaxFitness" type="string" value="10"/>
<param name="LccBow/MaxDepth" type="string" value="0.0"/> <!-- 3D visual words maximum depth 0=infinity --> <param name="LccBow/MaxDepth" type="string" value="0.0"/> <!-- 3D visual words maximum depth 0=infinity -->
<param name="LccBow/InlierDistance" type="string" value="0.1"/> <!-- 3D visual words correspondence distance --> <param name="LccBow/InlierDistance" type="string" value="0.1"/> <!-- 3D visual words correspondence distance -->
<param name="Kp/DetectorStrategy" type="string" value="0"/> <!-- use SURF -->
<param name="Kp/NNStrategy" type="string" value="1"/> <!-- kdTree -->
</node> </node>
<!-- Visualisation (client side) --> <!-- Visualisation (client side) -->
launch/demo/demo_robot_mapping.launch
+2
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@@ -35,6 +35,8 @@
<param name="LccIcp/Type" type="string" value="2"/> <!-- 0=No ICP, 1=ICP 3D, 2=ICP 2D --> <param name="LccIcp/Type" type="string" value="2"/> <!-- 0=No ICP, 1=ICP 3D, 2=ICP 2D -->
<param name="LccBow/MaxDepth" type="string" value="0.0"/> <!-- 3D visual words maximum depth 0=infinity --> <param name="LccBow/MaxDepth" type="string" value="0.0"/> <!-- 3D visual words maximum depth 0=infinity -->
<param name="LccBow/InlierDistance" type="string" value="0.1"/> <!-- 3D visual words correspondence distance --> <param name="LccBow/InlierDistance" type="string" value="0.1"/> <!-- 3D visual words correspondence distance -->
<param name="Kp/DetectorStrategy" type="string" value="0"/> <!-- use SURF -->
<param name="Kp/NNStrategy" type="string" value="1"/> <!-- kdTree -->
</node> </node>
<!-- Visualisation (client side) --> <!-- Visualisation (client side) -->
launch/demo/demo_robot_mapping_rviz.launch
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@@ -37,6 +37,8 @@
<param name="LccBow/MaxDepth" type="string" value="0.0"/> <!-- 3D visual words maximum depth 0=infinity --> <param name="LccBow/MaxDepth" type="string" value="0.0"/> <!-- 3D visual words maximum depth 0=infinity -->
<param name="LccBow/InlierDistance" type="string" value="0.1"/> <!-- 3D visual words correspondence distance --> <param name="LccBow/InlierDistance" type="string" value="0.1"/> <!-- 3D visual words correspondence distance -->
<param name="RGBD/OptimizeFromGraphEnd" type="string" value="false"/> <!-- Optimize graph from initial node so /map -> /odom transform will be generated --> <param name="RGBD/OptimizeFromGraphEnd" type="string" value="false"/> <!-- Optimize graph from initial node so /map -> /odom transform will be generated -->
<param name="Kp/DetectorStrategy" type="string" value="0"/> <!-- use SURF -->
<param name="Kp/NNStrategy" type="string" value="1"/> <!-- kdTree -->
</node> </node>
<!-- Grid map assembler for rviz --> <!-- Grid map assembler for rviz -->
launch/demo/demo_stereo_outdoor.launch
+2
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@@ -75,6 +75,8 @@
<param name="Kp/WordsPerImage" type="string" value="200"/> <param name="Kp/WordsPerImage" type="string" value="200"/>
<param name="Kp/RoiRatios" type="string" value="0.03 0.03 0.04 0.04"/> <param name="Kp/RoiRatios" type="string" value="0.03 0.03 0.04 0.04"/>
<param name="Kp/DetectorStrategy" type="string" value="0"/> <!-- use SURF -->
<param name="Kp/NNStrategy" type="string" value="1"/> <!-- kdTree -->
<param name="SURF/HessianThreshold" type="string" value="1000"/> <param name="SURF/HessianThreshold" type="string" value="1000"/>
launch/demo/demo_stereo_pr2.launch
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@@ -52,6 +52,8 @@
<param name="RGBD/LocalLoopDetectionTime" type="string" value="false"/> <param name="RGBD/LocalLoopDetectionTime" type="string" value="false"/>
<param name="LccBow/MinInliers" type="string" value="10"/> <param name="LccBow/MinInliers" type="string" value="10"/>
<param name="LccBow/InlierDistance" type="string" value="0.05"/> <param name="LccBow/InlierDistance" type="string" value="0.05"/>
<param name="Kp/DetectorStrategy" type="string" value="0"/> <!-- use SURF -->
<param name="Kp/NNStrategy" type="string" value="1"/> <!-- kdTree -->
<!-- Uncomment to force 3dof loop closure constraint using --> <!-- Uncomment to force 3dof loop closure constraint using -->
<!-- the 2d scans (set ScanMatchingSize=1 to correct odometry with laser) --> <!-- the 2d scans (set ScanMatchingSize=1 to correct odometry with laser) -->