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Parameters: renamed Rtabmap/VhStrategy to VhEp/Enabled

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matlabbe
2017-07-05 13:38:27 -04:00
parent 495681770e
commit f9ed36ed54
8 changed files with 103 additions and 151 deletions
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corelib/include/rtabmap/core/Parameters.h
+2 -2
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@@ -168,7 +168,6 @@ typedef std::pair<std::string, std::string> ParametersPair;
class RTABMAP_EXP Parameters
{
// Rtabmap parameters
RTABMAP_PARAM(Rtabmap, VhStrategy, int, 0, "None 0, Similarity 1, Epipolar 2.");
RTABMAP_PARAM(Rtabmap, PublishStats, bool, true, "Publishing statistics.");
RTABMAP_PARAM(Rtabmap, PublishLastSignature, bool, true, "Publishing last signature.");
RTABMAP_PARAM(Rtabmap, PublishPdf, bool, true, "Publishing pdf.");
@@ -301,9 +300,10 @@ class RTABMAP_EXP Parameters
RTABMAP_PARAM(Bayes, FullPredictionUpdate, bool, false, "Regenerate all the prediction matrix on each iteration (otherwise only removed/added ids are updated).");
// Verify hypotheses
RTABMAP_PARAM(VhEp, Enabled, bool, false, uFormat("Verify visual loop closure hypothesis by computing a fundamental matrix. This is done prior to transformation computation when %s is enabled.", kRGBDEnabled().c_str()));
RTABMAP_PARAM(VhEp, MatchCountMin, int, 8, "Minimum of matching visual words pairs to accept the loop hypothesis.");
RTABMAP_PARAM(VhEp, RansacParam1, float, 3, "Fundamental matrix (see cvFindFundamentalMat()): Max distance (in pixels) from the epipolar line for a point to be inlier.");
RTABMAP_PARAM(VhEp, RansacParam2, float, 0.99, "Fundamental matrix (see cvFindFundamentalMat()): Performance of the RANSAC.");
RTABMAP_PARAM(VhEp, RansacParam2, float, 0.99, "Fundamental matrix (see cvFindFundamentalMat()): Performance of RANSAC.");
// RGB-D SLAM
RTABMAP_PARAM(RGBD, Enabled, bool, true, "");
corelib/include/rtabmap/core/Rtabmap.h
+1
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@@ -215,6 +215,7 @@ private:
unsigned int _maxMemoryAllowed; // signatures count in WM
float _loopThr;
float _loopRatio;
bool _verifyLoopClosureHypothesis;
unsigned int _maxRetrieved;
unsigned int _maxLocalRetrieved;
bool _rawDataKept;
corelib/src/Parameters.cpp
+3
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@@ -224,6 +224,9 @@ const std::map<std::string, std::pair<bool, std::string> > & Parameters::getRemo
{
// removed parameters
// 0.13.1
removedParameters_.insert(std::make_pair("Rtabmap/VhStrategy", std::make_pair(true, Parameters::kVhEpEnabled())));
// 0.12.5
removedParameters_.insert(std::make_pair("Grid/FullUpdate", std::make_pair(true, Parameters::kGridGlobalFullUpdate())));
corelib/src/Rtabmap.cpp
+5 -14
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@@ -83,6 +83,7 @@ Rtabmap::Rtabmap() :
_maxMemoryAllowed(Parameters::defaultRtabmapMemoryThr()), // 0=inf
_loopThr(Parameters::defaultRtabmapLoopThr()),
_loopRatio(Parameters::defaultRtabmapLoopRatio()),
_verifyLoopClosureHypothesis(Parameters::defaultVhEpEnabled()),
_maxRetrieved(Parameters::defaultRtabmapMaxRetrieved()),
_maxLocalRetrieved(Parameters::defaultRGBDMaxLocalRetrieved()),
_rawDataKept(Parameters::defaultMemImageKept()),
@@ -401,6 +402,7 @@ void Rtabmap::parseParameters(const ParametersMap & parameters)
Parameters::parse(parameters, Parameters::kRtabmapMemoryThr(), _maxMemoryAllowed);
Parameters::parse(parameters, Parameters::kRtabmapLoopThr(), _loopThr);
Parameters::parse(parameters, Parameters::kRtabmapLoopRatio(), _loopRatio);
Parameters::parse(parameters, Parameters::kVhEpEnabled(), _verifyLoopClosureHypothesis);
Parameters::parse(parameters, Parameters::kRtabmapMaxRetrieved(), _maxRetrieved);
Parameters::parse(parameters, Parameters::kRGBDMaxLocalRetrieved(), _maxLocalRetrieved);
Parameters::parse(parameters, Parameters::kMemImageKept(), _rawDataKept);
@@ -470,22 +472,11 @@ void Rtabmap::parseParameters(const ParametersMap & parameters)
_memory->parseParameters(parameters);
}
VhStrategy vhStrategy = kVhUndef;
// Verifying hypotheses strategy
if((iter=parameters.find(Parameters::kRtabmapVhStrategy())) != parameters.end())
{
vhStrategy = (VhStrategy)std::atoi((*iter).second.c_str());
}
if(!_epipolarGeometry && vhStrategy == kVhEpipolar)
if(!_epipolarGeometry)
{
_epipolarGeometry = new EpipolarGeometry(_parameters);
}
else if(_epipolarGeometry && vhStrategy == kVhNone)
{
delete _epipolarGeometry;
_epipolarGeometry = 0;
}
else if(_epipolarGeometry)
else
{
_epipolarGeometry->parseParameters(parameters);
}
@@ -1407,7 +1398,7 @@ bool Rtabmap::process(
// Ignore loop closure if there is only one loop closure hypothesis
UDEBUG("rejected hypothesis: single hypothesis");
}
else if(_epipolarGeometry && !_epipolarGeometry->check(signature, _memory->getSignature(_highestHypothesis.first)))
else if(_verifyLoopClosureHypothesis && !_epipolarGeometry->check(signature, _memory->getSignature(_highestHypothesis.first)))
{
UWARN("rejected hypothesis: by epipolar geometry");
}