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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;