Changed some comments

srv · Jan 21, 2014 · aee2701 · aee2701
1 parent 91ed536
commit aee2701
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Showing 3 changed files with 9 additions and 12 deletions.
diff --git a/include/stereo_slam_base.h b/include/stereo_slam_base.h
@@ -56,14 +56,16 @@ class StereoSlamBase
 
     // G2O Optimization
     double update_rate;              //!> Timer callback rate (in seconds) to optimize the graph.
-    int g2o_algorithm;               //!> Set to 0 for LinearSlam Solver. Set to 1 for.
+    int g2o_algorithm;               //!> Set to 0 for LinearSlam Solver with gauss-newton. Set to 1 for LinearSlam Solver with Levenberg.
     int go2_opt_max_iter;            //!> Maximum number of iteration for the graph optimization.
     bool go2_verbose;                //!> True to output the g2o iteration messages
 
-    // Odometry operational parameters
+    // Graph operational parameters
     double min_displacement;         //!> Minimum odometry displacement between poses to be saved as graph vertices. 
     double max_candidate_threshold;  //!> Maximum distance between graph vertices to be considered for possible candidates of loop closure.
     int neighbor_offset;             //!> Number of neighbor nodes discarted for loop-closing.
+    bool save_graph_to_file;         //!> True if user wants to save the graph into file.
+    std::string files_path;          //!> Path where save the graph data.
 
     // Stereo vision parameters
     std::string desc_type;           //!> Descriptor type can be SIFT or SURF
@@ -73,7 +75,7 @@ class StereoSlamBase
     int min_inliers;                 //!> Minimum number of inliers found by solvePnPRansac to take into account the edge in the graph.
     int max_inliers;                 //!> Maximum number of inliers for solvePnPRansac, stop if more inliers than this are found.
     int max_solvepnp_iter;           //!> Maximum number of interations of the solvePnPRansac algorithm.
-    double allowed_reprojection_err; //!> Maximum reprojection error allowd in solvePnPRansa algorithm.
+    double allowed_reprojection_err; //!> Maximum reprojection error allowed in solvePnPRansac algorithm.
     double max_edge_err;             //!> Maximum pose difference to take the new edge as valid.
     bool stereo_vision_verbose;      //!> True to output the messages of stereo matching process, false otherwise.
     int bucket_width;                //!> Bucket width.
@@ -85,10 +87,6 @@ class StereoSlamBase
     std::string map_frame_id;        //!> The map frame id.
     std::string base_link_frame_id;  //!> The robot base link frame id.
 
-    // Graph to file paraneter
-    bool save_graph_to_file;         //!> True if user wants to save the graph into file.
-    std::string files_path;          //!> Path where save the graph data.
-
     // Default values
     static const double       DEFAULT_UPDATE_RATE = 3.0;
     static const int          DEFAULT_G2O_ALGORITHM = 1;

diff --git a/launch/demo.launch b/launch/demo.launch
@@ -36,7 +36,7 @@
 
 		<!-- Parameters -->
 
-		<!-- Min displacement (in meters) between graph vertices -->
+		<!-- Min displacement between graph vertices (in meters) -->
 		<param name="min_displacement" value="0.25"/>
 
 		<!-- Candidate search radius (in meters) -->

diff --git a/src/stereo_slam_base.cpp b/src/stereo_slam_base.cpp
@@ -207,10 +207,12 @@ void stereo_slam::StereoSlamBase::readParameters()
   nh_private_.param("go2_opt_max_iter", stereo_slam_params.go2_opt_max_iter, stereo_slam_params.DEFAULT_G2O_OPT_MAX_ITER);
   nh_private_.param("go2_verbose", stereo_slam_params.go2_verbose, stereo_slam_params.DEFAULT_G2O_VERBOSE);
 
-  // Odometry operational parameters
+  // Graph operational parameters
   nh_private_.param("min_displacement", stereo_slam_params.min_displacement, stereo_slam_params.DEFAULT_MIN_DISPLACEMENT);
   nh_private_.param("max_candidate_threshold", stereo_slam_params.max_candidate_threshold, stereo_slam_params.DEFAULT_MAX_CANDIDATE_THRESHOLD);
   nh_private_.param("neighbor_offset", stereo_slam_params.neighbor_offset, stereo_slam_params.DEFAULT_NEIGHBOR_OFFSET);
+  nh_private_.param("save_graph_to_file", stereo_slam_params.save_graph_to_file, stereo_slam_params.DEFAULT_SAVE_GRAPH_TO_FILE);
+  nh_private_.param("files_path", stereo_slam_params.files_path, std::string("/home"));
 
   // Stereo vision parameters
   nh_private_.param("desc_type", stereo_slam_params.desc_type, std::string("SIFT"));
@@ -232,9 +234,6 @@ void stereo_slam::StereoSlamBase::readParameters()
   nh_private_.param("map_frame_id", stereo_slam_params.map_frame_id, std::string("/map"));
   nh_private_.param("base_link_frame_id", stereo_slam_params.base_link_frame_id, std::string("/base_link"));
 
-  // Graph to file parameters
-  nh_private_.param("save_graph_to_file", stereo_slam_params.save_graph_to_file, stereo_slam_params.DEFAULT_SAVE_GRAPH_TO_FILE);
-  nh_private_.param("files_path", stereo_slam_params.files_path, std::string("/home"));
   setParams(stereo_slam_params);
 
   // Topics subscriptions