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Added "Vis/UseDepthAsMask" parameter (don't detect features where depth is not available or it is over "Vis/MaxDepth")

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This commit is contained in:
matlabbe
2016-01-13 09:20:15 -05:00
parent f6924ba48b
commit 136867253d
10 changed files with 179 additions and 58 deletions
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26
corelib/include/rtabmap/core/Features2d.h
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@@ -141,8 +141,12 @@ public:
public:
virtual ~Feature2D();
std::vector<cv::KeyPoint> generateKeypoints(const cv::Mat & image) const;
cv::Mat generateDescriptors(const cv::Mat & image, std::vector<cv::KeyPoint> & keypoints) const;
std::vector<cv::KeyPoint> generateKeypoints(
const cv::Mat & image,
const cv::Mat & mask = cv::Mat()) const;
cv::Mat generateDescriptors(
const cv::Mat & image,
std::vector<cv::KeyPoint> & keypoints) const;
std::vector<cv::Point3f> generateKeypoints3D(
const SensorData & data,
const std::vector<cv::KeyPoint> & keypoints) const;
@@ -155,14 +159,14 @@ protected:
Feature2D(const ParametersMap & parameters = ParametersMap());
private:
virtual std::vector<cv::KeyPoint> generateKeypointsImpl(const cv::Mat & image, const cv::Rect & roi) const = 0;
virtual std::vector<cv::KeyPoint> generateKeypointsImpl(const cv::Mat & image, const cv::Rect & roi, const cv::Mat & mask = cv::Mat()) const = 0;
virtual cv::Mat generateDescriptorsImpl(const cv::Mat & image, std::vector<cv::KeyPoint> & keypoints) const = 0;
private:
ParametersMap parameters_;
int maxFeatures_;
float _wordsMaxDepth; // 0=inf
float _wordsMinDepth;
float _maxDepth; // 0=inf
float _minDepth;
std::vector<float> _roiRatios; // size 4
int _subPixWinSize;
int _subPixIterations;
@@ -182,7 +186,7 @@ public:
virtual Feature2D::Type getType() const {return kFeatureSurf;}
private:
virtual std::vector<cv::KeyPoint> generateKeypointsImpl(const cv::Mat & image, const cv::Rect & roi) const;
virtual std::vector<cv::KeyPoint> generateKeypointsImpl(const cv::Mat & image, const cv::Rect & roi, const cv::Mat & mask = cv::Mat()) const;
virtual cv::Mat generateDescriptorsImpl(const cv::Mat & image, std::vector<cv::KeyPoint> & keypoints) const;
private:
@@ -209,7 +213,7 @@ public:
virtual Feature2D::Type getType() const {return kFeatureSift;}
private:
virtual std::vector<cv::KeyPoint> generateKeypointsImpl(const cv::Mat & image, const cv::Rect & roi) const;
virtual std::vector<cv::KeyPoint> generateKeypointsImpl(const cv::Mat & image, const cv::Rect & roi, const cv::Mat & mask = cv::Mat()) const;
virtual cv::Mat generateDescriptorsImpl(const cv::Mat & image, std::vector<cv::KeyPoint> & keypoints) const;
private:
@@ -232,7 +236,7 @@ public:
virtual Feature2D::Type getType() const {return kFeatureOrb;}
private:
virtual std::vector<cv::KeyPoint> generateKeypointsImpl(const cv::Mat & image, const cv::Rect & roi) const;
virtual std::vector<cv::KeyPoint> generateKeypointsImpl(const cv::Mat & image, const cv::Rect & roi, const cv::Mat & mask = cv::Mat()) const;
virtual cv::Mat generateDescriptorsImpl(const cv::Mat & image, std::vector<cv::KeyPoint> & keypoints) const;
private:
@@ -262,7 +266,7 @@ public:
virtual void parseParameters(const ParametersMap & parameters);
private:
virtual std::vector<cv::KeyPoint> generateKeypointsImpl(const cv::Mat & image, const cv::Rect & roi) const;
virtual std::vector<cv::KeyPoint> generateKeypointsImpl(const cv::Mat & image, const cv::Rect & roi, const cv::Mat & mask = cv::Mat()) const;
private:
int threshold_;
@@ -346,7 +350,7 @@ public:
virtual void parseParameters(const ParametersMap & parameters);
private:
virtual std::vector<cv::KeyPoint> generateKeypointsImpl(const cv::Mat & image, const cv::Rect & roi) const;
virtual std::vector<cv::KeyPoint> generateKeypointsImpl(const cv::Mat & image, const cv::Rect & roi, const cv::Mat & mask = cv::Mat()) const;
private:
double _qualityLevel;
@@ -427,7 +431,7 @@ public:
virtual Feature2D::Type getType() const {return kFeatureBrisk;}
private:
virtual std::vector<cv::KeyPoint> generateKeypointsImpl(const cv::Mat & image, const cv::Rect & roi) const;
virtual std::vector<cv::KeyPoint> generateKeypointsImpl(const cv::Mat & image, const cv::Rect & roi, const cv::Mat & mask = cv::Mat()) const;
virtual cv::Mat generateDescriptorsImpl(const cv::Mat & image, std::vector<cv::KeyPoint> & keypoints) const;
private:

1
corelib/include/rtabmap/core/Memory.h
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@@ -245,6 +245,7 @@ private:
float _rehearsalMaxDistance;
float _rehearsalMaxAngle;
bool _rehearsalWeightIgnoredWhileMoving;
bool _useDepthAsMask;
int _idCount;
int _idMapCount;

3
corelib/include/rtabmap/core/Parameters.h
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@@ -207,6 +207,7 @@ class RTABMAP_EXP Parameters
RTABMAP_PARAM(Mem, InitWMWithAllNodes, bool, false, "Initialize the Working Memory with all nodes in Long-Term Memory. When false, it is initialized with nodes of the previous session.");
RTABMAP_PARAM(Mem, ImageDecimation, int, 1, "Image decimation (>=1) when creating a signature.");
RTABMAP_PARAM(Mem, LaserScanDownsampleStepSize, int, 1, "If > 1, downsample the laser scans when creating a signature.");
RTABMAP_PARAM(Mem, UseDepthAsMask, bool, false, "Use depth image as mask for features detection.");
// KeypointMemory (Keypoint-based)
RTABMAP_PARAM_COND(Kp, NNStrategy, int, RTABMAP_NONFREE, 1, 3, "kNNFlannNaive=0, kNNFlannKdTree=1, kNNFlannLSH=2, kNNBruteForce=3, kNNBruteForceGPU=4");
@@ -389,7 +390,7 @@ class RTABMAP_EXP Parameters
RTABMAP_PARAM(Vis, CorFlowIterations, int, 30, "[Vis/CorrespondenceType=1] See cv::calcOpticalFlowPyrLK(). Used for optical flow approach.");
RTABMAP_PARAM(Vis, CorFlowEps, float, 0.01, "[Vis/CorrespondenceType=1] See cv::calcOpticalFlowPyrLK(). Used for optical flow approach.");
RTABMAP_PARAM(Vis, CorFlowMaxLevel, int, 3, "[Vis/CorrespondenceType=1] See cv::calcOpticalFlowPyrLK(). Used for optical flow approach.");
RTABMAP_PARAM(Vis, UseDepthAsMask, bool, true, "Use depth image as mask for features detection.");
// ICP registration parameters
RTABMAP_PARAM(Icp, MaxTranslation, float, 0.2, "Maximum ICP translation correction accepted (m).");

1
corelib/include/rtabmap/core/RegistrationVis.h
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@@ -75,6 +75,7 @@ private:
int _flowIterations;
float _flowEps;
int _flowMaxLevel;
bool _useDepthAsMask;
ParametersMap _featureParameters;
};