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rtabmap: refining neighbor links uses computeIcpTransform() instead of computeTransform() (to ignore Visual registration, which adds more errors most of the time). When database is in RAM, we can close under a different name than the one used when the database was loaded.

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Tango: Added Append Mode option (only start a new map after being localized, default true) and the old map is still shown for convenience until localization. Increased minInliers to 25. Increased ICP correspondenceRatio to 0.5. Decreased time to open a database. Saving doesn't close the database anymore and overwrite only if we save with the same name. Removed ICP refining from standard optimization.
This commit is contained in:
matlabbe
2016-11-21 17:09:04 -05:00
parent 4c559a3191
commit 14908e3a11
19 changed files with 380 additions and 296 deletions
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corelib/src/util2d.cpp
+9 -17
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@@ -1742,15 +1742,15 @@ cv::Mat fastBilateralFiltering(const cv::Mat & depth, float sigmaS, float sigmaR
UDEBUG("Begin: depth float=%d %dx%d sigmaS=%f sigmaR=%f earlDivision=%d",
depth.type()==CV_32FC1?1:0, depth.cols, depth.rows, sigmaS, sigmaR, earlyDivision?1:0);
cv::Mat output = depth.clone();
cv::Mat output = cv::Mat::zeros(depth.size(), CV_32FC1);
float base_max = -std::numeric_limits<float>::max ();
float base_min = std::numeric_limits<float>::max ();
bool found_finite = false;
for (int x = 0; x < output.cols; ++x)
for (int y = 0; y < output.rows; ++y)
for (int x = 0; x < depth.cols; ++x)
for (int y = 0; y < depth.rows; ++y)
{
float z = depth.type()==CV_32FC1?output.at<float>(y, x):float(output.at<unsigned short>(y, x))/1000.0f;
float z = depth.type()==CV_32FC1?depth.at<float>(y, x):float(depth.at<unsigned short>(y, x))/1000.0f;
if (z > 0.0f && uIsFinite(z))
{
if (base_max < z)
@@ -1783,7 +1783,7 @@ cv::Mat fastBilateralFiltering(const cv::Mat & depth, float sigmaS, float sigmaR
const size_t small_x = static_cast<size_t> (static_cast<float> (x) / sigmaS + 0.5f) + padding_xy;
for (int y = 0; y < depth.rows; ++y)
{
float v = depth.type()==CV_32FC1?output.at<float>(y,x):float(output.at<unsigned short>(y,x))/1000.0f;
float v = depth.type()==CV_32FC1?depth.at<float>(y,x):float(depth.at<unsigned short>(y,x))/1000.0f;
if((v > 0 && uIsFinite(v)))
{
float z = v - base_min;
@@ -1832,7 +1832,7 @@ cv::Mat fastBilateralFiltering(const cv::Mat & depth, float sigmaS, float sigmaR
for (int x = 0; x < depth.cols; ++x)
for (int y = 0; y < depth.rows; ++y)
{
float z = depth.type()==CV_32FC1?output.at<float>(y,x):float(output.at<unsigned short>(y,x))/1000.0f;
float z = depth.type()==CV_32FC1?depth.at<float>(y,x):float(depth.at<unsigned short>(y,x))/1000.0f;
if(z > 0 && uIsFinite(z))
{
z -= base_min;
@@ -1844,19 +1844,11 @@ cv::Mat fastBilateralFiltering(const cv::Mat & depth, float sigmaS, float sigmaR
{
v = 0.0f;
}
if(depth.type()==CV_32FC1)
if(depth.type()==CV_16UC1 && v>65.5350f)
{
output.at<float>(y,x) = v;
}
else
{
v*=1000.0f;
if(v>65535.0f)
{
v = 65535.0f;
}
output.at<unsigned short>(y,x) = v;
v = 65.5350f;
}
output.at<float>(y,x) = v;
}
}