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Fixed RegistrationVis feature matching behavior when NaN 3D keypoints are found

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matlabbe
2016-02-24 12:45:00 -05:00
parent 061211b1b6
commit 172e9857c7
5 changed files with 231 additions and 164 deletions
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4
corelib/include/rtabmap/core/Parameters.h
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@@ -254,7 +254,7 @@ class RTABMAP_EXP Parameters
RTABMAP_PARAM(BRIEF, Bytes, int, 32, "Bytes is a length of descriptor in bytes. It can be equal 16, 32 or 64 bytes.");
RTABMAP_PARAM(FAST, Threshold, int, 30, "Threshold on difference between intensity of the central pixel and pixels of a circle around this pixel.");
RTABMAP_PARAM(FAST, Threshold, int, 10, "Threshold on difference between intensity of the central pixel and pixels of a circle around this pixel.");
RTABMAP_PARAM(FAST, NonmaxSuppression, bool, true, "If true, non-maximum suppression is applied to detected corners (keypoints).");
RTABMAP_PARAM(FAST, Gpu, bool, false, "GPU-FAST: Use GPU version of FAST. This option is enabled only if OpenCV is built with CUDA and GPUs are detected.");
RTABMAP_PARAM(FAST, GpuKeypointsRatio, double, 0.05, "Used with FAST GPU.");
@@ -391,7 +391,7 @@ class RTABMAP_EXP Parameters
RTABMAP_PARAM(Vis, CorType, int, 0, "Correspondences computation approach: 0=Features Matching, 1=Optical Flow");
RTABMAP_PARAM(Vis, CorNNType, int, 3, "[Vis/CorrespondenceType=0] kNNFlannNaive=0, kNNFlannKdTree=1, kNNFlannLSH=2, kNNBruteForce=3, kNNBruteForceGPU=4. Used for features matching approach.");
RTABMAP_PARAM(Vis, CorNNDR, float, 0.8, "[Vis/CorrespondenceType=0] NNDR: nearest neighbor distance ratio. Used for features matching approach.");
RTABMAP_PARAM(Vis, CorGuessWinSize, int, 16, "[Vis/CorrespondenceType=0] Matching window size (pixels) around projected points when a guess transform is provided to find correspondences.");
RTABMAP_PARAM(Vis, CorGuessWinSize, int, 0, "[Vis/CorrespondenceType=0] Matching window size (pixels) around projected points when a guess transform is provided to find correspondences. 0 means disabled.");
RTABMAP_PARAM(Vis, CorFlowWinSize, int, 16, "[Vis/CorrespondenceType=1] See cv::calcOpticalFlowPyrLK(). Used for optical flow approach.");
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.");