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-Refactored HypVerification classes (added verification by signatures' similarity), there is no more complicated rejectedHypReason, now it's only true if valide or false if verification fails...

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git-svn-id: http://rtabmap.googlecode.com/svn/branches/0.3/rtabmap@86 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2011-06-09 02:56:31 +00:00
parent c59d461c81
commit 25c2a9f07e
13 changed files with 202 additions and 367 deletions
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73
corelib/src/VerifyHypotheses.h
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@@ -32,85 +32,51 @@
namespace rtabmap
{
class Memory;
class Signature;
class RTABMAP_EXP VerifyHypotheses
// return always true, i.e, there is no verification
class RTABMAP_EXP HypVerificator
{
public:
virtual ~VerifyHypotheses() {}
virtual int verifyHypotheses(const std::list<int> & hypotheses, const Memory * mem) = 0;
HypVerificator(const ParametersMap & parameters = ParametersMap());
virtual ~HypVerificator() {}
virtual bool verify(const Signature * ref, const Signature * hyp);
int getStatus() {return _status;}
virtual void parseParameters(const ParametersMap & parameters);
protected:
VerifyHypotheses(const ParametersMap & parameters = ParametersMap());
virtual void setStatus(int status) {_status = status;}
private:
int _status;
};
/////////////////////////
// VerifyHypothesesSimple
/////////////////////////
class VerifyHypothesesSimple : public VerifyHypotheses {
public:
VerifyHypothesesSimple(const ParametersMap & parameters = ParametersMap());
virtual ~VerifyHypothesesSimple();
virtual int verifyHypotheses(const std::list<int> & hypotheses, const Memory * mem);
virtual void parseParameters(const ParametersMap & parameters);
};
/////////////////////////
// VerifyHypothesesSignSeq
// HypVerificatorSim
/////////////////////////
/*class VerifyHypothesesSignSeq : public VerifyHypotheses {
class HypVerificatorSim : public HypVerificator {
public:
VerifyHypothesesSignSeq(const ParametersMap & parameters = ParametersMap());
virtual ~VerifyHypothesesSignSeq();
virtual int verifyHypotheses(const std::list<int> & hypotheses, const Memory * mem);
HypVerificatorSim(const ParametersMap & parameters = ParametersMap());
virtual ~HypVerificatorSim();
virtual bool verify(const Signature * ref, const Signature * hyp);
virtual void parseParameters(const ParametersMap & parameters);
private:
std::map<int, int> _hypotheses;
int _seqLength;
};*/
float _similarity;
};
/////////////////////////
// VerifyHypothesesEpipolarGeo
// HypVerificatorEpipolarGeo
/////////////////////////
class KeypointSignature;
class RTABMAP_EXP VerifyHypothesesEpipolarGeo : public VerifyHypotheses
class RTABMAP_EXP HypVerificatorEpipolarGeo : public HypVerificator
{
public:
enum STATUS
{
UNDEFINED,
ACCEPTED,
NO_HYPOTHESIS,
MEMORY_IS_NULL,
NOT_ENOUGH_MATCHING_PAIRS,
EPIPOLAR_CONSTRAINT_FAILED,
NULL_MATCHING_SURF_SIGNATURES,
FUNDAMENTAL_MATRIX_NOT_FOUND
};
public:
static int findPairsOne(const std::multimap<int, cv::KeyPoint> & wordsA, const std::multimap<int, cv::KeyPoint> & wordsB, std::list<std::pair<cv::KeyPoint, cv::KeyPoint> > & pairs, std::list<int> & pairsId);
static int findPairsDirect(const std::multimap<int, cv::KeyPoint> & wordsA, const std::multimap<int, cv::KeyPoint> & wordsB, std::list<std::pair<cv::KeyPoint, cv::KeyPoint> > & pairs, std::list<int> & pairsId);
static int findPairsAll(const std::multimap<int, cv::KeyPoint> & wordsA, const std::multimap<int, cv::KeyPoint> & wordsB, std::list<std::pair<cv::KeyPoint, cv::KeyPoint> > & pairs, std::list<int> & pairsId);
static std::list<int> findSameIds(const std::multimap<int, cv::KeyPoint> & wordsA, const std::multimap<int, cv::KeyPoint> & wordsB);
public:
VerifyHypothesesEpipolarGeo(const ParametersMap & parameters = ParametersMap());
virtual ~VerifyHypothesesEpipolarGeo();
virtual int verifyHypotheses(const std::list<int> & hypotheses, const Memory * mem);
HypVerificatorEpipolarGeo(const ParametersMap & parameters = ParametersMap());
virtual ~HypVerificatorEpipolarGeo();
virtual bool verify(const Signature * ref, const Signature * hyp);
virtual void parseParameters(const ParametersMap & parameters);
int getTotalSimilarities(const std::multimap<int, cv::KeyPoint> & wordsA, const std::multimap<int, cv::KeyPoint> & wordsB);
@@ -123,9 +89,6 @@ public:
void setRansacParam1(double ransacParam1) {_ransacParam1 = ransacParam1;}
void setRansacParam2(double ransacParam2) {_ransacParam2 = ransacParam2;}
protected:
virtual void setStatus(int status);
private:
bool doEpipolarGeometry(const KeypointSignature * ssA, const KeypointSignature * ssB);