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Merge branch 'master' of https://github.com/introlab/rtabmap into devel

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matlabbe
2016-06-23 11:27:58 -04:00
parent 42c3186a53 f2d48cb894
commit 333c7433e8
3 changed files with 8 additions and 25 deletions
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28
corelib/src/Memory.cpp
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@@ -2125,32 +2125,13 @@ Transform Memory::computeTransform(
// compute transform fromId -> toId
std::vector<int> inliersV;
if(_reextractLoopClosureFeatures || (fromS.getWords().size() && toS.getWords().size()))
if(_reextractLoopClosureFeatures ||
(fromS.getWords().size() && toS.getWords().size()) ||
(!guess.isNull() && !_registrationPipeline->isImageRequired()))
{
Signature tmpFrom = fromS;
Signature tmpTo = toS;
// make a guess fast with known correspondences (if there are)
RegistrationVis regVis(parameters_);
if(tmpFrom.getWords().size() &&
tmpTo.getWords().size() &&
tmpFrom.getWords3().size() &&
tmpTo.getWords3().size())
{
UDEBUG("");
// Remove descriptors, this will avoid recomputation of the correspondences in regVis
tmpFrom.setWordsDescriptors(std::multimap<int, cv::Mat>());
tmpTo.setWordsDescriptors(std::multimap<int, cv::Mat>());
Transform t = regVis.computeTransformation(tmpFrom, tmpTo, guess, info);
// set back descriptors
tmpFrom.setWordsDescriptors(fromS.getWordsDescriptors());
tmpTo.setWordsDescriptors(toS.getWordsDescriptors());
if(!t.isNull())
{
guess = t;
}
}
if(_reextractLoopClosureFeatures)
{
UDEBUG("");
@@ -2168,6 +2149,7 @@ Transform Memory::computeTransform(
{
UDEBUG("");
// no visual in the pipeline, make visual registration for guess
RegistrationVis regVis(parameters_);
guess = regVis.computeTransformation(tmpFrom, tmpTo, guess, info);
if(!guess.isNull())
{

3
corelib/src/Rtabmap.cpp
View File

@@ -1834,7 +1834,8 @@ bool Rtabmap::process(
_optimizedPoses.at(signature->id()).getDistanceSquared(_optimizedPoses.at(nearestId)) < _proximityFilteringRadius*_proximityFilteringRadius))
{
RegistrationInfo info;
Transform transform = _memory->computeTransform(signature->id(), nearestId, Transform(), &info);
Transform guess = _optimizedPoses.at(signature->id()).inverse() * _optimizedPoses.at(nearestId);
Transform transform = _memory->computeTransform(signature->id(), nearestId, guess, &info);
if(!transform.isNull())
{
if(_proximityFilteringRadius <= 0 || transform.getNormSquared() <= _proximityFilteringRadius*_proximityFilteringRadius)

2
corelib/src/VWDictionary.cpp
View File

@@ -542,7 +542,7 @@ void VWDictionary::setNNStrategy(NNStrategy strategy)
}
#endif
#else
#if HAVE_OPENCV_CUDAFEATURES2D
#ifdef HAVE_OPENCV_CUDAFEATURES2D
if(strategy == kNNBruteForceGPU && !cv::cuda::getCudaEnabledDeviceCount())
{
UERROR("Nearest neighobr strategy \"kNNBruteForceGPU\" chosen but no CUDA devices found! Doing \"kNNBruteForce\" instead.");