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Parameters: Renamed SuperGlue group to PyMatcher group. Added OANet python script.

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matlabbe
2020-05-20 09:45:39 -04:00
parent 63d40b2240
commit 360a153565
18 changed files with 255 additions and 148 deletions
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12
corelib/include/rtabmap/core/Parameters.h
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@@ -579,7 +579,7 @@ class RTABMAP_EXP Parameters
RTABMAP_PARAM(Vis, PnPRefineIterations, int, 1, uFormat("[%s = 1] Refine iterations. Set to 0 if \"%s\" is also used.", kVisEstimationType().c_str(), kVisBundleAdjustment().c_str()));
#endif
RTABMAP_PARAM(Vis, EpipolarGeometryVar, float, 0.05, uFormat("[%s = 2] Epipolar geometry maximum variance to accept the transformation.", kVisEstimationType().c_str()));
RTABMAP_PARAM(Vis, EpipolarGeometryVar, float, 0.1, uFormat("[%s = 2] Epipolar geometry maximum variance to accept the transformation.", kVisEstimationType().c_str()));
RTABMAP_PARAM(Vis, MinInliers, int, 20, "Minimum feature correspondences to compute/accept the transformation.");
RTABMAP_PARAM(Vis, MeanInliersDistance, float, 0.0, "Maximum distance (m) of the mean distance of inliers from the camera to accept the transformation. 0 means disabled.");
RTABMAP_PARAM(Vis, MinInliersDistribution, float, 0.0, "Minimum distribution value of the inliers in the image to accept the transformation. The distribution is the second eigen value of the PCA (Principal Component Analysis) on the keypoints of the normalized image [-0.5, 0.5]. The value would be between 0 and 0.5. 0 means disabled.");
@@ -621,11 +621,11 @@ class RTABMAP_EXP Parameters
#endif
// Features matching approaches
RTABMAP_PARAM_STR(SuperGlue, Path, "", "Path to python script file \"rtabmap_superglue.py\" (rtabmap/corelib/src/superglue_pytorch/rtabmap_superglue.py) copied in SuperGlue's Git folder.");
RTABMAP_PARAM(SuperGlue, Iterations, int, 20, "Sinkhorn iterations.");
RTABMAP_PARAM(SuperGlue, MatchThreshold, float, 0.2, "");
RTABMAP_PARAM(SuperGlue, Cuda, bool, true, "");
RTABMAP_PARAM(SuperGlue, Indoor, bool, true, "Use indoor model, otherwise outdoor model is used.");
RTABMAP_PARAM_STR(PyMatcher, Path, "", "Path to python script file (see available ones in rtabmap/corelib/src/pymatcher/*). See the header to see where the script should be copied.");
RTABMAP_PARAM(PyMatcher, Iterations, int, 20, "Sinkhorn iterations. Used by SuperGlue.");
RTABMAP_PARAM(PyMatcher, Threshold, float, 0.2, "Used by SuperGlue.");
RTABMAP_PARAM(PyMatcher, Cuda, bool, true, "Used by SuperGlue.");
RTABMAP_PARAM_STR(PyMatcher, Model, "indoor", "For SuperGlue, set only \"indoor\" or \"outdoor\". For OANet, set path to one of the pth file (e.g., \"OANet/model/gl3d/sift-4000/model_best.pth\").");
RTABMAP_PARAM(GMS, WithRotation, bool, false, "Take rotation transformation into account.");
RTABMAP_PARAM(GMS, WithScale, bool, false, "Take scale transformation into account.");

8
corelib/include/rtabmap/core/RegistrationVis.h
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@@ -37,8 +37,8 @@ namespace rtabmap {
class Feature2D;
#ifdef RTABMAP_SUPERGLUE_PYTORCH
class SuperGlue;
#ifdef RTABMAP_PYMATCHER
class PyMatcher;
#endif
// Visual registration
@@ -105,8 +105,8 @@ private:
Feature2D * _detectorFrom;
Feature2D * _detectorTo;
#ifdef RTABMAP_SUPERGLUE_PYTORCH
SuperGlue * _superGlueMatcher;
#ifdef RTABMAP_PYMATCHER
PyMatcher * _pyMatcher;
#endif
};