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Added Vis/PnPSamplingPolicy parameter (opengv "multi" ransac)

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matlabbe
2023-07-22 11:05:21 -04:00
parent a593b0d525
commit 3feb03cf35
9 changed files with 242 additions and 127 deletions
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1
corelib/include/rtabmap/core/Parameters.h
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@@ -598,6 +598,7 @@ class RTABMAP_CORE_EXPORT 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, PnPMaxVariance, float, 0.0, uFormat("[%s = 1] Max linear variance between 3D point correspondences after PnP. 0 means disabled.", kVisEstimationType().c_str()));
RTABMAP_PARAM(Vis, PnPSamplingPolicy, unsigned int, 1, uFormat("[%s = 1] Multi-camera random sampling policy: 0=AUTO, 1=ANY, 2=HOMOGENEOUS. With HOMOGENEOUS policy, RANSAC will be done uniformly against all cameras, so at least 2 matches per camera are required. With ANY policy, RANSAC is not constraint to sample on all cameras at the same time. AUTO policy will use HOMOGENEOUS if there are at least 2 matches per camera, otherwise it will fallback to ANY policy.", kVisEstimationType().c_str()).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.");

1
corelib/include/rtabmap/core/RegistrationVis.h
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@@ -83,6 +83,7 @@ private:
int _PnPFlags;
int _PnPRefineIterations;
float _PnPMaxVar;
unsigned int _multiSamplingPolicy;
int _correspondencesApproach;
int _flowWinSize;
int _flowIterations;

1
corelib/include/rtabmap/core/util3d_motion_estimation.h
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@@ -59,6 +59,7 @@ Transform RTABMAP_CORE_EXPORT estimateMotion3DTo2D(
const std::map<int, cv::Point3f> & words3A,
const std::map<int, cv::KeyPoint> & words2B,
const std::vector<CameraModel> & cameraModels,
unsigned int samplingPolicy = 0, // 0=AUTO, 1=ANY, 2=HOMOGENEOUS
int minInliers = 10,
int iterations = 100,
double reprojError = 5.,