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Added Features2d::limitKeypoints() with grid options. Odometry: if imu is provided and no guess is provided, the change of orientation of imu is used for rotation guess (overwrite rotation from Odom/GuessFromMotion). OdometryInfo: added gravity errors when imu is used. Preferences: added a second GravitySigma parameter (overwritting Optimizer/GravitySigma for odometry is not negative) for F2M odometry panel.

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This commit is contained in:
matlabbe
2020-05-31 11:22:12 -04:00
parent 6e55525a7b
commit 415a2778f1
15 changed files with 186 additions and 25 deletions
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3
corelib/include/rtabmap/core/Features2d.h
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@@ -183,6 +183,7 @@ public:
static void limitKeypoints(std::vector<cv::KeyPoint> & keypoints, cv::Mat & descriptors, int maxKeypoints);
static void limitKeypoints(std::vector<cv::KeyPoint> & keypoints, std::vector<cv::Point3f> & keypoints3D, cv::Mat & descriptors, int maxKeypoints);
static void limitKeypoints(const std::vector<cv::KeyPoint> & keypoints, std::vector<bool> & inliers, int maxKeypoints);
static void limitKeypoints(const std::vector<cv::KeyPoint> & keypoints, std::vector<bool> & inliers, int maxKeypoints, const cv::Size & imageSize, int gridRows, int gridCols);
static cv::Rect computeRoi(const cv::Mat & image, const std::string & roiRatios);
static cv::Rect computeRoi(const cv::Mat & image, const std::vector<float> & roiRatios);
@@ -190,6 +191,8 @@ public:
int getMaxFeatures() const {return maxFeatures_;}
float getMinDepth() const {return _minDepth;}
float getMaxDepth() const {return _maxDepth;}
int getGridRows() const {return gridRows_;}
int getGridCols() const {return gridCols_;}
public:
virtual ~Feature2D();

1
corelib/include/rtabmap/core/Odometry.h
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@@ -109,6 +109,7 @@ private:
double previousStamp_;
std::list<std::pair<std::vector<float>, double> > previousVelocities_;
Transform velocityGuess_;
Transform imuLastTransform_;
Transform previousGroundTruthPose_;
float distanceTravelled_;
unsigned int framesProcessed_;

6
corelib/include/rtabmap/core/OdometryInfo.h
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@@ -56,6 +56,8 @@ public:
interval(0),
distanceTravelled(0.0f),
memoryUsage(0),
gravityRollError(0.0),
gravityPitchError(0.0),
type(0)
{}
@@ -84,6 +86,8 @@ public:
output.guessVelocity = guessVelocity;
output.distanceTravelled = distanceTravelled;
output.memoryUsage = memoryUsage;
output.gravityRollError = gravityRollError;
output.gravityPitchError = gravityPitchError;
output.type = type;
return output;
}
@@ -110,6 +114,8 @@ public:
Transform guessVelocity;
float distanceTravelled;
int memoryUsage; //MB
double gravityRollError;
double gravityPitchError;
int type;

1
corelib/include/rtabmap/core/Statistics.h
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@@ -61,6 +61,7 @@ class RTABMAP_EXP Statistics
RTABMAP_STATS(Loop, Reactivate_id,);
RTABMAP_STATS(Loop, Hypothesis_ratio,);
RTABMAP_STATS(Loop, Hypothesis_reactivated,);
RTABMAP_STATS(Loop, Visual_words,);
RTABMAP_STATS(Loop, Visual_inliers,);
RTABMAP_STATS(Loop, Visual_matches,);
RTABMAP_STATS(Loop, Last_id,);