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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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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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corelib/src/Memory.cpp
+22 -4
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@@ -4514,10 +4514,26 @@ Signature * Memory::createSignature(const SensorData & inputData, const Transfor
if(_feature2D->getMaxFeatures()>0 && descriptors.rows > _feature2D->getMaxFeatures())
{
UASSERT((int)keypoints.size() == descriptors.rows);
Feature2D::limitKeypoints(keypoints, inliers, _feature2D->getMaxFeatures());
int inliersCount = 0;
if(_feature2D->getGridRows() > 1 || _feature2D->getGridCols() > 1)
{
Feature2D::limitKeypoints(keypoints, inliers, _feature2D->getMaxFeatures(), decimatedData.imageRaw().size(), _feature2D->getGridRows(), _feature2D->getGridCols());
for(size_t i=0; i<inliers.size(); ++i)
{
if(inliers[i])
{
++inliersCount;
}
}
}
else
{
Feature2D::limitKeypoints(keypoints, inliers, _feature2D->getMaxFeatures());
inliersCount = _feature2D->getMaxFeatures();
}
descriptorsForQuantization = cv::Mat(_feature2D->getMaxFeatures(), descriptors.cols, descriptors.type());
quantizedToRawIndices.resize(_feature2D->getMaxFeatures());
descriptorsForQuantization = cv::Mat(inliersCount, descriptors.cols, descriptors.type());
quantizedToRawIndices.resize(inliersCount);
unsigned int oi=0;
UASSERT((int)inliers.size() == descriptors.rows);
for(int k=0; k < descriptors.rows; ++k)
@@ -4537,7 +4553,9 @@ Signature * Memory::createSignature(const SensorData & inputData, const Transfor
++oi;
}
}
UASSERT((int)oi == _feature2D->getMaxFeatures());
UASSERT_MSG((int)oi == inliersCount,
uFormat("oi=%d inliersCount=%d (maxFeatures=%d, grid=%dx%d)",
oi, inliersCount, _feature2D->getMaxFeatures(), _feature2D->getGridCols(), _feature2D->getGridRows()).c_str());
}
// Quantization to vocabulary