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0.15.1: CameraImages: added ground truth time diff, fixed memory leak when loading binary scans. CameraRGBDImages and CameraStereoImages: fixed start id. Feature2D: added grid rows and cols parameters (Kp/GridRows, Kp/GridCols, Vis/GridRows, Vis/GridCols). OdomInfo: publish bundle frames. OdometryORBSLAM2: added OdomORBSLAM2/Fps and OdomORBSLAM2/MaxFeatures parameters. Registration: added Reg/RepeatOnce parameter and removed variance normalization. For util2d::getDepth() and util3d::projectDepthTo3D(), maxZError parameter is now depthErrorRatio to be dependent of the sensor range. Database: save image width and height from stereo calibration. OptimizerG2O: fixed SBA optimization when using g2o built from ORBSLAM2 library. OptimizerGTSAM: to increase optimization stability, all rotations in information matrix are divided by 100000. Added rtabmap-report tool.

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This commit is contained in:
matlabbe
2017-11-30 16:52:03 -05:00
parent 821c1c938e
commit 4452e637ad
46 changed files with 1892 additions and 802 deletions
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corelib/src/Features2d.cpp
+35 -12
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@@ -327,7 +327,9 @@ Feature2D::Feature2D(const ParametersMap & parameters) :
_roiRatios(std::vector<float>(4, 0.0f)),
_subPixWinSize(Parameters::defaultKpSubPixWinSize()),
_subPixIterations(Parameters::defaultKpSubPixIterations()),
_subPixEps(Parameters::defaultKpSubPixEps())
_subPixEps(Parameters::defaultKpSubPixEps()),
gridRows_(Parameters::defaultKpGridRows()),
gridCols_(Parameters::defaultKpGridCols())
{
_stereo = new Stereo(parameters);
this->parseParameters(parameters);
@@ -346,6 +348,14 @@ void Feature2D::parseParameters(const ParametersMap & parameters)
Parameters::parse(parameters, Parameters::kKpSubPixWinSize(), _subPixWinSize);
Parameters::parse(parameters, Parameters::kKpSubPixIterations(), _subPixIterations);
Parameters::parse(parameters, Parameters::kKpSubPixEps(), _subPixEps);
Parameters::parse(parameters, Parameters::kKpGridRows(), gridRows_);
Parameters::parse(parameters, Parameters::kKpGridCols(), gridCols_);
UASSERT(gridRows_ >= 1 && gridCols_>=1);
if(maxFeatures_ > 0)
{
maxFeatures_ = maxFeatures_ / (gridRows_ * gridCols_);
}
// convert ROI from string to vector
ParametersMap::const_iterator iter;
@@ -533,23 +543,36 @@ std::vector<cv::KeyPoint> Feature2D::generateKeypoints(const cv::Mat & image, co
std::vector<cv::KeyPoint> keypoints;
UTimer timer;
cv::Rect globalRoi = Feature2D::computeRoi(image, _roiRatios);
if(!(globalRoi.width && globalRoi.height))
{
globalRoi = cv::Rect(0,0,image.cols, image.rows);
}
// Get keypoints
cv::Rect roi = Feature2D::computeRoi(image, _roiRatios);
keypoints = this->generateKeypointsImpl(image, roi.width && roi.height?roi:cv::Rect(0,0,image.cols, image.rows), mask);
UDEBUG("Keypoints extraction time = %f s, keypoints extracted = %d (mask empty=%d)", timer.ticks(), keypoints.size(), mask.empty()?1:0);
limitKeypoints(keypoints, maxFeatures_);
if(roi.x || roi.y)
int rowSize = globalRoi.height / gridRows_;
int colSize = globalRoi.width / gridCols_;
for (int i = 0; i<gridRows_; ++i)
{
// Adjust keypoint position to raw image
for(std::vector<cv::KeyPoint>::iterator iter=keypoints.begin(); iter!=keypoints.end(); ++iter)
for (int j = 0; j<gridCols_; ++j)
{
iter->pt.x += roi.x;
iter->pt.y += roi.y;
cv::Rect roi(globalRoi.x + j*colSize, globalRoi.y + i*rowSize, colSize, rowSize);
std::vector<cv::KeyPoint> sub_keypoints;
sub_keypoints = this->generateKeypointsImpl(image, roi, mask);
limitKeypoints(sub_keypoints, maxFeatures_);
if(roi.x || roi.y)
{
// Adjust keypoint position to raw image
for(std::vector<cv::KeyPoint>::iterator iter=sub_keypoints.begin(); iter!=sub_keypoints.end(); ++iter)
{
iter->pt.x += roi.x;
iter->pt.y += roi.y;
}
}
keypoints.insert( keypoints.end(), sub_keypoints.begin(), sub_keypoints.end() );
}
}
UDEBUG("Keypoints extraction time = %f s, keypoints extracted = %d (mask empty=%d)", timer.ticks(), keypoints.size(), mask.empty()?1:0);
if(keypoints.size() && _subPixWinSize > 0 && _subPixIterations > 0)
{