i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-10-04 00:57:46 +08:00
Code Issues Packages Projects Releases Wiki Activity

Added parameter KpMaxDepth to limit the features extracted under a specified maximum depth.

Browse Source 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1288 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2014-04-03 19:59:46 +00:00
parent 1b6a8b93cb
commit 491553a80f
11 changed files with 798 additions and 657 deletions
Download Patch File Download Diff File Expand all files Collapse all files
corelib/src/Memory.cpp
+10 -2
View File
@@ -68,6 +68,7 @@ Memory::Memory(const ParametersMap & parameters) :
_badSignRatio(Parameters::defaultKpBadSignRatio()),
_tfIdfLikelihoodUsed(Parameters::defaultKpTfIdfLikelihoodUsed()),
_parallelized(Parameters::defaultKpParallelized()),
_wordsMaxDepth(Parameters::defaultKpMaxDepth()),
_wordsPerImageTarget(Parameters::defaultKpWordsPerImage()),
_roiRatios(std::vector<float>(4, 0.0f)),
@@ -358,6 +359,7 @@ void Memory::parseParameters(const ParametersMap & parameters)
Parameters::parse(parameters, Parameters::kKpTfIdfLikelihoodUsed(), _tfIdfLikelihoodUsed);
Parameters::parse(parameters, Parameters::kKpParallelized(), _parallelized);
Parameters::parse(parameters, Parameters::kKpBadSignRatio(), _badSignRatio);
Parameters::parse(parameters, Parameters::kKpMaxDepth(), _wordsMaxDepth);
Parameters::parse(parameters, Parameters::kKpWordsPerImage(), _wordsPerImageTarget);
if((iter=parameters.find(Parameters::kKpRoiRatios())) != parameters.end())
@@ -2771,6 +2773,8 @@ void Memory::copyData(const Signature * from, Signature * to)
void Memory::extractKeypointsAndDescriptors(
const cv::Mat & image,
const cv::Mat & depth,
float depthConstant,
std::vector<cv::KeyPoint> & keypoints,
cv::Mat & descriptors)
{
@@ -2780,8 +2784,11 @@ void Memory::extractKeypointsAndDescriptors(
if(_keypointDetector)
{
cv::Rect roi = KeypointDetector::computeRoi(image, _roiRatios);
keypoints = _keypointDetector->generateKeypoints(image, _wordsPerImageTarget, roi);
keypoints = _keypointDetector->generateKeypoints(image, 0, roi);
UDEBUG("time keypoints (%d) = %fs", (int)keypoints.size(), timer.ticks());
filterKeypointsByDepth(keypoints, depth, depthConstant, _wordsMaxDepth);
limitKeypoints(keypoints, _wordsPerImageTarget);
}
if(keypoints.size())
@@ -2876,12 +2883,13 @@ Signature * Memory::createSignature(const Image & image, bool keepRawData)
descriptors = image.descriptors();
keypoints = image.keypoints();
}
filterKeypointsByDepth(keypoints, descriptors, image.depth(), image.depthConstant(), _wordsMaxDepth);
limitKeypoints(keypoints, descriptors, _wordsPerImageTarget);
}
else
{
// IMAGE RAW
this->extractKeypointsAndDescriptors(image.image(), keypoints, descriptors);
this->extractKeypointsAndDescriptors(image.image(), image.depth(), image.depthConstant(), keypoints, descriptors);
UDEBUG("ratio=%f, meanWordsPerLocation=%d", _badSignRatio, meanWordsPerLocation);
if(descriptors.rows && descriptors.rows < _badSignRatio * float(meanWordsPerLocation))