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

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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
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corelib/src/Odometry.cpp
+4 -2
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@@ -187,7 +187,7 @@ Transform OdometryBinary::computeTransform(Image & image)
if(_lastKeypoints.size())
{
if(newDescriptors.rows && newDescriptors.rows > _lastKeypoints.size()/2) // at least 50% keypoints
if(newDescriptors.rows && newDescriptors.rows > (int)_lastKeypoints.size()/2) // at least 50% keypoints
{
cv::Mat results;
cv::Mat dists;
@@ -379,6 +379,7 @@ OdometryBOW::OdometryBOW(
{
ParametersMap customParameters;
customParameters.insert(ParametersPair(Parameters::kKpWordsPerImage(), uNumber2Str(maxWords)));
customParameters.insert(ParametersPair(Parameters::kKpMaxDepth(), uNumber2Str(maxDepth)));
customParameters.insert(ParametersPair(Parameters::kKpDetectorStrategy(), uNumber2Str(detectorType)));
customParameters.insert(ParametersPair(Parameters::kSURFHessianThreshold(), uNumber2Str(surfHessianThreshold)));
customParameters.insert(ParametersPair(Parameters::kKpNndrRatio(), uNumber2Str(nndr)));
@@ -396,6 +397,7 @@ OdometryBOW::OdometryBOW(const ParametersMap & parameters) :
{
ParametersMap customParameters;
customParameters.insert(ParametersPair(Parameters::kKpWordsPerImage(), uNumber2Str(this->getMaxFeatures()))); // hack
customParameters.insert(ParametersPair(Parameters::kKpMaxDepth(), uNumber2Str(this->getMaxDepth())));
customParameters.insert(ParametersPair(Parameters::kMemRehearsalSimilarity(), "1.0")); // desactivate rehearsal
customParameters.insert(ParametersPair(Parameters::kMemImageKept(), "false"));
if(!_memory->init("", false, customParameters, false))
@@ -427,7 +429,7 @@ Transform OdometryBOW::computeTransform(Image & image)
std::vector<cv::KeyPoint> keypoints;
cv::Mat descriptors;
_memory->extractKeypointsAndDescriptors(image.image(), keypoints, descriptors);
_memory->extractKeypointsAndDescriptors(image.image(), image.depth(), image.depthConstant(), keypoints, descriptors);
image.setDescriptors(descriptors);
image.setKeypoints(keypoints);