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Added FastCV support (see FAST/CV parameter). VWDictionary: loading fixed dictionary only on updates (to avoid loading it multiple times when memory is reset).

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matlabbe
2019-08-14 12:09:56 -04:00
parent d5b4b25287
commit 4b118ae660
15 changed files with 612 additions and 329 deletions
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8
corelib/include/rtabmap/core/Features2d.h
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@@ -289,6 +289,14 @@ private:
int maxThreshold_;
int gridRows_;
int gridCols_;
int fastCV_;
bool fastCVinit_;
int fastCVMaxFeatures_;
int fastCVLastImageHeight_;
uint32_t* fastCVCorners_= NULL;
uint32_t* fastCVCornerScores_ = NULL;
void* fastCVTempBuf_ = NULL;
cv::Ptr<cv::FeatureDetector> _fast;
cv::Ptr<CV_FAST_GPU> _gpuFast;

1
corelib/include/rtabmap/core/Parameters.h
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@@ -290,6 +290,7 @@ class RTABMAP_EXP Parameters
RTABMAP_PARAM(FAST, MaxThreshold, int, 200, "Maximum threshold. Used only when FAST/GridRows and FAST/GridCols are set.");
RTABMAP_PARAM(FAST, GridRows, int, 0, "Grid rows (0 to disable). Adapts the detector to partition the source image into a grid and detect points in each cell.");
RTABMAP_PARAM(FAST, GridCols, int, 0, "Grid cols (0 to disable). Adapts the detector to partition the source image into a grid and detect points in each cell.");
RTABMAP_PARAM(FAST, CV, int, 0, "Enable FastCV implementation if non-zero (and RTAB-Map is built with FastCV support). Values should be 9 and 10.");
RTABMAP_PARAM(GFTT, QualityLevel, double, 0.001, "");
RTABMAP_PARAM(GFTT, MinDistance, double, 3, "");

3
corelib/include/rtabmap/core/VWDictionary.h
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@@ -115,7 +115,8 @@ private:
bool _incrementalFlann;
float _rebalancingFactor;
float _nndrRatio;
std::string _dictionaryPath; // a pre-computed dictionary (.txt)
std::string _dictionaryPath; // a pre-computed dictionary (.txt or .db)
std::string _newDictionaryPath; // a pre-computed dictionary (.txt or .db)
bool _newWordsComparedTogether;
int _lastWordId;
bool useDistanceL1_;