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Fixed crash when using binary descriptors and maxWords/maxDepth are set

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Added BRISK detector

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1839 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2014-10-06 19:41:45 +00:00
parent d30c2baf51
commit 4d4c5af6e5
10 changed files with 303 additions and 27 deletions
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corelib/src/Odometry.cpp
+26 -1
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@@ -154,7 +154,8 @@ OdometryBOW::OdometryBOW(const ParametersMap & parameters) :
group.compare("FAST") == 0 ||
group.compare("ORB") == 0 ||
group.compare("FREAK") == 0 ||
group.compare("GFTT") == 0)
group.compare("GFTT") == 0 ||
group.compare("BRISK") == 0)
{
customParameters.insert(*iter);
}
@@ -256,6 +257,8 @@ Transform OdometryBOW::computeTransform(const SensorData & data, int * quality,
0,
&uniqueCorrespondences);
UDEBUG("localMap=%d, new=%d, unique correspondences=%d", (int)localMeansMap.size(), (int)newSignature->getWords3().size(), (int)uniqueCorrespondences.size());
if((int)inliers1->size() >= this->getMinInliers())
{
correspondences = inliers1->size();
@@ -266,6 +269,22 @@ Transform OdometryBOW::computeTransform(const SensorData & data, int * quality,
this->getInlierDistance(),
this->getIterations(),
&inliers);
/*
//refine ICP test
bool hasConverged;
double fitness;
inliers2 = util3d::transformPointCloud(inliers2, transform);
Transform icpT = util3d::icp(inliers1,
inliers2,
0.02,
100,
hasConverged,
fitness);
transform = transform * icpT;
*/
if(quality)
{
@@ -371,6 +390,7 @@ Transform OdometryBOW::computeTransform(const SensorData & data, int * quality,
localMap_.clear();
output.setIdentity();
int count = 0;
std::list<int> uniques = uUniqueKeys(newSignature->getWords3());
for(std::list<int>::iterator iter = uniques.begin(); iter!=uniques.end(); ++iter)
{
@@ -381,8 +401,13 @@ Transform OdometryBOW::computeTransform(const SensorData & data, int * quality,
{
localMap_.insert(std::make_pair(*iter, std::make_pair(newSignature->id(), pt)));
}
else
{
++count;
}
}
}
UDEBUG("uniques=%d, pt not finite = %d", (int)uniques.size(),count);
}
_memory->emptyTrash();