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Added Vis/PnPSplitLinearCovComponents parameter (default false -> same as before)

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matlabbe
2024-02-07 14:43:16 -08:00
parent 1dadd50cf2
commit 510aef19e4
11 changed files with 259 additions and 120 deletions
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1
corelib/include/rtabmap/core/Parameters.h
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@@ -671,6 +671,7 @@ class RTABMAP_CORE_EXPORT Parameters
RTABMAP_PARAM(Vis, PnPVarianceMedianRatio, int, 4, uFormat("[%s = 1] Ratio used to compute variance of the estimated transformation if 3D correspondences are provided (should be > 1). The higher it is, the smaller the covariance will be. With accurate depth estimation, this could be set to 2. For depth estimated by stereo, 4 or more maybe used to ignore large errors of very far points.", kVisEstimationType().c_str()));
RTABMAP_PARAM(Vis, PnPMaxVariance, float, 0.0, uFormat("[%s = 1] Max linear variance between 3D point correspondences after PnP. 0 means disabled.", kVisEstimationType().c_str()));
RTABMAP_PARAM(Vis, PnPSamplingPolicy, unsigned int, 1, uFormat("[%s = 1] Multi-camera random sampling policy: 0=AUTO, 1=ANY, 2=HOMOGENEOUS. With HOMOGENEOUS policy, RANSAC will be done uniformly against all cameras, so at least 2 matches per camera are required. With ANY policy, RANSAC is not constraint to sample on all cameras at the same time. AUTO policy will use HOMOGENEOUS if there are at least 2 matches per camera, otherwise it will fallback to ANY policy.", kVisEstimationType().c_str()).c_str());
RTABMAP_PARAM(Vis, PnPSplitLinearCovComponents, bool, false, uFormat("[%s = 1] Compute variance for each linear component instead of using the combined XYZ variance for all linear components.", kVisEstimationType().c_str()).c_str());
RTABMAP_PARAM(Vis, EpipolarGeometryVar, float, 0.1, uFormat("[%s = 2] Epipolar geometry maximum variance to accept the transformation.", kVisEstimationType().c_str()));
RTABMAP_PARAM(Vis, MinInliers, int, 20, "Minimum feature correspondences to compute/accept the transformation.");

1
corelib/include/rtabmap/core/RegistrationVis.h
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@@ -84,6 +84,7 @@ private:
int _PnPRefineIterations;
int _PnPVarMedianRatio;
float _PnPMaxVar;
bool _PnPSplitLinearCovarianceComponents;
unsigned int _multiSamplingPolicy;
int _correspondencesApproach;
int _flowWinSize;

6
corelib/include/rtabmap/core/util3d_motion_estimation.h
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@@ -54,7 +54,8 @@ Transform RTABMAP_CORE_EXPORT estimateMotion3DTo2D(
const std::map<int, cv::Point3f> & words3B = std::map<int, cv::Point3f>(),
cv::Mat * covariance = 0, // mean reproj error if words3B is not set
std::vector<int> * matchesOut = 0,
std::vector<int> * inliersOut = 0);
std::vector<int> * inliersOut = 0,
bool splitLinearCovarianceComponents = false);
Transform RTABMAP_CORE_EXPORT estimateMotion3DTo2D(
const std::map<int, cv::Point3f> & words3A,
@@ -72,7 +73,8 @@ Transform RTABMAP_CORE_EXPORT estimateMotion3DTo2D(
const std::map<int, cv::Point3f> & words3B = std::map<int, cv::Point3f>(),
cv::Mat * covariance = 0, // mean reproj error if words3B is not set
std::vector<int> * matchesOut = 0,
std::vector<int> * inliersOut = 0);
std::vector<int> * inliersOut = 0,
bool splitLinearCovarianceComponents = false);
Transform RTABMAP_CORE_EXPORT estimateMotion3DTo3D(
const std::map<int, cv::Point3f> & words3A,