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Added Aruco/MaxDepthError parameter

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This commit is contained in:
matlabbe
2019-03-01 18:34:49 -05:00
parent c272f9538a
commit 530da08145
5 changed files with 73 additions and 80 deletions
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1
corelib/include/rtabmap/core/MarkerDetector.h
View File

@@ -49,6 +49,7 @@ private:
#ifdef HAVE_OPENCV_ARUCO #ifdef HAVE_OPENCV_ARUCO
cv::Ptr<cv::aruco::DetectorParameters> detectorParams_; cv::Ptr<cv::aruco::DetectorParameters> detectorParams_;
float markerLength_; float markerLength_;
float maxDepthError_;
int dictionaryId_; int dictionaryId_;
cv::Ptr<cv::aruco::Dictionary> dictionary_; cv::Ptr<cv::aruco::Dictionary> dictionary_;
#endif #endif

1
corelib/include/rtabmap/core/Parameters.h
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@@ -712,6 +712,7 @@ class RTABMAP_EXP Parameters
RTABMAP_PARAM(Aruco, Dictionary, int, 0, "Dictionary to use: DICT_4X4_50=0, DICT_4X4_100=1, DICT_4X4_250=2, DICT_4X4_1000=3, DICT_5X5_50=4, DICT_5X5_100=5, DICT_5X5_250=6, DICT_5X5_1000=7, DICT_6X6_50=8, DICT_6X6_100=9, DICT_6X6_250=10, DICT_6X6_1000=11, DICT_7X7_50=12, DICT_7X7_100=13, DICT_7X7_250=14, DICT_7X7_1000=15, DICT_ARUCO_ORIGINAL = 16, DICT_APRILTAG_16h5=17, DICT_APRILTAG_25h9=18, DICT_APRILTAG_36h10=19, DICT_APRILTAG_36h11=20"); RTABMAP_PARAM(Aruco, Dictionary, int, 0, "Dictionary to use: DICT_4X4_50=0, DICT_4X4_100=1, DICT_4X4_250=2, DICT_4X4_1000=3, DICT_5X5_50=4, DICT_5X5_100=5, DICT_5X5_250=6, DICT_5X5_1000=7, DICT_6X6_50=8, DICT_6X6_100=9, DICT_6X6_250=10, DICT_6X6_1000=11, DICT_7X7_50=12, DICT_7X7_100=13, DICT_7X7_250=14, DICT_7X7_1000=15, DICT_ARUCO_ORIGINAL = 16, DICT_APRILTAG_16h5=17, DICT_APRILTAG_25h9=18, DICT_APRILTAG_36h10=19, DICT_APRILTAG_36h11=20");
RTABMAP_PARAM(Aruco, MarkerLength, float, 0, "The length (m) of the markers' side. 0 means automatic marker length estimation using the depth image (the camera should look at the marker perpendicularly for initialization)."); RTABMAP_PARAM(Aruco, MarkerLength, float, 0, "The length (m) of the markers' side. 0 means automatic marker length estimation using the depth image (the camera should look at the marker perpendicularly for initialization).");
RTABMAP_PARAM(Aruco, MaxDepthError, float, 0.01, uFormat("Maximum depth error between all corners of a marker when estimating the marker length (when %s is 0). The smaller it is, the more perpendicular the camera should be toward the marker to initialize the length.", kArucoMarkerLength().c_str()));
RTABMAP_PARAM(Aruco, VarianceLinear, float, 0.001, "Linear variance to set on marker detections."); RTABMAP_PARAM(Aruco, VarianceLinear, float, 0.001, "Linear variance to set on marker detections.");
RTABMAP_PARAM(Aruco, VarianceAngular, float, 0.01, "Angular variance to set on marker detections. Set to >=9999 to use only position (xyz) constraint in graph optimization."); RTABMAP_PARAM(Aruco, VarianceAngular, float, 0.01, "Angular variance to set on marker detections. Set to >=9999 to use only position (xyz) constraint in graph optimization.");
RTABMAP_PARAM(Aruco, CornerRefinementMethod, int, 0, "Corner refinement method (0: None, 1: Subpixel, 2:contour, 3: AprilTag 2). For OpenCV <3.3.0, this is \"doCornerRefinement\" parameter: set 0 for false and 1 for true."); RTABMAP_PARAM(Aruco, CornerRefinementMethod, int, 0, "Corner refinement method (0: None, 1: Subpixel, 2:contour, 3: AprilTag 2). For OpenCV <3.3.0, this is \"doCornerRefinement\" parameter: set 0 for false and 1 for true.");

13
corelib/src/MarkerDetector.cpp
View File

@@ -35,6 +35,7 @@ MarkerDetector::MarkerDetector(const ParametersMap & parameters)
{ {
#ifdef HAVE_OPENCV_ARUCO #ifdef HAVE_OPENCV_ARUCO
markerLength_ = Parameters::defaultArucoMarkerLength(); markerLength_ = Parameters::defaultArucoMarkerLength();
maxDepthError_ = Parameters::defaultArucoMaxDepthError();
dictionaryId_ = Parameters::defaultArucoDictionary(); dictionaryId_ = Parameters::defaultArucoDictionary();
#if CV_MAJOR_VERSION > 3 || (CV_MAJOR_VERSION == 3 && CV_MINOR_VERSION >=2) #if CV_MAJOR_VERSION > 3 || (CV_MAJOR_VERSION == 3 && CV_MINOR_VERSION >=2)
detectorParams_ = cv::aruco::DetectorParameters::create(); detectorParams_ = cv::aruco::DetectorParameters::create();
@@ -85,6 +86,7 @@ void MarkerDetector::parseParameters(const ParametersMap & parameters)
detectorParams_->errorCorrectionRate = 0.6; detectorParams_->errorCorrectionRate = 0.6;
Parameters::parse(parameters, Parameters::kArucoMarkerLength(), markerLength_); Parameters::parse(parameters, Parameters::kArucoMarkerLength(), markerLength_);
Parameters::parse(parameters, Parameters::kArucoMaxDepthError(), maxDepthError_);
Parameters::parse(parameters, Parameters::kArucoDictionary(), dictionaryId_); Parameters::parse(parameters, Parameters::kArucoDictionary(), dictionaryId_);
#if CV_MAJOR_VERSION < 3 || (CV_MAJOR_VERSION == 3 && (CV_MINOR_VERSION <4 || (CV_MINOR_VERSION ==4 && CV_SUBMINOR_VERSION<2))) #if CV_MAJOR_VERSION < 3 || (CV_MAJOR_VERSION == 3 && (CV_MINOR_VERSION <4 || (CV_MINOR_VERSION ==4 && CV_SUBMINOR_VERSION<2)))
if(dictionaryId_ >= 17) if(dictionaryId_ >= 17)
@@ -152,9 +154,9 @@ std::map<int, Transform> MarkerDetector::detect(const cv::Mat & image, const Cam
// best depth estimation) // best depth estimation)
if(d1>0 && d2>0 && d3>0 && d4>0) if(d1>0 && d2>0 && d3>0 && d4>0)
{ {
if( fabs(d1-d2) < 0.01f && if( fabs(d1-d2) < maxDepthError_ &&
fabs(d1-d3) < 0.01f && fabs(d1-d3) < maxDepthError_ &&
fabs(d1-d4) < 0.01f) fabs(d1-d4) < maxDepthError_)
{ {
float depth = (d1+d2+d3+d4)/4.0f; float depth = (d1+d2+d3+d4)/4.0f;
scales.push_back(depth/tvecs[i].val[2]); scales.push_back(depth/tvecs[i].val[2]);
@@ -165,10 +167,11 @@ std::map<int, Transform> MarkerDetector::detect(const cv::Mat & image, const Cam
{ {
UWARN("The four marker's corners should be " UWARN("The four marker's corners should be "
"perpendicular to camera to estimate correctly " "perpendicular to camera to estimate correctly "
"the marker's length. Errors: %f, %f, %f > 0.01m." "the marker's length. Errors: %f, %f, %f > %fm (%s). Four corners: %f %f %f %f. "
"Parameter %s can be set to non-null to skip automatic " "Parameter %s can be set to non-null to skip automatic "
"marker length estimation. Detections are ignored.", "marker length estimation. Detections are ignored.",
fabs(d1-d2), fabs(d1-d3), fabs(d1-d4), fabs(d1-d2), fabs(d1-d3), fabs(d1-d4), maxDepthError_, Parameters::kArucoMaxDepthError().c_str(),
d1, d2, d3, d4,
Parameters::kArucoMarkerLength().c_str()); Parameters::kArucoMarkerLength().c_str());
detections.clear(); detections.clear();
return detections; return detections;

1
guilib/src/PreferencesDialog.cpp
View File

@@ -1219,6 +1219,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
// Aruco marker // Aruco marker
_ui->ArucoDictionary->setObjectName(Parameters::kArucoDictionary().c_str()); _ui->ArucoDictionary->setObjectName(Parameters::kArucoDictionary().c_str());
_ui->ArucoMarkerLength->setObjectName(Parameters::kArucoMarkerLength().c_str()); _ui->ArucoMarkerLength->setObjectName(Parameters::kArucoMarkerLength().c_str());
_ui->ArucoMaxDepthError->setObjectName(Parameters::kArucoMaxDepthError().c_str());
_ui->ArucoVarianceLinear->setObjectName(Parameters::kArucoVarianceLinear().c_str()); _ui->ArucoVarianceLinear->setObjectName(Parameters::kArucoVarianceLinear().c_str());
_ui->ArucoVarianceAngular->setObjectName(Parameters::kArucoVarianceAngular().c_str()); _ui->ArucoVarianceAngular->setObjectName(Parameters::kArucoVarianceAngular().c_str());
_ui->ArucoCornerRefinementMethod->setObjectName(Parameters::kArucoCornerRefinementMethod().c_str()); _ui->ArucoCornerRefinementMethod->setObjectName(Parameters::kArucoCornerRefinementMethod().c_str());

137
guilib/src/ui/preferencesDialog.ui
View File

@@ -95,24 +95,15 @@
<rect> <rect>
<x>0</x> <x>0</x>
<y>0</y> <y>0</y>
<width>680</width> <width>673</width>
<height>3008</height> <height>3038</height>
</rect> </rect>
</property> </property>
<layout class="QVBoxLayout" name="verticalLayout_16"> <layout class="QVBoxLayout" name="verticalLayout_16">
<property name="spacing"> <property name="spacing">
<number>0</number> <number>0</number>
</property> </property>
<property name="leftMargin"> <property name="margin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<number>0</number> <number>0</number>
</property> </property>
<item> <item>
@@ -5173,16 +5164,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
<string>Directory of images (optional settings)</string> <string>Directory of images (optional settings)</string>
</property> </property>
<layout class="QVBoxLayout" name="verticalLayout_93"> <layout class="QVBoxLayout" name="verticalLayout_93">
<property name="leftMargin"> <property name="margin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<number>0</number> <number>0</number>
</property> </property>
<item> <item>
@@ -11139,27 +11121,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
<layout class="QVBoxLayout" name="verticalLayout_136"> <layout class="QVBoxLayout" name="verticalLayout_136">
<item> <item>
<layout class="QGridLayout" name="gridLayout_63" columnstretch="0,1"> <layout class="QGridLayout" name="gridLayout_63" columnstretch="0,1">
<item row="3" column="1"> <item row="3" column="0">
<widget class="QLabel" name="label_space2_9">
<property name="text">
<string>Angular variance to set on marker detections. Set to &gt;=9999 to use only position (xyz) constraint in graph optimization.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="0" column="0">
<widget class="QCheckBox" name="RGBDMarkerDetection">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QDoubleSpinBox" name="ArucoVarianceLinear"> <widget class="QDoubleSpinBox" name="ArucoVarianceLinear">
<property name="suffix"> <property name="suffix">
<string/> <string/>
@@ -11191,7 +11153,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property> </property>
</widget> </widget>
</item> </item>
<item row="2" column="1"> <item row="3" column="1">
<widget class="QLabel" name="label_space2_6"> <widget class="QLabel" name="label_space2_6">
<property name="text"> <property name="text">
<string>Linear variance to set on marker detections.</string> <string>Linear variance to set on marker detections.</string>
@@ -11217,7 +11179,27 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property> </property>
</widget> </widget>
</item> </item>
<item row="3" column="0"> <item row="4" column="1">
<widget class="QLabel" name="label_space2_9">
<property name="text">
<string>Angular variance to set on marker detections. Set to &gt;=9999 to use only position (xyz) constraint in graph optimization.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="0" column="0">
<widget class="QCheckBox" name="RGBDMarkerDetection">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="4" column="0">
<widget class="QDoubleSpinBox" name="ArucoVarianceAngular"> <widget class="QDoubleSpinBox" name="ArucoVarianceAngular">
<property name="suffix"> <property name="suffix">
<string/> <string/>
@@ -11258,6 +11240,38 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property> </property>
</widget> </widget>
</item> </item>
<item row="2" column="1">
<widget class="QLabel" name="label_space2_8">
<property name="text">
<string>Maximum depth error between all corners of a marker when estimating the marker length (when marker length above is 0). The smaller it is, the more perpendicular the camera should be toward the marker to initialize the length.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QDoubleSpinBox" name="ArucoMaxDepthError">
<property name="suffix">
<string> m</string>
</property>
<property name="decimals">
<number>4</number>
</property>
<property name="minimum">
<double>0.000100000000000</double>
</property>
<property name="singleStep">
<double>0.010000000000000</double>
</property>
<property name="value">
<double>0.100000000000000</double>
</property>
</widget>
</item>
</layout> </layout>
</item> </item>
<item> <item>
@@ -15819,16 +15833,7 @@ Lower the ratio -&gt; higher the precision.</string>
<property name="spacing"> <property name="spacing">
<number>0</number> <number>0</number>
</property> </property>
<property name="leftMargin"> <property name="margin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<number>0</number> <number>0</number>
</property> </property>
<item> <item>
@@ -15908,16 +15913,7 @@ Lower the ratio -&gt; higher the precision.</string>
<property name="spacing"> <property name="spacing">
<number>0</number> <number>0</number>
</property> </property>
<property name="leftMargin"> <property name="margin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<number>0</number> <number>0</number>
</property> </property>
<item> <item>
@@ -16029,16 +16025,7 @@ Lower the ratio -&gt; higher the precision.</string>
<property name="spacing"> <property name="spacing">
<number>0</number> <number>0</number>
</property> </property>
<property name="leftMargin"> <property name="margin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<number>0</number> <number>0</number>
</property> </property>
<item> <item>