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Fixed some missing rgb conversions before descriptor extractions. RegVis: re-extracting 3D kpts if Signature.words3() and actual kpts are not the same size. Updated fast visual guess on Memory::computeTransform().

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This commit is contained in:
matlabbe
2016-03-09 19:17:29 -05:00
parent 0f477d6853
commit 609cc3dc59
2 changed files with 55 additions and 13 deletions
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41
corelib/src/Memory.cpp
View File

@@ -2073,14 +2073,26 @@ Transform Memory::computeTransform(
Signature tmpFrom = *fromS;
Signature tmpTo = *toS;
// make a guess with known correspondences
// make a guess fast with known correspondences (if there are)
RegistrationVis regVis(parameters_);
tmpFrom.sensorData().setFeatures(std::vector<cv::KeyPoint>(), cv::Mat());
tmpTo.sensorData().setFeatures(std::vector<cv::KeyPoint>(), cv::Mat());
guess = regVis.computeTransformation(tmpFrom, tmpTo, guess, info);
if(tmpFrom.getWords().size() &&
tmpTo.getWords().size() &&
tmpFrom.getWords3().size() &&
tmpTo.getWords3().size())
{
UDEBUG("");
// Remove descriptors, this will avoid recomputation of the correspondences in regVis
tmpFrom.setWordsDescriptors(std::multimap<int, cv::Mat>());
tmpTo.setWordsDescriptors(std::multimap<int, cv::Mat>());
guess = regVis.computeTransformation(tmpFrom, tmpTo, guess, info);
// set back descriptors
tmpFrom.setWordsDescriptors(fromS->getWordsDescriptors());
tmpTo.setWordsDescriptors(toS->getWordsDescriptors());
}
if(_reextractLoopClosureFeatures)
{
UDEBUG("");
tmpFrom.setWords(std::multimap<int, cv::KeyPoint>());
tmpFrom.setWords3(std::multimap<int, cv::Point3f>());
tmpFrom.setWordsDescriptors(std::multimap<int, cv::Mat>());
@@ -2090,28 +2102,25 @@ Transform Memory::computeTransform(
tmpTo.setWordsDescriptors(std::multimap<int, cv::Mat>());
tmpTo.sensorData().setFeatures(std::vector<cv::KeyPoint>(), cv::Mat());
}
else
{
// set back features
tmpFrom.sensorData().setFeatures(fromS->sensorData().keypoints(), fromS->sensorData().descriptors());
tmpTo.sensorData().setFeatures(toS->sensorData().keypoints(), toS->sensorData().descriptors());
}
if(guess.isNull())
{
if(!_registrationPipeline->isImageRequired())
{
UDEBUG("");
// no visual in the pipeline, make visual registration for guess
guess = regVis.computeTransformation(tmpFrom, tmpTo, guess, info);
}
else
{
UDEBUG("");
guess.setIdentity();
}
}
if(!guess.isNull())
{
UDEBUG("");
transform = _registrationPipeline->computeTransformation(tmpFrom, tmpTo, guess, info);
if(!transform.isNull())
@@ -3202,7 +3211,17 @@ Signature * Memory::createSignature(const SensorData & data, const Transform & p
if(descriptors.empty())
{
descriptors = _feature2D->generateDescriptors(data.imageRaw(), keypoints);
cv::Mat imageMono;
if(data.imageRaw().channels() == 3)
{
cv::cvtColor(data.imageRaw(), imageMono, CV_BGR2GRAY);
}
else
{
imageMono = data.imageRaw();
}
descriptors = _feature2D->generateDescriptors(imageMono, keypoints);
t = timer.ticks();
if(stats) stats->addStatistic(Statistics::kTimingMemDescriptors_extraction(), t*1000.0f);
UDEBUG("time descriptors (%d) = %fs", descriptors.rows, t);

27
corelib/src/RegistrationVis.cpp
View File

@@ -480,6 +480,12 @@ Transform RegistrationVis::computeTransformationImpl(
}
else if(!fromSignature.sensorData().imageRaw().empty())
{
if(fromSignature.sensorData().imageRaw().channels() > 1)
{
cv::Mat tmp;
cv::cvtColor(fromSignature.sensorData().imageRaw(), tmp, cv::COLOR_BGR2GRAY);
fromSignature.sensorData().setImageRaw(tmp);
}
descriptorsFrom = detector->generateDescriptors(fromSignature.sensorData().imageRaw(), kptsFrom);
}
@@ -505,6 +511,13 @@ Transform RegistrationVis::computeTransformationImpl(
}
else if(!toSignature.sensorData().imageRaw().empty())
{
if(toSignature.sensorData().imageRaw().channels() > 1)
{
cv::Mat tmp;
cv::cvtColor(toSignature.sensorData().imageRaw(), tmp, cv::COLOR_BGR2GRAY);
toSignature.sensorData().setImageRaw(tmp);
}
descriptorsTo = detector->generateDescriptors(toSignature.sensorData().imageRaw(), kptsTo);
}
}
@@ -512,16 +525,26 @@ Transform RegistrationVis::computeTransformationImpl(
// create 3D keypoints
std::vector<cv::Point3f> kptsFrom3D;
std::vector<cv::Point3f> kptsTo3D;
if(fromSignature.getWords3().empty())
if(fromSignature.getWords3().empty() || kptsFrom.size() != fromSignature.getWords3().size())
{
if(fromSignature.getWords3().size() && kptsFrom.size() != fromSignature.getWords3().size())
{
UWARN("kptsFrom (%d) is not the same size as fromSignature.getWords3() (%d), there "
"is maybe a problem with the logic above (getWords3() should be null or equal to kptsfrom).");
}
kptsFrom3D = detector->generateKeypoints3D(fromSignature.sensorData(), kptsFrom);
}
else
{
kptsFrom3D = uValues(fromSignature.getWords3());
}
if(toSignature.getWords3().empty())
if(toSignature.getWords3().empty() || kptsTo.size() != toSignature.getWords3().size())
{
if(toSignature.getWords3().size() && kptsTo.size() != toSignature.getWords3().size())
{
UWARN("kptsTo (%d) is not the same size as toSignature.getWords3() (%d), there "
"is maybe a problem with the logic above (getWords3() should be null or equal to kptsTo).");
}
kptsTo3D = detector->generateKeypoints3D(toSignature.sensorData(), kptsTo);
}
else