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Added ORB+FastGrid implementation (only with OpenCV2). Updated default parameters: Odom/GuessFromMotion=false, Vis/CorNNType=1. RegistrationVis: octave aware on features matching with motion

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This commit is contained in:
matlabbe
2016-03-08 12:31:32 -05:00
parent e0b25aac8f
commit 62c8be40b9
13 changed files with 1179 additions and 133 deletions
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28
corelib/include/rtabmap/core/Features2d.h
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@@ -49,7 +49,6 @@ namespace gpu {
}
typedef cv::SIFT CV_SIFT;
typedef cv::SURF CV_SURF;
typedef cv::ORB CV_ORB;
typedef cv::FastFeatureDetector CV_FAST;
typedef cv::FREAK CV_FREAK;
typedef cv::GFTTDetector CV_GFTT;
@@ -74,12 +73,12 @@ class SURF_CUDA;
}
typedef cv::xfeatures2d::SIFT CV_SIFT;
typedef cv::xfeatures2d::SURF CV_SURF;
typedef cv::ORB CV_ORB;
typedef cv::FastFeatureDetector CV_FAST;
typedef cv::xfeatures2d::FREAK CV_FREAK;
typedef cv::GFTTDetector CV_GFTT;
typedef cv::xfeatures2d::BriefDescriptorExtractor CV_BRIEF;
typedef cv::BRISK CV_BRISK;
typedef cv::ORB CV_ORB;
typedef cv::cuda::SURF_CUDA CV_SURF_GPU;
typedef cv::cuda::ORB CV_ORB_GPU;
typedef cv::cuda::FastFeatureDetector CV_FAST_GPU;
@@ -89,6 +88,9 @@ typedef cv::cuda::FastFeatureDetector CV_FAST_GPU;
namespace rtabmap {
class Stereo;
#if CV_MAJOR_VERSION < 3
class CV_ORB;
#endif
// Feature2D
class RTABMAP_EXP Feature2D {
@@ -102,8 +104,7 @@ public:
kFeatureGfttFreak=5,
kFeatureGfttBrief=6,
kFeatureBrisk=7,
kFeatureGfttOrb=8, //new 0.10.11
kFeatureFastOrb=9}; //new 0.11.0
kFeatureGfttOrb=8}; //new 0.10.11
static Feature2D * create(const ParametersMap & parameters = ParametersMap());
static Feature2D * create(Feature2D::Type type, const ParametersMap & parameters = ParametersMap()); // for convenience
@@ -264,9 +265,11 @@ public:
virtual ~FAST();
virtual void parseParameters(const ParametersMap & parameters);
virtual Feature2D::Type getType() const {return kFeatureUndef;}
private:
virtual std::vector<cv::KeyPoint> generateKeypointsImpl(const cv::Mat & image, const cv::Rect & roi, const cv::Mat & mask = cv::Mat()) const;
virtual cv::Mat generateDescriptorsImpl(const cv::Mat & image, std::vector<cv::KeyPoint> & keypoints) const {return cv::Mat();}
private:
int threshold_;
@@ -323,23 +326,6 @@ private:
cv::Ptr<CV_FREAK> _freak;
};
//FAST_ORB
class RTABMAP_EXP FAST_ORB : public FAST
{
public:
FAST_ORB(const ParametersMap & parameters = ParametersMap());
virtual ~FAST_ORB();
virtual void parseParameters(const ParametersMap & parameters);
virtual Feature2D::Type getType() const {return kFeatureFastOrb;}
private:
virtual cv::Mat generateDescriptorsImpl(const cv::Mat & image, std::vector<cv::KeyPoint> & keypoints) const;
private:
ORB _orb;
};
//GFTT
class RTABMAP_EXP GFTT : public Feature2D
{

5
corelib/include/rtabmap/core/Parameters.h
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@@ -361,7 +361,7 @@ class RTABMAP_EXP Parameters
RTABMAP_PARAM(Odom, ParticleLambdaR, float, 100, "Lambda of rotational components (roll,pitch,yaw).");
RTABMAP_PARAM(Odom, KalmanProcessNoise, float, 0.001, "Process noise covariance value.");
RTABMAP_PARAM(Odom, KalmanMeasurementNoise, float, 0.01, "Process measurement covariance value.");
RTABMAP_PARAM(Odom, GuessMotion, bool, true, "Guess next transformation from the last motion computed.");
RTABMAP_PARAM(Odom, GuessMotion, bool, false, "Guess next transformation from the last motion computed.");
RTABMAP_PARAM(Odom, KeyFrameThr, float, 0.3, "[Visual] Create a new keyframe when the number of inliers drops under this ratio of features in last frame. Setting the value to 0 means that a keyframe is created for each processed frame.");
RTABMAP_PARAM(Odom, ScanKeyFrameThr, float, 0.7, "[Geometry] Create a new keyframe when the number of ICP inliers drops under this ratio of points in last frame's scan. Setting the value to 0 means that a keyframe is created for each processed frame.");
@@ -403,7 +403,7 @@ class RTABMAP_EXP Parameters
RTABMAP_PARAM(Vis, SubPixIterations, int, 0, "See cv::cornerSubPix(). 0 disables sub pixel refining.");
RTABMAP_PARAM(Vis, SubPixEps, float, 0.02, "See cv::cornerSubPix().");
RTABMAP_PARAM(Vis, CorType, int, 0, "Correspondences computation approach: 0=Features Matching, 1=Optical Flow");
RTABMAP_PARAM(Vis, CorNNType, int, 3, "[Vis/CorrespondenceType=0] kNNFlannNaive=0, kNNFlannKdTree=1, kNNFlannLSH=2, kNNBruteForce=3, kNNBruteForceGPU=4. Used for features matching approach.");
RTABMAP_PARAM(Vis, CorNNType, int, 1, "[Vis/CorrespondenceType=0] kNNFlannNaive=0, kNNFlannKdTree=1, kNNFlannLSH=2, kNNBruteForce=3, kNNBruteForceGPU=4. Used for features matching approach.");
RTABMAP_PARAM(Vis, CorNNDR, float, 0.8, "[Vis/CorrespondenceType=0] NNDR: nearest neighbor distance ratio. Used for features matching approach.");
RTABMAP_PARAM(Vis, CorGuessWinSize, int, 50, "[Vis/CorrespondenceType=0] Matching window size (pixels) around projected points when a guess transform is provided to find correspondences. 0 means disabled.");
RTABMAP_PARAM(Vis, CorFlowWinSize, int, 16, "[Vis/CorrespondenceType=1] See cv::calcOpticalFlowPyrLK(). Used for optical flow approach.");
@@ -482,6 +482,7 @@ public:
static bool isFeatureParameter(const std::string & param);
static ParametersMap getDefaultOdometryParameters(bool stereo = false);
static ParametersMap getDefaultParameters(const std::string & group);
static ParametersMap filterParameters(const ParametersMap & parameters, const std::string & group);
static void readINI(const std::string & configFile, ParametersMap & parameters);
static void writeINI(const std::string & configFile, const ParametersMap & parameters);