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

2026-10-09 03:27:45 +08:00 · 2016-03-08 12:31:32 -05:00
parent e0b25aac8f
commit 62c8be40b9
13 changed files with 1179 additions and 133 deletions
@@ -0,0 +1,99 @@
+/**
+ * File from OpenCV (see License below), modified by Mathieu Labbe 2016
+ */
+/*M///////////////////////////////////////////////////////////////////////////////////////
+//
+//  IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
+//
+//  By downloading, copying, installing or using the software you agree to this license.
+//  If you do not agree to this license, do not download, install,
+//  copy or use the software.
+//
+//
+//                           License Agreement
+//                For Open Source Computer Vision Library
+//
+// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
+// Copyright (C) 2009, Willow Garage Inc., all rights reserved.
+// Third party copyrights are property of their respective owners.
+//
+// Redistribution and use in source and binary forms, with or without modification,
+// are permitted provided that the following conditions are met:
+//
+//   * Redistribution's of source code must retain the above copyright notice,
+//     this list of conditions and the following disclaimer.
+//
+//   * Redistribution's in binary form must reproduce the above copyright notice,
+//     this list of conditions and the following disclaimer in the documentation
+//     and/or other materials provided with the distribution.
+//
+//   * The name of the copyright holders may not be used to endorse or promote products
+//     derived from this software without specific prior written permission.
+//
+// This software is provided by the copyright holders and contributors "as is" and
+// any express or implied warranties, including, but not limited to, the implied
+// warranties of merchantability and fitness for a particular purpose are disclaimed.
+// In no event shall the Intel Corporation or contributors be liable for any direct,
+// indirect, incidental, special, exemplary, or consequential damages
+// (including, but not limited to, procurement of substitute goods or services;
+// loss of use, data, or profits; or business interruption) however caused
+// and on any theory of liability, whether in contract, strict liability,
+// or tort (including negligence or otherwise) arising in any way out of
+// the use of this software, even if advised of the possibility of such damage.
+//
+//M*/
+
+#ifndef CORELIB_SRC_OPENCV_ORB_H_
+#define CORELIB_SRC_OPENCV_ORB_H_
+
+#include <opencv2/features2d/features2d.hpp>
+
+namespace rtabmap {
+
+class FAST;
+
+/*!
+ ORB implementation.
+*/
+class CV_ORB : public cv::Feature2D
+{
+public:
+    // the size of the signature in bytes
+    enum { kBytes = 32, HARRIS_SCORE=0, FAST_SCORE=1 };
+
+    CV_WRAP explicit CV_ORB(int nfeatures = 500, float scaleFactor = 1.2f, int nlevels = 8, int edgeThreshold = 31,
+        int firstLevel = 0, int WTA_K=2, int scoreType=CV_ORB::HARRIS_SCORE, int patchSize=31, const ParametersMap & fastParameters=ParametersMap());
+
+    // returns the descriptor size in bytes
+    int descriptorSize() const;
+    // returns the descriptor type
+    int descriptorType() const;
+
+    // Compute the ORB features and descriptors on an image
+    void operator()(cv::InputArray image, cv::InputArray mask, std::vector<cv::KeyPoint>& keypoints) const;
+
+    // Compute the ORB features and descriptors on an image
+    void operator()( cv::InputArray image, cv::InputArray mask, std::vector<cv::KeyPoint>& keypoints,
+    		cv::OutputArray descriptors, bool useProvidedKeypoints=false ) const;
+
+protected:
+
+    void computeImpl( const cv::Mat& image, std::vector<cv::KeyPoint>& keypoints, cv::Mat& descriptors ) const;
+    void detectImpl( const cv::Mat& image, std::vector<cv::KeyPoint>& keypoints, const cv::Mat& mask=cv::Mat() ) const;
+
+    CV_PROP_RW int nfeatures;
+    CV_PROP_RW double scaleFactor;
+    CV_PROP_RW int nlevels;
+    CV_PROP_RW int edgeThreshold;
+    CV_PROP_RW int firstLevel;
+    CV_PROP_RW int WTA_K;
+    CV_PROP_RW int scoreType;
+    CV_PROP_RW int patchSize;
+
+    ParametersMap fastParameters;
+};
+
+}
+
+
+#endif /* CORELIB_SRC_OPENCV_ORB_H_ */