Added GridAdaptor for FAST feature (issue #43). Fixed RegistrationVis feature parameters not set. Added FAST_ORB feature type.

corelib/include/rtabmap/core/Features2d.h

@@ -99,7 +99,8 @@ public:
 		kFeatureGfttFreak=5,
 		kFeatureGfttBrief=6,
 		kFeatureBrisk=7,
-		kFeatureGfttOrb=8}; //new 0.10.11
+		kFeatureGfttOrb=8,   //new 0.10.11
+		kFeatureFastOrb=9};  //new 0.11.0
 
 	static Feature2D * create(Feature2D::Type & type, const ParametersMap & parameters);
 
@@ -253,8 +254,13 @@ private:
 	bool nonmaxSuppression_;
 	bool gpu_;
 	double gpuKeypointsRatio_;
+	int minThreshold_;
+	int maxThreshold_;
+	int maxTotalKeypoints_;
+	int gridRows_;
+	int gridCols_;
 
-	cv::Ptr<CV_FAST> _fast;
+	cv::Ptr<cv::FeatureDetector> _fast;
 	cv::Ptr<CV_FAST_GPU> _gpuFast;
 };
 
@@ -299,6 +305,23 @@ 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
 {

corelib/include/rtabmap/core/Parameters.h

@@ -244,12 +244,16 @@ class RTABMAP_EXP Parameters
 
 	RTABMAP_PARAM(BRIEF, Bytes,         	   int, 32, 	"Bytes is a length of descriptor in bytes. It can be equal 16, 32 or 64 bytes.");
 
-	RTABMAP_PARAM(FAST, Threshold,          int, 30, 	   "Threshold on difference between intensity of the central pixel and pixels of a circle around this pixel.");
+	RTABMAP_PARAM(FAST, Threshold,          int, 30, 	    "Threshold on difference between intensity of the central pixel and pixels of a circle around this pixel.");
 	RTABMAP_PARAM(FAST, NonmaxSuppression,  bool, true, 	"If true, non-maximum suppression is applied to detected corners (keypoints).");
 	RTABMAP_PARAM(FAST, Gpu,                bool, false, 	"GPU-FAST: Use GPU version of FAST. This option is enabled only if OpenCV is built with CUDA and GPUs are detected.");
 	RTABMAP_PARAM(FAST, GpuKeypointsRatio,  double, 0.05, 	"Used with FAST GPU.");
+	RTABMAP_PARAM(FAST, MinThreshold,       int, 1, 	    "Minimum threshold. Used only when FAST/GridRows and FAST/GridCols are set.");
+	RTABMAP_PARAM(FAST, MaxThreshold,       int, 200, 	    "Maximum threshold. Used only when FAST/GridRows and FAST/GridCols are set.");
+	RTABMAP_PARAM(FAST, GridRows,           int, 4,         "Grid rows (0 to disable). Adapts the detector to partition the source image into a grid and detect points in each cell.");
+	RTABMAP_PARAM(FAST, GridCols,           int, 4,         "Grid cols (0 to disable). Adapts the detector to partition the source image into a grid and detect points in each cell.");
 
-	RTABMAP_PARAM(GFTT, QualityLevel, double, 0.0001, "");
+	RTABMAP_PARAM(GFTT, QualityLevel, double, 0.01, "");
 	RTABMAP_PARAM(GFTT, MinDistance, double, 10, "");
 	RTABMAP_PARAM(GFTT, BlockSize, int, 3, "");
 	RTABMAP_PARAM(GFTT, UseHarrisDetector, bool, false, "");
@@ -312,7 +316,7 @@ class RTABMAP_EXP Parameters
 	RTABMAP_PARAM(RGBD, ProximityPathRawPosesUsed,    bool, true,   "When comparing to a local path, merge the scan using the odometry poses (with neighbor link optimizations) instead of the ones in the optimized local graph.");
 
 	// Graph optimization
-	RTABMAP_PARAM(RGBD, OptimizeStrategy,          int, 0,       "Graph optimization strategy: 0=TORO and 1=g2o.");
+	RTABMAP_PARAM(RGBD, OptimizeStrategy,          int, 0,       "Graph optimization strategy: 0=TORO, 1=g2o and 2=GTSAM.");
 	RTABMAP_PARAM(RGBD, OptimizeIterations,        int, 100,     "Optimization iterations.");
 	RTABMAP_PARAM(RGBD, OptimizeSlam2D,            bool, false,  "If optimization is done only on x,y and theta (3DoF). Otherwise, it is done on full 6DoF poses.");
 	RTABMAP_PARAM(RGBD, OptimizeVarianceIgnored,   bool, false,  "Ignore constraints' variance. If checked, identity information matrix is used for each constraint. Otherwise, an information matrix is generated from the variance saved in the links.");

corelib/include/rtabmap/core/RegistrationVis.h

@@ -38,7 +38,7 @@ class RegistrationVis : public Registration
 {
 public:
 	RegistrationVis(const ParametersMap & parameters = ParametersMap());
-	virtual ~RegistrationVis() {}
+	virtual ~RegistrationVis();
 
 	virtual void parseParameters(const ParametersMap & parameters);
 
@@ -67,18 +67,7 @@ private:
 	double _PnPReprojError;
 	int _PnPFlags;
 
-	int _NNType;
-	float _NNDR;
-	int _featureType;
-	int _maxWords;
-	float _maxDepth;
-	float _minDepth;
-	std::string _roiRatios;
-
-	int _subPixWinSize;
-	int _subPixIterations;
-	double _subPixEps;
-
+	ParametersMap _featureParameters;
 };
 
 }

corelib/include/rtabmap/core/Signature.h

@@ -45,8 +45,6 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 namespace rtabmap
 {
 
-class Memory;
-
 class RTABMAP_EXP Signature
 {