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Refactored OdometryBOW class to handle binary descriptors too (removed OdometryBin).

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Odometry: added "local map history" option to increase precision
Added new Nearest neighbor options (LSH, brute Force, GPU brute Force)
Added FREAK/ORB features
Increased version to 0.6.5

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1431 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2014-06-22 03:33:56 +00:00
parent bff3acf273
commit 65b79cd7a2
30 changed files with 2812 additions and 3045 deletions
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tools/EpipolarGeometry/main.cpp
+5 -6
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@@ -192,12 +192,11 @@ int main(int argc, char** argv)
ParametersMap param;
param.insert(ParametersPair(Parameters::kSURFExtended(), "true"));
param.insert(ParametersPair(Parameters::kSURFHessianThreshold(), "100"));
SURFDetector keypointDetector(param);
SURFDescriptor descriptorExtractor(param);
std::vector<cv::KeyPoint> kpts1 = keypointDetector.generateKeypoints(image1);
std::vector<cv::KeyPoint> kpts2 = keypointDetector.generateKeypoints(image2);
cv::Mat descriptors1 = descriptorExtractor.generateDescriptors(image1, kpts1);
cv::Mat descriptors2 = descriptorExtractor.generateDescriptors(image2, kpts2);
SURF detector(param);
std::vector<cv::KeyPoint> kpts1 = detector.generateKeypoints(image1);
std::vector<cv::KeyPoint> kpts2 = detector.generateKeypoints(image2);
cv::Mat descriptors1 = detector.generateDescriptors(image1, kpts1);
cv::Mat descriptors2 = detector.generateDescriptors(image2, kpts2);
UINFO("detect/extract features = %d ms", timer.elapsed());
timer.start();