i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-02 17:40:23 +08:00
Code Issues Packages Projects Releases Wiki Activity

Parameters: added SIFT/RootSIFT parameter.

Browse Source
This commit is contained in:
matlabbe
2020-05-21 17:09:20 -04:00
parent 013bd0c72a
commit 69a2aacc8e
7 changed files with 60 additions and 8 deletions
Download Patch File Download Diff File Expand all files Collapse all files

1
corelib/include/rtabmap/core/Features2d.h
View File

@@ -276,6 +276,7 @@ private:
double contrastThreshold_;
double edgeThreshold_;
double sigma_;
bool rootSIFT_;
cv::Ptr<CV_SIFT> _sift;
};

1
corelib/include/rtabmap/core/Parameters.h
View File

@@ -281,6 +281,7 @@ class RTABMAP_EXP Parameters
RTABMAP_PARAM(SIFT, ContrastThreshold, double, 0.04, "The contrast threshold used to filter out weak features in semi-uniform (low-contrast) regions. The larger the threshold, the less features are produced by the detector.");
RTABMAP_PARAM(SIFT, EdgeThreshold, double, 10, "The threshold used to filter out edge-like features. Note that the its meaning is different from the contrastThreshold, i.e. the larger the edgeThreshold, the less features are filtered out (more features are retained).");
RTABMAP_PARAM(SIFT, Sigma, double, 1.6, "The sigma of the Gaussian applied to the input image at the octave #0. If your image is captured with a weak camera with soft lenses, you might want to reduce the number.");
RTABMAP_PARAM(SIFT, RootSIFT, bool, false, "Apply RootSIFT normalization of the descriptors.");
RTABMAP_PARAM(BRIEF, Bytes, int, 32, "Bytes is a length of descriptor in bytes. It can be equal 16, 32 or 64 bytes.");

8
corelib/src/DBDriverSqlite3.cpp
View File

@@ -842,22 +842,22 @@ long DBDriverSqlite3::getFeaturesMemoryUsedQuery() const
std::string query;
if(uStrNumCmp(_version, "0.13.0") >= 0)
{
query = "SELECT sum(length(word_id) + length(pos_x) + length(pos_y) + length(size) + length(dir) + length(response) + length(octave) + length(depth_x) + length(depth_y) + length(depth_z) + length(descriptor_size) + length(descriptor)) "
query = "SELECT sum(length(node_id) + length(word_id) + length(pos_x) + length(pos_y) + length(size) + length(dir) + length(response) + length(octave) + length(depth_x) + length(depth_y) + length(depth_z) + length(descriptor_size) + length(descriptor)) "
"FROM Feature";
}
else if(uStrNumCmp(_version, "0.12.0") >= 0)
{
query = "SELECT sum(length(word_id) + length(pos_x) + length(pos_y) + length(size) + length(dir) + length(response) + length(octave) + length(depth_x) + length(depth_y) + length(depth_z) + length(descriptor_size) + length(descriptor)) "
query = "SELECT sum(length(node_id) + length(word_id) + length(pos_x) + length(pos_y) + length(size) + length(dir) + length(response) + length(octave) + length(depth_x) + length(depth_y) + length(depth_z) + length(descriptor_size) + length(descriptor)) "
"FROM Map_Node_Word";
}
else if(uStrNumCmp(_version, "0.11.2") >= 0)
{
query = "SELECT sum(length(word_id) + length(pos_x) + length(pos_y) + length(size) + length(dir) + length(response) + length(depth_x) + length(depth_y) + length(depth_z) + length(descriptor_size) + length(descriptor)) "
query = "SELECT sum(length(node_id) + length(word_id) + length(pos_x) + length(pos_y) + length(size) + length(dir) + length(response) + length(depth_x) + length(depth_y) + length(depth_z) + length(descriptor_size) + length(descriptor)) "
"FROM Map_Node_Word";
}
else
{
query = "SELECT sum(length(word_id) + length(pos_x) + length(pos_y) + length(size) + length(dir) + length(response) + length(depth_x) + length(depth_y) + length(depth_z)) "
query = "SELECT sum(length(node_id) + length(word_id) + length(pos_x) + length(pos_y) + length(size) + length(dir) + length(response) + length(depth_x) + length(depth_y) + length(depth_z)) "
"FROM Map_Node_Word";
}

21
corelib/src/Features2d.cpp
View File

@@ -905,7 +905,8 @@ SIFT::SIFT(const ParametersMap & parameters) :
nOctaveLayers_(Parameters::defaultSIFTNOctaveLayers()),
contrastThreshold_(Parameters::defaultSIFTContrastThreshold()),
edgeThreshold_(Parameters::defaultSIFTEdgeThreshold()),
sigma_(Parameters::defaultSIFTSigma())
sigma_(Parameters::defaultSIFTSigma()),
rootSIFT_(Parameters::defaultSIFTRootSIFT())
{
parseParameters(parameters);
}
@@ -922,6 +923,7 @@ void SIFT::parseParameters(const ParametersMap & parameters)
Parameters::parse(parameters, Parameters::kSIFTEdgeThreshold(), edgeThreshold_);
Parameters::parse(parameters, Parameters::kSIFTNOctaveLayers(), nOctaveLayers_);
Parameters::parse(parameters, Parameters::kSIFTSigma(), sigma_);
Parameters::parse(parameters, Parameters::kSIFTRootSIFT(), rootSIFT_);
#if CV_MAJOR_VERSION < 4 || (CV_MAJOR_VERSION == 4 && CV_MINOR_VERSION < 3)
#ifdef RTABMAP_NONFREE
@@ -962,6 +964,23 @@ cv::Mat SIFT::generateDescriptorsImpl(const cv::Mat & image, std::vector<cv::Key
cv::Mat descriptors;
#if defined(RTABMAP_NONFREE) || CV_MAJOR_VERSION > 4 || (CV_MAJOR_VERSION == 4 && CV_MINOR_VERSION >= 3)
_sift->compute(image, keypoints, descriptors);
if( rootSIFT_ && !descriptors.empty())
{
UDEBUG("Performing RootSIFT...");
// see http://www.pyimagesearch.com/2015/04/13/implementing-rootsift-in-python-and-opencv/
// apply the Hellinger kernel by first L1-normalizing and taking the
// square-root
for(int i=0; i<descriptors.rows; ++i)
{
// By taking the L1 norm, followed by the square-root, we have
// already L2 normalized the feature vector and further normalization
// is not needed.
descriptors.row(i) = descriptors.row(i) / cv::sum(descriptors.row(i))[0];
cv::sqrt(descriptors.row(i), descriptors.row(i));
}
}
#else
UWARN("RTAB-Map is not built with OpenCV nonfree module so SIFT cannot be used!");
#endif