Parameters: added SIFT/RootSIFT parameter.

corelib/include/rtabmap/core/Features2d.h

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

corelib/include/rtabmap/core/Parameters.h

@@ -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.");
 

corelib/src/DBDriverSqlite3.cpp

@@ -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";
 		}
 

corelib/src/Features2d.cpp

@@ -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

guilib/src/PreferencesDialog.cpp

@@ -905,6 +905,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
 	_ui->sift_doubleSpinBox_contrastThr->setObjectName(Parameters::kSIFTContrastThreshold().c_str());
 	_ui->sift_doubleSpinBox_edgeThr->setObjectName(Parameters::kSIFTEdgeThreshold().c_str());
 	_ui->sift_doubleSpinBox_sigma->setObjectName(Parameters::kSIFTSigma().c_str());
+	_ui->sift_checkBox_rootsift->setObjectName(Parameters::kSIFTRootSIFT().c_str());
 
 	//BRIEF descriptor
 	_ui->briefBytes->setObjectName(Parameters::kBRIEFBytes().c_str());

guilib/src/ui/preferencesDialog.ui

@@ -63,9 +63,9 @@
           <property name="geometry">
            <rect>
             <x>0</x>
-            <y>-279</y>
+            <y>0</y>
             <width>680</width>
-            <height>3270</height>
+            <height>2107</height>
            </rect>
           </property>
           <layout class="QVBoxLayout" name="verticalLayout_16">
@@ -95,7 +95,7 @@
                 <enum>QFrame::Raised</enum>
                </property>
                <property name="currentIndex">
-                <number>21</number>
+                <number>28</number>
                </property>
                <widget class="QWidget" name="page_22">
                 <layout class="QVBoxLayout" name="verticalLayout_29" stretch="0,1">
@@ -20492,6 +20492,23 @@ Lower the ratio -&gt; higher the precision.</string>
                       </property>
                      </widget>
                     </item>
+                    <item row="5" column="1">
+                     <widget class="QLabel" name="label_591">
+                      <property name="text">
+                       <string>RootSIFT.</string>
+                      </property>
+                      <property name="textInteractionFlags">
+                       <set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
+                      </property>
+                     </widget>
+                    </item>
+                    <item row="5" column="0">
+                     <widget class="QCheckBox" name="sift_checkBox_rootsift">
+                      <property name="text">
+                       <string/>
+                      </property>
+                     </widget>
+                    </item>
                    </layout>
                   </widget>
                  </item>

tools/Info/main.cpp

@@ -94,6 +94,11 @@ int main(int argc, char * argv[])
 	}
 
 	std::string databasePath = uReplaceChar(argv[argc-1], '~', UDirectory::homeDir());
+	if(!UFile::exists(databasePath))
+	{
+		printf("Database \"%s\" doesn't exist!\n", databasePath.c_str());
+		return -1;
+	}
 
 	DBDriver * driver = DBDriver::create();
 	if(!driver->openConnection(databasePath))
@@ -110,6 +115,14 @@ int main(int argc, char * argv[])
 	if(!otherDatabasePath.empty())
 	{
 		driver->closeConnection(false);
+
+		if(!UFile::exists(otherDatabasePath))
+		{
+			printf("Database \"%s\" doesn't exist!\n", otherDatabasePath.c_str());
+			delete driver;
+			return -1;
+		}
+
 		if(!driver->openConnection(otherDatabasePath))
 		{
 			printf("Cannot open database \"%s\".\n", otherDatabasePath.c_str());