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Adding OpenCV's GPU GFTT/ OpticalFlow and CudaSift support (#1330)

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* Adding GFTT and SIFT Cuda support

* Working CudaSift

* Disable cudasift option when not available

* Added check to avoid re-allocating gpu memory everytime parseParameters is called. Added workaround of to detect/ignore invalid descriptors

* Added SIFT/PreciseUpscale and SIFT/Upscale parameters. Adjusted max octave to behave more like opencv

* Refactored how maximum features are thresholded, to be more similar to OpenCV version

* Updated loop closure benchmark scripts

* Cuda optical flow tmp commit

* Added Stereo/Gpu Vis/CorFlowGpu parameters (optical flow gpu integration for F2F odom and stereo correspondences)

* Fixed build without opencv cuda

* Fixed build with Opencv 4.10

* ZED: updated parameters to match zed sdk 4

* MRPT requires C++17

* updated max octave limit CudaSift
This commit is contained in:
matlabbe
2024-09-13 14:22:54 -07:00
committed by GitHub
parent f3ccfcb452
commit 69ac21f811
37 changed files with 2253 additions and 1375 deletions
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30
corelib/src/camera/CameraStereoZed.cpp
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@@ -286,15 +286,29 @@ CameraStereoZed::CameraStereoZed(
UDEBUG("");
#ifdef RTABMAP_ZED
#if ZED_SDK_MAJOR_VERSION < 4
if(resolution_ == 3)
if(resolution_ == 1 || resolution_ == 2) // HD2K, HD1080
{
resolution_ = 2;
resolution_ -= 1; // HD2K=0, HD1080=1
}
else if(resolution_ == 5)
if(resolution_ == 3) // HD1200
{
resolution_ = 3;
resolution_ = 1; // HD1080=1
}
if(resolution_ == 4 || resolution_ == -1)
{
resolution_ = 2; // HD720=2
}
else if(resolution_ == 5 || resolution_ == 6) // SVGA, VGA
{
resolution_ = 3; // VGA=3
}
#else // ZED=4
if(resolution_ == -1)
{
resolution_ = int(sl::RESOLUTION::AUTO); // AUTO
}
#endif
#if ZED_SDK_MAJOR_VERSION < 3
UASSERT(resolution_ >= sl::RESOLUTION_HD2K && resolution_ <sl::RESOLUTION_LAST);
UASSERT(quality_ >= sl::DEPTH_MODE_NONE && quality_ <sl::DEPTH_MODE_LAST);
@@ -336,7 +350,13 @@ CameraStereoZed::CameraStereoZed(
src_(CameraVideo::kVideoFile),
usbDevice_(0),
svoFilePath_(filePath),
resolution_(2),
#if ZED_SDK_MAJOR_VERSION < 3
resolution_(sl::RESOLUTION_HD720),
#elif ZED_SDK_MAJOR_VERSION < 4
resolution_(sl::RESOLUTION::HD720),
#else
resolution_(int(sl::RESOLUTION::AUTO)),
#endif
quality_(quality),
selfCalibration_(selfCalibration),
sensingMode_(sensingMode),