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Added SuperGlue support (Vis/CorNNType=6). Added rtabmap-matcher tool. DBViewer: show matches/inliers when refine also fails. SIFT: make sift always available on OpenCV 4.3.0 (#538). Parameters: changed SPTorch prefix to SuperPoint, replaced Vis/CorCrossCheck by Vis/CorNNType=5.

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This commit is contained in:
matlabbe
2020-05-09 21:13:41 -04:00
parent abc3ebee8c
commit 91285e5e97
35 changed files with 1554 additions and 249 deletions
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corelib/include/rtabmap/core/StereoCameraModel.h
+3 -3
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@@ -43,7 +43,7 @@ public:
const cv::Size & imageSize2,
const cv::Mat & K2, const cv::Mat & D2, const cv::Mat & R2, const cv::Mat & P2,
const cv::Mat & R, const cv::Mat & T, const cv::Mat & E, const cv::Mat & F,
const Transform & localTransform = Transform::getIdentity());
const Transform & localTransform = Transform(0,0,1,0, -1,0,0,0, 0,-1,0,0));
// if R and T are not null, left and right camera models should be valid to be rectified.
StereoCameraModel(
@@ -68,7 +68,7 @@ public:
double cx,
double cy,
double baseline,
const Transform & localTransform = Transform::getIdentity(),
const Transform & localTransform = Transform(0,0,1,0, -1,0,0,0, 0,-1,0,0),
const cv::Size & imageSize = cv::Size(0,0));
//minimal to be saved
StereoCameraModel(
@@ -78,7 +78,7 @@ public:
double cx,
double cy,
double baseline,
const Transform & localTransform = Transform::getIdentity(),
const Transform & localTransform = Transform(0,0,1,0, -1,0,0,0, 0,-1,0,0),
const cv::Size & imageSize = cv::Size(0,0));
virtual ~StereoCameraModel() {}