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Added Bundle Adjustment options to OdometryF2M (OdomF2M/BundleAdjustment) and RegistrationVis (Vis/BundleAdjustment). Added logger thread filter. RegistrationVis: Copy back corresponding input word IDs to output words when available. Memory::computeTransform() added option to use already computed corespondences if possible (proximity detection by time uses this). Updated Optimizer::optimizeBA() interface.

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This commit is contained in:
matlabbe
2016-11-14 19:54:31 -05:00
parent 9fbd02b06d
commit 9276607920
39 changed files with 2214 additions and 594 deletions
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corelib/src/Memory.cpp
+13 -5
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@@ -2091,7 +2091,8 @@ Transform Memory::computeTransform(
int fromId,
int toId,
Transform guess,
RegistrationInfo * info)
RegistrationInfo * info,
bool useKnownCorrespondencesIfPossible)
{
Signature * fromS = this->_getSignature(fromId);
Signature * toS = this->_getSignature(toId);
@@ -2100,7 +2101,7 @@ Transform Memory::computeTransform(
if(fromS && toS)
{
return computeTransform(*fromS, *toS, guess, info);
return computeTransform(*fromS, *toS, guess, info, useKnownCorrespondencesIfPossible);
}
else
{
@@ -2119,7 +2120,8 @@ Transform Memory::computeTransform(
Signature & fromS,
Signature & toS,
Transform guess,
RegistrationInfo * info) const
RegistrationInfo * info,
bool useKnownCorrespondencesIfPossible) const
{
Transform transform;
@@ -2172,6 +2174,12 @@ Transform Memory::computeTransform(
tmpTo.setWordsDescriptors(std::multimap<int, cv::Mat>());
tmpTo.sensorData().setFeatures(std::vector<cv::KeyPoint>(), cv::Mat());
}
else if(useKnownCorrespondencesIfPossible)
{
// This will make RegistrationVis bypassing the correspondences computation
tmpFrom.setWordsDescriptors(std::multimap<int, cv::Mat>());
tmpTo.setWordsDescriptors(std::multimap<int, cv::Mat>());
}
if(guess.isNull() && !_registrationPipeline->isImageRequired())
{
@@ -2181,12 +2189,12 @@ Transform Memory::computeTransform(
guess = regVis.computeTransformation(tmpFrom, tmpTo, guess, info);
if(!guess.isNull())
{
transform = _registrationPipeline->computeTransformation(tmpFrom, tmpTo, guess, info);
transform = _registrationPipeline->computeTransformationMod(tmpFrom, tmpTo, guess, info);
}
}
else
{
transform = _registrationPipeline->computeTransformation(tmpFrom, tmpTo, guess, info);
transform = _registrationPipeline->computeTransformationMod(tmpFrom, tmpTo, guess, info);
}
if(!transform.isNull())