i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-10-04 00:57:46 +08:00
Code Issues Packages Projects Releases Wiki Activity

Increased version 0.20.4. Added parameter Kp/ByteToFloat (default true to use less memory with kdtree and binary descriptors). Memory/Sqlite3: Setting weight to -9 for invalid nodes (to make sure they are not reloaded from database, to fix a graph reduced issue). Added 12-SURF/FREAK detector approach. rtabmap-info: added number of nodes in each sessions.

Browse Source
This commit is contained in:
matlabbe
2020-09-28 10:29:14 -04:00
parent c5158cade5
commit 933ac736f1
13 changed files with 253 additions and 78 deletions
Download Patch File Download Diff File Expand all files Collapse all files
corelib/src/Features2d.cpp
+60 -3
View File
@@ -511,7 +511,7 @@ Feature2D * Feature2D::create(Feature2D::Type type, const ParametersMap & parame
#if CV_MAJOR_VERSION < 3 || (CV_MAJOR_VERSION == 4 && CV_MINOR_VERSION <= 3) || (CV_MAJOR_VERSION == 3 && (CV_MINOR_VERSION < 4 || (CV_MINOR_VERSION==4 && CV_SUBMINOR_VERSION<11)))
#ifndef RTABMAP_NONFREE
if(type == Feature2D::kFeatureSurf || type == Feature2D::kFeatureSift)
if(type == Feature2D::kFeatureSurf || type == Feature2D::kFeatureSift || type == Feature2D::kFeatureSurfFreak)
{
#if CV_MAJOR_VERSION < 3
UWARN("SURF and SIFT features cannot be used because OpenCV was not built with nonfree module. GFTT/ORB is used instead.");
@@ -524,7 +524,8 @@ Feature2D * Feature2D::create(Feature2D::Type type, const ParametersMap & parame
if(type == Feature2D::kFeatureFastBrief ||
type == Feature2D::kFeatureFastFreak ||
type == Feature2D::kFeatureGfttBrief ||
type == Feature2D::kFeatureGfttFreak)
type == Feature2D::kFeatureGfttFreak ||
type == Feature2D::kFeatureSurfFreak)
{
UWARN("BRIEF and FREAK features cannot be used because OpenCV was not built with xfeatures2d module. GFTT/ORB is used instead.");
type = Feature2D::kFeatureGfttOrb;
@@ -535,7 +536,7 @@ Feature2D * Feature2D::create(Feature2D::Type type, const ParametersMap & parame
#else // >= 4.4.0 >= 3.4.11
#ifndef RTABMAP_NONFREE
if(type == Feature2D::kFeatureSurf)
if(type == Feature2D::kFeatureSurf || type == Feature2D::kFeatureSurfFreak)
{
UWARN("SURF features cannot be used because OpenCV was not built with nonfree module. SIFT is used instead.");
type = Feature2D::kFeatureSift;
@@ -614,6 +615,9 @@ Feature2D * Feature2D::create(Feature2D::Type type, const ParametersMap & parame
feature2D = new SuperPointTorch(parameters);
break;
#endif
case Feature2D::kFeatureSurfFreak:
feature2D = new SURF_FREAK(parameters);
break;
#ifdef RTABMAP_NONFREE
default:
feature2D = new SURF(parameters);
@@ -1724,6 +1728,59 @@ cv::Mat GFTT_FREAK::generateDescriptorsImpl(const cv::Mat & image, std::vector<c
return descriptors;
}
//////////////////////////
//SURF-FREAK
//////////////////////////
SURF_FREAK::SURF_FREAK(const ParametersMap & parameters) :
SURF(parameters),
orientationNormalized_(Parameters::defaultFREAKOrientationNormalized()),
scaleNormalized_(Parameters::defaultFREAKScaleNormalized()),
patternScale_(Parameters::defaultFREAKPatternScale()),
nOctaves_(Parameters::defaultFREAKNOctaves())
{
parseParameters(parameters);
}
SURF_FREAK::~SURF_FREAK()
{
}
void SURF_FREAK::parseParameters(const ParametersMap & parameters)
{
SURF::parseParameters(parameters);
Parameters::parse(parameters, Parameters::kFREAKOrientationNormalized(), orientationNormalized_);
Parameters::parse(parameters, Parameters::kFREAKScaleNormalized(), scaleNormalized_);
Parameters::parse(parameters, Parameters::kFREAKPatternScale(), patternScale_);
Parameters::parse(parameters, Parameters::kFREAKNOctaves(), nOctaves_);
#if CV_MAJOR_VERSION < 3
_freak = cv::Ptr<CV_FREAK>(new CV_FREAK(orientationNormalized_, scaleNormalized_, patternScale_, nOctaves_));
#else
#ifdef HAVE_OPENCV_XFEATURES2D
_freak = CV_FREAK::create(orientationNormalized_, scaleNormalized_, patternScale_, nOctaves_);
#else
UWARN("RTAB-Map is not built with OpenCV xfeatures2d module so Freak cannot be used!");
#endif
#endif
}
cv::Mat SURF_FREAK::generateDescriptorsImpl(const cv::Mat & image, std::vector<cv::KeyPoint> & keypoints) const
{
UASSERT(!image.empty() && image.channels() == 1 && image.depth() == CV_8U);
cv::Mat descriptors;
#if CV_MAJOR_VERSION < 3
_freak->compute(image, keypoints, descriptors);
#else
#ifdef HAVE_OPENCV_XFEATURES2D
_freak->compute(image, keypoints, descriptors);
#else
UWARN("RTAB-Map is not built with OpenCV xfeatures2d module so Freak cannot be used!");
#endif
#endif
return descriptors;
}
//////////////////////////
//GFTT-ORB
//////////////////////////