i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-10-05 17:47:49 +08:00
Code Issues Packages Projects Releases Wiki Activity

SuperPoint: return at minimum 2 features or 0 (fixed crash when only one feature). Python: added main python instance from Rtabmap object (to get python instancied once for ROS). MultiSessionWidget: Fixed layout warning. Memory::computeTransform() avoid re-instanciating RegistrationVis when Reg/Strategy=1 for guess transform (to fix PyMatcher re-initialized every time). CMake: added video module to opencv required components.

Browse Source
This commit is contained in:
matlabbe
2022-02-15 01:28:38 -05:00
parent 578c19cc38
commit 9bd758a62c
10 changed files with 87 additions and 23 deletions
Download Patch File Download Diff File Expand all files Collapse all files
corelib/src/Memory.cpp
+49 -9
View File
@@ -122,14 +122,22 @@ Memory::Memory(const ParametersMap & parameters) :
_linksChanged(false),
_signaturesAdded(0),
_allNodesInWM(true),
_badSignRatio(Parameters::defaultKpBadSignRatio()),
_tfIdfLikelihoodUsed(Parameters::defaultKpTfIdfLikelihoodUsed()),
_parallelized(Parameters::defaultKpParallelized())
_parallelized(Parameters::defaultKpParallelized()),
_registrationVis(0)
{
_feature2D = Feature2D::create(parameters);
_vwd = new VWDictionary(parameters);
_registrationPipeline = Registration::create(parameters);
if(!_registrationPipeline->isImageRequired())
{
// make sure feature matching is used instead of optical flow to compute the guess
ParametersMap tmp = parameters;
uInsert(tmp, ParametersPair(Parameters::kVisCorType(), "0"));
uInsert(tmp, ParametersPair(Parameters::kRegRepeatOnce(), "false"));
_registrationVis = new RegistrationVis(tmp);
}
// for local scan matching, correspondences ratio should be two times higher as we expect more matches
float corRatio = Parameters::defaultIcpCorrespondenceRatio();
@@ -531,6 +539,7 @@ Memory::~Memory()
delete _vwd;
delete _registrationPipeline;
delete _registrationIcpMulti;
delete _registrationVis;
delete _occupancy;
}
@@ -647,12 +656,28 @@ void Memory::parseParameters(const ParametersMap & parameters)
uInsert(parameters_, ParametersPair(Parameters::kVisCorType(), "0"));
uInsert(params, ParametersPair(Parameters::kVisCorType(), "0"));
Registration::Type currentStrategy = Registration::kTypeUndef;
if(_registrationPipeline)
{
if(_registrationPipeline->isImageRequired() && _registrationPipeline->isScanRequired())
{
currentStrategy = Registration::kTypeVisIcp;
}
else if(_registrationPipeline->isImageRequired())
{
currentStrategy = Registration::kTypeVis;
}
else if(_registrationPipeline->isScanRequired())
{
currentStrategy = Registration::kTypeIcp;
}
}
Registration::Type regStrategy = Registration::kTypeUndef;
if((iter=params.find(Parameters::kRegStrategy())) != params.end())
{
regStrategy = (Registration::Type)std::atoi((*iter).second.c_str());
}
if(regStrategy!=Registration::kTypeUndef)
if(regStrategy!=Registration::kTypeUndef && regStrategy != currentStrategy)
{
UDEBUG("new registration strategy %d", int(regStrategy));
if(_registrationPipeline)
@@ -662,10 +687,29 @@ void Memory::parseParameters(const ParametersMap & parameters)
}
_registrationPipeline = Registration::create(regStrategy, parameters_);
if(!_registrationPipeline->isImageRequired() && _registrationVis == 0)
{
ParametersMap tmp = params;
uInsert(tmp, ParametersPair(Parameters::kRegRepeatOnce(), "false"));
_registrationVis = new RegistrationVis(tmp);
}
else if(_registrationPipeline->isImageRequired() && _registrationVis)
{
delete _registrationVis;
_registrationVis = 0;
}
}
else if(_registrationPipeline)
{
_registrationPipeline->parseParameters(params);
if(_registrationVis)
{
ParametersMap tmp = params;
uInsert(tmp, ParametersPair(Parameters::kRegRepeatOnce(), "false"));
_registrationVis->parseParameters(tmp);
}
}
if(_registrationIcpMulti)
@@ -2835,12 +2879,8 @@ Transform Memory::computeTransform(
{
UDEBUG("");
// no visual in the pipeline, make visual registration for guess
// make sure feature matching is used instead of optical flow to compute the guess
ParametersMap parameters = parameters_;
uInsert(parameters, ParametersPair(Parameters::kVisCorType(), "0"));
uInsert(parameters, ParametersPair(Parameters::kRegRepeatOnce(), "false"));
RegistrationVis regVis(parameters);
guess = regVis.computeTransformation(tmpFrom, tmpTo, guess, info);
UASSERT(_registrationVis!=0);
guess = _registrationVis->computeTransformation(tmpFrom, tmpTo, guess, info);
if(!guess.isNull())
{
transform = _registrationPipeline->computeTransformationMod(tmpFrom, tmpTo, guess, info);