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Added new 2d feature ORB OcTree (approach used in ORB_SLAM2). report tool: fixed assert caused by bidirectional links. detectModeLoopClosures tool: check if input path exists.

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matlabbe
2019-04-18 19:50:58 -04:00
parent 8a6c0dad00
commit a0f74eaee2
15 changed files with 1585 additions and 111 deletions
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48
corelib/include/rtabmap/core/Features2d.h
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@@ -84,9 +84,10 @@ typedef cv::cuda::ORB CV_ORB_GPU;
typedef cv::cuda::FastFeatureDetector CV_FAST_GPU;
#endif
namespace rtabmap {
class ORBextractor;
class Stereo;
#if CV_MAJOR_VERSION < 3
class CV_ORB;
@@ -105,7 +106,8 @@ public:
kFeatureGfttBrief=6,
kFeatureBrisk=7,
kFeatureGfttOrb=8, //new 0.10.11
kFeatureKaze=9}; //new 0.13.2
kFeatureKaze=9, //new 0.13.2
kFeatureOrbOctree=10}; //new 0.19.2
static Feature2D * create(const ParametersMap & parameters = ParametersMap());
static Feature2D * create(Feature2D::Type type, const ParametersMap & parameters = ParametersMap()); // for convenience
@@ -149,7 +151,7 @@ public:
std::vector<cv::KeyPoint> generateKeypoints(
const cv::Mat & image,
const cv::Mat & mask = cv::Mat()) const;
const cv::Mat & mask = cv::Mat());
cv::Mat generateDescriptors(
const cv::Mat & image,
std::vector<cv::KeyPoint> & keypoints) const;
@@ -165,7 +167,7 @@ protected:
Feature2D(const ParametersMap & parameters = ParametersMap());
private:
virtual std::vector<cv::KeyPoint> generateKeypointsImpl(const cv::Mat & image, const cv::Rect & roi, const cv::Mat & mask = cv::Mat()) const = 0;
virtual std::vector<cv::KeyPoint> generateKeypointsImpl(const cv::Mat & image, const cv::Rect & roi, const cv::Mat & mask = cv::Mat()) = 0;
virtual cv::Mat generateDescriptorsImpl(const cv::Mat & image, std::vector<cv::KeyPoint> & keypoints) const = 0;
private:
@@ -194,7 +196,7 @@ public:
virtual Feature2D::Type getType() const {return kFeatureSurf;}
private:
virtual std::vector<cv::KeyPoint> generateKeypointsImpl(const cv::Mat & image, const cv::Rect & roi, const cv::Mat & mask = cv::Mat()) const;
virtual std::vector<cv::KeyPoint> generateKeypointsImpl(const cv::Mat & image, const cv::Rect & roi, const cv::Mat & mask = cv::Mat());
virtual cv::Mat generateDescriptorsImpl(const cv::Mat & image, std::vector<cv::KeyPoint> & keypoints) const;
private:
@@ -221,7 +223,7 @@ public:
virtual Feature2D::Type getType() const {return kFeatureSift;}
private:
virtual std::vector<cv::KeyPoint> generateKeypointsImpl(const cv::Mat & image, const cv::Rect & roi, const cv::Mat & mask = cv::Mat()) const;
virtual std::vector<cv::KeyPoint> generateKeypointsImpl(const cv::Mat & image, const cv::Rect & roi, const cv::Mat & mask = cv::Mat());
virtual cv::Mat generateDescriptorsImpl(const cv::Mat & image, std::vector<cv::KeyPoint> & keypoints) const;
private:
@@ -244,7 +246,7 @@ public:
virtual Feature2D::Type getType() const {return kFeatureOrb;}
private:
virtual std::vector<cv::KeyPoint> generateKeypointsImpl(const cv::Mat & image, const cv::Rect & roi, const cv::Mat & mask = cv::Mat()) const;
virtual std::vector<cv::KeyPoint> generateKeypointsImpl(const cv::Mat & image, const cv::Rect & roi, const cv::Mat & mask = cv::Mat());
virtual cv::Mat generateDescriptorsImpl(const cv::Mat & image, std::vector<cv::KeyPoint> & keypoints) const;
private:
@@ -275,7 +277,7 @@ public:
virtual Feature2D::Type getType() const {return kFeatureUndef;}
private:
virtual std::vector<cv::KeyPoint> generateKeypointsImpl(const cv::Mat & image, const cv::Rect & roi, const cv::Mat & mask = cv::Mat()) const;
virtual std::vector<cv::KeyPoint> generateKeypointsImpl(const cv::Mat & image, const cv::Rect & roi, const cv::Mat & mask = cv::Mat());
virtual cv::Mat generateDescriptorsImpl(const cv::Mat & image, std::vector<cv::KeyPoint> & keypoints) const {return cv::Mat();}
private:
@@ -343,7 +345,7 @@ public:
virtual void parseParameters(const ParametersMap & parameters);
private:
virtual std::vector<cv::KeyPoint> generateKeypointsImpl(const cv::Mat & image, const cv::Rect & roi, const cv::Mat & mask = cv::Mat()) const;
virtual std::vector<cv::KeyPoint> generateKeypointsImpl(const cv::Mat & image, const cv::Rect & roi, const cv::Mat & mask = cv::Mat());
private:
double _qualityLevel;
@@ -424,7 +426,7 @@ public:
virtual Feature2D::Type getType() const {return kFeatureBrisk;}
private:
virtual std::vector<cv::KeyPoint> generateKeypointsImpl(const cv::Mat & image, const cv::Rect & roi, const cv::Mat & mask = cv::Mat()) const;
virtual std::vector<cv::KeyPoint> generateKeypointsImpl(const cv::Mat & image, const cv::Rect & roi, const cv::Mat & mask = cv::Mat());
virtual cv::Mat generateDescriptorsImpl(const cv::Mat & image, std::vector<cv::KeyPoint> & keypoints) const;
private:
@@ -446,7 +448,7 @@ public:
virtual Feature2D::Type getType() const { return kFeatureKaze; }
private:
virtual std::vector<cv::KeyPoint> generateKeypointsImpl(const cv::Mat & image, const cv::Rect & roi, const cv::Mat & mask = cv::Mat()) const;
virtual std::vector<cv::KeyPoint> generateKeypointsImpl(const cv::Mat & image, const cv::Rect & roi, const cv::Mat & mask = cv::Mat());
virtual cv::Mat generateDescriptorsImpl(const cv::Mat & image, std::vector<cv::KeyPoint> & keypoints) const;
private:
@@ -462,6 +464,30 @@ private:
#endif
};
//ORB OCTREE
class RTABMAP_EXP ORBOctree : public Feature2D
{
public:
ORBOctree(const ParametersMap & parameters = ParametersMap());
virtual ~ORBOctree();
virtual void parseParameters(const ParametersMap & parameters);
virtual Feature2D::Type getType() const {return kFeatureOrbOctree;}
private:
virtual std::vector<cv::KeyPoint> generateKeypointsImpl(const cv::Mat & image, const cv::Rect & roi, const cv::Mat & mask = cv::Mat());
virtual cv::Mat generateDescriptorsImpl(const cv::Mat & image, std::vector<cv::KeyPoint> & keypoints) const;
private:
float scaleFactor_;
int nLevels_;
int fastThreshold_;
int fastMinThreshold_;
cv::Ptr<ORBextractor> _orb;
cv::Mat descriptors_;
};
}