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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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This commit is contained in:
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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corelib/src/Features2d.cpp
+90 -8
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@@ -40,6 +40,10 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <opencv2/core/version.hpp>
#include <opencv2/opencv_modules.hpp>
#ifdef RTABMAP_ORB_OCTREE
#include "opencv/ORBextractor.h"
#endif
#if CV_MAJOR_VERSION < 3
#include "opencv/Orb.h"
#ifdef HAVE_OPENCV_GPU
@@ -445,6 +449,14 @@ Feature2D * Feature2D::create(Feature2D::Type type, const ParametersMap & parame
}
#endif
#ifndef RTABMAP_ORB_OCTREE
if(type == Feature2D::kFeatureOrbOctree)
{
UWARN("ORB OcTree feature cannot be used as RTAB-Map is not built with the option enabled. ORB is used instead.");
type = Feature2D::kFeatureOrb;
}
#endif
Feature2D * feature2D = 0;
switch(type)
{
@@ -478,6 +490,9 @@ Feature2D * Feature2D::create(Feature2D::Type type, const ParametersMap & parame
case Feature2D::kFeatureKaze:
feature2D = new KAZE(parameters);
break;
case Feature2D::kFeatureOrbOctree:
feature2D = new ORBOctree(parameters);
break;
#ifdef RTABMAP_NONFREE
default:
feature2D = new SURF(parameters);
@@ -494,7 +509,7 @@ Feature2D * Feature2D::create(Feature2D::Type type, const ParametersMap & parame
return feature2D;
}
std::vector<cv::KeyPoint> Feature2D::generateKeypoints(const cv::Mat & image, const cv::Mat & maskIn) const
std::vector<cv::KeyPoint> Feature2D::generateKeypoints(const cv::Mat & image, const cv::Mat & maskIn)
{
UASSERT(!image.empty());
UASSERT(image.type() == CV_8UC1);
@@ -725,7 +740,7 @@ void SURF::parseParameters(const ParametersMap & parameters)
#endif
}
std::vector<cv::KeyPoint> SURF::generateKeypointsImpl(const cv::Mat & image, const cv::Rect & roi, const cv::Mat & mask) const
std::vector<cv::KeyPoint> SURF::generateKeypointsImpl(const cv::Mat & image, const cv::Rect & roi, const cv::Mat & mask)
{
UASSERT(!image.empty() && image.channels() == 1 && image.depth() == CV_8U);
std::vector<cv::KeyPoint> keypoints;
@@ -833,7 +848,7 @@ void SIFT::parseParameters(const ParametersMap & parameters)
#endif
}
std::vector<cv::KeyPoint> SIFT::generateKeypointsImpl(const cv::Mat & image, const cv::Rect & roi, const cv::Mat & mask) const
std::vector<cv::KeyPoint> SIFT::generateKeypointsImpl(const cv::Mat & image, const cv::Rect & roi, const cv::Mat & mask)
{
UASSERT(!image.empty() && image.channels() == 1 && image.depth() == CV_8U);
std::vector<cv::KeyPoint> keypoints;
@@ -956,7 +971,7 @@ void ORB::parseParameters(const ParametersMap & parameters)
}
}
std::vector<cv::KeyPoint> ORB::generateKeypointsImpl(const cv::Mat & image, const cv::Rect & roi, const cv::Mat & mask) const
std::vector<cv::KeyPoint> ORB::generateKeypointsImpl(const cv::Mat & image, const cv::Rect & roi, const cv::Mat & mask)
{
UASSERT(!image.empty() && image.channels() == 1 && image.depth() == CV_8U);
std::vector<cv::KeyPoint> keypoints;
@@ -1164,7 +1179,7 @@ void FAST::parseParameters(const ParametersMap & parameters)
}
}
std::vector<cv::KeyPoint> FAST::generateKeypointsImpl(const cv::Mat & image, const cv::Rect & roi, const cv::Mat & mask) const
std::vector<cv::KeyPoint> FAST::generateKeypointsImpl(const cv::Mat & image, const cv::Rect & roi, const cv::Mat & mask)
{
UASSERT(!image.empty() && image.channels() == 1 && image.depth() == CV_8U);
std::vector<cv::KeyPoint> keypoints;
@@ -1330,7 +1345,7 @@ void GFTT::parseParameters(const ParametersMap & parameters)
#endif
}
std::vector<cv::KeyPoint> GFTT::generateKeypointsImpl(const cv::Mat & image, const cv::Rect & roi, const cv::Mat & mask) const
std::vector<cv::KeyPoint> GFTT::generateKeypointsImpl(const cv::Mat & image, const cv::Rect & roi, const cv::Mat & mask)
{
UASSERT(!image.empty() && image.channels() == 1 && image.depth() == CV_8U);
std::vector<cv::KeyPoint> keypoints;
@@ -1499,7 +1514,7 @@ void BRISK::parseParameters(const ParametersMap & parameters)
#endif
}
std::vector<cv::KeyPoint> BRISK::generateKeypointsImpl(const cv::Mat & image, const cv::Rect & roi, const cv::Mat & mask) const
std::vector<cv::KeyPoint> BRISK::generateKeypointsImpl(const cv::Mat & image, const cv::Rect & roi, const cv::Mat & mask)
{
UASSERT(!image.empty() && image.channels() == 1 && image.depth() == CV_8U);
std::vector<cv::KeyPoint> keypoints;
@@ -1559,7 +1574,7 @@ void KAZE::parseParameters(const ParametersMap & parameters)
#endif
}
std::vector<cv::KeyPoint> KAZE::generateKeypointsImpl(const cv::Mat & image, const cv::Rect & roi, const cv::Mat & mask) const
std::vector<cv::KeyPoint> KAZE::generateKeypointsImpl(const cv::Mat & image, const cv::Rect & roi, const cv::Mat & mask)
{
UASSERT(!image.empty() && image.channels() == 1 && image.depth() == CV_8U);
std::vector<cv::KeyPoint> keypoints;
@@ -1589,4 +1604,71 @@ cv::Mat KAZE::generateDescriptorsImpl(const cv::Mat & image, std::vector<cv::Key
return descriptors;
}
//////////////////////////
//ORBOctree
//////////////////////////
ORBOctree::ORBOctree(const ParametersMap & parameters) :
scaleFactor_(Parameters::defaultORBScaleFactor()),
nLevels_(Parameters::defaultORBNLevels()),
fastThreshold_(Parameters::defaultFASTThreshold())
{
parseParameters(parameters);
}
ORBOctree::~ORBOctree()
{
}
void ORBOctree::parseParameters(const ParametersMap & parameters)
{
Feature2D::parseParameters(parameters);
Parameters::parse(parameters, Parameters::kORBScaleFactor(), scaleFactor_);
Parameters::parse(parameters, Parameters::kORBNLevels(), nLevels_);
Parameters::parse(parameters, Parameters::kFASTThreshold(), fastThreshold_);
Parameters::parse(parameters, Parameters::kFASTMinThreshold(), fastMinThreshold_);
#ifdef RTABMAP_ORB_OCTREE
_orb.reset(new ORBextractor(this->getMaxFeatures(), scaleFactor_, nLevels_, fastThreshold_, fastMinThreshold_));
#else
UWARN("RTAB-Map is not built with ORB OcTree option enabled so ORB OcTree feature cannot be used!");
#endif
}
std::vector<cv::KeyPoint> ORBOctree::generateKeypointsImpl(const cv::Mat & image, const cv::Rect & roi, const cv::Mat & mask)
{
std::vector<cv::KeyPoint> keypoints;
descriptors_ = cv::Mat();
#ifdef RTABMAP_ORB_OCTREE
UASSERT(!image.empty() && image.channels() == 1 && image.depth() == CV_8U);
cv::Mat imgRoi(image, roi);
cv::Mat maskRoi;
if(!mask.empty())
{
maskRoi = cv::Mat(mask, roi);
}
(*_orb)(imgRoi, maskRoi, keypoints, descriptors_);
if((int)keypoints.size() > this->getMaxFeatures())
{
limitKeypoints(keypoints, descriptors_, this->getMaxFeatures());
}
#else
UWARN("RTAB-Map is not built with ORB OcTree option enabled so ORB OcTree feature cannot be used!");
#endif
return keypoints;
}
cv::Mat ORBOctree::generateDescriptorsImpl(const cv::Mat & image, std::vector<cv::KeyPoint> & keypoints) const
{
#ifdef RTABMAP_ORB_OCTREE
UASSERT_MSG((int)keypoints.size() == descriptors_.rows, uFormat("keypoints=%d descriptors=%d", (int)keypoints.size(), descriptors_.rows).c_str());
#else
UWARN("RTAB-Map is not built with ORB OcTree option enabled so ORB OcTree feature cannot be used!");
#endif
return descriptors_;
}
}