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Removed parameters Vis/UseDepthAsMask and Mem/UseDepthAsMask (just always do it when a depth is detected)

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matlabbe
2016-03-01 14:40:40 -05:00
parent 1f999c4d28
commit a89b8cb4fe
7 changed files with 144 additions and 202 deletions
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1
corelib/include/rtabmap/core/Memory.h
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@@ -245,7 +245,6 @@ private:
float _rehearsalMaxDistance;
float _rehearsalMaxAngle;
bool _rehearsalWeightIgnoredWhileMoving;
bool _useDepthAsMask;
bool _useOdometryFeatures;
int _idCount;

2
corelib/include/rtabmap/core/Parameters.h
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@@ -208,7 +208,6 @@ class RTABMAP_EXP Parameters
RTABMAP_PARAM(Mem, InitWMWithAllNodes, bool, false, "Initialize the Working Memory with all nodes in Long-Term Memory. When false, it is initialized with nodes of the previous session.");
RTABMAP_PARAM(Mem, ImageDecimation, int, 1, "Image decimation (>=1) when creating a signature.");
RTABMAP_PARAM(Mem, LaserScanDownsampleStepSize, int, 1, "If > 1, downsample the laser scans when creating a signature.");
RTABMAP_PARAM(Mem, UseDepthAsMask, bool, false, "Use depth image as mask for features detection.");
RTABMAP_PARAM(Mem, UseOdomFeatures, bool, false, "Use odometry features.");
// KeypointMemory (Keypoint-based)
@@ -410,7 +409,6 @@ class RTABMAP_EXP Parameters
RTABMAP_PARAM(Vis, CorFlowIterations, int, 30, "[Vis/CorrespondenceType=1] See cv::calcOpticalFlowPyrLK(). Used for optical flow approach.");
RTABMAP_PARAM(Vis, CorFlowEps, float, 0.01, "[Vis/CorrespondenceType=1] See cv::calcOpticalFlowPyrLK(). Used for optical flow approach.");
RTABMAP_PARAM(Vis, CorFlowMaxLevel, int, 3, "[Vis/CorrespondenceType=1] See cv::calcOpticalFlowPyrLK(). Used for optical flow approach.");
RTABMAP_PARAM(Vis, UseDepthAsMask, bool, true, "Use depth image as mask for features detection.");
// ICP registration parameters
RTABMAP_PARAM(Icp, MaxTranslation, float, 0.2, "Maximum ICP translation correction accepted (m).");

1
corelib/include/rtabmap/core/RegistrationVis.h
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@@ -81,7 +81,6 @@ private:
int _flowMaxLevel;
float _nndr;
int _guessWinSize;
bool _useDepthAsMask;
ParametersMap _featureParameters;
};

8
corelib/src/Memory.cpp
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@@ -89,7 +89,6 @@ Memory::Memory(const ParametersMap & parameters) :
_rehearsalMaxDistance(Parameters::defaultRGBDLinearUpdate()),
_rehearsalMaxAngle(Parameters::defaultRGBDAngularUpdate()),
_rehearsalWeightIgnoredWhileMoving(Parameters::defaultMemRehearsalWeightIgnoredWhileMoving()),
_useDepthAsMask(Parameters::defaultMemUseDepthAsMask()),
_useOdometryFeatures(Parameters::defaultMemUseOdomFeatures()),
_idCount(kIdStart),
_idMapCount(kIdStart),
@@ -404,7 +403,6 @@ void Memory::parseParameters(const ParametersMap & parameters)
Parameters::parse(parameters, Parameters::kRGBDLinearUpdate(), _rehearsalMaxDistance);
Parameters::parse(parameters, Parameters::kRGBDAngularUpdate(), _rehearsalMaxAngle);
Parameters::parse(parameters, Parameters::kMemRehearsalWeightIgnoredWhileMoving(), _rehearsalWeightIgnoredWhileMoving);
Parameters::parse(parameters, Parameters::kMemUseDepthAsMask(), _useDepthAsMask);
Parameters::parse(parameters, Parameters::kMemUseOdomFeatures(), _useOdometryFeatures);
UASSERT_MSG(_maxStMemSize >= 0, uFormat("value=%d", _maxStMemSize).c_str());
@@ -3120,9 +3118,11 @@ Signature * Memory::createSignature(const SensorData & data, const Transform & p
}
cv::Mat depthMask;
if(_useDepthAsMask && !data.depthRaw().empty())
if(!data.depthRaw().empty())
{
if(imageMono.rows/data.depthRaw().rows == imageMono.cols/data.depthRaw().cols)
if(imageMono.rows % data.depthRaw().rows == 0 &&
imageMono.cols % data.depthRaw().cols == 0 &&
imageMono.rows/data.depthRaw().rows == imageMono.cols/data.depthRaw().cols)
{
depthMask = util2d::interpolate(data.depthRaw(), imageMono.rows/data.depthRaw().rows, 0.1f);
}

10
corelib/src/RegistrationVis.cpp
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@@ -62,8 +62,7 @@ RegistrationVis::RegistrationVis(const ParametersMap & parameters, Registration
_flowEps(Parameters::defaultVisCorFlowEps()),
_flowMaxLevel(Parameters::defaultVisCorFlowMaxLevel()),
_nndr(Parameters::defaultVisCorNNDR()),
_guessWinSize(Parameters::defaultVisCorGuessWinSize()),
_useDepthAsMask(Parameters::defaultVisUseDepthAsMask())
_guessWinSize(Parameters::defaultVisCorGuessWinSize())
{
_featureParameters = Parameters::getDefaultParameters();
uInsert(_featureParameters, ParametersPair(Parameters::kKpNNStrategy(), _featureParameters.at(Parameters::kVisCorNNType())));
@@ -101,7 +100,6 @@ void RegistrationVis::parseParameters(const ParametersMap & parameters)
Parameters::parse(parameters, Parameters::kVisCorFlowMaxLevel(), _flowMaxLevel);
Parameters::parse(parameters, Parameters::kVisCorNNDR(), _nndr);
Parameters::parse(parameters, Parameters::kVisCorGuessWinSize(), _guessWinSize);
Parameters::parse(parameters, Parameters::kVisUseDepthAsMask(), _useDepthAsMask);
UASSERT_MSG(_minInliers >= 1, uFormat("value=%d", _minInliers).c_str());
UASSERT_MSG(_inlierDistance > 0.0f, uFormat("value=%f", _inlierDistance).c_str());
@@ -259,7 +257,7 @@ Transform RegistrationVis::computeTransformationImpl(
}
cv::Mat depthMask;
if(_useDepthAsMask && !fromSignature.sensorData().depthRaw().empty())
if(!fromSignature.sensorData().depthRaw().empty())
{
if(fromSignature.sensorData().imageRaw().rows % fromSignature.sensorData().depthRaw().rows == 0 &&
fromSignature.sensorData().imageRaw().cols % fromSignature.sensorData().depthRaw().cols == 0 &&
@@ -430,10 +428,10 @@ Transform RegistrationVis::computeTransformationImpl(
}
cv::Mat depthMask;
if(_useDepthAsMask && !toSignature.sensorData().depthRaw().empty())
if(!toSignature.sensorData().depthRaw().empty())
{
if(toSignature.sensorData().imageRaw().rows % toSignature.sensorData().depthRaw().rows == 0 &&
toSignature.sensorData().imageRaw().cols % toSignature.sensorData().depthRaw().cols == 0 &&
toSignature.sensorData().imageRaw().cols % toSignature.sensorData().depthRaw().cols == 0 &&
toSignature.sensorData().imageRaw().rows/toSignature.sensorData().depthRaw().rows == toSignature.sensorData().imageRaw().cols/toSignature.sensorData().depthRaw().cols)
{
depthMask = util2d::interpolate(toSignature.sensorData().depthRaw(), toSignature.sensorData().imageRaw().rows/toSignature.sensorData().depthRaw().rows, 0.1f);