Binary descriptors (ORB, BRIEF, FREAK) can now be used for the visual dictionnary: maybe not as discriminative as SIFT/SURF on large environments, the advantage is that RTAB-Map will work without Patent/noncommercial licenses of SIFT and SURF.

A new option is added to re-extract features when a loop closure hypothesis is found. 
Another new option is to force 2D (3DoF) transform on visual odometry and loop closures.

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1679 f169173b-cf89-36c8-b27e-44dbe73f0c83

corelib/include/rtabmap/core/Memory.h

@@ -115,14 +115,24 @@ public:
 	int getMapId(int signatureId) const;
 	std::vector<unsigned char> getImage(int signatureId) const;
 	void getImageDepth(
-			int locationId, std::vector<unsigned char> & rgb,
+			int locationId,
+			std::vector<unsigned char> & rgb,
 			std::vector<unsigned char> & depth,
 			std::vector<unsigned char> & depth2d,
 			float & fx,
 			float & fy,
 			float & cx,
 			float & cy,
-			Transform & localTransform) const;
+			Transform & localTransform);
+	void getImageDepthRaw(
+				int locationId,
+				cv::Mat & rgb,
+				cv::Mat & depth,
+				float & fx,
+				float & fy,
+				float & cx,
+				float & cy,
+				Transform & localTransform);
 	std::set<int> getAllSignatureIds() const;
 	bool memoryChanged() const {return _memoryChanged;}
 	bool isIncremental() const {return _incrementalMemory;}
@@ -171,8 +181,13 @@ public:
 			std::map<int, Transform> & poses,
 			std::multimap<int, Link> & links,
 			bool lookInDatabase = false);
-	Transform computeVisualTransform(int oldId, int newId, std::string * rejectedMsg = 0) const;
-	Transform computeVisualTransform(const Signature & oldS, const Signature & newS, std::string * rejectedMsg = 0) const;
+	float getBowInlierDistance() const {return _bowInlierDistance;}
+	int getBowIterations() const {return _bowIterations;}
+	int getBowMinInliers() const {return _bowMinInliers;}
+	float getBowMaxDepth() const {return _bowMaxDepth;}
+	bool getBowForce2D() const {return _bowForce2D;}
+	Transform computeVisualTransform(int oldId, int newId, std::string * rejectedMsg = 0, int * inliers = 0) const;
+	Transform computeVisualTransform(const Signature & oldS, const Signature & newS, std::string * rejectedMsg = 0, int * inliers = 0) const;
 	Transform computeIcpTransform(int oldId, int newId, Transform guess, bool icp3D, std::string * rejectedMsg = 0);
 	Transform computeIcpTransform(const Signature & oldS, const Signature & newS, Transform guess, bool icp3D, std::string * rejectedMsg = 0) const;
 	Transform computeScanMatchingTransform(
@@ -252,6 +267,7 @@ private:
 	float _bowInlierDistance;
 	int _bowIterations;
 	float _bowMaxDepth;
+	bool _bowForce2D;
 	int _icpDecimation;
 	float _icpMaxDepth;
 	float _icpVoxelSize;

corelib/include/rtabmap/core/Parameters.h

@@ -273,6 +273,12 @@ class RTABMAP_EXP Parameters
 	RTABMAP_PARAM(LccBow, InlierDistance,  float, 0.01, 	"Maximum distance for visual word correspondences.");
 	RTABMAP_PARAM(LccBow, Iterations,      int, 100, 		"Maximum iterations to compute the transform from visual words.");
 	RTABMAP_PARAM(LccBow, MaxDepth,        float, 5.0, 		"Max depth of the words (0 means no limit).");
+	RTABMAP_PARAM(LccBow, Force2D, 		   bool, false,     "Force 2D transform (3Dof: x,y and yaw).")
+	RTABMAP_PARAM(LccReextract, LoopClosureFeatures, bool, false, 	"Re-extract features on global loop closure.");
+	RTABMAP_PARAM(LccReextract, NNType, 	int, 3, 		"kNNFlannNaive=0, kNNFlannKdTree=1, kNNFlannLSH=2, kNNBruteForce=3, kNNBruteForceGPU=4.");
+	RTABMAP_PARAM(LccReextract, NNDR, 		float, 0.7, 	"NNDR: nearest neighbor distance ratio.");
+	RTABMAP_PARAM(LccReextract, FeatureType, int, 4, 		"0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF.");
+	RTABMAP_PARAM(LccReextract, MaxWords, 	int, 0, 		"0 no limits.");
 
 	RTABMAP_PARAM(LccIcp3, Decimation,      int, 8, 		"Depth image decimation.");
 	RTABMAP_PARAM(LccIcp3, MaxDepth,        float, 4.0, 	"Max cloud depth.");

corelib/include/rtabmap/core/Rtabmap.h

@@ -167,6 +167,11 @@ private:
 	int _toroIterations;
 	std::string _databasePath;
 	bool _optimizeFromGraphEnd;
+	bool _reextractLoopClosureFeatures;
+	int _reextractNNType;
+	float _reextractNNDR;
+	int _reextractFeatureType;
+	int _reextractMaxWords;
 
 	int _lcHypothesisId;
 	float _lcHypothesisValue;

corelib/include/rtabmap/core/Signature.h

@@ -114,6 +114,8 @@ public:
 	const std::map<int, int> & getWordsChanged() const {return _wordsChanged;}
 	void setImage(const std::vector<unsigned char> & image) {_image = image;}
 	const std::vector<unsigned char> & getImage() const {return _image;}
+	void setImageRaw(const cv::Mat & image) {_imageRaw = image;}
+	const cv::Mat & getImageRaw() const {return _imageRaw;}
 
 	//metric stuff
 	void setWords3(const std::multimap<int, pcl::PointXYZ> & words3) {_words3 = words3;}
@@ -130,6 +132,8 @@ public:
 	float getDepthCy() const {return _cy;}
 	const Transform & getPose() const {return _pose;}
 	const Transform & getLocalTransform() const {return _localTransform;}
+	void setDepthRaw(const cv::Mat & depth) {_depthRaw = depth;}
+	const cv::Mat & getDepthRaw() const {return _depthRaw;}
 
 private:
 	int _id;
@@ -159,6 +163,9 @@ private:
 	Transform _pose;
 	Transform _localTransform; // camera_link -> base_link
 	std::multimap<int, pcl::PointXYZ> _words3; // word <id, keypoint>
+
+	cv::Mat _imageRaw;
+	cv::Mat _depthRaw;
 };
 
 } // namespace rtabmap

corelib/include/rtabmap/core/Statistics.h

@@ -58,6 +58,7 @@ class RTABMAP_EXP Statistics
 	RTABMAP_STATS(Loop, ReactivateId,);
 	RTABMAP_STATS(Loop, Hypothesis_ratio,);
 	RTABMAP_STATS(Loop, Hypothesis_reactivated,);
+	RTABMAP_STATS(Loop, VisualInliers,);
 	RTABMAP_STATS(Loop, Last_loop_closure_parent,);
 	RTABMAP_STATS(Loop, Last_loop_closure_child,);