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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.

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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
This commit is contained in:
matlabbe
2014-09-21 16:51:51 +00:00
parent 02850ec756
commit a98f819821
10 changed files with 463 additions and 34 deletions
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27
guilib/src/PreferencesDialog.cpp
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@@ -415,6 +415,13 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_ui->loopClosure_bowInlierDistance->setObjectName(Parameters::kLccBowInlierDistance().c_str());
_ui->loopClosure_bowIterations->setObjectName(Parameters::kLccBowIterations().c_str());
_ui->loopClosure_bowMaxDepth->setObjectName(Parameters::kLccBowMaxDepth().c_str());
_ui->loopClosure_bowForce2D->setObjectName(Parameters::kLccBowForce2D().c_str());
_ui->groupBox_reextract->setObjectName(Parameters::kLccReextractLoopClosureFeatures().c_str());
_ui->reextract_nn->setObjectName(Parameters::kLccReextractNNType().c_str());
_ui->reextract_nndrRatio->setObjectName(Parameters::kLccReextractNNDR().c_str());
_ui->reextract_type->setObjectName(Parameters::kLccReextractFeatureType().c_str());
_ui->reextract_maxFeatures->setObjectName(Parameters::kLccReextractMaxWords().c_str());
_ui->globalDetection_icpType->setObjectName(Parameters::kLccIcpType().c_str());
_ui->globalDetection_icpMaxDistance->setObjectName(Parameters::kLccIcpMaxDistance().c_str());
@@ -1363,6 +1370,22 @@ bool PreferencesDialog::validateForm()
_ui->comboBox_dictionary_strategy->setCurrentIndex(VWDictionary::kNNBruteForce);
}
// BOW Reextract features type
if(_ui->reextract_nn->currentIndex() == VWDictionary::kNNFlannLSH && _ui->reextract_type->currentIndex() <= 1)
{
QMessageBox::warning(this, tr("Parameter warning"),
tr("With the selected feature type (SURF or SIFT), parameter \"Visual word->Nearest Neighbor\" "
"cannot be LSH (used for binary descriptor). KD-tree is set instead."));
_ui->reextract_nn->setCurrentIndex(VWDictionary::kNNFlannKdTree);
}
else if(_ui->reextract_nn->currentIndex() == VWDictionary::kNNFlannKdTree && _ui->reextract_type->currentIndex() >1)
{
QMessageBox::warning(this, tr("Parameter warning"),
tr("With the selected feature type (ORB, FAST, FREAK or BRIEF), parameter \"Visual word->Nearest Neighbor\" "
"cannot be KD-Tree (used for float descriptor). BruteForce matching is set instead."));
_ui->reextract_nn->setCurrentIndex(VWDictionary::kNNBruteForce);
}
// odom type
if(_ui->odom_bin_nn->currentIndex() == VWDictionary::kNNFlannLSH && _ui->odom_type->currentIndex() <= 1)
{
@@ -1896,7 +1919,9 @@ void PreferencesDialog::addParameter(const QObject * object, int value)
this->addParameters(_ui->groupBox_vh_epipolar2);
}
}
else if(comboBox == _ui->comboBox_detector_strategy || comboBox == _ui->odom_type)
else if(comboBox == _ui->comboBox_detector_strategy ||
comboBox == _ui->odom_type ||
comboBox == _ui->reextract_type)
{
if(value == 0) // surf
{