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Fixed SIFT octave issue causing registration to always fail. Added Bundler export points option.

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This commit is contained in:
matlabbe
2018-10-24 20:01:57 -04:00
parent 299bec15ff
commit c14e20330f
15 changed files with 513 additions and 257 deletions
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28
corelib/include/rtabmap/core/Optimizer.h
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@@ -38,6 +38,19 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
namespace rtabmap {
class FeatureBA
{
public:
FeatureBA(const cv::KeyPoint & kptIn, const float & depthIn = 0.0f, const cv::Mat & descriptorIn = cv::Mat()):
kpt(kptIn),
depth(depthIn),
descriptor(descriptorIn)
{}
cv::KeyPoint kpt;
float depth;
cv::Mat descriptor;
};
////////////////////////////////////////////
// Graph optimizers
////////////////////////////////////////////
@@ -118,9 +131,18 @@ public:
const std::multimap<int, Link> & links,
const std::map<int, CameraModel> & models, // in case of stereo, Tx should be set
std::map<int, cv::Point3f> & points3DMap,
const std::map<int, std::map<int, cv::Point3f> > & wordReferences, // <ID words, IDs frames + keypoint(x,y,depth)>
const std::map<int, std::map<int, FeatureBA> > & wordReferences, // <ID words, IDs frames + keypoint/depth/descriptor>
std::set<int> * outliers = 0);
std::map<int, Transform> optimizeBA(
int rootId,
const std::map<int, Transform> & poses,
const std::multimap<int, Link> & links,
const std::map<int, Signature> & signatures,
std::map<int, cv::Point3f> & points3DMap,
std::map<int, std::map<int, FeatureBA> > & wordReferences); // <ID words, IDs frames + keypoint/depth/descriptor>
std::map<int, Transform> optimizeBA(
int rootId,
const std::map<int, Transform> & poses,
@@ -131,7 +153,7 @@ public:
const Link & link,
const CameraModel & model,
std::map<int, cv::Point3f> & points3DMap,
const std::map<int, std::map<int, cv::Point3f> > & wordReferences,
const std::map<int, std::map<int, FeatureBA> > & wordReferences,
std::set<int> * outliers = 0);
void computeBACorrespondences(
@@ -139,7 +161,7 @@ public:
const std::multimap<int, Link> & links,
const std::map<int, Signature> & signatures,
std::map<int, cv::Point3f> & points3DMap,
std::map<int, std::map<int, cv::Point3f> > & wordReferences); // <ID words, IDs frames + keypoint/depth>
std::map<int, std::map<int, FeatureBA > > & wordReferences); // <ID words, IDs frames + keypoint/depth/descriptor>
protected:
Optimizer(

3
corelib/include/rtabmap/core/odometry/OdometryF2M.h
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@@ -29,6 +29,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#define ODOMETRYF2M_H_
#include <rtabmap/core/Odometry.h>
#include <rtabmap/core/Optimizer.h>
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
#include <pcl/pcl_base.h>
@@ -74,7 +75,7 @@ private:
int lastFrameOldestNewId_;
std::vector<std::pair<pcl::PointCloud<pcl::PointNormal>::Ptr, pcl::IndicesPtr> > scansBuffer_;
std::map<int, std::map<int, cv::Point3f> > bundleWordReferences_; //<WordId, <FrameId, pt2D+depth>>
std::map<int, std::map<int, FeatureBA> > bundleWordReferences_; //<WordId, <FrameId, pt2D+depth>>
std::map<int, Transform> bundlePoses_;
std::multimap<int, Link> bundleLinks_;
std::map<int, CameraModel> bundleModels_;

2
corelib/include/rtabmap/core/optimizer/OptimizerCVSBA.h
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@@ -57,7 +57,7 @@ public:
const std::multimap<int, Link> & links,
const std::map<int, CameraModel> & models,
std::map<int, cv::Point3f> & points3DMap,
const std::map<int, std::map<int, cv::Point3f> > & wordReferences, // <ID words, IDs frames + keypoint(x,y,depth)>
const std::map<int, std::map<int, FeatureBA> > & wordReferences, // <ID words, IDs frames + keypoint(x,y,depth)>
std::set<int> * outliers = 0);
};

2
corelib/include/rtabmap/core/optimizer/OptimizerG2O.h
View File

@@ -73,7 +73,7 @@ public:
const std::multimap<int, Link> & links,
const std::map<int, CameraModel> & models, // in case of stereo, Tx should be set
std::map<int, cv::Point3f> & points3DMap,
const std::map<int, std::map<int, cv::Point3f> > & wordReferences, // <ID words, IDs frames + keypoint(x,y,depth)>
const std::map<int, std::map<int, FeatureBA> > & wordReferences, // <ID words, IDs frames + keypoint(x,y,depth)>
std::set<int> * outliers = 0);
bool saveGraph(