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Enabled binary visual words for dictionary (for loop closure detection).

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1677 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2014-09-09 21:54:32 +00:00
parent e687302ce0
commit c8593df7eb
10 changed files with 102 additions and 30 deletions
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45
corelib/src/DBDriverSqlite3.cpp
View File

@@ -1271,11 +1271,22 @@ void DBDriverSqlite3::loadQuery(VWDictionary * dictionary) const
descriptor = sqlite3_column_blob(ppStmt, index); // VisualWord descriptor array
dRealSize = sqlite3_column_bytes(ppStmt, index++);
if(dRealSize/int(sizeof(float)) != descriptorSize)
cv::Mat d;
if(dRealSize == descriptorSize)
{
UERROR("Saved buffer size (%d) is not the same as descriptor size (%d)", dRealSize/sizeof(float), descriptorSize);
// CV_8U binary descriptors
d = cv::Mat(1, descriptorSize, CV_8U);
}
cv::Mat d(1, descriptorSize, CV_32F);
else if(dRealSize/int(sizeof(float)) == descriptorSize)
{
// CV_32F
d = cv::Mat(1, descriptorSize, CV_32F);
}
else
{
UFATAL("Saved buffer size (%d bytes) is not the same as descriptor size (%d)", dRealSize, descriptorSize);
}
memcpy(d.data, descriptor, dRealSize);
VisualWord * vw = new VisualWord(id, d);
vw->setSaved(true);
@@ -1344,12 +1355,22 @@ void DBDriverSqlite3::loadWordsQuery(const std::set<int> & wordIds, std::list<Vi
descriptor = sqlite3_column_blob(ppStmt, index); // VisualWord descriptor array
dRealSize = sqlite3_column_bytes(ppStmt, index++);
if(dRealSize/int(sizeof(float)) != descriptorSize)
cv::Mat d;
if(dRealSize == descriptorSize)
{
UERROR("Saved buffer size (%d) is not the same as descriptor size (%d)", dRealSize/sizeof(float), descriptorSize);
// CV_8U binary descriptors
d = cv::Mat(1, descriptorSize, CV_8U);
}
else if(dRealSize/int(sizeof(float)) == descriptorSize)
{
// CV_32F
d = cv::Mat(1, descriptorSize, CV_32F);
}
else
{
UFATAL("Saved buffer size (%d bytes) is not the same as descriptor size (%d)", dRealSize, descriptorSize);
}
cv::Mat d(1, descriptorSize, CV_32F);
memcpy(d.data, descriptor, dRealSize);
VisualWord * vw = new VisualWord(*iter, d);
if(vw)
@@ -1848,7 +1869,17 @@ void DBDriverSqlite3::saveQuery(const std::list<VisualWord *> & words) const
UASSERT_MSG(rc == SQLITE_OK, uFormat("DB error: %s", sqlite3_errmsg(_ppDb)).c_str());
rc = sqlite3_bind_int(ppStmt, 2, w->getDescriptor().cols);
UASSERT_MSG(rc == SQLITE_OK, uFormat("DB error: %s", sqlite3_errmsg(_ppDb)).c_str());
rc = sqlite3_bind_blob(ppStmt, 3, w->getDescriptor().data, w->getDescriptor().cols*sizeof(float), SQLITE_STATIC);
UASSERT(w->getDescriptor().type() == CV_32F || w->getDescriptor().type() == CV_8U);
if(w->getDescriptor().type() == CV_32F)
{
// CV_32F
rc = sqlite3_bind_blob(ppStmt, 3, w->getDescriptor().data, w->getDescriptor().cols*sizeof(float), SQLITE_STATIC);
}
else
{
// CV_8U
rc = sqlite3_bind_blob(ppStmt, 3, w->getDescriptor().data, w->getDescriptor().cols*sizeof(char), SQLITE_STATIC);
}
UASSERT_MSG(rc == SQLITE_OK, uFormat("DB error: %s", sqlite3_errmsg(_ppDb)).c_str());
//execute query

3
corelib/src/Odometry.cpp
View File

@@ -605,9 +605,10 @@ void OdometryThread::mainLoop()
if(data.isValid())
{
int quality = -1;
UTimer time;
Transform pose = _odometry->process(data, &quality);
data.setPose(pose); // a null pose notify that odometry could not be computed
this->post(new OdometryEvent(data, quality));
this->post(new OdometryEvent(data, quality, time.elapsed()));
}
}

4
corelib/src/VWDictionary.cpp
View File

@@ -286,11 +286,11 @@ void VWDictionary::update()
_flannIndex->build(_dataTree, cv::flann::LinearIndexParams(), type == CV_32F?cvflann::FLANN_DIST_L2:cvflann::FLANN_DIST_HAMMING);
break;
case kNNFlannKdTree:
UASSERT(type == CV_32F);
UASSERT_MSG(type == CV_32F, "To use KdTree dictionary, float descriptors are required!");
_flannIndex->build(_dataTree, cv::flann::KDTreeIndexParams(), cvflann::FLANN_DIST_L2);
break;
case kNNFlannLSH:
UASSERT(type == CV_8U);
UASSERT_MSG(type == CV_8U, "To use LSH dictionary, binary descriptors are required!");
_flannIndex->build(_dataTree, cv::flann::LshIndexParams(12, 20, 2), cvflann::FLANN_DIST_HAMMING);
break;
default: