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Odometry and stereo: added parameter OdomStereo/MaxSlope to filter bad stereo pair matches from cvOpticalFlow

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1967 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2014-11-04 18:58:40 +00:00
parent 54084fc5e1
commit cbb0185adf
12 changed files with 948 additions and 533 deletions
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7
corelib/include/rtabmap/core/Memory.h
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@@ -258,10 +258,11 @@ private:
int _stereoFlowIterations;
double _stereoFlowEpsilon;
int _stereoFlowMaxLevel;
float _stereoMaxSlope;
int _stereoSubPixWinSize;
int _stereoSubPixIterations;
double _stereoSubPixEps;
int _subPixWinSize;
int _subPixIterations;
double _subPixEps;
};
} // namespace rtabmap

1
corelib/include/rtabmap/core/Odometry.h
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@@ -143,6 +143,7 @@ private:
int flowIterations_;
double flowEps_;
int flowMaxLevel_;
float stereoMaxSlope_;
int subPixWinSize_;
int subPixIterations_;

27
corelib/include/rtabmap/core/Parameters.h
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@@ -175,6 +175,10 @@ class RTABMAP_EXP Parameters
RTABMAP_PARAM_STR(Kp, DictionaryPath, "", "Path of the pre-computed dictionary");
RTABMAP_PARAM(Kp, NewWordsComparedTogether, bool, true, "When adding new words to dictionary, they are compared also with each other (to detect same words in the same signature).");
RTABMAP_PARAM(Kp, SubPixWinSize, int, 3, "See cv::cornerSubPix().");
RTABMAP_PARAM(Kp, SubPixIterations, int, 0, "See cv::cornerSubPix(). 0 disables sub pixel refining.");
RTABMAP_PARAM(Kp, SubPixEps, double, 0.02, "See cv::cornerSubPix().");
//Database
RTABMAP_PARAM(DbSqlite3, InMemory, bool, false, "Using database in the memory instead of a file on the hard disk.");
RTABMAP_PARAM(DbSqlite3, CacheSize, unsigned int, 10000, "Sqlite cache size (default is 2000).");
@@ -276,14 +280,17 @@ class RTABMAP_EXP Parameters
RTABMAP_PARAM(OdomBow, NNType, int, 3, "kNNFlannNaive=0, kNNFlannKdTree=1, kNNFlannLSH=2, kNNBruteForce=3, kNNBruteForceGPU=4");
RTABMAP_PARAM(OdomBow, NNDR, float, 0.8, "NNDR: nearest neighbor distance ratio.");
// Odometry Optical Flow
RTABMAP_PARAM(OdomFlow, WinSize, int, 9, "See cv::calcOpticalFlowPyrLK().");
RTABMAP_PARAM(OdomFlow, Iterations, int, 20, "See cv::calcOpticalFlowPyrLK().");
RTABMAP_PARAM(OdomFlow, Eps, double, 0.02, "See cv::calcOpticalFlowPyrLK().");
RTABMAP_PARAM(OdomFlow, MaxLevel, int, 4, "See cv::calcOpticalFlowPyrLK().");
RTABMAP_PARAM(OdomFlow, SubPixWinSize, int, 3, "See cv::cornerSubPix().");
RTABMAP_PARAM(OdomFlow, SubPixIterations, int, 0, "See cv::cornerSubPix(). 0 disables sub pixel refining.");
RTABMAP_PARAM(OdomFlow, SubPixEps, double, 0.02, "See cv::cornerSubPix().");
// Odometry common stuff between BOW and Optical Flow approaches
RTABMAP_PARAM(OdomFlow, WinSize, int, 9, "Used for optical flow approach and for stereo matching. See cv::calcOpticalFlowPyrLK().");
RTABMAP_PARAM(OdomFlow, Iterations, int, 20, "Used for optical flow approach and for stereo matching. See cv::calcOpticalFlowPyrLK().");
RTABMAP_PARAM(OdomFlow, Eps, double, 0.02, "Used for optical flow approach and for stereo matching. See cv::calcOpticalFlowPyrLK().");
RTABMAP_PARAM(OdomFlow, MaxLevel, int, 4, "Used for optical flow approach and for stereo matching. See cv::calcOpticalFlowPyrLK().");
RTABMAP_PARAM(OdomSubPix, WinSize, int, 3, "Can be used with BOW and optical flow approaches. See cv::cornerSubPix().");
RTABMAP_PARAM(OdomSubPix, Iterations, int, 0, "Can be used with BOW and optical flow approaches. See cv::cornerSubPix(). 0 disables sub pixel refining.");
RTABMAP_PARAM(OdomSubPix, Eps, double, 0.02, "Can be used with BOW and optical flow approaches. See cv::cornerSubPix().");
RTABMAP_PARAM(OdomStereo, MaxSlope, float, 0.1, "The maximum slope for each stereo pairs.");
// Loop closure constraint
RTABMAP_PARAM(LccIcp, Type, int, 0, "0=No ICP, 1=ICP 3D, 2=ICP 2D");
@@ -321,9 +328,7 @@ class RTABMAP_EXP Parameters
RTABMAP_PARAM(Stereo, Iterations, int, 20, "See cv::calcOpticalFlowPyrLK().");
RTABMAP_PARAM(Stereo, Eps, double, 0.02, "See cv::calcOpticalFlowPyrLK().");
RTABMAP_PARAM(Stereo, MaxLevel, int, 4, "See cv::calcOpticalFlowPyrLK().");
RTABMAP_PARAM(Stereo, SubPixWinSize, int, 3, "See cv::cornerSubPix().");
RTABMAP_PARAM(Stereo, SubPixIterations, int, 0, "See cv::cornerSubPix(). 0 disables sub pixel refining.");
RTABMAP_PARAM(Stereo, SubPixEps, double, 0.02, "See cv::cornerSubPix().");
RTABMAP_PARAM(Stereo, MaxSlope, float, 0.1, "The maximum slope for each stereo pairs.");
public:
virtual ~Parameters();

6
corelib/include/rtabmap/core/util3d.h
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@@ -190,7 +190,8 @@ cv::Mat RTABMAP_EXP disparityFromStereoImages(
int flowWinSize = 9,
int flowMaxLevel = 4,
int flowIterations = 20,
double flowEps = 0.02);
double flowEps = 0.02,
float maxCorrespondencesSlope = 0.1f);
cv::Mat RTABMAP_EXP depthFromStereoImages(
const cv::Mat & leftImage,
@@ -207,7 +208,8 @@ cv::Mat RTABMAP_EXP disparityFromStereoCorrespondences(
const cv::Mat & leftImage,
const std::vector<cv::Point2f> & leftCorners,
const std::vector<cv::Point2f> & rightCorners,
const std::vector<unsigned char> & mask);
const std::vector<unsigned char> & mask,
float maxSlope = 0.1f);
cv::Mat RTABMAP_EXP depthFromStereoCorrespondences(
const cv::Mat & leftImage,