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SuperPoint: updated descriptor normalization process to match exactly the implementation in SuperGlue. generateWords3DMono: use variance at 25% instead of 50% of the sqrd variance vector (to do the same than with PnP), also fixed return camera transform to include local transform of the camera model. rtabmap-matcher: updated default parameters when no depth images are used, added reproj error in title bar.

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This commit is contained in:
matlabbe
2020-05-10 14:13:41 -04:00
parent fbdc3780c7
commit cc9fd439fe
4 changed files with 35 additions and 17 deletions
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corelib/src/util3d_features.cpp
+6 -3
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@@ -377,7 +377,7 @@ std::map<int, cv::Point3f> generateWords3DMono(
errorSqrdDists[j] = uNormSquared(refPt.x-newPt.x, refPt.y-newPt.y, refPt.z-newPt.z);
}
std::sort(errorSqrdDists.begin(), errorSqrdDists.end());
double median_error_sqr = (double)errorSqrdDists[errorSqrdDists.size () >> 1];
double median_error_sqr = (double)errorSqrdDists[errorSqrdDists.size () >> 2];
float var = 2.1981 * median_error_sqr;
//UDEBUG("scale %d = %f variance = %f", (int)i, s, variance);
@@ -397,7 +397,7 @@ std::map<int, cv::Point3f> generateWords3DMono(
errorSqrdDists[j] = uNormSquared(refPt.x-newPt.x, refPt.y-newPt.y, refPt.z-newPt.z);
}
std::sort(errorSqrdDists.begin(), errorSqrdDists.end());
double median_error_sqr = (double)errorSqrdDists[errorSqrdDists.size () >> 1];
double median_error_sqr = (double)errorSqrdDists[errorSqrdDists.size () >> 2];
variance = 2.1981 * median_error_sqr;
}
@@ -487,7 +487,10 @@ std::map<int, cv::Point3f> generateWords3DMono(
R.at<double>(1,0), R.at<double>(1,1), R.at<double>(1,2), T.at<double>(1),
R.at<double>(2,0), R.at<double>(2,1), R.at<double>(2,2), T.at<double>(2));
cameraTransform = (cameraModel.localTransform() * t).inverse() * cameraModel.localTransform();
UDEBUG("t (cam frame)=%s", t.prettyPrint().c_str());
UDEBUG("base->cam=%s", cameraModel.localTransform().prettyPrint().c_str());
cameraTransform = cameraModel.localTransform() * t.inverse() * cameraModel.localTransform().inverse();
UDEBUG("t (base frame)=%s", cameraTransform.prettyPrint().c_str());
}
}
}