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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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tools/Matcher/main.cpp
+14 -4
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@@ -247,7 +247,8 @@ int main(int argc, char * argv[])
if(fromDepth.empty())
{
parameters.insert(ParametersPair(Parameters::kVisEstimationType(), "2")); // Set 2D->2D estimation for mono images
printf("Calibration not set, setting %s=2 by default (2D->2D estimation)\n", Parameters::kVisEstimationType().c_str());
parameters.insert(ParametersPair(Parameters::kVisEpipolarGeometryVar(), "1")); //Unknown scale
printf("Calibration not set, setting %s=1 and %s=2 by default (2D->2D estimation)\n", Parameters::kVisEpipolarGeometryVar().c_str(), Parameters::kVisEstimationType().c_str());
}
RegistrationVis reg(parameters);
RegistrationInfo info;
@@ -267,7 +268,9 @@ int main(int argc, char * argv[])
QApplication app(argc, argv);
QDialog dialog;
dialog.setWindowTitle(QString("Matches (%1/%2) %3 sec [%4=%5 (%6) %7=%8 (%9)%10 %11=%12 (%13)]")
float reprojError = Parameters::defaultVisPnPReprojError();
Parameters::parse(parameters, Parameters::kVisPnPReprojError(), reprojError);
dialog.setWindowTitle(QString("Matches (%1/%2) %3 sec [%4=%5 (%6) %7=%8 (%9)%10 %11=%12 (%13) %14=%15]")
.arg(info.inliers)
.arg(info.matches)
.arg(matchingTime)
@@ -280,10 +283,12 @@ int main(int argc, char * argv[])
.arg(reg.getNNType()<5?QString(" %1=%2").arg(Parameters::kVisCorNNDR().c_str()).arg(reg.getNNDR()):"")
.arg(Parameters::kVisEstimationType().c_str())
.arg(reg.getEstimationType())
.arg(reg.getEstimationType()==0?"3D->3D":reg.getEstimationType()==1?"3D->2D":reg.getEstimationType()==2?"2D->2D":"?"));
.arg(reg.getEstimationType()==0?"3D->3D":reg.getEstimationType()==1?"3D->2D":reg.getEstimationType()==2?"2D->2D":"?")
.arg(Parameters::kVisPnPReprojError().c_str())
.arg(reprojError));
CloudViewer * viewer = 0;
if(!t.isNull() && !fromDepth.empty() && !toDepth.empty())
if(!t.isNull())
{
viewer = new CloudViewer(&dialog);
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloudFrom = util3d::cloudRGBFromSensorData(dataFrom.sensorData());
@@ -291,6 +296,7 @@ int main(int argc, char * argv[])
viewer->addCloud(uFormat("cloud_%d", dataFrom.id()), cloudFrom, Transform::getIdentity(), Qt::magenta);
viewer->addCloud(uFormat("cloud_%d", dataTo.id()), cloudTo, t, Qt::cyan);
viewer->addOrUpdateCoordinate(uFormat("frame_%d", dataTo.id()), t, 0.2);
viewer->setGridShown(true);
}
QBoxLayout * mainLayout = new QHBoxLayout();
@@ -427,6 +433,10 @@ int main(int argc, char * argv[])
app.exec();
delete viewer;
}
else
{
printf("Failed loading images %s and %s\n!", argv[argc-2], argv[argc-1]);
}
return 0;