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Added Vis/CorCrossCheck parameter (to use BFMatcher with crosscheck option instead of knn with NNDR for features matching). DBViewer: after refine or add constraint, lines indicating feature correspondences are now shown with different color if they are inliers. Re-enabled saving/loading settings of the ImageViews (feature color, line color, transparency...).

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matlabbe
2020-05-01 22:12:56 -04:00
parent 45223b306a
commit d14efea4ac
5 changed files with 123 additions and 45 deletions
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3
corelib/include/rtabmap/core/Parameters.h
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@@ -605,7 +605,8 @@ class RTABMAP_EXP Parameters
RTABMAP_PARAM(Vis, GridCols, int, 1, uFormat("Number of columns of the grid used to extract uniformly \"%s / grid cells\" features from each cell.", kVisMaxFeatures().c_str()));
RTABMAP_PARAM(Vis, CorType, int, 0, "Correspondences computation approach: 0=Features Matching, 1=Optical Flow");
RTABMAP_PARAM(Vis, CorNNType, int, 1, uFormat("[%s=0] kNNFlannNaive=0, kNNFlannKdTree=1, kNNFlannLSH=2, kNNBruteForce=3, kNNBruteForceGPU=4. Used for features matching approach.", kVisCorType().c_str()));
RTABMAP_PARAM(Vis, CorNNDR, float, 0.6, uFormat("[%s=0] NNDR: nearest neighbor distance ratio. Used for features matching approach.", kVisCorType().c_str()));
RTABMAP_PARAM(Vis, CorNNDR, float, 0.6, uFormat("[%s=0] NNDR: nearest neighbor distance ratio. Used for knn features matching approach.", kVisCorType().c_str()));
RTABMAP_PARAM(Vis, CorCrossCheck, bool, false, uFormat("[%s=0] If true, brute force crosscheck matching is done instead of knn matching approach (%s).", kVisCorType().c_str(), kVisCorNNDR().c_str()));
RTABMAP_PARAM(Vis, CorGuessWinSize, int, 20, uFormat("[%s=0] Matching window size (pixels) around projected points when a guess transform is provided to find correspondences. 0 means disabled.", kVisCorType().c_str()));
RTABMAP_PARAM(Vis, CorGuessMatchToProjection, bool, false, uFormat("[%s=0] Match frame's corners to source's projected points (when guess transform is provided) instead of projected points to frame's corners.", kVisCorType().c_str()));
RTABMAP_PARAM(Vis, CorFlowWinSize, int, 16, uFormat("[%s=1] See cv::calcOpticalFlowPyrLK(). Used for optical flow approach.", kVisCorType().c_str()));

1
corelib/include/rtabmap/core/RegistrationVis.h
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@@ -78,6 +78,7 @@ private:
int _flowIterations;
float _flowEps;
int _flowMaxLevel;
bool _bfCrossCheck;
float _nndr;
int _guessWinSize;
bool _guessMatchToProjection;