Added GFTT+ORB detector type

corelib/include/rtabmap/core/Features2d.h

@@ -98,7 +98,8 @@ public:
 		kFeatureFastBrief=4,
 		kFeatureGfttFreak=5,
 		kFeatureGfttBrief=6,
-		kFeatureBrisk=7};
+		kFeatureBrisk=7,
+		kFeatureGfttOrb=8}; //new 0.10.11
 
 	static Feature2D * create(Feature2D::Type & type, const ParametersMap & parameters);
 
@@ -360,6 +361,23 @@ private:
 	cv::Ptr<CV_FREAK> _freak;
 };
 
+//GFTT_ORB
+class RTABMAP_EXP GFTT_ORB : public GFTT
+{
+public:
+	GFTT_ORB(const ParametersMap & parameters = ParametersMap());
+	virtual ~GFTT_ORB();
+
+	virtual void parseParameters(const ParametersMap & parameters);
+	virtual Feature2D::Type getType() const {return kFeatureGfttOrb;}
+
+private:
+	virtual cv::Mat generateDescriptorsImpl(const cv::Mat & image, std::vector<cv::KeyPoint> & keypoints) const;
+
+private:
+	ORB _orb;
+};
+
 //BRISK
 class RTABMAP_EXP BRISK : public Feature2D
 {

corelib/include/rtabmap/core/Parameters.h

@@ -250,7 +250,7 @@ class RTABMAP_EXP Parameters
 	RTABMAP_PARAM(FAST, Gpu,                bool, false, 	"GPU-FAST: Use GPU version of FAST. This option is enabled only if OpenCV is built with CUDA and GPUs are detected.");
 	RTABMAP_PARAM(FAST, GpuKeypointsRatio,  double, 0.05, 	"Used with FAST GPU.");
 
-	RTABMAP_PARAM(GFTT, QualityLevel, double, 0.001, "");
+	RTABMAP_PARAM(GFTT, QualityLevel, double, 0.0001, "");
 	RTABMAP_PARAM(GFTT, MinDistance, double, 5, "");
 	RTABMAP_PARAM(GFTT, BlockSize, int, 3, "");
 	RTABMAP_PARAM(GFTT, UseHarrisDetector, bool, false, "");

corelib/src/Features2d.cpp

@@ -1071,7 +1071,7 @@ cv::Mat GFTT_BRIEF::generateDescriptorsImpl(const cv::Mat & image, std::vector<c
 }
 
 //////////////////////////
-//FAST-FREAK
+//GFTT-FREAK
 //////////////////////////
 GFTT_FREAK::GFTT_FREAK(const ParametersMap & parameters) :
 	GFTT(parameters),
@@ -1123,6 +1123,32 @@ cv::Mat GFTT_FREAK::generateDescriptorsImpl(const cv::Mat & image, std::vector<c
 	return descriptors;
 }
 
+//////////////////////////
+//GFTT-ORB
+//////////////////////////
+GFTT_ORB::GFTT_ORB(const ParametersMap & parameters) :
+	GFTT(parameters),
+	_orb(parameters)
+{
+	parseParameters(parameters);
+}
+
+GFTT_ORB::~GFTT_ORB()
+{
+}
+
+void GFTT_ORB::parseParameters(const ParametersMap & parameters)
+{
+	GFTT::parseParameters(parameters);
+	_orb.parseParameters(parameters);
+}
+
+cv::Mat GFTT_ORB::generateDescriptorsImpl(const cv::Mat & image, std::vector<cv::KeyPoint> & keypoints) const
+{
+	UASSERT(!image.empty() && image.channels() == 1 && image.depth() == CV_8U);
+	return _orb.generateDescriptors(image, keypoints);
+}
+
 //////////////////////////
 //BRISK
 //////////////////////////

guilib/src/ui/preferencesDialog.ui

@@ -63,9 +63,9 @@
           <property name="geometry">
            <rect>
             <x>0</x>
-            <y>0</y>
+            <y>-566</y>
-            <width>759</width>
+            <width>755</width>
-            <height>966</height>
+            <height>1764</height>
            </rect>
           </property>
           <layout class="QVBoxLayout" name="verticalLayout_16">
@@ -86,7 +86,7 @@
                 <enum>QFrame::Raised</enum>
                </property>
                <property name="currentIndex">
-                <number>3</number>
+                <number>23</number>
                </property>
                <widget class="QWidget" name="page_22">
                 <layout class="QVBoxLayout" name="verticalLayout_29">
@@ -4749,6 +4749,11 @@ see Sqlite3 doc 'PRAGMA temp_store'.</string>
                           <string>BRISK</string>
                          </property>
                         </item>
+                        <item>
+                         <property name="text">
+                          <string>GFTT+ORB</string>
+                         </property>
+                        </item>
                        </widget>
                       </item>
                       <item row="0" column="1">
@@ -7927,6 +7932,11 @@ Lower the ratio -&gt; higher the precision. 0 means disabled, matching the neare
                              <string>BRISK</string>
                             </property>
                            </item>
+                           <item>
+                            <property name="text">
+                             <string>GFTT+ORB</string>
+                            </property>
+                           </item>
                           </widget>
                          </item>
                          <item row="1" column="1">
@@ -9290,6 +9300,11 @@ Lower the ratio -&gt; higher the precision. 0 means disabled, matching the neare
                            <string>BRISK</string>
                           </property>
                          </item>
+                         <item>
+                          <property name="text">
+                           <string>GFTT+ORB</string>
+                          </property>
+                         </item>
                         </widget>
                        </item>
                       </layout>