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Added GMS matching approach (Vis/CorNNType=7). Added GMS/ parameters. Added SuperGlue/Indoor parameter. ImageView: updating feature and line colors directly when changing color (option menu), fixed items already added to scene warning when switching to GraphicsView.

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matlabbe
2020-05-11 13:23:26 -04:00
parent cc9fd439fe
commit d2673ed2fa
12 changed files with 600 additions and 309 deletions
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18
corelib/include/rtabmap/core/Parameters.h
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@@ -330,11 +330,6 @@ class RTABMAP_EXP Parameters
RTABMAP_PARAM(SuperPoint, NMSRadius, int, 4, uFormat("[%s=true] Minimum distance (pixels) between keypoints.", kSuperPointNMS().c_str()));
RTABMAP_PARAM(SuperPoint, Cuda, bool, true, "Use Cuda device for Torch, otherwise CPU device is used by default.");
RTABMAP_PARAM_STR(SuperGlue, Path, "", "Path to python script file \"rtabmap_superglue.py\" (rtabmap/corelib/src/superglue_pytorch/rtabmap_superglue.py) copied in SuperGlue's Git folder.");
RTABMAP_PARAM(SuperGlue, Iterations, int, 20, "Sinkhorn iterations.");
RTABMAP_PARAM(SuperGlue, MatchThreshold, float, 0.2, "");
RTABMAP_PARAM(SuperGlue, Cuda, bool, true, "");
// BayesFilter
RTABMAP_PARAM(Bayes, VirtualPlacePriorThr, float, 0.9, "Virtual place prior");
RTABMAP_PARAM_STR(Bayes, PredictionLC, "0.1 0.36 0.30 0.16 0.062 0.0151 0.00255 0.000324 2.5e-05 1.3e-06 4.8e-08 1.2e-09 1.9e-11 2.2e-13 1.7e-15 8.5e-18 2.9e-20 6.9e-23", "Prediction of loop closures (Gaussian-like, here with sigma=1.6) - Format: {VirtualPlaceProb, LoopClosureProb, NeighborLvl1, NeighborLvl2, ...}.");
@@ -609,7 +604,7 @@ class RTABMAP_EXP Parameters
RTABMAP_PARAM(Vis, GridRows, int, 1, uFormat("Number of rows of the grid used to extract uniformly \"%s / grid cells\" features from each cell.", kVisMaxFeatures().c_str()));
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, BruteForceCrossCheck=5, SuperGlue=6. Used for features matching approach.", kVisCorType().c_str()));
RTABMAP_PARAM(Vis, CorNNType, int, 1, uFormat("[%s=0] kNNFlannNaive=0, kNNFlannKdTree=1, kNNFlannLSH=2, kNNBruteForce=3, kNNBruteForceGPU=4, BruteForceCrossCheck=5, SuperGlue=6, GMS=7. 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, 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()));
@@ -623,6 +618,17 @@ class RTABMAP_EXP Parameters
RTABMAP_PARAM(Vis, BundleAdjustment, int, 0, "Optimization with bundle adjustment: 0=disabled, 1=g2o, 2=cvsba, 3=Ceres.");
#endif
// Features matching approaches
RTABMAP_PARAM_STR(SuperGlue, Path, "", "Path to python script file \"rtabmap_superglue.py\" (rtabmap/corelib/src/superglue_pytorch/rtabmap_superglue.py) copied in SuperGlue's Git folder.");
RTABMAP_PARAM(SuperGlue, Iterations, int, 20, "Sinkhorn iterations.");
RTABMAP_PARAM(SuperGlue, MatchThreshold, float, 0.2, "");
RTABMAP_PARAM(SuperGlue, Cuda, bool, true, "");
RTABMAP_PARAM(SuperGlue, Indoor, bool, true, "Use indoor model, otherwise outdoor model is used.");
RTABMAP_PARAM(GMS, WithRotation, bool, false, "Take rotation transformation into account.");
RTABMAP_PARAM(GMS, WithScale, bool, false, "Take scale transformation into account.");
RTABMAP_PARAM(GMS, ThresholdFactor, double, 6.0, "The higher, the less matches.");
// ICP registration parameters
RTABMAP_PARAM(Icp, MaxTranslation, float, 0.2, "Maximum ICP translation correction accepted (m).");
RTABMAP_PARAM(Icp, MaxRotation, float, 0.78, "Maximum ICP rotation correction accepted (rad).");

3
corelib/include/rtabmap/core/RegistrationVis.h
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@@ -89,6 +89,9 @@ private:
int _flowMaxLevel;
float _nndr;
int _nnType;
bool _gmsWithRotation;
bool _gmsWithScale;
double _gmsThresholdFactor;
int _guessWinSize;
bool _guessMatchToProjection;
int _bundleAdjustment;