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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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This commit is contained in:
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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corelib/src/RegistrationVis.cpp
+59 -6
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@@ -44,6 +44,10 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <rtabmap/utilite/UMath.h>
#include <opencv2/core/core_c.h>
#if defined(HAVE_OPENCV_XFEATURES2D) && (CV_MAJOR_VERSION > 3 || (CV_MAJOR_VERSION==3 && CV_MINOR_VERSION >=4 && CV_SUBMINOR_VERSION >= 1))
#include <opencv2/xfeatures2d.hpp> // For GMS matcher
#endif
#include <rtflann/flann.hpp>
@@ -72,6 +76,9 @@ RegistrationVis::RegistrationVis(const ParametersMap & parameters, Registration
_flowMaxLevel(Parameters::defaultVisCorFlowMaxLevel()),
_nndr(Parameters::defaultVisCorNNDR()),
_nnType(Parameters::defaultVisCorNNType()),
_gmsWithRotation(Parameters::defaultGMSWithRotation()),
_gmsWithScale(Parameters::defaultGMSWithScale()),
_gmsThresholdFactor(Parameters::defaultGMSThresholdFactor()),
_guessWinSize(Parameters::defaultVisCorGuessWinSize()),
_guessMatchToProjection(Parameters::defaultVisCorGuessMatchToProjection()),
_bundleAdjustment(Parameters::defaultVisBundleAdjustment()),
@@ -124,6 +131,9 @@ void RegistrationVis::parseParameters(const ParametersMap & parameters)
Parameters::parse(parameters, Parameters::kVisCorFlowMaxLevel(), _flowMaxLevel);
Parameters::parse(parameters, Parameters::kVisCorNNDR(), _nndr);
Parameters::parse(parameters, Parameters::kVisCorNNType(), _nnType);
Parameters::parse(parameters, Parameters::kGMSWithRotation(), _gmsWithRotation);
Parameters::parse(parameters, Parameters::kGMSWithScale(), _gmsWithScale);
Parameters::parse(parameters, Parameters::kGMSThresholdFactor(), _gmsThresholdFactor);
Parameters::parse(parameters, Parameters::kVisCorGuessWinSize(), _guessWinSize);
Parameters::parse(parameters, Parameters::kVisCorGuessMatchToProjection(), _guessMatchToProjection);
Parameters::parse(parameters, Parameters::kVisBundleAdjustment(), _bundleAdjustment);
@@ -144,7 +154,7 @@ void RegistrationVis::parseParameters(const ParametersMap & parameters)
{
// verify that we have SuperGlue support
#ifndef RTABMAP_SUPERGLUE_PYTORCH
UWARN("%s is set to 6 but RTAB-MAp is not built with SuperGlue support, using default %d.",
UWARN("%s is set to 6 but RTAB-Map is not built with SuperGlue support, using default %d.",
Parameters::kVisCorNNType().c_str(), Parameters::defaultVisCorNNType());
_nnType = Parameters::defaultVisCorNNType();
#else
@@ -152,10 +162,12 @@ void RegistrationVis::parseParameters(const ParametersMap & parameters)
float matchThr = _superGlueMatcher?_superGlueMatcher->matchThreshold():Parameters::defaultSuperGlueMatchThreshold();
std::string path = _superGlueMatcher?_superGlueMatcher->path():Parameters::defaultSuperGluePath();
bool cuda = _superGlueMatcher?_superGlueMatcher->cuda():Parameters::defaultSuperGlueCuda();
bool indoor = _superGlueMatcher?_superGlueMatcher->indoor():Parameters::defaultSuperGlueIndoor();
Parameters::parse(parameters, Parameters::kSuperGlueIterations(), iterations);
Parameters::parse(parameters, Parameters::kSuperGlueMatchThreshold(), matchThr);
Parameters::parse(parameters, Parameters::kSuperGluePath(), path);
Parameters::parse(parameters, Parameters::kSuperGlueCuda(), cuda);
Parameters::parse(parameters, Parameters::kSuperGlueIndoor(), indoor);
if(path.empty())
{
UERROR("%s parameter should be set to use SuperGlue matching (%s=6), using default %d.",
@@ -167,10 +179,18 @@ void RegistrationVis::parseParameters(const ParametersMap & parameters)
else
{
delete _superGlueMatcher;
_superGlueMatcher = new SuperGlue(path, matchThr, iterations, cuda);
_superGlueMatcher = new SuperGlue(path, matchThr, iterations, cuda, indoor);
}
#endif
}
#if !defined(HAVE_OPENCV_XFEATURES2D) || (CV_MAJOR_VERSION == 3 && (CV_MINOR_VERSION<4 || CV_MINOR_VERSION==4 && CV_SUBMINOR_VERSION<1))
else if(_nnType == 7)
}
UWARN("%s is set to 7 but RTAB-Map is not built with OpenCV's xfeatures2d support (OpenCV >= 3.4.1 also required), using default %d.",
Parameters::kVisCorNNType().c_str(), Parameters::defaultVisCorNNType());
_nnType = Parameters::defaultVisCorNNType();
}
#endif
// override feature parameters
for(ParametersMap::const_iterator iter=parameters.begin(); iter!=parameters.end(); ++iter)
@@ -1115,9 +1135,9 @@ Transform RegistrationVis::computeTransformationImpl(
std::list<int> fromWordIds;
std::list<int> toWordIds;
#ifdef RTABMAP_SUPERGLUE_PYTORCH
if(_nnType == 5 || (_nnType == 6 && _superGlueMatcher))
if(_nnType == 5 || (_nnType == 6 && _superGlueMatcher) || _nnType==7)
#else
if(_nnType == 5) // bruteforce cross check
if(_nnType == 5 || _nnType == 7) // bruteforce cross check or GMS
#endif
{
std::vector<int> fromWordIdsV(descriptorsFrom.rows);
@@ -1156,9 +1176,42 @@ Transform RegistrationVis::computeTransformationImpl(
#else
{
#endif
UDEBUG("BruteForce matching with crosscheck");
cv::BFMatcher matcher(descriptorsFrom.type()==CV_8U?cv::NORM_HAMMING:cv::NORM_L2SQR, true);
bool doCrossCheck = true;
#ifdef HAVE_OPENCV_XFEATURES2D
#if CV_MAJOR_VERSION > 3 || (CV_MAJOR_VERSION==3 && CV_MINOR_VERSION >=4 && CV_SUBMINOR_VERSION >= 1)
cv::Size imageSizeFrom;
if(_nnType == 7)
{
imageSizeFrom = imageFrom.size();
if(imageSizeFrom.height == 0 || imageSizeFrom.width == 0)
{
imageSizeFrom = fromSignature.sensorData().cameraModels().size() == 1?fromSignature.sensorData().cameraModels()[0].imageSize():fromSignature.sensorData().stereoCameraModel().left().imageSize();
}
if(imageSize.height > 0 && imageSize.width > 0 &&
imageSizeFrom.height > 0 && imageSizeFrom.width > 0)
{
doCrossCheck = false;
}
else
{
UDEBUG("Invalid inputs for GMS matching, image size should be set for both inputs, doing bruteforce matching instead.");
}
}
#endif
#endif
UDEBUG("BruteForce matching%s", _nnType!=7?" with crosscheck":" with GMS");
cv::BFMatcher matcher(descriptorsFrom.type()==CV_8U?cv::NORM_HAMMING:cv::NORM_L2SQR, doCrossCheck);
matcher.match(descriptorsTo, descriptorsFrom, matches);
#if defined(HAVE_OPENCV_XFEATURES2D) && (CV_MAJOR_VERSION > 3 || (CV_MAJOR_VERSION==3 && CV_MINOR_VERSION >=4 && CV_SUBMINOR_VERSION >= 1))
if(!doCrossCheck)
{
std::vector<cv::DMatch> matchesGMS;
cv::xfeatures2d::matchGMS(imageSize, imageSizeFrom, kptsTo, kptsFrom, matches, matchesGMS, _gmsWithRotation, _gmsWithScale, _gmsThresholdFactor);
matches = matchesGMS;
}
#endif
}
for(size_t i=0; i<matches.size(); ++i)
{