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Added constraints editing to DatabaseViewer to add/reject loop closures, refine loop closures with ICP, detect more loop closures using the optimized map

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Added Feature2D::parseParameters()
 

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1632 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2014-08-11 15:23:06 +00:00
parent 52af62394e
commit df76e3cd29
13 changed files with 1961 additions and 378 deletions
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53
corelib/include/rtabmap/core/Features2d.h
View File

@@ -74,6 +74,8 @@ public:
std::vector<cv::KeyPoint> generateKeypoints(const cv::Mat & image, int maxKeypoints=0, const cv::Rect & roi = cv::Rect()) const;
cv::Mat generateDescriptors(const cv::Mat & image, std::vector<cv::KeyPoint> & keypoints) const;
virtual void parseParameters(const ParametersMap & parameters) {}
protected:
Feature2D(const ParametersMap & parameters = ParametersMap()) {}
@@ -89,11 +91,21 @@ public:
SURF(const ParametersMap & parameters = ParametersMap());
virtual ~SURF();
virtual void parseParameters(const ParametersMap & parameters);
private:
virtual std::vector<cv::KeyPoint> generateKeypointsImpl(const cv::Mat & image, const cv::Rect & roi) const;
virtual cv::Mat generateDescriptorsImpl(const cv::Mat & image, std::vector<cv::KeyPoint> & keypoints) const;
private:
double hessianThreshold_;
int nOctaves_;
int nOctaveLayers_;
bool extended_;
bool upright_;
float gpuKeypointsRatio_;
bool gpuVersion_;
cv::SURF * _surf;
cv::gpu::SURF_GPU * _gpuSurf;
};
@@ -105,11 +117,19 @@ public:
SIFT(const ParametersMap & parameters = ParametersMap());
virtual ~SIFT();
virtual void parseParameters(const ParametersMap & parameters);
private:
virtual std::vector<cv::KeyPoint> generateKeypointsImpl(const cv::Mat & image, const cv::Rect & roi) const;
virtual cv::Mat generateDescriptorsImpl(const cv::Mat & image, std::vector<cv::KeyPoint> & keypoints) const;
private:
int nfeatures_;
int nOctaveLayers_;
double contrastThreshold_;
double edgeThreshold_;
double sigma_;
cv::SIFT * _sift;
};
@@ -120,11 +140,26 @@ public:
ORB(const ParametersMap & parameters = ParametersMap());
virtual ~ORB();
virtual void parseParameters(const ParametersMap & parameters);
private:
virtual std::vector<cv::KeyPoint> generateKeypointsImpl(const cv::Mat & image, const cv::Rect & roi) const;
virtual cv::Mat generateDescriptorsImpl(const cv::Mat & image, std::vector<cv::KeyPoint> & keypoints) const;
private:
int nFeatures_;
float scaleFactor_;
int nLevels_;
int edgeThreshold_;
int firstLevel_;
int WTA_K_;
int scoreType_;
int patchSize_;
bool gpu_;
int fastThreshold_;
bool nonmaxSuppresion_;
cv::ORB * _orb;
cv::gpu::ORB_GPU * _gpuOrb;
};
@@ -136,10 +171,17 @@ public:
FAST(const ParametersMap & parameters = ParametersMap());
virtual ~FAST();
virtual void parseParameters(const ParametersMap & parameters);
private:
virtual std::vector<cv::KeyPoint> generateKeypointsImpl(const cv::Mat & image, const cv::Rect & roi) const;
private:
int threshold_;
bool nonmaxSuppression_;
bool gpu_;
double gpuKeypointsRatio_;
cv::FastFeatureDetector * _fast;
cv::gpu::FAST_GPU * _gpuFast;
};
@@ -151,10 +193,14 @@ public:
FAST_BRIEF(const ParametersMap & parameters = ParametersMap());
virtual ~FAST_BRIEF();
virtual void parseParameters(const ParametersMap & parameters);
private:
virtual cv::Mat generateDescriptorsImpl(const cv::Mat & image, std::vector<cv::KeyPoint> & keypoints) const;
private:
int bytes_;
cv::BriefDescriptorExtractor * _brief;
};
@@ -165,10 +211,17 @@ public:
FAST_FREAK(const ParametersMap & parameters = ParametersMap());
virtual ~FAST_FREAK();
virtual void parseParameters(const ParametersMap & parameters);
private:
virtual cv::Mat generateDescriptorsImpl(const cv::Mat & image, std::vector<cv::KeyPoint> & keypoints) const;
private:
bool orientationNormalized_;
bool scaleNormalized_;
float patternScale_;
int nOctaves_;
cv::FREAK * _freak;
};

10
corelib/include/rtabmap/core/Link.h
View File

@@ -15,7 +15,13 @@ namespace rtabmap {
class Link
{
public:
enum Type {kNeighbor, kGlobalClosure, kLocalSpaceClosure, kLocalTimeClosure};
enum Type {kNeighbor, kGlobalClosure, kLocalSpaceClosure, kLocalTimeClosure, kUserClosure, kUndef};
Link() :
from_(0),
to_(0),
type_(kUndef)
{
}
Link(int from, int to, const Transform & transform, Type type) :
from_(from),
to_(to),
@@ -24,6 +30,8 @@ public:
{
}
bool isValid() const {return from_ > 0 && to_ > 0 && !transform_.isNull() && type_!=kUndef;}
int from() const {return from_;}
int to() const {return to_;}
const Transform & transform() const {return transform_;}

5
corelib/include/rtabmap/core/util3d.h
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@@ -390,6 +390,11 @@ std::map<int, Transform> RTABMAP_EXP radiusPosesFiltering(
float angle,
bool keepLatest = true);
std::multimap<int, int> RTABMAP_EXP radiusPosesClustering(
const std::map<int, Transform> & poses,
float radius,
float angle);
cv::Mat RTABMAP_EXP create2DMap(const std::map<int, Transform> & poses,
const std::map<int, pcl::PointCloud<pcl::PointXYZ>::Ptr > & scans,
float cellSize,