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Add ANMS (SSC method) (#1276)

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This commit is contained in:
Borong Yuan
2024-05-20 09:21:00 +08:00
committed by GitHub
parent 0d4e4730c7
commit fbeabf0751
12 changed files with 321 additions and 157 deletions
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12
corelib/include/rtabmap/core/Features2d.h
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@@ -192,16 +192,17 @@ public:
const cv::Mat & disparity,
float minDisparity);
static void limitKeypoints(std::vector<cv::KeyPoint> & keypoints, int maxKeypoints);
static void limitKeypoints(std::vector<cv::KeyPoint> & keypoints, cv::Mat & descriptors, int maxKeypoints);
static void limitKeypoints(std::vector<cv::KeyPoint> & keypoints, std::vector<cv::Point3f> & keypoints3D, cv::Mat & descriptors, int maxKeypoints);
static void limitKeypoints(const std::vector<cv::KeyPoint> & keypoints, std::vector<bool> & inliers, int maxKeypoints);
static void limitKeypoints(const std::vector<cv::KeyPoint> & keypoints, std::vector<bool> & inliers, int maxKeypoints, const cv::Size & imageSize, int gridRows, int gridCols);
static void limitKeypoints(std::vector<cv::KeyPoint> & keypoints, int maxKeypoints, const cv::Size & imageSize = cv::Size(), bool ssc = false);
static void limitKeypoints(std::vector<cv::KeyPoint> & keypoints, cv::Mat & descriptors, int maxKeypoints, const cv::Size & imageSize = cv::Size(), bool ssc = false);
static void limitKeypoints(std::vector<cv::KeyPoint> & keypoints, std::vector<cv::Point3f> & keypoints3D, cv::Mat & descriptors, int maxKeypoints, const cv::Size & imageSize = cv::Size(), bool ssc = false);
static void limitKeypoints(const std::vector<cv::KeyPoint> & keypoints, std::vector<bool> & inliers, int maxKeypoints, const cv::Size & imageSize = cv::Size(), bool ssc = false);
static void limitKeypoints(const std::vector<cv::KeyPoint> & keypoints, std::vector<bool> & inliers, int maxKeypoints, const cv::Size & imageSize, int gridRows, int gridCols, bool ssc = false);
static cv::Rect computeRoi(const cv::Mat & image, const std::string & roiRatios);
static cv::Rect computeRoi(const cv::Mat & image, const std::vector<float> & roiRatios);
int getMaxFeatures() const {return maxFeatures_;}
bool getSSC() const {return SSC_;}
float getMinDepth() const {return _minDepth;}
float getMaxDepth() const {return _maxDepth;}
int getGridRows() const {return gridRows_;}
@@ -234,6 +235,7 @@ private:
private:
ParametersMap parameters_;
int maxFeatures_;
bool SSC_;
float _maxDepth; // 0=inf
float _minDepth;
std::vector<float> _roiRatios; // size 4

1
corelib/include/rtabmap/core/Memory.h
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@@ -334,6 +334,7 @@ private:
bool _rotateImagesUpsideUp;
bool _createOccupancyGrid;
int _visMaxFeatures;
bool _visSSC;
bool _imagesAlreadyRectified;
bool _rectifyOnlyFeatures;
bool _covOffDiagonalIgnored;

2
corelib/include/rtabmap/core/Parameters.h
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@@ -244,6 +244,7 @@ class RTABMAP_CORE_EXPORT Parameters
RTABMAP_PARAM(Kp, MaxDepth, float, 0, "Filter extracted keypoints by depth (0=inf).");
RTABMAP_PARAM(Kp, MinDepth, float, 0, "Filter extracted keypoints by depth.");
RTABMAP_PARAM(Kp, MaxFeatures, int, 500, "Maximum features extracted from the images (0 means not bounded, <0 means no extraction).");
RTABMAP_PARAM(Kp, SSC, bool, false, "If true, SSC (Suppression via Square Covering) is applied to limit keypoints.");
RTABMAP_PARAM(Kp, BadSignRatio, float, 0.5, "Bad signature ratio (less than Ratio x AverageWordsPerImage = bad).");
RTABMAP_PARAM(Kp, NndrRatio, float, 0.8, "NNDR ratio (A matching pair is detected, if its distance is closer than X times the distance of the second nearest neighbor.)");
#if CV_MAJOR_VERSION > 2 && !defined(HAVE_OPENCV_XFEATURES2D)
@@ -693,6 +694,7 @@ class RTABMAP_CORE_EXPORT Parameters
RTABMAP_PARAM(Vis, FeatureType, int, 6, "0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF 7=BRISK 8=GFTT/ORB 9=KAZE 10=ORB-OCTREE 11=SuperPoint 12=SURF/FREAK 13=GFTT/DAISY 14=SURF/DAISY 15=PyDetector");
#endif
RTABMAP_PARAM(Vis, MaxFeatures, int, 1000, "0 no limits.");
RTABMAP_PARAM(Vis, SSC, bool, false, "If true, SSC (Suppression via Square Covering) is applied to limit keypoints.");
RTABMAP_PARAM(Vis, MaxDepth, float, 0, "Max depth of the features (0 means no limit).");
RTABMAP_PARAM(Vis, MinDepth, float, 0, "Min depth of the features (0 means no limit).");
RTABMAP_PARAM(Vis, DepthAsMask, bool, true, "Use depth image as mask when extracting features.");

3
corelib/include/rtabmap/core/util2d.h
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@@ -164,6 +164,9 @@ void RTABMAP_CORE_EXPORT NMS(
cv::Mat & descriptorsOut,
int border, int dist_thresh, int img_width, int img_height);
std::vector<int> RTABMAP_CORE_EXPORT SSC(
const std::vector<cv::KeyPoint> & keypoints, int maxKeypoints, float tolerance, int cols, int rows);
/**
* @brief Rotate images and camera model so that the top of the image is up.
*