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Merge branch 'master' of https://github.com/introlab/rtabmap into devel

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matlabbe
2016-06-23 11:27:58 -04:00
parent 42c3186a53 f2d48cb894
commit 333c7433e8
3 changed files with 8 additions and 25 deletions
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corelib/src/Memory.cpp
+5 -23
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@@ -2125,32 +2125,13 @@ Transform Memory::computeTransform(
// compute transform fromId -> toId // compute transform fromId -> toId
std::vector<int> inliersV; std::vector<int> inliersV;
if(_reextractLoopClosureFeatures || (fromS.getWords().size() && toS.getWords().size())) if(_reextractLoopClosureFeatures ||
(fromS.getWords().size() && toS.getWords().size()) ||
(!guess.isNull() && !_registrationPipeline->isImageRequired()))
{ {
Signature tmpFrom = fromS; Signature tmpFrom = fromS;
Signature tmpTo = toS; Signature tmpTo = toS;
// make a guess fast with known correspondences (if there are)
RegistrationVis regVis(parameters_);
if(tmpFrom.getWords().size() &&
tmpTo.getWords().size() &&
tmpFrom.getWords3().size() &&
tmpTo.getWords3().size())
{
UDEBUG("");
// Remove descriptors, this will avoid recomputation of the correspondences in regVis
tmpFrom.setWordsDescriptors(std::multimap<int, cv::Mat>());
tmpTo.setWordsDescriptors(std::multimap<int, cv::Mat>());
Transform t = regVis.computeTransformation(tmpFrom, tmpTo, guess, info);
// set back descriptors
tmpFrom.setWordsDescriptors(fromS.getWordsDescriptors());
tmpTo.setWordsDescriptors(toS.getWordsDescriptors());
if(!t.isNull())
{
guess = t;
}
}
if(_reextractLoopClosureFeatures) if(_reextractLoopClosureFeatures)
{ {
UDEBUG(""); UDEBUG("");
@@ -2168,6 +2149,7 @@ Transform Memory::computeTransform(
{ {
UDEBUG(""); UDEBUG("");
// no visual in the pipeline, make visual registration for guess // no visual in the pipeline, make visual registration for guess
RegistrationVis regVis(parameters_);
guess = regVis.computeTransformation(tmpFrom, tmpTo, guess, info); guess = regVis.computeTransformation(tmpFrom, tmpTo, guess, info);
if(!guess.isNull()) if(!guess.isNull())
{ {
corelib/src/Rtabmap.cpp
+2 -1
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@@ -1834,7 +1834,8 @@ bool Rtabmap::process(
_optimizedPoses.at(signature->id()).getDistanceSquared(_optimizedPoses.at(nearestId)) < _proximityFilteringRadius*_proximityFilteringRadius)) _optimizedPoses.at(signature->id()).getDistanceSquared(_optimizedPoses.at(nearestId)) < _proximityFilteringRadius*_proximityFilteringRadius))
{ {
RegistrationInfo info; RegistrationInfo info;
Transform transform = _memory->computeTransform(signature->id(), nearestId, Transform(), &info); Transform guess = _optimizedPoses.at(signature->id()).inverse() * _optimizedPoses.at(nearestId);
Transform transform = _memory->computeTransform(signature->id(), nearestId, guess, &info);
if(!transform.isNull()) if(!transform.isNull())
{ {
if(_proximityFilteringRadius <= 0 || transform.getNormSquared() <= _proximityFilteringRadius*_proximityFilteringRadius) if(_proximityFilteringRadius <= 0 || transform.getNormSquared() <= _proximityFilteringRadius*_proximityFilteringRadius)
corelib/src/VWDictionary.cpp
+1 -1
View File
@@ -542,7 +542,7 @@ void VWDictionary::setNNStrategy(NNStrategy strategy)
} }
#endif #endif
#else #else
#if HAVE_OPENCV_CUDAFEATURES2D #ifdef HAVE_OPENCV_CUDAFEATURES2D
if(strategy == kNNBruteForceGPU && !cv::cuda::getCudaEnabledDeviceCount()) if(strategy == kNNBruteForceGPU && !cv::cuda::getCudaEnabledDeviceCount())
{ {
UERROR("Nearest neighobr strategy \"kNNBruteForceGPU\" chosen but no CUDA devices found! Doing \"kNNBruteForce\" instead."); UERROR("Nearest neighobr strategy \"kNNBruteForceGPU\" chosen but no CUDA devices found! Doing \"kNNBruteForce\" instead.");