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Added GridAdaptor for FAST feature (issue #43). Fixed RegistrationVis feature parameters not set. Added FAST_ORB feature type.

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matlabbe
2015-11-25 19:56:14 -05:00
parent da1129cf79
commit 63c96f39a3
8 changed files with 331 additions and 71 deletions
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corelib/include/rtabmap/core/Features2d.h
+25 -2
View File
@@ -99,7 +99,8 @@ public:
kFeatureGfttFreak=5, kFeatureGfttFreak=5,
kFeatureGfttBrief=6, kFeatureGfttBrief=6,
kFeatureBrisk=7, kFeatureBrisk=7,
kFeatureGfttOrb=8}; //new 0.10.11 kFeatureGfttOrb=8, //new 0.10.11
kFeatureFastOrb=9}; //new 0.11.0
static Feature2D * create(Feature2D::Type & type, const ParametersMap & parameters); static Feature2D * create(Feature2D::Type & type, const ParametersMap & parameters);
@@ -253,8 +254,13 @@ private:
bool nonmaxSuppression_; bool nonmaxSuppression_;
bool gpu_; bool gpu_;
double gpuKeypointsRatio_; double gpuKeypointsRatio_;
int minThreshold_;
int maxThreshold_;
int maxTotalKeypoints_;
int gridRows_;
int gridCols_;
cv::Ptr<CV_FAST> _fast; cv::Ptr<cv::FeatureDetector> _fast;
cv::Ptr<CV_FAST_GPU> _gpuFast; cv::Ptr<CV_FAST_GPU> _gpuFast;
}; };
@@ -299,6 +305,23 @@ private:
cv::Ptr<CV_FREAK> _freak; cv::Ptr<CV_FREAK> _freak;
}; };
//FAST_ORB
class RTABMAP_EXP FAST_ORB : public FAST
{
public:
FAST_ORB(const ParametersMap & parameters = ParametersMap());
virtual ~FAST_ORB();
virtual void parseParameters(const ParametersMap & parameters);
virtual Feature2D::Type getType() const {return kFeatureFastOrb;}
private:
virtual cv::Mat generateDescriptorsImpl(const cv::Mat & image, std::vector<cv::KeyPoint> & keypoints) const;
private:
ORB _orb;
};
//GFTT //GFTT
class RTABMAP_EXP GFTT : public Feature2D class RTABMAP_EXP GFTT : public Feature2D
{ {
corelib/include/rtabmap/core/Parameters.h
+7 -3
View File
@@ -244,12 +244,16 @@ class RTABMAP_EXP Parameters
RTABMAP_PARAM(BRIEF, Bytes, int, 32, "Bytes is a length of descriptor in bytes. It can be equal 16, 32 or 64 bytes."); RTABMAP_PARAM(BRIEF, Bytes, int, 32, "Bytes is a length of descriptor in bytes. It can be equal 16, 32 or 64 bytes.");
RTABMAP_PARAM(FAST, Threshold, int, 30, "Threshold on difference between intensity of the central pixel and pixels of a circle around this pixel."); RTABMAP_PARAM(FAST, Threshold, int, 30, "Threshold on difference between intensity of the central pixel and pixels of a circle around this pixel.");
RTABMAP_PARAM(FAST, NonmaxSuppression, bool, true, "If true, non-maximum suppression is applied to detected corners (keypoints)."); RTABMAP_PARAM(FAST, NonmaxSuppression, bool, true, "If true, non-maximum suppression is applied to detected corners (keypoints).");
RTABMAP_PARAM(FAST, Gpu, bool, false, "GPU-FAST: Use GPU version of FAST. This option is enabled only if OpenCV is built with CUDA and GPUs are detected."); RTABMAP_PARAM(FAST, Gpu, bool, false, "GPU-FAST: Use GPU version of FAST. This option is enabled only if OpenCV is built with CUDA and GPUs are detected.");
RTABMAP_PARAM(FAST, GpuKeypointsRatio, double, 0.05, "Used with FAST GPU."); RTABMAP_PARAM(FAST, GpuKeypointsRatio, double, 0.05, "Used with FAST GPU.");
RTABMAP_PARAM(FAST, MinThreshold, int, 1, "Minimum threshold. Used only when FAST/GridRows and FAST/GridCols are set.");
RTABMAP_PARAM(FAST, MaxThreshold, int, 200, "Maximum threshold. Used only when FAST/GridRows and FAST/GridCols are set.");
RTABMAP_PARAM(FAST, GridRows, int, 4, "Grid rows (0 to disable). Adapts the detector to partition the source image into a grid and detect points in each cell.");
RTABMAP_PARAM(FAST, GridCols, int, 4, "Grid cols (0 to disable). Adapts the detector to partition the source image into a grid and detect points in each cell.");
RTABMAP_PARAM(GFTT, QualityLevel, double, 0.0001, ""); RTABMAP_PARAM(GFTT, QualityLevel, double, 0.01, "");
RTABMAP_PARAM(GFTT, MinDistance, double, 10, ""); RTABMAP_PARAM(GFTT, MinDistance, double, 10, "");
RTABMAP_PARAM(GFTT, BlockSize, int, 3, ""); RTABMAP_PARAM(GFTT, BlockSize, int, 3, "");
RTABMAP_PARAM(GFTT, UseHarrisDetector, bool, false, ""); RTABMAP_PARAM(GFTT, UseHarrisDetector, bool, false, "");
@@ -312,7 +316,7 @@ class RTABMAP_EXP Parameters
RTABMAP_PARAM(RGBD, ProximityPathRawPosesUsed, bool, true, "When comparing to a local path, merge the scan using the odometry poses (with neighbor link optimizations) instead of the ones in the optimized local graph."); RTABMAP_PARAM(RGBD, ProximityPathRawPosesUsed, bool, true, "When comparing to a local path, merge the scan using the odometry poses (with neighbor link optimizations) instead of the ones in the optimized local graph.");
// Graph optimization // Graph optimization
RTABMAP_PARAM(RGBD, OptimizeStrategy, int, 0, "Graph optimization strategy: 0=TORO and 1=g2o."); RTABMAP_PARAM(RGBD, OptimizeStrategy, int, 0, "Graph optimization strategy: 0=TORO, 1=g2o and 2=GTSAM.");
RTABMAP_PARAM(RGBD, OptimizeIterations, int, 100, "Optimization iterations."); RTABMAP_PARAM(RGBD, OptimizeIterations, int, 100, "Optimization iterations.");
RTABMAP_PARAM(RGBD, OptimizeSlam2D, bool, false, "If optimization is done only on x,y and theta (3DoF). Otherwise, it is done on full 6DoF poses."); RTABMAP_PARAM(RGBD, OptimizeSlam2D, bool, false, "If optimization is done only on x,y and theta (3DoF). Otherwise, it is done on full 6DoF poses.");
RTABMAP_PARAM(RGBD, OptimizeVarianceIgnored, bool, false, "Ignore constraints' variance. If checked, identity information matrix is used for each constraint. Otherwise, an information matrix is generated from the variance saved in the links."); RTABMAP_PARAM(RGBD, OptimizeVarianceIgnored, bool, false, "Ignore constraints' variance. If checked, identity information matrix is used for each constraint. Otherwise, an information matrix is generated from the variance saved in the links.");
corelib/include/rtabmap/core/RegistrationVis.h
+2 -13
View File
@@ -38,7 +38,7 @@ class RegistrationVis : public Registration
{ {
public: public:
RegistrationVis(const ParametersMap & parameters = ParametersMap()); RegistrationVis(const ParametersMap & parameters = ParametersMap());
virtual ~RegistrationVis() {} virtual ~RegistrationVis();
virtual void parseParameters(const ParametersMap & parameters); virtual void parseParameters(const ParametersMap & parameters);
@@ -67,18 +67,7 @@ private:
double _PnPReprojError; double _PnPReprojError;
int _PnPFlags; int _PnPFlags;
int _NNType; ParametersMap _featureParameters;
float _NNDR;
int _featureType;
int _maxWords;
float _maxDepth;
float _minDepth;
std::string _roiRatios;
int _subPixWinSize;
int _subPixIterations;
double _subPixEps;
}; };
} }
corelib/include/rtabmap/core/Signature.h
-2
View File
@@ -45,8 +45,6 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
namespace rtabmap namespace rtabmap
{ {
class Memory;
class RTABMAP_EXP Signature class RTABMAP_EXP Signature
{ {
corelib/src/Features2d.cpp
+69 -2
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@@ -386,12 +386,18 @@ Feature2D * Feature2D::create(Feature2D::Type & type, const ParametersMap & para
case Feature2D::kFeatureFastFreak: case Feature2D::kFeatureFastFreak:
feature2D = new FAST_FREAK(parameters); feature2D = new FAST_FREAK(parameters);
break; break;
case Feature2D::kFeatureFastOrb:
feature2D = new FAST_ORB(parameters);
break;
case Feature2D::kFeatureGfttFreak: case Feature2D::kFeatureGfttFreak:
feature2D = new GFTT_FREAK(parameters); feature2D = new GFTT_FREAK(parameters);
break; break;
case Feature2D::kFeatureGfttBrief: case Feature2D::kFeatureGfttBrief:
feature2D = new GFTT_BRIEF(parameters); feature2D = new GFTT_BRIEF(parameters);
break; break;
case Feature2D::kFeatureGfttOrb:
feature2D = new GFTT_ORB(parameters);
break;
case Feature2D::kFeatureBrisk: case Feature2D::kFeatureBrisk:
feature2D = new BRISK(parameters); feature2D = new BRISK(parameters);
break; break;
@@ -408,6 +414,7 @@ Feature2D * Feature2D::create(Feature2D::Type & type, const ParametersMap & para
#endif #endif
} }
return feature2D; return feature2D;
} }
std::vector<cv::KeyPoint> Feature2D::generateKeypoints(const cv::Mat & image, const cv::Rect & roi) const std::vector<cv::KeyPoint> Feature2D::generateKeypoints(const cv::Mat & image, const cv::Rect & roi) const
@@ -798,7 +805,12 @@ FAST::FAST(const ParametersMap & parameters) :
threshold_(Parameters::defaultFASTThreshold()), threshold_(Parameters::defaultFASTThreshold()),
nonmaxSuppression_(Parameters::defaultFASTNonmaxSuppression()), nonmaxSuppression_(Parameters::defaultFASTNonmaxSuppression()),
gpu_(Parameters::defaultFASTGpu()), gpu_(Parameters::defaultFASTGpu()),
gpuKeypointsRatio_(Parameters::defaultFASTGpuKeypointsRatio()) gpuKeypointsRatio_(Parameters::defaultFASTGpuKeypointsRatio()),
minThreshold_(Parameters::defaultFASTMinThreshold()),
maxThreshold_(Parameters::defaultFASTMaxThreshold()),
maxTotalKeypoints_(Parameters::defaultKpWordsPerImage()),
gridRows_(Parameters::defaultFASTGridRows()),
gridCols_(Parameters::defaultFASTGridCols())
{ {
parseParameters(parameters); parseParameters(parameters);
} }
@@ -816,6 +828,17 @@ void FAST::parseParameters(const ParametersMap & parameters)
Parameters::parse(parameters, Parameters::kFASTGpu(), gpu_); Parameters::parse(parameters, Parameters::kFASTGpu(), gpu_);
Parameters::parse(parameters, Parameters::kFASTGpuKeypointsRatio(), gpuKeypointsRatio_); Parameters::parse(parameters, Parameters::kFASTGpuKeypointsRatio(), gpuKeypointsRatio_);
Parameters::parse(parameters, Parameters::kFASTMinThreshold(), minThreshold_);
Parameters::parse(parameters, Parameters::kFASTMaxThreshold(), maxThreshold_);
Parameters::parse(parameters, Parameters::kKpWordsPerImage(), maxTotalKeypoints_);
Parameters::parse(parameters, Parameters::kFASTGridRows(), gridRows_);
Parameters::parse(parameters, Parameters::kFASTGridCols(), gridCols_);
UWARN("minThreshold_=%d", minThreshold_);
UASSERT_MSG(threshold_ >= minThreshold_, uFormat("%d vs %d", threshold_, minThreshold_).c_str());
UASSERT_MSG(threshold_ <= maxThreshold_, uFormat("%d vs %d", threshold_, maxThreshold_).c_str());
#if CV_MAJOR_VERSION < 3 #if CV_MAJOR_VERSION < 3
if(gpu_ && cv::gpu::getCudaEnabledDeviceCount() == 0) if(gpu_ && cv::gpu::getCudaEnabledDeviceCount() == 0)
{ {
@@ -854,7 +877,25 @@ void FAST::parseParameters(const ParametersMap & parameters)
else else
{ {
#if CV_MAJOR_VERSION < 3 #if CV_MAJOR_VERSION < 3
_fast = cv::Ptr<CV_FAST>(new CV_FAST(threshold_, nonmaxSuppression_)); if(gridRows_ > 0 && gridCols_ > 0)
{
cv::Ptr<cv::FeatureDetector> fastAdjuster = cv::Ptr<cv::FastAdjuster>(new cv::FastAdjuster(threshold_, nonmaxSuppression_, minThreshold_, maxThreshold_));
_fast = cv::Ptr<cv::FeatureDetector>(new cv::GridAdaptedFeatureDetector(fastAdjuster, maxTotalKeypoints_, gridRows_, gridCols_));
}
else
{
if(gridRows_ > 0)
{
UWARN("Parameter \"%s\" is set (value=%d) but not \"%s\"! Grid adaptor will not be added.",
Parameters::kFASTGridRows().c_str(), gridRows_, Parameters::kFASTGridCols().c_str());
}
else if(gridCols_ > 0)
{
UWARN("Parameter \"%s\" is set (value=%d) but not \"%s\"! Grid adaptor will not be added.",
Parameters::kFASTGridCols().c_str(), gridCols_, Parameters::kFASTGridRows().c_str());
}
_fast = cv::Ptr<cv::FeatureDetector>(new CV_FAST(threshold_, nonmaxSuppression_));
}
#else #else
_fast = CV_FAST::create(threshold_, nonmaxSuppression_); _fast = CV_FAST::create(threshold_, nonmaxSuppression_);
#endif #endif
@@ -983,6 +1024,32 @@ cv::Mat FAST_FREAK::generateDescriptorsImpl(const cv::Mat & image, std::vector<c
return descriptors; return descriptors;
} }
//////////////////////////
//FAST-ORB
//////////////////////////
FAST_ORB::FAST_ORB(const ParametersMap & parameters) :
FAST(parameters),
_orb(parameters)
{
parseParameters(parameters);
}
FAST_ORB::~FAST_ORB()
{
}
void FAST_ORB::parseParameters(const ParametersMap & parameters)
{
FAST::parseParameters(parameters);
_orb.parseParameters(parameters);
}
cv::Mat FAST_ORB::generateDescriptorsImpl(const cv::Mat & image, std::vector<cv::KeyPoint> & keypoints) const
{
UASSERT(!image.empty() && image.channels() == 1 && image.depth() == CV_8U);
return _orb.generateDescriptors(image, keypoints);
}
////////////////////////// //////////////////////////
//GFTT //GFTT
////////////////////////// //////////////////////////
corelib/src/RegistrationVis.cpp
+85 -43
View File
@@ -47,18 +47,29 @@ RegistrationVis::RegistrationVis(const ParametersMap & parameters) :
_epipolarGeometryVar(Parameters::defaultVisEpipolarGeometryVar()), _epipolarGeometryVar(Parameters::defaultVisEpipolarGeometryVar()),
_estimationType(Parameters::defaultVisEstimationType()), _estimationType(Parameters::defaultVisEstimationType()),
_PnPReprojError(Parameters::defaultVisPnPReprojError()), _PnPReprojError(Parameters::defaultVisPnPReprojError()),
_PnPFlags(Parameters::defaultVisPnPFlags()), _PnPFlags(Parameters::defaultVisPnPFlags())
_NNType(Parameters::defaultVisNNType()),
_NNDR(Parameters::defaultVisNNDR()),
_featureType(Parameters::defaultVisFeatureType()),
_maxWords(Parameters::defaultVisMaxFeatures()),
_maxDepth(Parameters::defaultVisMaxDepth()),
_minDepth(Parameters::defaultVisMinDepth()),
_roiRatios(Parameters::defaultVisRoiRatios()),
_subPixWinSize(Parameters::defaultKpSubPixWinSize()),
_subPixIterations(Parameters::defaultKpSubPixIterations()),
_subPixEps(Parameters::defaultKpSubPixEps())
{ {
_featureParameters = Parameters::getDefaultParameters();
uInsert(_featureParameters, ParametersPair(Parameters::kMemIncrementalMemory(), "true")); // make sure it is incremental
uInsert(_featureParameters, ParametersPair(Parameters::kMemRehearsalSimilarity(), "1.0")); // desactivate rehearsal
uInsert(_featureParameters, ParametersPair(Parameters::kMemBinDataKept(), "false"));
uInsert(_featureParameters, ParametersPair(Parameters::kMemSTMSize(), "0"));
uInsert(_featureParameters, ParametersPair(Parameters::kKpIncrementalDictionary(), "true")); // make sure it is incremental
uInsert(_featureParameters, ParametersPair(Parameters::kKpNewWordsComparedTogether(), "false"));
uInsert(_featureParameters, ParametersPair(Parameters::kKpBadSignRatio(), "0"));
uInsert(_featureParameters, ParametersPair(Parameters::kMemGenerateIds(), "true"));
uInsert(_featureParameters, ParametersPair(Parameters::kKpNNStrategy(), _featureParameters.at(Parameters::kVisNNType())));
uInsert(_featureParameters, ParametersPair(Parameters::kKpNndrRatio(), _featureParameters.at(Parameters::kVisNNDR())));
uInsert(_featureParameters, ParametersPair(Parameters::kKpDetectorStrategy(), _featureParameters.at(Parameters::kVisFeatureType())));
uInsert(_featureParameters, ParametersPair(Parameters::kKpWordsPerImage(), _featureParameters.at(Parameters::kVisMaxFeatures())));
uInsert(_featureParameters, ParametersPair(Parameters::kKpMaxDepth(), _featureParameters.at(Parameters::kVisMaxDepth())));
uInsert(_featureParameters, ParametersPair(Parameters::kKpMinDepth(), _featureParameters.at(Parameters::kVisMinDepth())));
uInsert(_featureParameters, ParametersPair(Parameters::kKpRoiRatios(), _featureParameters.at(Parameters::kVisRoiRatios())));
uInsert(_featureParameters, ParametersPair(Parameters::kKpSubPixEps(), _featureParameters.at(Parameters::kVisSubPixWinSize())));
uInsert(_featureParameters, ParametersPair(Parameters::kKpSubPixIterations(), _featureParameters.at(Parameters::kVisSubPixIterations())));
uInsert(_featureParameters, ParametersPair(Parameters::kKpSubPixWinSize(), _featureParameters.at(Parameters::kVisSubPixEps())));
this->parseParameters(parameters); this->parseParameters(parameters);
} }
@@ -76,19 +87,71 @@ void RegistrationVis::parseParameters(const ParametersMap & parameters)
Parameters::parse(parameters, Parameters::kVisPnPReprojError(), _PnPReprojError); Parameters::parse(parameters, Parameters::kVisPnPReprojError(), _PnPReprojError);
Parameters::parse(parameters, Parameters::kVisPnPFlags(), _PnPFlags); Parameters::parse(parameters, Parameters::kVisPnPFlags(), _PnPFlags);
Parameters::parse(parameters, Parameters::kVisNNType(), _NNType);
Parameters::parse(parameters, Parameters::kVisNNDR(), _NNDR);
Parameters::parse(parameters, Parameters::kVisFeatureType(), _featureType);
Parameters::parse(parameters, Parameters::kVisMaxFeatures(), _maxWords);
Parameters::parse(parameters, Parameters::kVisMaxDepth(), _maxDepth);
Parameters::parse(parameters, Parameters::kKpSubPixWinSize(), _subPixWinSize);
Parameters::parse(parameters, Parameters::kKpSubPixIterations(), _subPixIterations);
Parameters::parse(parameters, Parameters::kKpSubPixEps(), _subPixEps);
UASSERT_MSG(_minInliers >= 1, uFormat("value=%d", _minInliers).c_str()); UASSERT_MSG(_minInliers >= 1, uFormat("value=%d", _minInliers).c_str());
UASSERT_MSG(_inlierDistance > 0.0f, uFormat("value=%f", _inlierDistance).c_str()); UASSERT_MSG(_inlierDistance > 0.0f, uFormat("value=%f", _inlierDistance).c_str());
UASSERT_MSG(_iterations > 0, uFormat("value=%d", _iterations).c_str()); UASSERT_MSG(_iterations > 0, uFormat("value=%d", _iterations).c_str());
// override feature parameters
for(ParametersMap::const_iterator iter=parameters.begin(); iter!=parameters.end(); ++iter)
{
std::string group = uSplit(iter->first, '/').front();
if(group.compare("SURF") == 0 ||
group.compare("SIFT") == 0 ||
group.compare("ORB") == 0 ||
group.compare("FAST") == 0 ||
group.compare("FREAK") == 0 ||
group.compare("BRIEF") == 0 ||
group.compare("GFTT") == 0 ||
group.compare("BRISK") == 0)
{
uInsert(_featureParameters, ParametersPair(iter->first, iter->second));
}
}
if(uContains(parameters, Parameters::kVisNNType()))
{
uInsert(_featureParameters, ParametersPair(Parameters::kKpNNStrategy(), parameters.at(Parameters::kVisNNType())));
}
if(uContains(parameters, Parameters::kVisNNDR()))
{
uInsert(_featureParameters, ParametersPair(Parameters::kKpNndrRatio(), parameters.at(Parameters::kVisNNDR())));
}
if(uContains(parameters, Parameters::kVisFeatureType()))
{
uInsert(_featureParameters, ParametersPair(Parameters::kKpDetectorStrategy(), parameters.at(Parameters::kVisFeatureType())));
}
if(uContains(parameters, Parameters::kVisMaxFeatures()))
{
uInsert(_featureParameters, ParametersPair(Parameters::kKpWordsPerImage(), parameters.at(Parameters::kVisMaxFeatures())));
}
if(uContains(parameters, Parameters::kVisMaxDepth()))
{
uInsert(_featureParameters, ParametersPair(Parameters::kKpMaxDepth(), parameters.at(Parameters::kVisMaxDepth())));
}
if(uContains(parameters, Parameters::kVisMinDepth()))
{
uInsert(_featureParameters, ParametersPair(Parameters::kKpMinDepth(), parameters.at(Parameters::kVisMinDepth())));
}
if(uContains(parameters, Parameters::kVisRoiRatios()))
{
uInsert(_featureParameters, ParametersPair(Parameters::kKpRoiRatios(), parameters.at(Parameters::kVisRoiRatios())));
}
if(uContains(parameters, Parameters::kVisSubPixEps()))
{
uInsert(_featureParameters, ParametersPair(Parameters::kKpSubPixEps(), parameters.at(Parameters::kVisSubPixEps())));
}
if(uContains(parameters, Parameters::kVisSubPixIterations()))
{
uInsert(_featureParameters, ParametersPair(Parameters::kKpSubPixIterations(), parameters.at(Parameters::kVisSubPixIterations())));
}
if(uContains(parameters, Parameters::kVisSubPixWinSize()))
{
uInsert(_featureParameters, ParametersPair(Parameters::kKpSubPixWinSize(), parameters.at(Parameters::kVisSubPixWinSize())));
}
}
RegistrationVis::~RegistrationVis()
{
} }
Transform RegistrationVis::computeTransformation( Transform RegistrationVis::computeTransformation(
@@ -117,28 +180,7 @@ Transform RegistrationVis::computeTransformation(
if(fromSignature.getWords().size() == 0 && toSignature.getWords().size() == 0) if(fromSignature.getWords().size() == 0 && toSignature.getWords().size() == 0)
{ {
// Use the Memory class to extract features // Use the Memory class to extract features
ParametersMap customParameters; Memory memory(_featureParameters);
// override some parameters
uInsert(customParameters, ParametersPair(Parameters::kMemIncrementalMemory(), "true")); // make sure it is incremental
uInsert(customParameters, ParametersPair(Parameters::kMemRehearsalSimilarity(), "1.0")); // desactivate rehearsal
uInsert(customParameters, ParametersPair(Parameters::kMemBinDataKept(), "false"));
uInsert(customParameters, ParametersPair(Parameters::kMemSTMSize(), "0"));
uInsert(customParameters, ParametersPair(Parameters::kKpIncrementalDictionary(), "true")); // make sure it is incremental
uInsert(customParameters, ParametersPair(Parameters::kKpNewWordsComparedTogether(), "false"));
uInsert(customParameters, ParametersPair(Parameters::kKpNNStrategy(), uNumber2Str(_NNType))); // bruteforce
uInsert(customParameters, ParametersPair(Parameters::kKpNndrRatio(), uNumber2Str(_NNDR)));
uInsert(customParameters, ParametersPair(Parameters::kKpDetectorStrategy(), uNumber2Str(_featureType))); // FAST/BRIEF
uInsert(customParameters, ParametersPair(Parameters::kKpWordsPerImage(), uNumber2Str(_maxWords)));
uInsert(customParameters, ParametersPair(Parameters::kKpMaxDepth(), uNumber2Str(_maxDepth)));
uInsert(customParameters, ParametersPair(Parameters::kKpMinDepth(), uNumber2Str(_minDepth)));
uInsert(customParameters, ParametersPair(Parameters::kKpSubPixEps(), uNumber2Str(_subPixEps)));
uInsert(customParameters, ParametersPair(Parameters::kKpSubPixIterations(), uNumber2Str(_subPixIterations)));
uInsert(customParameters, ParametersPair(Parameters::kKpSubPixWinSize(), uNumber2Str(_subPixWinSize)));
uInsert(customParameters, ParametersPair(Parameters::kKpBadSignRatio(), "0"));
uInsert(customParameters, ParametersPair(Parameters::kKpRoiRatios(), _roiRatios));
uInsert(customParameters, ParametersPair(Parameters::kMemGenerateIds(), "true"));
Memory memory(customParameters);
// Add signatures // Add signatures
SensorData dataFrom = fromSignature.sensorData(); SensorData dataFrom = fromSignature.sensorData();
guilib/src/PreferencesDialog.cpp
+23
View File
@@ -546,6 +546,10 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
//FAST detector //FAST detector
_ui->fastSuppressNonMax->setObjectName(Parameters::kFASTNonmaxSuppression().c_str()); _ui->fastSuppressNonMax->setObjectName(Parameters::kFASTNonmaxSuppression().c_str());
_ui->fastThreshold->setObjectName(Parameters::kFASTThreshold().c_str()); _ui->fastThreshold->setObjectName(Parameters::kFASTThreshold().c_str());
_ui->fastThresholdMin->setObjectName(Parameters::kFASTMinThreshold().c_str());
_ui->fastThresholdMax->setObjectName(Parameters::kFASTMaxThreshold().c_str());
_ui->fastGridRows->setObjectName(Parameters::kFASTGridRows().c_str());
_ui->fastGridCols->setObjectName(Parameters::kFASTGridCols().c_str());
_ui->fastGpu->setObjectName(Parameters::kFASTGpu().c_str()); _ui->fastGpu->setObjectName(Parameters::kFASTGpu().c_str());
_ui->fastKeypointRatio->setObjectName(Parameters::kFASTGpuKeypointsRatio().c_str()); _ui->fastKeypointRatio->setObjectName(Parameters::kFASTGpuKeypointsRatio().c_str());
@@ -1999,6 +2003,25 @@ bool PreferencesDialog::validateForm()
_ui->loopClosure_bowMinDepth->setValue(0); _ui->loopClosure_bowMinDepth->setValue(0);
} }
if(_ui->fastThresholdMax->value() < _ui->fastThresholdMin->value())
{
QMessageBox::warning(this, tr("Parameter warning"),
tr("FAST minimum threshold cannot be lower than maximum threshold. Setting minimum to 1."));
_ui->fastThresholdMin->setValue(1);
}
if(_ui->fastThreshold->value() > _ui->fastThresholdMax->value())
{
QMessageBox::warning(this, tr("Parameter warning"),
tr("FAST threshold cannot be higher than maximum threshold. Maximum value set to current threshold."));
_ui->fastThresholdMax->setValue(_ui->fastThreshold->value());
}
if(_ui->fastThreshold->value() < _ui->fastThresholdMin->value())
{
QMessageBox::warning(this, tr("Parameter warning"),
tr("FAST threshold cannot be lower than minimum threshold. Minimum value set to current threshold."));
_ui->fastThresholdMin->setValue(_ui->fastThreshold->value());
}
return true; return true;
} }
guilib/src/ui/preferencesDialog.ui
+120 -6
View File
@@ -63,7 +63,7 @@
<property name="geometry"> <property name="geometry">
<rect> <rect>
<x>0</x> <x>0</x>
<y>-1112</y> <y>0</y>
<width>760</width> <width>760</width>
<height>1802</height> <height>1802</height>
</rect> </rect>
@@ -86,7 +86,7 @@
<enum>QFrame::Raised</enum> <enum>QFrame::Raised</enum>
</property> </property>
<property name="currentIndex"> <property name="currentIndex">
<number>20</number> <number>21</number>
</property> </property>
<widget class="QWidget" name="page_22"> <widget class="QWidget" name="page_22">
<layout class="QVBoxLayout" name="verticalLayout_29"> <layout class="QVBoxLayout" name="verticalLayout_29">
@@ -4907,6 +4907,11 @@ see Sqlite3 doc 'PRAGMA temp_store'.</string>
<string>GFTT+ORB</string> <string>GFTT+ORB</string>
</property> </property>
</item> </item>
<item>
<property name="text">
<string>FAST+ORB</string>
</property>
</item>
</widget> </widget>
</item> </item>
<item row="1" column="1"> <item row="1" column="1">
@@ -5929,7 +5934,7 @@ When set to false, no new words are added to dictionary, so no more updates are
</property> </property>
</widget> </widget>
</item> </item>
<item row="2" column="0"> <item row="6" column="0">
<widget class="QCheckBox" name="fastGpu"> <widget class="QCheckBox" name="fastGpu">
<property name="text"> <property name="text">
<string/> <string/>
@@ -5939,7 +5944,7 @@ When set to false, no new words are added to dictionary, so no more updates are
</property> </property>
</widget> </widget>
</item> </item>
<item row="2" column="1"> <item row="6" column="1">
<widget class="QLabel" name="label_fastGPU"> <widget class="QLabel" name="label_fastGPU">
<property name="text"> <property name="text">
<string>GPU-FAST: Use GPU version of FAST. This option is enabled only if OpenCV is built with CUDA and GPUs are detected.</string> <string>GPU-FAST: Use GPU version of FAST. This option is enabled only if OpenCV is built with CUDA and GPUs are detected.</string>
@@ -5952,7 +5957,7 @@ When set to false, no new words are added to dictionary, so no more updates are
</property> </property>
</widget> </widget>
</item> </item>
<item row="3" column="0"> <item row="7" column="0">
<widget class="QDoubleSpinBox" name="fastKeypointRatio"> <widget class="QDoubleSpinBox" name="fastKeypointRatio">
<property name="maximum"> <property name="maximum">
<double>1.000000000000000</double> <double>1.000000000000000</double>
@@ -5965,7 +5970,7 @@ When set to false, no new words are added to dictionary, so no more updates are
</property> </property>
</widget> </widget>
</item> </item>
<item row="3" column="1"> <item row="7" column="1">
<widget class="QLabel" name="label_fastGPUKptRatio"> <widget class="QLabel" name="label_fastGPUKptRatio">
<property name="text"> <property name="text">
<string>Used with FAST GPU.</string> <string>Used with FAST GPU.</string>
@@ -5978,6 +5983,110 @@ When set to false, no new words are added to dictionary, so no more updates are
</property> </property>
</widget> </widget>
</item> </item>
<item row="4" column="1">
<widget class="QLabel" name="label_104">
<property name="text">
<string>Grid rows (0 to disable). Adapts a detector to partition the source image into a grid and detect points in each cell.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="4" column="0">
<widget class="QSpinBox" name="fastGridRows">
<property name="minimum">
<number>0</number>
</property>
<property name="maximum">
<number>9999</number>
</property>
<property name="value">
<number>0</number>
</property>
</widget>
</item>
<item row="5" column="0">
<widget class="QSpinBox" name="fastGridCols">
<property name="minimum">
<number>0</number>
</property>
<property name="maximum">
<number>9999</number>
</property>
<property name="value">
<number>0</number>
</property>
</widget>
</item>
<item row="5" column="1">
<widget class="QLabel" name="label_109">
<property name="text">
<string>Grid cols (0 to disable). Adapts a detector to partition the source image into a grid and detect points in each cell.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QLabel" name="label_111">
<property name="text">
<string>Minimum threshold. Used only when FAST/GridRows and FAST/GridCols are set.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QLabel" name="label_115">
<property name="text">
<string>Maximum threshold. Used only when FAST/GridRows and FAST/GridCols are set.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QSpinBox" name="fastThresholdMin">
<property name="minimum">
<number>1</number>
</property>
<property name="maximum">
<number>9999</number>
</property>
<property name="value">
<number>50</number>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QSpinBox" name="fastThresholdMax">
<property name="minimum">
<number>1</number>
</property>
<property name="maximum">
<number>9999</number>
</property>
<property name="value">
<number>50</number>
</property>
</widget>
</item>
</layout> </layout>
</item> </item>
<item> <item>
@@ -8056,6 +8165,11 @@ Lower the ratio -&gt; higher the precision. 0 means disabled, matching the neare
<string>GFTT+ORB</string> <string>GFTT+ORB</string>
</property> </property>
</item> </item>
<item>
<property name="text">
<string>FAST+ORB</string>
</property>
</item>
</widget> </widget>
</item> </item>
<item row="3" column="0"> <item row="3" column="0">