diff --git a/CMakeLists.txt b/CMakeLists.txt index e0305cc615..b9afa1667b 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -177,6 +177,7 @@ option(WITH_TORCH "Include Torch support (SuperPoint)" OFF) option(WITH_PYTHON "Include Python3 support (PyMatcher, PyDetector)" OFF) option(WITH_PYTHON_THREADING "Use more than one Python interpreter." OFF) option(WITH_PDAL "Include PDAL support" ON) +option(WITH_CUDASIFT "Include CudaSift support (this fork https://github.com/matlabbe/CudaSift)" OFF) option(WITH_FREENECT "Include Freenect support" ON) option(WITH_FREENECT2 "Include Freenect2 support" ON) option(WITH_K4W2 "Include Kinect for Windows v2 support" ON) @@ -232,7 +233,7 @@ option(BUILD_WITH_RPATH_NOT_RUNPATH "Explicitly disable usage of RUNPATH for the set(RTABMAP_QT_VERSION AUTO CACHE STRING "Force a specific Qt version.") set_property(CACHE RTABMAP_QT_VERSION PROPERTY STRINGS AUTO 4 5 6) -FIND_PACKAGE(OpenCV REQUIRED QUIET COMPONENTS core calib3d imgproc highgui stitching photo video videoio OPTIONAL_COMPONENTS aruco objdetect xfeatures2d nonfree gpu cudafeatures2d) +FIND_PACKAGE(OpenCV REQUIRED QUIET COMPONENTS core calib3d imgproc highgui stitching photo video videoio OPTIONAL_COMPONENTS aruco objdetect xfeatures2d nonfree gpu cudafeatures2d cudaoptflow cudaimgproc) IF(WITH_QT) FIND_PACKAGE(PCL 1.7 REQUIRED QUIET COMPONENTS common io kdtree search surface filters registration sample_consensus segmentation visualization) @@ -415,6 +416,13 @@ IF(WITH_PDAL) ENDIF(PDAL_FOUND) ENDIF(WITH_PDAL) +IF(WITH_CUDASIFT) + FIND_PACKAGE(CudaSift 3 QUIET) + IF(CudaSift_FOUND) + MESSAGE(STATUS "Found CudaSift") + ENDIF(CudaSift_FOUND) +ENDIF(WITH_CUDASIFT) + IF(WITH_FREENECT) FIND_PACKAGE(Freenect QUIET) IF(Freenect_FOUND) @@ -813,7 +821,7 @@ IF(NOT (APPLE OR WIN32) AND BUILD_WITH_RPATH_NOT_RUNPATH) ENDIF() IF(NOT MSVC) - IF(Qt6_FOUND OR (G2O_FOUND AND G2O_CPP11 EQUAL 1) OR TORCH_FOUND) + IF(Qt6_FOUND OR (G2O_FOUND AND G2O_CPP11 EQUAL 1) OR TORCH_FOUND OR MRPT_FOUND) # Qt6 requires c++17 include(CheckCXXCompilerFlag) CHECK_CXX_COMPILER_FLAG("-std=c++17" COMPILER_SUPPORTS_CXX17) @@ -942,6 +950,9 @@ ENDIF(NOT opengv_FOUND OR NOT WITH_OPENGV) IF(NOT PDAL_FOUND) SET(PDAL "//") ENDIF(NOT PDAL_FOUND) +IF(NOT CudaSift_FOUND) + SET(CUDASIFT "//") +ENDIF(NOT CudaSift_FOUND) IF(NOT loam_velodyne_FOUND) SET(LOAM "//") ENDIF(NOT loam_velodyne_FOUND) @@ -1416,6 +1427,14 @@ ELSE() MESSAGE(STATUS " With PDAL = NO (PDAL not found)") ENDIF() +IF(CudaSift_FOUND) +MESSAGE(STATUS " With CudaSift = YES (License: MIT)") +ELSEIF(NOT WITH_CUDASIFT) +MESSAGE(STATUS " With CudaSift = NO (WITH_CUDASIFT=OFF)") +ELSE() +MESSAGE(STATUS " With CudaSift = NO (CudaSift not found, use https://github.com/matlabbe/CudaSift fork)") +ENDIF() + MESSAGE(STATUS "") MESSAGE(STATUS " Solvers:") IF(WITH_TORO) diff --git a/Version.h.in b/Version.h.in index 376291f23b..b2b9b3e89d 100644 --- a/Version.h.in +++ b/Version.h.in @@ -58,6 +58,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. @FASTCV@#define RTABMAP_FASTCV @OPENGV@#define RTABMAP_OPENGV @PDAL@#define RTABMAP_PDAL +@CUDASIFT@#define RTABMAP_CUDASIFT @LOAM@#define RTABMAP_LOAM @FLOAM@#define RTABMAP_FLOAM @DC1394@#define RTABMAP_DC1394 diff --git a/archive/2010-LoopClosure/RecursiveBayes.m b/archive/2010-LoopClosure/Bayes/RecursiveBayes.m similarity index 100% rename from archive/2010-LoopClosure/RecursiveBayes.m rename to archive/2010-LoopClosure/Bayes/RecursiveBayes.m diff --git a/archive/2010-LoopClosure/adjustLikelihood.m b/archive/2010-LoopClosure/Bayes/adjustLikelihood.m similarity index 100% rename from archive/2010-LoopClosure/adjustLikelihood.m rename to archive/2010-LoopClosure/Bayes/adjustLikelihood.m diff --git a/archive/2010-LoopClosure/computeLikelihood.m b/archive/2010-LoopClosure/Bayes/computeLikelihood.m similarity index 100% rename from archive/2010-LoopClosure/computeLikelihood.m rename to archive/2010-LoopClosure/Bayes/computeLikelihood.m diff --git a/archive/2010-LoopClosure/generatePrediction.m b/archive/2010-LoopClosure/Bayes/generatePrediction.m similarity index 100% rename from archive/2010-LoopClosure/generatePrediction.m rename to archive/2010-LoopClosure/Bayes/generatePrediction.m diff --git a/archive/2010-LoopClosure/updateCommonSignature.m b/archive/2010-LoopClosure/Bayes/updateCommonSignature.m similarity index 100% rename from archive/2010-LoopClosure/updateCommonSignature.m rename to archive/2010-LoopClosure/Bayes/updateCommonSignature.m diff --git a/archive/2010-LoopClosure/updateDictionary.m b/archive/2010-LoopClosure/Bayes/updateDictionary.m similarity index 100% rename from archive/2010-LoopClosure/updateDictionary.m rename to archive/2010-LoopClosure/Bayes/updateDictionary.m diff --git a/archive/2010-LoopClosure/DumpMemorySign.txt b/archive/2010-LoopClosure/DumpMemorySign.txt deleted file mode 100644 index 75ac829bef..0000000000 --- a/archive/2010-LoopClosure/DumpMemorySign.txt +++ /dev/null @@ -1,86 +0,0 @@ -SignatureID WordsID... --1 4 5 21 22 24 31 32 33 35 46 48 49 58 60 63 72 73 78 83 84 103 105 114 120 124 133 136 141 162 179 182 188 189 202 204 211 217 218 227 232 241 247 249 260 268 271 287 289 301 304 318 320 324 338 340 345 346 349 358 366 368 370 371 381 395 407 408 414 415 416 424 439 442 447 502 504 508 509 527 539 540 550 553 558 568 572 583 588 598 606 617 624 625 638 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a/archive/2010-LoopClosure/ShowLogs/precisionRecallAllDetectors.m b/archive/2010-LoopClosure/ShowLogs/precisionRecallAllDetectors.m new file mode 100644 index 0000000000..da3ecb0c9a --- /dev/null +++ b/archive/2010-LoopClosure/ShowLogs/precisionRecallAllDetectors.m @@ -0,0 +1,56 @@ + +#set(0,'defaultAxesFontName', 'Times') +#set(0,'defaultTextFontName', 'Times') + +Prefix = 'loop_closure_detection_datasets'; +Dataset= 'CityCentre' +Detectors = {'Surf'; 'Sift'; 'CudaSift'; 'GfttBrief'}; + +% The Ground Truth is a squared bmp file (size must match the log files +% length) where white dots mean loop closures. +% Grey dots mean 'loop closures to ignore', this happens when the rehearsal +% doesn't match consecutive images together. +GroundTruthFile = [Prefix '/' Dataset '.png']; + +colors = 'kbgrcm'; +figure +xlabel('Recall (%)') +ylabel('Precision (%)') +hold on; + +Results = {}; +TimeResults = {}; + +for i=1:length(Detectors) + LogI = importfile([Prefix '/' Dataset '/' Detectors{i} 'LogI.txt']); + LogF = importfile([Prefix '/' Dataset '/' Detectors{i} 'LogF.txt']); + + PR = getPrecisionRecall(LogI, LogF, GroundTruthFile, 0.07); + plot(100*PR(:,2), 100*PR(:,1), colors(mod(i,6)+1)); + % hold on; + Results{i} = PR; + time = sum(LogF(:,2:7),2)+LogF(:,17);%LogF(:,1) + TimeResults{i} = time; + meanTime = mean(time) + meanWm = mean(LogI(:,7)) + meanDict = mean(LogI(:,6)) + maxTime = max(time) + maxWm = max(LogI(:,7)) + maxDict = max(LogI(:,6)) + + %figure(2) + %plot(PR(:,4), PR(:,3), colors(mod(i,6)+1)); + %hold on; +end +legend(Detectors) +title(Dataset) + +figure +rows=floor(length(Detectors)/2 )+ mod(length(Detectors), 2) +for i=1:length(TimeResults) + subplot(rows, 2, i) + plot(TimeResults{i}) + ylabel('Time (s)') + title([Detectors{i} ' (' num2str(mean(TimeResults{i})) 's)']) +end +xlabel('Location indexes') diff --git a/archive/2010-LoopClosure/ShowLogs/showlogs.m b/archive/2010-LoopClosure/ShowLogs/showlogs.m index 553dc7b619..074b171e81 100644 --- a/archive/2010-LoopClosure/ShowLogs/showlogs.m +++ b/archive/2010-LoopClosure/ShowLogs/showlogs.m @@ -1,4 +1,4 @@ -function [LogF LogI] = showlogs(PathPrefix, GT_file) +function [LogF LogI] = showlogs(PathPrefix, GT_file, LogPrefix) % [LogF LogI] = showlogs(PathPrefix, GT_file) % SHOWLOGS Plot a RTAB-Map results (LogI.txt, LogF.txt). Just put this % file in the same directory as LogF.txt and LogI.txt files @@ -24,6 +24,7 @@ close all +if nargin < 3, LogPrefix = ''; end if nargin < 2, GT_file = ''; end if nargin < 1, PathPrefix = '.'; end @@ -31,7 +32,7 @@ display(' '); display('Loading log files...'); -LogF = importfile([PathPrefix '/' 'LogF.txt']); +LogF = importfile([PathPrefix '/' LogPrefix 'LogF.txt']); % COLUMN HEADERS : % 1 totalTime % 2 timeMemoryUpdate, @@ -54,7 +55,7 @@ % 19 timeEmptyingTrash % 20 timeRetrievalDbAccess -LogI = importfile([PathPrefix '/' 'LogI.txt']); +LogI = importfile([PathPrefix '/' LogPrefix 'LogI.txt']); % COLUMN HEADERS : % 1 lcHypothesisId, % 2 highestHypothesisId, diff --git a/archive/2010-LoopClosure/run_all.sh b/archive/2010-LoopClosure/run_all.sh deleted file mode 100755 index ef41d4eca5..0000000000 --- a/archive/2010-LoopClosure/run_all.sh +++ /dev/null @@ -1,8 +0,0 @@ -#!/bin/bash - -SCRIPT_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" &> /dev/null && pwd )" - -$SCRIPT_DIR/run_bow.sh ~/loop_closure_detection_datasets/NewCollege ~/loop_closure_detection_datasets/NewCollege.png -$SCRIPT_DIR/run_bow.sh ~/loop_closure_detection_datasets/CityCentre ~/loop_closure_detection_datasets/CityCentre.png -$SCRIPT_DIR/run_bow.sh ~/loop_closure_detection_datasets/UdeS_1Hz ~/loop_closure_detection_datasets/UdeS_1Hz.png - diff --git a/archive/2010-LoopClosure/run_all_datasets.sh b/archive/2010-LoopClosure/run_all_datasets.sh new file mode 100755 index 0000000000..4e84158f9e --- /dev/null +++ b/archive/2010-LoopClosure/run_all_datasets.sh @@ -0,0 +1,29 @@ +#!/bin/bash + +DATASETS_FOLDER="" +if [ $# -eq 1 ] +then + DATASETS_FOLDER=$1 +else +echo "Usage: run_all_datasets.sh \"datasets folder\" " +exit +fi + +SCRIPT_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" &> /dev/null && pwd )" + +$SCRIPT_DIR/run_bow.sh $DATASETS_FOLDER/NewCollege $DATASETS_FOLDER/NewCollege.png +if [ -s LogF.txt ]; then +mv LogF.txt $DATASETS_FOLDER/NewCollege/LogF.txt +mv LogI.txt $DATASETS_FOLDER/NewCollege/LogI.txt +fi +$SCRIPT_DIR/run_bow.sh $DATASETS_FOLDER/CityCentre $DATASETS_FOLDER/CityCentre.png +if [ -s LogF.txt ]; then +mv LogF.txt $DATASETS_FOLDER/CityCentre/LogF.txt +mv LogI.txt $DATASETS_FOLDER/CityCentre/LogI.txt +fi +$SCRIPT_DIR/run_bow.sh $DATASETS_FOLDER/UdeS_1Hz $DATASETS_FOLDER/UdeS_1Hz.png +if [ -s LogF.txt ]; then +mv LogF.txt $DATASETS_FOLDER/UdeS_1Hz/LogF.txt +mv LogI.txt $DATASETS_FOLDER/UdeS_1Hz/LogI.txt +fi + diff --git a/archive/2010-LoopClosure/run_all_detectors.sh b/archive/2010-LoopClosure/run_all_detectors.sh new file mode 100755 index 0000000000..54b3b8a561 --- /dev/null +++ b/archive/2010-LoopClosure/run_all_detectors.sh @@ -0,0 +1,37 @@ +#!/bin/bash + +DATASET_FOLDER="" +GT_FILE="" +MEMORY_THR=0 +if [ $# -ge 2 ] +then + DATASET_FOLDER=$1 + GT_FILE=$2 +else +echo "Usage: run_all_detectors.sh \"dataset folder\" \"ground truth file\" [\"Rtabmap/MemoryThr=0\"]" +exit +fi + +if [ $# -ge 3 ] +then + MEMORY_THR=$3 +fi + +SCRIPT_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" &> /dev/null && pwd )" + +$SCRIPT_DIR/run_bow.sh $DATASET_FOLDER $GT_FILE $MEMORY_THR 0 false +mv LogF.txt $DATASET_FOLDER/SurfLogF.txt +mv LogI.txt $DATASET_FOLDER/SurfLogI.txt +$SCRIPT_DIR/run_bow.sh $DATASET_FOLDER $GT_FILE $MEMORY_THR 1 false +mv LogF.txt $DATASET_FOLDER/SiftLogF.txt +mv LogI.txt $DATASET_FOLDER/SiftLogI.txt +$SCRIPT_DIR/run_bow.sh $DATASET_FOLDER $GT_FILE $MEMORY_THR 1 true +mv LogF.txt $DATASET_FOLDER/CudaSiftLogF.txt +mv LogI.txt $DATASET_FOLDER/CudaSiftLogI.txt +$SCRIPT_DIR/run_bow.sh $DATASET_FOLDER $GT_FILE $MEMORY_THR 6 false +mv LogF.txt $DATASET_FOLDER/GfttBriefLogF.txt +mv LogI.txt $DATASET_FOLDER/GfttBriefLogI.txt +#$SCRIPT_DIR/run_bow.sh $DATASET_FOLDER $GT_FILE $MEMORY_THR 11 false +#mv LogF.txt $DATASET_FOLDER/SuperPointLogF.txt +#mv LogI.txt $DATASET_FOLDER/SuperPointLogI.txt + diff --git a/archive/2010-LoopClosure/run_bow.sh b/archive/2010-LoopClosure/run_bow.sh index 087eceaece..995f37aefd 100755 --- a/archive/2010-LoopClosure/run_bow.sh +++ b/archive/2010-LoopClosure/run_bow.sh @@ -2,22 +2,38 @@ DATASET_FOLDER="" GT_FILE="" -if [ $# -eq 2 ] +MEMORY_THR=300 +DETECTOR=0 +GPU=false +if [ $# -ge 2 ] then DATASET_FOLDER=$1 GT_FILE=$2 else -echo "Usage: run_bow.sh \"dataset folder\" \"ground truth file\"" +echo "Usage: run_bow.sh \"dataset folder\" \"ground truth file\" [\"Rtabmap/MemoryThr=300\"] [\"Kp/DetectorStrategy=0\"] [\"GPU=false\"]" exit fi +if [ $# -ge 3 ] +then + MEMORY_THR=$3 +fi +if [ $# -ge 4 ] +then + DETECTOR=$4 +fi +if [ $# -ge 5 ] +then + GPU=$5 +fi + rtabmap-console \ -quiet \ --Rtabmap/StatisticLogged true\ --Rtabmap/StatisticLoggedHeaders false\ - --Kp/DetectorStrategy 0\ + --Kp/DetectorStrategy $DETECTOR\ --SURF/HessianThreshold 150\ - --Rtabmap/MemoryThr 300\ + --Rtabmap/MemoryThr $MEMORY_THR\ --Rtabmap/LoopRatio 0.9\ --Mem/STMSize 30\ --Vis/MaxFeatures 400\ @@ -27,6 +43,11 @@ rtabmap-console \ --Mem/BadSignaturesIgnored true\ --Mem/RehearsalSimilarity 0.20\ --Mem/RecentWmRatio 0.20\ + --FAST/Gpu $GPU\ + --GFTT/Gpu $GPU\ + --ORB/Gpu $GPU\ + --SIFT/Gpu $GPU\ + --SURF/GpuVersion $GPU\ -gt "$GT_FILE"\ "$DATASET_FOLDER" diff --git a/corelib/include/rtabmap/core/Features2d.h b/corelib/include/rtabmap/core/Features2d.h index ff27600094..a08b1e7a7f 100644 --- a/corelib/include/rtabmap/core/Features2d.h +++ b/corelib/include/rtabmap/core/Features2d.h @@ -45,6 +45,7 @@ namespace gpu { class SURF_GPU; class ORB_GPU; class FAST_GPU; + class GoodFeaturesToTrackDetector_GPU; } } typedef cv::SIFT CV_SIFT; @@ -57,13 +58,14 @@ typedef cv::BRISK CV_BRISK; typedef cv::gpu::SURF_GPU CV_SURF_GPU; typedef cv::gpu::ORB_GPU CV_ORB_GPU; typedef cv::gpu::FAST_GPU CV_FAST_GPU; +typedef cv::gpu::GoodFeaturesToTrackDetector_GPU CV_GFTT_GPU; #else namespace cv{ namespace xfeatures2d { class FREAK; class DAISY; class BriefDescriptorExtractor; -#if CV_MAJOR_VERSION < 3 || (CV_MAJOR_VERSION == 4 && CV_MINOR_VERSION <= 3) || (CV_MAJOR_VERSION == 3 && (CV_MINOR_VERSION < 4 || (CV_MINOR_VERSION==4 && CV_SUBMINOR_VERSION<11))) +#if (CV_MAJOR_VERSION == 4 && CV_MINOR_VERSION <= 3) || (CV_MAJOR_VERSION == 3 && (CV_MINOR_VERSION < 4 || (CV_MINOR_VERSION==4 && CV_SUBMINOR_VERSION<11))) class SIFT; #endif class SURF; @@ -72,9 +74,10 @@ namespace cuda { class FastFeatureDetector; class ORB; class SURF_CUDA; +class CornersDetector; } } -#if CV_MAJOR_VERSION < 3 || (CV_MAJOR_VERSION == 4 && CV_MINOR_VERSION <= 3) || (CV_MAJOR_VERSION == 3 && (CV_MINOR_VERSION < 4 || (CV_MINOR_VERSION==4 && CV_SUBMINOR_VERSION<11))) +#if (CV_MAJOR_VERSION == 4 && CV_MINOR_VERSION <= 3) || (CV_MAJOR_VERSION == 3 && (CV_MINOR_VERSION < 4 || (CV_MINOR_VERSION==4 && CV_SUBMINOR_VERSION<11))) typedef cv::xfeatures2d::SIFT CV_SIFT; #else typedef cv::SIFT CV_SIFT; // SIFT is back in features2d since 4.4.0 / 3.4.11 @@ -90,8 +93,12 @@ typedef cv::ORB CV_ORB; typedef cv::cuda::SURF_CUDA CV_SURF_GPU; typedef cv::cuda::ORB CV_ORB_GPU; typedef cv::cuda::FastFeatureDetector CV_FAST_GPU; +typedef cv::cuda::CornersDetector CV_GFTT_GPU; #endif +// CudaSift fork: https://github.com/matlabbe/CudaSift +class SiftData; + namespace rtabmap { class ORBextractor; @@ -294,9 +301,18 @@ class RTABMAP_CORE_EXPORT SIFT : public Feature2D double contrastThreshold_; double edgeThreshold_; double sigma_; + bool preciseUpscale_; bool rootSIFT_; - - cv::Ptr _sift; + bool gpu_; + float guaussianThreshold_; + bool upscale_; + + cv::Ptr sift_; + SiftData * cudaSiftData_; + float * cudaSiftMemory_; + cv::Size cudaSiftMemorySize_; + cv::Mat cudaSiftDescriptors_; + bool cudaSiftUpscaling_; }; //ORB @@ -425,8 +441,10 @@ class RTABMAP_CORE_EXPORT GFTT : public Feature2D int _blockSize; bool _useHarrisDetector; double _k; + bool _gpu; cv::Ptr _gftt; + cv::Ptr _gpuGftt; }; //GFTT_BRIEF diff --git a/corelib/include/rtabmap/core/Parameters.h b/corelib/include/rtabmap/core/Parameters.h index ce262e27f6..ee4da294d5 100644 --- a/corelib/include/rtabmap/core/Parameters.h +++ b/corelib/include/rtabmap/core/Parameters.h @@ -281,12 +281,15 @@ class RTABMAP_CORE_EXPORT Parameters RTABMAP_PARAM(SURF, GpuVersion, bool, false, "GPU-SURF: Use GPU version of SURF. This option is enabled only if OpenCV is built with CUDA and GPUs are detected."); RTABMAP_PARAM(SURF, GpuKeypointsRatio, float, 0.01, "Used with SURF GPU."); - RTABMAP_PARAM(SIFT, NFeatures, int, 0, "The number of best features to retain. The features are ranked by their scores (measured in SIFT algorithm as the local contrast)."); - RTABMAP_PARAM(SIFT, NOctaveLayers, int, 3, "The number of layers in each octave. 3 is the value used in D. Lowe paper. The number of octaves is computed automatically from the image resolution."); - RTABMAP_PARAM(SIFT, ContrastThreshold, double, 0.04, "The contrast threshold used to filter out weak features in semi-uniform (low-contrast) regions. The larger the threshold, the less features are produced by the detector."); + RTABMAP_PARAM(SIFT, NOctaveLayers, int, 3, "The number of layers in each octave. 3 is the value used in D. Lowe paper. The number of octaves is computed automatically from the image resolution. Not used by CudaSift, the number of octaves is still computed automatically."); + RTABMAP_PARAM(SIFT, ContrastThreshold, double, 0.04, uFormat("The contrast threshold used to filter out weak features in semi-uniform (low-contrast) regions. The larger the threshold, the less features are produced by the detector. Not used by CudaSift (see %s instead).", kSIFTGaussianThreshold().c_str())); RTABMAP_PARAM(SIFT, EdgeThreshold, double, 10, "The threshold used to filter out edge-like features. Note that the its meaning is different from the contrastThreshold, i.e. the larger the edgeThreshold, the less features are filtered out (more features are retained)."); RTABMAP_PARAM(SIFT, Sigma, double, 1.6, "The sigma of the Gaussian applied to the input image at the octave #0. If your image is captured with a weak camera with soft lenses, you might want to reduce the number."); - RTABMAP_PARAM(SIFT, RootSIFT, bool, false, "Apply RootSIFT normalization of the descriptors."); + RTABMAP_PARAM(SIFT, PreciseUpscale, bool, false, "Whether to enable precise upscaling in the scale pyramid (OpenCV >= 4.8)."); + RTABMAP_PARAM(SIFT, RootSIFT, bool, false, "Apply RootSIFT normalization of the descriptors."); + RTABMAP_PARAM(SIFT, Gpu, bool, false, "CudaSift: Use GPU version of SIFT. This option is enabled only if RTAB-Map is built with CudaSift dependency and GPUs are detected."); + RTABMAP_PARAM(SIFT, GaussianThreshold, float, 2.0, "CudaSift: Threshold on difference of Gaussians for feature pruning. The higher the threshold, the less features are produced by the detector."); + RTABMAP_PARAM(SIFT, Upscale, bool, false, "CudaSift: Whether to enable upscaling."); RTABMAP_PARAM(BRIEF, Bytes, int, 32, "Bytes is a length of descriptor in bytes. It can be equal 16, 32 or 64 bytes."); @@ -305,6 +308,7 @@ class RTABMAP_CORE_EXPORT Parameters RTABMAP_PARAM(GFTT, BlockSize, int, 3, ""); RTABMAP_PARAM(GFTT, UseHarrisDetector, bool, false, ""); RTABMAP_PARAM(GFTT, K, double, 0.04, ""); + RTABMAP_PARAM(GFTT, Gpu, bool, false, "GPU-GFTT: Use GPU version of GFTT. This option is enabled only if OpenCV>=3 is built with CUDA and GPUs are detected."); RTABMAP_PARAM(ORB, ScaleFactor, float, 2, "Pyramid decimation ratio, greater than 1. scaleFactor==2 means the classical pyramid, where each next level has 4x less pixels than the previous, but such a big scale factor will degrade feature matching scores dramatically. On the other hand, too close to 1 scale factor will mean that to cover certain scale range you will need more pyramid levels and so the speed will suffer."); RTABMAP_PARAM(ORB, NLevels, int, 3, "The number of pyramid levels. The smallest level will have linear size equal to input_image_linear_size/pow(scaleFactor, nlevels)."); @@ -714,6 +718,7 @@ class RTABMAP_CORE_EXPORT Parameters RTABMAP_PARAM(Vis, CorFlowIterations, int, 30, uFormat("[%s=1] See cv::calcOpticalFlowPyrLK(). Used for optical flow approach.", kVisCorType().c_str())); RTABMAP_PARAM(Vis, CorFlowEps, float, 0.01, uFormat("[%s=1] See cv::calcOpticalFlowPyrLK(). Used for optical flow approach.", kVisCorType().c_str())); RTABMAP_PARAM(Vis, CorFlowMaxLevel, int, 3, uFormat("[%s=1] See cv::calcOpticalFlowPyrLK(). Used for optical flow approach.", kVisCorType().c_str())); + RTABMAP_PARAM(Vis, CorFlowGpu, bool, false, uFormat("[%s=1] Enable GPU version of the optical flow approach (only available if OpenCV is built with CUDA).", kVisCorType().c_str())); #if defined(RTABMAP_G2O) || defined(RTABMAP_ORB_SLAM) RTABMAP_PARAM(Vis, BundleAdjustment, int, 1, "Optimization with bundle adjustment: 0=disabled, 1=g2o, 2=cvsba, 3=Ceres."); #else @@ -791,6 +796,7 @@ class RTABMAP_CORE_EXPORT Parameters RTABMAP_PARAM(Stereo, OpticalFlow, bool, true, "Use optical flow to find stereo correspondences, otherwise a simple block matching approach is used."); RTABMAP_PARAM(Stereo, SSD, bool, true, uFormat("[%s=false] Use Sum of Squared Differences (SSD) window, otherwise Sum of Absolute Differences (SAD) window is used.", kStereoOpticalFlow().c_str())); RTABMAP_PARAM(Stereo, Eps, double, 0.01, uFormat("[%s=true] Epsilon stop criterion.", kStereoOpticalFlow().c_str())); + RTABMAP_PARAM(Stereo, Gpu, bool, false, uFormat("[%s=true] Enable GPU version of the optical flow approach (only available if OpenCV is built with CUDA).", kStereoOpticalFlow().c_str())); RTABMAP_PARAM(Stereo, DenseStrategy, int, 0, "0=cv::StereoBM, 1=cv::StereoSGBM"); diff --git a/corelib/include/rtabmap/core/RegistrationVis.h b/corelib/include/rtabmap/core/RegistrationVis.h index 68c176f0db..520be30a89 100644 --- a/corelib/include/rtabmap/core/RegistrationVis.h +++ b/corelib/include/rtabmap/core/RegistrationVis.h @@ -91,6 +91,7 @@ class RTABMAP_CORE_EXPORT RegistrationVis : public Registration int _flowIterations; float _flowEps; int _flowMaxLevel; + bool _flowGpu; float _nndr; int _nnType; bool _gmsWithRotation; diff --git a/corelib/include/rtabmap/core/SensorData.h b/corelib/include/rtabmap/core/SensorData.h index 57d7452ddf..1a2ad1ab66 100644 --- a/corelib/include/rtabmap/core/SensorData.h +++ b/corelib/include/rtabmap/core/SensorData.h @@ -314,6 +314,13 @@ class RTABMAP_CORE_EXPORT SensorData bool isPointVisibleFromCameras(const cv::Point3f & pt) const; // assuming point is in robot frame +#ifdef HAVE_OPENCV_CUDEV + const cv::cuda::GpuMat & imageRawGpu() const {return _imageRawGpu;} + void setImageRawGpu(const cv::cuda::GpuMat & image) {_imageRawGpu = image;} + const cv::cuda::GpuMat & depthOrRightRawGpu() const {return _depthOrRightRawGpu;} + void setDepthOrRightRawGpu(const cv::cuda::GpuMat & image) {_depthOrRightRawGpu = image;} +#endif + private: int _id; double _stamp; @@ -365,6 +372,14 @@ class RTABMAP_CORE_EXPORT SensorData GPS gps_; IMU imu_; + +#ifdef HAVE_OPENCV_CUDEV + // Temporary buffers used for some optimizations, + // particulary to avoid host<->device copies if same + // data are re-used + cv::cuda::GpuMat _imageRawGpu; + cv::cuda::GpuMat _depthOrRightRawGpu; +#endif }; } diff --git a/corelib/include/rtabmap/core/Stereo.h b/corelib/include/rtabmap/core/Stereo.h index 9c06e2a1dc..497f8067b4 100644 --- a/corelib/include/rtabmap/core/Stereo.h +++ b/corelib/include/rtabmap/core/Stereo.h @@ -49,6 +49,13 @@ class RTABMAP_CORE_EXPORT Stereo { const cv::Mat & rightImage, const std::vector & leftCorners, std::vector & status) const; +#ifdef HAVE_OPENCV_CUDEV + virtual std::vector computeCorrespondences( + const cv::cuda::GpuMat & leftImage, + const cv::cuda::GpuMat & rightImage, + const std::vector & leftCorners, + std::vector & status) const; +#endif cv::Size winSize() const {return cv::Size(winWidth_, winHeight_);} int iterations() const {return iterations_;} @@ -56,6 +63,7 @@ class RTABMAP_CORE_EXPORT Stereo { float minDisparity() const {return minDisparity_;} float maxDisparity() const {return maxDisparity_;} bool winSSD() const {return winSSD_;} + virtual bool isGpuEnabled() const {return false;} private: int winWidth_; @@ -78,11 +86,27 @@ class RTABMAP_CORE_EXPORT StereoOpticalFlow : public Stereo { const cv::Mat & rightImage, const std::vector & leftCorners, std::vector & status) const; + +#ifdef HAVE_OPENCV_CUDEV + virtual std::vector computeCorrespondences( + const cv::cuda::GpuMat & leftImage, + const cv::cuda::GpuMat & rightImage, + const std::vector & leftCorners, + std::vector & status) const; +#endif float epsilon() const {return epsilon_;} + virtual bool isGpuEnabled() const; + +private: + void updateStatus( + const std::vector & leftCorners, + const std::vector & rightCorners, + std::vector & status) const; private: float epsilon_; + bool gpu_; }; } /* namespace rtabmap */ diff --git a/corelib/include/rtabmap/core/camera/CameraStereoZed.h b/corelib/include/rtabmap/core/camera/CameraStereoZed.h index 640eec6c5a..de3a94c2e6 100644 --- a/corelib/include/rtabmap/core/camera/CameraStereoZed.h +++ b/corelib/include/rtabmap/core/camera/CameraStereoZed.h @@ -49,7 +49,7 @@ class RTABMAP_CORE_EXPORT CameraStereoZed : public: CameraStereoZed( int deviceId, - int resolution = 6, // 0=HD2K, 1=HD1080, 2=HD1200, 3=HD720, 4=SVGA, 5=VGA, 6=AUTO + int resolution = -1, // -1 = AUTO, 0=HD4K 1=HD2K 2=HD1080 3=HD1200 4=HD720 5=SVGA 6=VGA int quality = 1, // 0=NONE, 1=PERFORMANCE, 2=QUALITY int sensingMode = 0,// 0=STANDARD, 1=FILL int confidenceThr = 100, diff --git a/corelib/src/CMakeLists.txt b/corelib/src/CMakeLists.txt index 5c46f432ea..aadff75ae8 100644 --- a/corelib/src/CMakeLists.txt +++ b/corelib/src/CMakeLists.txt @@ -539,6 +539,14 @@ IF(PDAL_FOUND) ENDIF(PDAL_VERSION VERSION_LESS "1.7") ENDIF(PDAL_FOUND) +IF(CudaSift_FOUND) + #target + SET(LIBRARIES + ${LIBRARIES} + cudasift + ) +ENDIF(CudaSift_FOUND) + IF(loam_velodyne_FOUND) SET(INCLUDE_DIRS diff --git a/corelib/src/Features2d.cpp b/corelib/src/Features2d.cpp index c306b5fd61..80a2ece26c 100644 --- a/corelib/src/Features2d.cpp +++ b/corelib/src/Features2d.cpp @@ -75,11 +75,18 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. #ifdef HAVE_OPENCV_CUDAFEATURES2D #include #endif +#ifdef HAVE_OPENCV_CUDAIMGPROC +#include +#endif #ifdef RTABMAP_FASTCV #include #endif +#ifdef RTABMAP_CUDASIFT +#include +#include +#endif namespace rtabmap { void Feature2D::filterKeypointsByDepth( @@ -329,7 +336,7 @@ void Feature2D::limitKeypoints(std::vector & keypoints, std::vecto } else { - ULOGGER_DEBUG("too much words (%d), removing words with the hessian threshold", keypoints.size()); + ULOGGER_DEBUG("too many words (%d), removing words with the hessian threshold", keypoints.size()); // Remove words under the new hessian threshold // Sort words by hessian @@ -858,15 +865,36 @@ std::vector Feature2D::generateKeypoints3D( data.stereoCameraModels()[0].isValidForProjection()) { //stereo - cv::Mat imageMono; - // convert to grayscale - if(data.imageRaw().channels() > 1) + cv::Mat imageLeft = data.imageRaw(); + cv::Mat imageRight = data.rightRaw(); +#ifdef HAVE_OPENCV_CUDEV + cv::cuda::GpuMat d_imageLeft; + cv::cuda::GpuMat d_imageRight; + if(_stereo->isGpuEnabled()) { - cv::cvtColor(data.imageRaw(), imageMono, cv::COLOR_BGR2GRAY); + d_imageLeft = data.imageRawGpu(); + if(d_imageLeft.empty()) { + d_imageLeft = cv::cuda::GpuMat(imageLeft); + } + // convert to grayscale + if(d_imageLeft.channels() > 1) { + cv::cuda::GpuMat tmp; + cv::cuda::cvtColor(d_imageLeft, tmp, cv::COLOR_BGR2GRAY); + d_imageLeft = tmp; + } + d_imageRight = data.depthOrRightRawGpu(); + if(d_imageRight.empty()) { + d_imageRight = cv::cuda::GpuMat(imageRight); + } } else +#endif { - imageMono = data.imageRaw(); + // convert to grayscale (right image should be already grayscale) + if(imageLeft.channels() > 1) + { + cv::cvtColor(data.imageRaw(), imageLeft, cv::COLOR_BGR2GRAY); + } } std::vector leftCorners; @@ -877,11 +905,24 @@ std::vector Feature2D::generateKeypoints3D( if(data.stereoCameraModels().size() == 1) { std::vector status; - rightCorners = _stereo->computeCorrespondences( - imageMono, - data.rightRaw(), - leftCorners, - status); +#ifdef HAVE_OPENCV_CUDEV + if(_stereo->isGpuEnabled()) + { + rightCorners = _stereo->computeCorrespondences( + d_imageLeft, + d_imageRight, + leftCorners, + status); + } + else +#endif + { + rightCorners = _stereo->computeCorrespondences( + imageLeft, + imageRight, + leftCorners, + status); + } if(ULogger::level() >= ULogger::kWarning) { @@ -916,8 +957,8 @@ std::vector Feature2D::generateKeypoints3D( } else { - int subImageWith = imageMono.cols / data.stereoCameraModels().size(); - UASSERT(imageMono.cols % subImageWith == 0); + int subImageWith = imageLeft.cols / data.stereoCameraModels().size(); + UASSERT(imageLeft.cols % subImageWith == 0); std::vector > subLeftCorners(data.stereoCameraModels().size()); std::vector > subIndex(data.stereoCameraModels().size()); // Assign keypoints per camera @@ -937,11 +978,24 @@ std::vector Feature2D::generateKeypoints3D( if(!subLeftCorners[i].empty()) { std::vector status; - rightCorners = _stereo->computeCorrespondences( - imageMono.colRange(cv::Range(subImageWith*i, subImageWith*(i+1))), - data.rightRaw().colRange(cv::Range(subImageWith*i, subImageWith*(i+1))), +#ifdef HAVE_OPENCV_CUDEV + if(_stereo->isGpuEnabled()) + { + rightCorners = _stereo->computeCorrespondences( + d_imageLeft.colRange(cv::Range(subImageWith*i, subImageWith*(i+1))), + d_imageRight.colRange(cv::Range(subImageWith*i, subImageWith*(i+1))), + subLeftCorners[i], + status); + } + else +#endif + { + rightCorners = _stereo->computeCorrespondences( + imageLeft.colRange(cv::Range(subImageWith*i, subImageWith*(i+1))), + imageRight.colRange(cv::Range(subImageWith*i, subImageWith*(i+1))), subLeftCorners[i], status); + } std::vector subKeypoints3D = util3d::generateKeypoints3DStereo( subLeftCorners[i], @@ -1143,13 +1197,29 @@ SIFT::SIFT(const ParametersMap & parameters) : contrastThreshold_(Parameters::defaultSIFTContrastThreshold()), edgeThreshold_(Parameters::defaultSIFTEdgeThreshold()), sigma_(Parameters::defaultSIFTSigma()), - rootSIFT_(Parameters::defaultSIFTRootSIFT()) + preciseUpscale_(Parameters::defaultSIFTPreciseUpscale()), + rootSIFT_(Parameters::defaultSIFTRootSIFT()), + gpu_(Parameters::defaultSIFTGpu()), + guaussianThreshold_(Parameters::defaultSIFTGaussianThreshold()), + upscale_(Parameters::defaultSIFTUpscale()), + cudaSiftData_(0), + cudaSiftMemory_(0), + cudaSiftUpscaling_(upscale_) { parseParameters(parameters); } SIFT::~SIFT() { +#ifdef RTABMAP_CUDASIFT + if(cudaSiftData_) { + FreeSiftData(*cudaSiftData_); + delete cudaSiftData_; + } + if(cudaSiftMemory_) { + FreeSiftTempMemory(cudaSiftMemory_); + } +#endif } void SIFT::parseParameters(const ParametersMap & parameters) @@ -1160,21 +1230,45 @@ void SIFT::parseParameters(const ParametersMap & parameters) Parameters::parse(parameters, Parameters::kSIFTEdgeThreshold(), edgeThreshold_); Parameters::parse(parameters, Parameters::kSIFTNOctaveLayers(), nOctaveLayers_); Parameters::parse(parameters, Parameters::kSIFTSigma(), sigma_); + Parameters::parse(parameters, Parameters::kSIFTPreciseUpscale(), preciseUpscale_); Parameters::parse(parameters, Parameters::kSIFTRootSIFT(), rootSIFT_); - -#if CV_MAJOR_VERSION < 3 || (CV_MAJOR_VERSION == 4 && CV_MINOR_VERSION <= 3) || (CV_MAJOR_VERSION == 3 && (CV_MINOR_VERSION < 4 || (CV_MINOR_VERSION==4 && CV_SUBMINOR_VERSION<11))) + Parameters::parse(parameters, Parameters::kSIFTGpu(), gpu_); + Parameters::parse(parameters, Parameters::kSIFTGaussianThreshold(), guaussianThreshold_); + Parameters::parse(parameters, Parameters::kSIFTUpscale(), upscale_); + + if(gpu_) + { +#ifdef RTABMAP_CUDASIFT + UDEBUG("Init SiftData"); + if(cudaSiftData_ == 0) { + cudaSiftData_ = new SiftData(); + InitSiftData(*cudaSiftData_, 8192, true, true); + } +#else + UWARN("RTAB-Map is not built with CudaSift so %s cannot be used!", Parameters::kSIFTGpu().c_str()); + gpu_ = false; +#endif + } + + if(!gpu_) + { + #if CV_MAJOR_VERSION < 3 || (CV_MAJOR_VERSION == 4 && CV_MINOR_VERSION <= 3) || (CV_MAJOR_VERSION == 3 && (CV_MINOR_VERSION < 4 || (CV_MINOR_VERSION==4 && CV_SUBMINOR_VERSION<11))) #ifdef RTABMAP_NONFREE #if CV_MAJOR_VERSION < 3 - _sift = cv::Ptr(new CV_SIFT(this->getMaxFeatures(), nOctaveLayers_, contrastThreshold_, edgeThreshold_, sigma_)); + sift_ = cv::Ptr(new CV_SIFT(this->getMaxFeatures(), nOctaveLayers_, contrastThreshold_, edgeThreshold_, sigma_)); #else - _sift = CV_SIFT::create(this->getMaxFeatures(), nOctaveLayers_, contrastThreshold_, edgeThreshold_, sigma_); + sift_ = CV_SIFT::create(this->getMaxFeatures(), nOctaveLayers_, contrastThreshold_, edgeThreshold_, sigma_); #endif #else - UWARN("RTAB-Map is not built with OpenCV nonfree module so SIFT cannot be used!"); + UWARN("RTAB-Map is not built with OpenCV nonfree module so SIFT cannot be used!"); #endif +#elif CV_MAJOR_VERSION>4 || (CV_MAJOR_VERSION==4 && CV_MINOR_VERSION>=8)// >=4.8 + sift_ = CV_SIFT::create(this->getMaxFeatures(), nOctaveLayers_, contrastThreshold_, edgeThreshold_, sigma_, preciseUpscale_); #else // >=4.4, >=3.4.11 - _sift = CV_SIFT::create(this->getMaxFeatures(), nOctaveLayers_, contrastThreshold_, edgeThreshold_, sigma_); + sift_ = CV_SIFT::create(this->getMaxFeatures(), nOctaveLayers_, contrastThreshold_, edgeThreshold_, sigma_); #endif + } + } std::vector SIFT::generateKeypointsImpl(const cv::Mat & image, const cv::Rect & roi, const cv::Mat & mask) @@ -1182,35 +1276,149 @@ std::vector SIFT::generateKeypointsImpl(const cv::Mat & image, con UASSERT(!image.empty() && image.channels() == 1 && image.depth() == CV_8U); std::vector keypoints; cv::Mat imgRoi(image, roi); - cv::Mat maskRoi; - if(!mask.empty()) +#ifdef RTABMAP_CUDASIFT + if(gpu_) { - maskRoi = cv::Mat(mask, roi); + /* Read image using OpenCV and convert to floating point. */ + int w = imgRoi.cols; + int h = imgRoi.rows; + cv::Mat img_h; + imgRoi.convertTo(img_h, CV_32FC1); + CudaImage img_d; + img_d.Allocate(w, h, iAlignUp(w, 128), false, NULL, (float*)img_h.data); + img_d.Download(); + + // Compute number of octaves like OpenCV based on resolution + // ref: https://github.com/opencv/opencv/blob/4d665419992dda6e40364f741ae4765176b64bb0/modules/features2d/src/sift.dispatch.cpp#L538 + // *** stack smashing detected *** if "-2" term is higher + int numOctaves = cvRound(std::log( (double)std::min(w*(upscale_?2:1), h*(upscale_?2:1)) ) / std::log(2.) - (upscale_?3:2)); + if(numOctaves < 1) { + numOctaves = 1; + } + else if (numOctaves>7) + { + numOctaves = 7; // hard-coded limit in CudaSift + } + float initBlur = sigma_; /* Amount of initial Gaussian blurring in standard deviations */ + float thresh = guaussianThreshold_; /* Threshold on difference of Gaussians for feature pruning */ + float edgeLimit = edgeThreshold_; + float minScale = 0.0f; /* Minimum acceptable scale to remove fine-scale features */ + UDEBUG("numOctaves=%d initBlur=%f thresh=%f edgeLimit=%f minScale=%f upScale=%s w=%d h=%d", numOctaves, initBlur, thresh, edgeLimit, minScale, upscale_?"true":"false", w, h); + + if(cudaSiftMemory_ && (cudaSiftMemorySize_ != cv::Size(w, h) || cudaSiftUpscaling_ != upscale_)) { + // Resolution changed, reset buffer + FreeSiftTempMemory(cudaSiftMemory_); + cudaSiftMemory_ = 0; + } + + if(cudaSiftMemory_ == 0) { + cudaSiftMemory_ = AllocSiftTempMemory(w, h, numOctaves, upscale_); + UASSERT(cudaSiftMemory_ != 0); + cudaSiftMemorySize_ = cv::Size(w, h); + cudaSiftUpscaling_ = upscale_; + } + + ExtractSift(*cudaSiftData_, img_d, numOctaves, initBlur, thresh, edgeLimit, minScale, upscale_, cudaSiftMemory_); + UDEBUG("%d features extracted", cudaSiftData_->numPts); + + // Convert CudaSift into OpenCV format + cudaSiftDescriptors_ = cv::Mat(); + if(cudaSiftData_->numPts) + { + int maxKeypoints = this->getMaxFeatures(); + if(maxKeypoints == 0 || maxKeypoints > cudaSiftData_->numPts) + { + maxKeypoints = cudaSiftData_->numPts; + } + + // Re-using same implementation of limitKeypoints() directly here to avoid doubling memory copies + // Sort words by hessian + std::multimap hessianMap; // + for(int i=0; inumPts; ++i) + { + // Ignore keypoints with invalid descriptors + float *desc = cudaSiftData_->h_data[i].data; + if(desc[0] != 0 && desc[0] == desc[63] && desc[0] == desc[127]) + { + //UWARN("Invalid decsriptor? skipping: %f,%f,%f", cudaSiftData_->h_data[i].xpos, cudaSiftData_->h_data[i].ypos, cudaSiftData_->h_data[i].scale); + //std::cout << cv::Mat(1, 128*4, CV_8UC1, desc) << std::endl; + continue; + } + //Keep track of the data, to be easier to manage the data in the next step + hessianMap.insert(std::pair(cudaSiftData_->h_data[i].sharpness, i)); + } + + if((int)hessianMap.size() < maxKeypoints) + { + maxKeypoints = hessianMap.size(); + } + + std::multimap::reverse_iterator iter = hessianMap.rbegin(); + keypoints.resize(maxKeypoints); + cudaSiftDescriptors_ = cv::Mat(maxKeypoints, 128, CV_32FC1); + for(unsigned int k=0; ksecond; + float *desc = cudaSiftData_->h_data[i].data; + cv::Mat(1, 128, CV_32FC1, desc).copyTo(cudaSiftDescriptors_.row(k)); + keypoints[k].pt.x = cudaSiftData_->h_data[i].xpos; + keypoints[k].pt.y = cudaSiftData_->h_data[i].ypos; + keypoints[k].size = 2.0f*cudaSiftData_->h_data[i].scale; // x2 because the scale is more like a radius than a diameter, see CudaSift's ExtractSiftDescriptors function to see how they convert scale to patch size + keypoints[k].angle = cudaSiftData_->h_data[i].orientation; + keypoints[k].response = cudaSiftData_->h_data[i].sharpness; + keypoints[k].octave = log2(cudaSiftData_->h_data[i].subsampling)-(upscale_?1:0); + } + } } + else +#endif + { + cv::Mat maskRoi; + if(!mask.empty()) + { + maskRoi = cv::Mat(mask, roi); + } + #if CV_MAJOR_VERSION < 3 || (CV_MAJOR_VERSION == 4 && CV_MINOR_VERSION <= 3) || (CV_MAJOR_VERSION == 3 && (CV_MINOR_VERSION < 4 || (CV_MINOR_VERSION==4 && CV_SUBMINOR_VERSION<11))) #ifdef RTABMAP_NONFREE - _sift->detect(imgRoi, keypoints, maskRoi); // Opencv keypoints + sift_->detect(imgRoi, keypoints, maskRoi); // Opencv keypoints #else - UWARN("RTAB-Map is not built with OpenCV nonfree module so SIFT cannot be used!"); + UWARN("RTAB-Map is not built with OpenCV nonfree module so SIFT cannot be used!"); #endif #else // >=4.4, >=3.4.11 - _sift->detect(imgRoi, keypoints, maskRoi); // Opencv keypoints + sift_->detect(imgRoi, keypoints, maskRoi); // Opencv keypoints #endif + } return keypoints; } cv::Mat SIFT::generateDescriptorsImpl(const cv::Mat & image, std::vector & keypoints) const { +#ifdef RTABMAP_CUDASIFT + if(gpu_) + { + if((int)keypoints.size() == cudaSiftDescriptors_.rows) + { + return cudaSiftDescriptors_.clone(); + } + else + { + UERROR("CudaSift: keypoints size %ld is not equal to extracted descriptors size %d", keypoints.size(), cudaSiftDescriptors_.rows); + return cv::Mat(); + } + } +#endif + UASSERT(!image.empty() && image.channels() == 1 && image.depth() == CV_8U); cv::Mat descriptors; #if CV_MAJOR_VERSION < 3 || (CV_MAJOR_VERSION == 4 && CV_MINOR_VERSION <= 3) || (CV_MAJOR_VERSION == 3 && (CV_MINOR_VERSION < 4 || (CV_MINOR_VERSION==4 && CV_SUBMINOR_VERSION<11))) #ifdef RTABMAP_NONFREE - _sift->compute(image, keypoints, descriptors); + sift_->compute(image, keypoints, descriptors); #else UWARN("RTAB-Map is not built with OpenCV nonfree module so SIFT cannot be used!"); #endif #else // >=4.4, >=3.4.11 - _sift->compute(image, keypoints, descriptors); + sift_->compute(image, keypoints, descriptors); #endif if( rootSIFT_ && !descriptors.empty()) { @@ -1790,7 +1998,8 @@ GFTT::GFTT(const ParametersMap & parameters) : _minDistance(Parameters::defaultGFTTMinDistance()), _blockSize(Parameters::defaultGFTTBlockSize()), _useHarrisDetector(Parameters::defaultGFTTUseHarrisDetector()), - _k(Parameters::defaultGFTTK()) + _k(Parameters::defaultGFTTK()), + _gpu(Parameters::defaultGFTTGpu()) { parseParameters(parameters); } @@ -1808,12 +2017,45 @@ void GFTT::parseParameters(const ParametersMap & parameters) Parameters::parse(parameters, Parameters::kGFTTBlockSize(), _blockSize); Parameters::parse(parameters, Parameters::kGFTTUseHarrisDetector(), _useHarrisDetector); Parameters::parse(parameters, Parameters::kGFTTK(), _k); + Parameters::parse(parameters, Parameters::kGFTTGpu(), _gpu); #if CV_MAJOR_VERSION < 3 - _gftt = cv::Ptr(new CV_GFTT(this->getMaxFeatures(), _qualityLevel, _minDistance, _blockSize, _useHarrisDetector ,_k)); + if(_gpu) + { + UWARN("GPU version of GFTT is not implemented for OpenCV<3! Using CPU version instead..."); + _gpu = false; + } +#endif + +#ifdef HAVE_OPENCV_CUDAIMGPROC + if(_gpu && cv::cuda::getCudaEnabledDeviceCount() == 0) + { + UWARN("GPU version of GFTT not available! Using CPU version instead..."); + _gpu = false; + } #else - _gftt = CV_GFTT::create(this->getMaxFeatures(), _qualityLevel, _minDistance, _blockSize, _useHarrisDetector ,_k); + if(_gpu) + { + UWARN("GPU version of GFTT not available (OpenCV cudaimageproc module)! Using CPU version instead..."); + _gpu = false; + } #endif + if(_gpu) + { +#ifdef HAVE_OPENCV_CUDAIMGPROC + _gpuGftt = cv::cuda::createGoodFeaturesToTrackDetector(CV_8UC1, this->getMaxFeatures(), _qualityLevel, _minDistance, _blockSize, _useHarrisDetector ,_k); +#else + UFATAL("not supposed to be here!"); +#endif + } + else + { +#if CV_MAJOR_VERSION < 3 + _gftt = cv::Ptr(new CV_GFTT(this->getMaxFeatures(), _qualityLevel, _minDistance, _blockSize, _useHarrisDetector ,_k)); +#else + _gftt = CV_GFTT::create(this->getMaxFeatures(), _qualityLevel, _minDistance, _blockSize, _useHarrisDetector ,_k); +#endif + } } std::vector GFTT::generateKeypointsImpl(const cv::Mat & image, const cv::Rect & roi, const cv::Mat & mask) @@ -1826,7 +2068,25 @@ std::vector GFTT::generateKeypointsImpl(const cv::Mat & image, con { maskRoi = cv::Mat(mask, roi); } - _gftt->detect(imgRoi, keypoints, maskRoi); // Opencv keypoints + +#if CV_MAJOR_VERSION >= 3 && defined(HAVE_OPENCV_CUDAIMGPROC) + if(_gpu) + { + cv::cuda::GpuMat imgGpu(imgRoi); + cv::cuda::GpuMat maskGpu(maskRoi); + cv::cuda::GpuMat cornersGpu; + _gpuGftt->detect(imgGpu, cornersGpu, maskGpu); + std::vector corners(cornersGpu.cols); + cv::Mat cornersMat(1, cornersGpu.cols, CV_32FC2, (void*)&corners[0]); + cornersGpu.download(cornersMat); + cv::KeyPoint::convert(corners, keypoints, _blockSize); + } + else +#endif + { + _gftt->detect(imgRoi, keypoints, maskRoi); // Opencv keypoints + } + return keypoints; } diff --git a/corelib/src/Parameters.cpp b/corelib/src/Parameters.cpp index 0d6d3a22b0..9579823413 100644 --- a/corelib/src/Parameters.cpp +++ b/corelib/src/Parameters.cpp @@ -236,6 +236,9 @@ const std::map > & Parameters::getRemo { // removed parameters + // 0.21.7 + removedParameters_.insert(std::make_pair("SIFT/NFeatures", std::make_pair(false, ""))); + // 0.21.3 removedParameters_.insert(std::make_pair("GridGlobal/FullUpdate", std::make_pair(false, ""))); @@ -682,6 +685,12 @@ ParametersMap Parameters::parseArguments(int argc, char * argv[], bool onlyParam std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl; #else std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl; +#endif + str = "With CudaSift:"; +#ifdef RTABMAP_CUDASIFT + std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl; +#else + std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl; #endif str = "With TORO:"; #ifdef RTABMAP_TORO diff --git a/corelib/src/RegistrationVis.cpp b/corelib/src/RegistrationVis.cpp index 260b3d255e..67814aef42 100644 --- a/corelib/src/RegistrationVis.cpp +++ b/corelib/src/RegistrationVis.cpp @@ -49,6 +49,11 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. #include // For GMS matcher #endif +#ifdef HAVE_OPENCV_CUDAOPTFLOW +#include +#include +#endif + #include @@ -79,6 +84,7 @@ RegistrationVis::RegistrationVis(const ParametersMap & parameters, Registration _flowIterations(Parameters::defaultVisCorFlowIterations()), _flowEps(Parameters::defaultVisCorFlowEps()), _flowMaxLevel(Parameters::defaultVisCorFlowMaxLevel()), + _flowGpu(Parameters::defaultVisCorFlowGpu()), _nndr(Parameters::defaultVisCorNNDR()), _nnType(Parameters::defaultVisCorNNType()), _gmsWithRotation(Parameters::defaultGMSWithRotation()), @@ -139,6 +145,7 @@ void RegistrationVis::parseParameters(const ParametersMap & parameters) Parameters::parse(parameters, Parameters::kVisCorFlowIterations(), _flowIterations); Parameters::parse(parameters, Parameters::kVisCorFlowEps(), _flowEps); Parameters::parse(parameters, Parameters::kVisCorFlowMaxLevel(), _flowMaxLevel); + Parameters::parse(parameters, Parameters::kVisCorFlowGpu(), _flowGpu); Parameters::parse(parameters, Parameters::kVisCorNNDR(), _nndr); Parameters::parse(parameters, Parameters::kVisCorNNType(), _nnType); Parameters::parse(parameters, Parameters::kGMSWithRotation(), _gmsWithRotation); @@ -160,6 +167,14 @@ void RegistrationVis::parseParameters(const ParametersMap & parameters) UASSERT_MSG(_inlierDistance > 0.0f, uFormat("value=%f", _inlierDistance).c_str()); UASSERT_MSG(_iterations > 0, uFormat("value=%d", _iterations).c_str()); +#ifndef HAVE_OPENCV_CUDAOPTFLOW + if(_flowGpu) + { + UERROR("%s is enabled but RTAB-Map is not built with OpenCV CUDA, disabling it.", Parameters::kVisCorFlowGpu().c_str()); + _flowGpu = false; + } +#endif + if(_nnType == 6) { // verify that we have Python3 support @@ -467,18 +482,59 @@ Transform RegistrationVis::computeTransformationImpl( if(_correspondencesApproach == 1) //Optical Flow { UDEBUG(""); - // convert to grayscale - if(imageFrom.channels() > 1) +#ifdef HAVE_OPENCV_CUDAOPTFLOW + cv::cuda::GpuMat d_imageFrom; + cv::cuda::GpuMat d_imageTo; + if (_flowGpu) { - cv::Mat tmp; - cv::cvtColor(imageFrom, tmp, cv::COLOR_BGR2GRAY); - imageFrom = tmp; + UDEBUG("GPU optical flow: preparing GPU image data..."); + d_imageFrom = fromSignature.sensorData().imageRawGpu(); + if(d_imageFrom.empty() && !imageFrom.empty()) { + d_imageFrom = cv::cuda::GpuMat(imageFrom); + } + // convert to grayscale + if(d_imageFrom.channels() > 1) { + cv::cuda::GpuMat tmp; + cv::cuda::cvtColor(d_imageFrom, tmp, cv::COLOR_BGR2GRAY); + d_imageFrom = tmp; + } + if(fromSignature.sensorData().imageRawGpu().empty()) + { + fromSignature.sensorData().setImageRawGpu(d_imageFrom); // buffer it + } + + d_imageTo = toSignature.sensorData().imageRawGpu(); + if(d_imageTo.empty() && !imageTo.empty()) { + d_imageTo = cv::cuda::GpuMat(imageTo); + } + // convert to grayscale + if(d_imageTo.channels() > 1) { + cv::cuda::GpuMat tmp; + cv::cuda::cvtColor(d_imageTo, tmp, cv::COLOR_BGR2GRAY); + d_imageTo = tmp; + } + if(toSignature.sensorData().imageRawGpu().empty()) + { + toSignature.sensorData().setImageRawGpu(d_imageTo); // buffer it + } + UDEBUG("GPU optical flow: preparing GPU image data... done!"); } - if(imageTo.channels() > 1) + else +#endif { - cv::Mat tmp; - cv::cvtColor(imageTo, tmp, cv::COLOR_BGR2GRAY); - imageTo = tmp; + // convert to grayscale + if(imageFrom.channels() > 1) + { + cv::Mat tmp; + cv::cvtColor(imageFrom, tmp, cv::COLOR_BGR2GRAY); + imageFrom = tmp; + } + if(imageTo.channels() > 1) + { + cv::Mat tmp; + cv::cvtColor(imageTo, tmp, cv::COLOR_BGR2GRAY); + imageTo = tmp; + } } std::vector kptsFrom3D; @@ -568,9 +624,38 @@ Transform RegistrationVis::computeTransformationImpl( // Find features in the new left image UDEBUG("guessSet = %d", guessSet?1:0); std::vector status; - std::vector err; - UDEBUG("cv::calcOpticalFlowPyrLK() begin"); - cv::calcOpticalFlowPyrLK( +#ifdef HAVE_OPENCV_CUDAOPTFLOW + if (_flowGpu) + { + UDEBUG("cv::cuda::SparsePyrLKOpticalFlow transfer host to device begin"); + cv::cuda::GpuMat d_cornersFrom(cornersFrom); + cv::cuda::GpuMat d_cornersTo(cornersTo); + UDEBUG("cv::cuda::SparsePyrLKOpticalFlow transfer host to device end"); + cv::cuda::GpuMat d_status; + cv::Ptr d_pyrLK_sparse = cv::cuda::SparsePyrLKOpticalFlow::create( + cv::Size(_flowWinSize, _flowWinSize), guessSet ? 0 : _flowMaxLevel, _flowIterations, guessSet); + + UDEBUG("cv::cuda::SparsePyrLKOpticalFlow calc begin"); + d_pyrLK_sparse->calc(d_imageFrom, d_imageTo, d_cornersFrom, d_cornersTo, d_status); + UDEBUG("cv::cuda::SparsePyrLKOpticalFlow calc end"); + + UDEBUG("cv::cuda::SparsePyrLKOpticalFlow transfer device to host begin"); + // Transfer back data to CPU + cornersTo = std::vector(d_cornersTo.cols); + cv::Mat matCornersTo(1, d_cornersTo.cols, CV_32FC2, (void*)&cornersTo[0]); + d_cornersTo.download(matCornersTo); + + status = std::vector(d_status.cols); + cv::Mat matStatus(1, d_status.cols, CV_8UC1, (void*)&status[0]); + d_status.download(matStatus); + UDEBUG("cv::cuda::SparsePyrLKOpticalFlow transfer device to host end"); + } + else +#endif + { + std::vector err; + UDEBUG("cv::calcOpticalFlowPyrLK() begin"); + cv::calcOpticalFlowPyrLK( imageFrom, imageTo, cornersFrom, @@ -578,10 +663,11 @@ Transform RegistrationVis::computeTransformationImpl( status, err, cv::Size(_flowWinSize, _flowWinSize), - guessSet?0:_flowMaxLevel, - cv::TermCriteria(cv::TermCriteria::COUNT+cv::TermCriteria::EPS, _flowIterations, _flowEps), - cv::OPTFLOW_LK_GET_MIN_EIGENVALS | (guessSet?cv::OPTFLOW_USE_INITIAL_FLOW:0), 1e-4); - UDEBUG("cv::calcOpticalFlowPyrLK() end"); + guessSet ? 0 : _flowMaxLevel, + cv::TermCriteria(cv::TermCriteria::COUNT + cv::TermCriteria::EPS, _flowIterations, _flowEps), + cv::OPTFLOW_LK_GET_MIN_EIGENVALS | (guessSet ? cv::OPTFLOW_USE_INITIAL_FLOW : 0), 1e-4); + UDEBUG("cv::calcOpticalFlowPyrLK() end"); + } UASSERT(kptsFrom.size() == kptsFrom3D.size()); std::vector kptsTo(kptsFrom.size()); diff --git a/corelib/src/Stereo.cpp b/corelib/src/Stereo.cpp index 20bc8377ae..448cf8cbb6 100644 --- a/corelib/src/Stereo.cpp +++ b/corelib/src/Stereo.cpp @@ -30,6 +30,10 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. #include #include +#ifdef HAVE_OPENCV_CUDAOPTFLOW +#include +#endif + namespace rtabmap { Stereo * Stereo::create(const ParametersMap & parameters) @@ -92,9 +96,22 @@ std::vector Stereo::computeCorrespondences( return rightCorners; } +#ifdef HAVE_OPENCV_CUDEV +std::vector Stereo::computeCorrespondences( + const cv::cuda::GpuMat & leftImage, + const cv::cuda::GpuMat & rightImage, + const std::vector & leftCorners, + std::vector & status) const +{ + UERROR("GPU support for this approach is not implemented!"); + return std::vector(); +} +#endif + StereoOpticalFlow::StereoOpticalFlow(const ParametersMap & parameters) : Stereo(parameters), - epsilon_(Parameters::defaultStereoEps()) + epsilon_(Parameters::defaultStereoEps()), + gpu_(Parameters::defaultStereoGpu()) { this->parseParameters(parameters); } @@ -103,8 +120,24 @@ void StereoOpticalFlow::parseParameters(const ParametersMap & parameters) { Stereo::parseParameters(parameters); Parameters::parse(parameters, Parameters::kStereoEps(), epsilon_); + Parameters::parse(parameters, Parameters::kStereoGpu(), gpu_); +#ifndef HAVE_OPENCV_CUDAOPTFLOW + if(gpu_) + { + UERROR("%s is enabled but RTAB-Map is not built with OpenCV CUDA, disabling it.", Parameters::kStereoGpu().c_str()); + gpu_ = false; + } +#endif } +bool StereoOpticalFlow::isGpuEnabled() const +{ +#ifdef HAVE_OPENCV_CUDAOPTFLOW + return gpu_; +#else + return false; +#endif +} std::vector StereoOpticalFlow::computeCorrespondences( const cv::Mat & leftImage, @@ -113,20 +146,83 @@ std::vector StereoOpticalFlow::computeCorrespondences( std::vector & status) const { std::vector rightCorners; - UDEBUG("util2d::calcOpticalFlowPyrLKStereo() begin"); std::vector err; - util2d::calcOpticalFlowPyrLKStereo( - leftImage, - rightImage, - leftCorners, - rightCorners, - status, - err, - this->winSize(), - this->maxLevel(), - cv::TermCriteria(cv::TermCriteria::COUNT+cv::TermCriteria::EPS, this->iterations(), epsilon_), - cv::OPTFLOW_LK_GET_MIN_EIGENVALS, 1e-4); - UDEBUG("util2d::calcOpticalFlowPyrLKStereo() end"); +#ifdef HAVE_OPENCV_CUDAOPTFLOW + if(gpu_) + { + cv::cuda::GpuMat d_leftImage(leftImage); + cv::cuda::GpuMat d_rightImage(rightImage); + return computeCorrespondences(d_leftImage, d_rightImage, leftCorners, status); + } + else +#endif + { + UDEBUG("util2d::calcOpticalFlowPyrLKStereo() begin"); + util2d::calcOpticalFlowPyrLKStereo( + leftImage, + rightImage, + leftCorners, + rightCorners, + status, + err, + this->winSize(), + this->maxLevel(), + cv::TermCriteria(cv::TermCriteria::COUNT+cv::TermCriteria::EPS, this->iterations(), epsilon_), + cv::OPTFLOW_LK_GET_MIN_EIGENVALS, 1e-4); + UDEBUG("util2d::calcOpticalFlowPyrLKStereo() end"); + } + updateStatus(leftCorners, rightCorners, status); + return rightCorners; +} + +#ifdef HAVE_OPENCV_CUDEV +std::vector StereoOpticalFlow::computeCorrespondences( + const cv::cuda::GpuMat & leftImage, + const cv::cuda::GpuMat & rightImage, + const std::vector & leftCorners, + std::vector & status) const +{ + std::vector rightCorners; +#ifdef HAVE_OPENCV_CUDAOPTFLOW + UDEBUG("cv::cuda::SparsePyrLKOpticalFlow transfer host to device begin"); + cv::cuda::GpuMat d_leftImage(leftImage); + cv::cuda::GpuMat d_rightImage(rightImage); + cv::cuda::GpuMat d_leftCorners(leftCorners); + cv::cuda::GpuMat d_rightCorners; + UDEBUG("cv::cuda::SparsePyrLKOpticalFlow transfer host to device end"); + cv::cuda::GpuMat d_status; + cv::Ptr d_pyrLK_sparse = cv::cuda::SparsePyrLKOpticalFlow::create( + this->winSize(), this->maxLevel(), this->iterations()); + + UDEBUG("cv::cuda::SparsePyrLKOpticalFlow calc begin"); + d_pyrLK_sparse->calc(d_leftImage, d_rightImage, d_leftCorners, d_rightCorners, d_status); + UDEBUG("cv::cuda::SparsePyrLKOpticalFlow calc end"); + + UDEBUG("cv::cuda::SparsePyrLKOpticalFlow transfer device to host begin"); + // Transfer back data to CPU + rightCorners = std::vector(d_rightCorners.cols); + cv::Mat matRightCorners(1, d_rightCorners.cols, CV_32FC2, (void*)&rightCorners[0]); + d_rightCorners.download(matRightCorners); + + status = std::vector(d_status.cols); + cv::Mat matStatus(1, d_status.cols, CV_8UC1, (void*)&status[0]); + d_status.download(matStatus); + UDEBUG("cv::cuda::SparsePyrLKOpticalFlow transfer device to host end"); + + updateStatus(leftCorners, rightCorners, status); + +#else + UERROR("GPU support for this approach is not implemented!"); +#endif + return rightCorners; +} +#endif + +void StereoOpticalFlow::updateStatus( + const std::vector & leftCorners, + const std::vector & rightCorners, + std::vector & status) const +{ UASSERT(leftCorners.size() == rightCorners.size() && status.size() == leftCorners.size()); int countFlowRejected = 0; int countDisparityRejected = 0; @@ -147,8 +243,6 @@ std::vector StereoOpticalFlow::computeCorrespondences( } } UDEBUG("total=%d countFlowRejected=%d countDisparityRejected=%d", (int)status.size(), countFlowRejected, countDisparityRejected); - - return rightCorners; } } /* namespace rtabmap */ diff --git a/corelib/src/camera/CameraStereoZed.cpp b/corelib/src/camera/CameraStereoZed.cpp index ed61e1511c..70d636b14f 100644 --- a/corelib/src/camera/CameraStereoZed.cpp +++ b/corelib/src/camera/CameraStereoZed.cpp @@ -286,15 +286,29 @@ CameraStereoZed::CameraStereoZed( UDEBUG(""); #ifdef RTABMAP_ZED #if ZED_SDK_MAJOR_VERSION < 4 - if(resolution_ == 3) + if(resolution_ == 1 || resolution_ == 2) // HD2K, HD1080 { - resolution_ = 2; + resolution_ -= 1; // HD2K=0, HD1080=1 } - else if(resolution_ == 5) + if(resolution_ == 3) // HD1200 { - resolution_ = 3; + resolution_ = 1; // HD1080=1 + } + if(resolution_ == 4 || resolution_ == -1) + { + resolution_ = 2; // HD720=2 + } + else if(resolution_ == 5 || resolution_ == 6) // SVGA, VGA + { + resolution_ = 3; // VGA=3 + } +#else // ZED=4 + if(resolution_ == -1) + { + resolution_ = int(sl::RESOLUTION::AUTO); // AUTO } #endif + #if ZED_SDK_MAJOR_VERSION < 3 UASSERT(resolution_ >= sl::RESOLUTION_HD2K && resolution_ = sl::DEPTH_MODE_NONE && quality_ update(); + cloudViewer_->refreshView(); lastOdometryProcessed_ = true; } @@ -277,6 +278,7 @@ protected Q_SLOTS: odometryCorrection_ = stats.mapCorrection(); cloudViewer_->update(); + cloudViewer_->refreshView(); processingStatistics_ = false; } diff --git a/examples/RGBDMapping/main.cpp b/examples/RGBDMapping/main.cpp index 28064e3bea..dae89861b6 100644 --- a/examples/RGBDMapping/main.cpp +++ b/examples/RGBDMapping/main.cpp @@ -137,7 +137,7 @@ int main(int argc, char * argv[]) UERROR("Not built with ZED SDK support..."); exit(-1); } - camera = new CameraStereoZed(0, 2, 1, 1, 100, false); + camera = new CameraStereoZed(0, -1, 1, 1, 100, false); } else if (driver == 7) { diff --git a/examples/WifiMapping/MapBuilder.h b/examples/WifiMapping/MapBuilder.h index 101e6035fa..a4b23ab6a2 100644 --- a/examples/WifiMapping/MapBuilder.h +++ b/examples/WifiMapping/MapBuilder.h @@ -156,6 +156,7 @@ protected Q_SLOTS: } } cloudViewer_->update(); + cloudViewer_->refreshView(); lastOdometryProcessed_ = true; } @@ -245,6 +246,7 @@ protected Q_SLOTS: odometryCorrection_ = stats.mapCorrection(); cloudViewer_->update(); + cloudViewer_->refreshView(); processingStatistics_ = false; } diff --git a/examples/WifiMapping/main.cpp b/examples/WifiMapping/main.cpp index 82a6ebf0a3..446da968c2 100644 --- a/examples/WifiMapping/main.cpp +++ b/examples/WifiMapping/main.cpp @@ -172,7 +172,7 @@ int main(int argc, char * argv[]) UERROR("Not built with ZED SDK support..."); exit(-1); } - camera = new CameraStereoZed(0, 2, 1, 1, 100, false, 0, opticalRotation); + camera = new CameraStereoZed(0, -1, 1, 1, 100, false, 0, opticalRotation); } else if (driver == 7) { diff --git a/guilib/src/AboutDialog.cpp b/guilib/src/AboutDialog.cpp index a5713caa17..43b6155b5b 100644 --- a/guilib/src/AboutDialog.cpp +++ b/guilib/src/AboutDialog.cpp @@ -100,6 +100,20 @@ AboutDialog::AboutDialog(QWidget * parent) : _ui->label_fastcv->setText("No"); _ui->label_fastcv_license->setEnabled(false); #endif +#ifdef RTABMAP_PDAL + _ui->label_pdal->setText("Yes"); + _ui->label_pdal_license->setEnabled(true); +#else + _ui->label_pdal->setText("No"); + _ui->label_pdal_license->setEnabled(false); +#endif +#ifdef RTABMAP_CUDASIFT + _ui->label_cudasift->setText("Yes"); + _ui->label_cudasift_license->setEnabled(true); +#else + _ui->label_cudasift->setText("No"); + _ui->label_cudasift_license->setEnabled(false); +#endif #ifdef RTABMAP_OCTOMAP _ui->label_octomap->setText("Yes"); _ui->label_octomap_license->setEnabled(true); diff --git a/guilib/src/OdometryViewer.cpp b/guilib/src/OdometryViewer.cpp index 27c6125565..1be68f33fb 100644 --- a/guilib/src/OdometryViewer.cpp +++ b/guilib/src/OdometryViewer.cpp @@ -211,7 +211,7 @@ void OdometryViewer::processData(const rtabmap::OdometryEvent & odom) cloudView_->setBackgroundColor(Qt::black); } - timeLabel_->setText(QString("%1 s").arg(odom.info().timeEstimation)); + timeLabel_->setText(QString("%1 s").arg(odom.info().timeEstimation)); if(cloudShown_->isChecked() && !odom.data().imageRaw().empty() && @@ -219,8 +219,8 @@ void OdometryViewer::processData(const rtabmap::OdometryEvent & odom) (odom.data().stereoCameraModels().size() || odom.data().cameraModels().size())) { UDEBUG("New pose = %s, quality=%d", odom.pose().prettyPrint().c_str(), quality); - - if(!odom.data().depthRaw().empty()) + + if(!odom.data().depthRaw().empty()) { if(odom.data().imageRaw().cols % decimationSpin_->value() == 0 && odom.data().imageRaw().rows % decimationSpin_->value() == 0) @@ -238,14 +238,14 @@ void OdometryViewer::processData(const rtabmap::OdometryEvent & odom) } } else - { - validDecimationValue_ = decimationSpin_->value(); + { + validDecimationValue_ = decimationSpin_->value(); } // visualization: buffering the clouds // Create the new cloud pcl::PointCloud::Ptr cloud; - pcl::IndicesPtr validIndices(new std::vector); + pcl::IndicesPtr validIndices(new std::vector); cloud = util3d::cloudRGBFromSensorData( odom.data(), validDecimationValue_, @@ -257,7 +257,7 @@ void OdometryViewer::processData(const rtabmap::OdometryEvent & odom) if(voxelSpin_->value()) { cloud = util3d::voxelize(cloud, validIndices, voxelSpin_->value()); - } + } if(cloud->size()) { @@ -489,6 +489,7 @@ void OdometryViewer::processData(const rtabmap::OdometryEvent & odom) imageView_->update(); cloudView_->update(); + cloudView_->refreshView(); QApplication::processEvents(); processingData_ = false; } diff --git a/guilib/src/PreferencesDialog.cpp b/guilib/src/PreferencesDialog.cpp index 19a51382bf..fa2e06b06b 100644 --- a/guilib/src/PreferencesDialog.cpp +++ b/guilib/src/PreferencesDialog.cpp @@ -159,10 +159,28 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) : _ui->checkBox_ORBGpu->setEnabled(false); _ui->label_orbGpu->setEnabled(false); + _ui->checkBox_GFTT_gpu->setEnabled(false); + _ui->label_GFTT_gpu->setEnabled(false); + // disable BruteForceGPU option _ui->comboBox_dictionary_strategy->setItemData(4, 0, Qt::UserRole - 1); _ui->reextract_nn->setItemData(4, 0, Qt::UserRole - 1); } +#ifndef RTABMAP_CUDASIFT + _ui->sift_checkBox_gpu->setEnabled(false); + _ui->sift_label_gpu->setEnabled(false); + _ui->sift_doubleSpinBox_gaussianDiffThreshold->setEnabled(false); + _ui->sift_label_gaussianThreshold->setEnabled(false); + _ui->sift_checkBox_upscale->setEnabled(false); + _ui->sift_label_upscale->setEnabled(false); +#endif + +#ifndef HAVE_OPENCV_CUDAOPTFLOW + _ui->odom_flow_gpu->setEnabled(false); + _ui->label_odom_flow_gpu->setEnabled(false); + _ui->stereo_flow_gpu->setEnabled(false); + _ui->label_stereo_flow_gpu->setEnabled(false); +#endif #ifndef RTABMAP_OCTOMAP _ui->groupBox_octomap->setChecked(false); @@ -242,6 +260,10 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) : _ui->vis_feature_detector->setItemData(1, 0, Qt::UserRole - 1); #endif #endif +#if CV_MAJOR_VERSION < 4 || (CV_MAJOR_VERSION == 4 && CV_MINOR_VERSION < 8) + _ui->sift_checkBox_preciseUpscale->setEnabled(false); + _ui->sift_label_preciseUpscale->setEnabled(false); +#endif #if CV_MAJOR_VERSION >= 3 && !defined(HAVE_OPENCV_XFEATURES2D) _ui->comboBox_detector_strategy->setItemData(3, 0, Qt::UserRole - 1); @@ -401,7 +423,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) : } else if(CameraStereoZed::sdkVersion() < 4) { - _ui->comboBox_stereoZed_resolution->setItemData(2, 0, Qt::UserRole - 1); + _ui->comboBox_stereoZed_resolution->setItemData(1, 0, Qt::UserRole - 1); _ui->comboBox_stereoZed_resolution->setItemData(4, 0, Qt::UserRole - 1); _ui->comboBox_stereoZed_resolution->setItemData(6, 0, Qt::UserRole - 1); _ui->comboBox_stereoZed_quality->setItemData(3, 0, Qt::UserRole - 1); @@ -1063,12 +1085,15 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) : _ui->surf_doubleSpinBox_gpuKeypointsRatio->setObjectName(Parameters::kSURFGpuKeypointsRatio().c_str()); //SIFT detector - _ui->sift_spinBox_nFeatures->setObjectName(Parameters::kSIFTNFeatures().c_str()); _ui->sift_spinBox_nOctaveLayers->setObjectName(Parameters::kSIFTNOctaveLayers().c_str()); _ui->sift_doubleSpinBox_contrastThr->setObjectName(Parameters::kSIFTContrastThreshold().c_str()); _ui->sift_doubleSpinBox_edgeThr->setObjectName(Parameters::kSIFTEdgeThreshold().c_str()); _ui->sift_doubleSpinBox_sigma->setObjectName(Parameters::kSIFTSigma().c_str()); + _ui->sift_checkBox_preciseUpscale->setObjectName(Parameters::kSIFTPreciseUpscale().c_str()); _ui->sift_checkBox_rootsift->setObjectName(Parameters::kSIFTRootSIFT().c_str()); + _ui->sift_checkBox_gpu->setObjectName(Parameters::kSIFTGpu().c_str()); + _ui->sift_doubleSpinBox_gaussianDiffThreshold->setObjectName(Parameters::kSIFTGaussianThreshold().c_str()); + _ui->sift_checkBox_upscale->setObjectName(Parameters::kSIFTUpscale().c_str()); //BRIEF descriptor _ui->briefBytes->setObjectName(Parameters::kBRIEFBytes().c_str()); @@ -1106,6 +1131,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) : _ui->spinBox_GFTT_blockSize->setObjectName(Parameters::kGFTTBlockSize().c_str()); _ui->checkBox_GFTT_useHarrisDetector->setObjectName(Parameters::kGFTTUseHarrisDetector().c_str()); _ui->doubleSpinBox_GFTT_k->setObjectName(Parameters::kGFTTK().c_str()); + _ui->checkBox_GFTT_gpu->setObjectName(Parameters::kGFTTGpu().c_str()); //BRISK _ui->spinBox_BRISK_thresh->setObjectName(Parameters::kBRISKThresh().c_str()); @@ -1265,10 +1291,11 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) : _ui->subpix_winSize->setObjectName(Parameters::kVisSubPixWinSize().c_str()); _ui->subpix_iterations->setObjectName(Parameters::kVisSubPixIterations().c_str()); _ui->subpix_eps->setObjectName(Parameters::kVisSubPixEps().c_str()); - _ui->odom_flow_winSize_2->setObjectName(Parameters::kVisCorFlowWinSize().c_str()); - _ui->odom_flow_maxLevel_2->setObjectName(Parameters::kVisCorFlowMaxLevel().c_str()); - _ui->odom_flow_iterations_2->setObjectName(Parameters::kVisCorFlowIterations().c_str()); - _ui->odom_flow_eps_2->setObjectName(Parameters::kVisCorFlowEps().c_str()); + _ui->odom_flow_winSize->setObjectName(Parameters::kVisCorFlowWinSize().c_str()); + _ui->odom_flow_maxLevel->setObjectName(Parameters::kVisCorFlowMaxLevel().c_str()); + _ui->odom_flow_iterations->setObjectName(Parameters::kVisCorFlowIterations().c_str()); + _ui->odom_flow_eps->setObjectName(Parameters::kVisCorFlowEps().c_str()); + _ui->odom_flow_gpu->setObjectName(Parameters::kVisCorFlowGpu().c_str()); _ui->loopClosure_bundle->setObjectName(Parameters::kVisBundleAdjustment().c_str()); //RegistrationIcp @@ -1585,6 +1612,8 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) : _ui->stereo_ssd->setObjectName(Parameters::kStereoSSD().c_str()); _ui->stereo_flow_eps->setObjectName(Parameters::kStereoEps().c_str()); _ui->stereo_opticalFlow->setObjectName(Parameters::kStereoOpticalFlow().c_str()); + _ui->stereo_flow_gpu->setObjectName(Parameters::kStereoGpu().c_str()); + // Odometry Open3D _ui->odom_open3d_method->setObjectName(Parameters::kOdomOpen3DMethod().c_str()); @@ -2200,7 +2229,7 @@ void PreferencesDialog::resetSettings(QGroupBox * groupBox) _ui->spinBox_stereo_right_device->setValue(-1); _ui->spinBox_stereousbcam_streamWidth->setValue(0); _ui->spinBox_stereousbcam_streamHeight->setValue(0); - _ui->comboBox_stereoZed_resolution->setCurrentIndex(CameraStereoZed::sdkVersion()<4?3:6); + _ui->comboBox_stereoZed_resolution->setCurrentIndex(0); _ui->comboBox_stereoZed_quality->setCurrentIndex(1); _ui->checkbox_stereoZed_selfCalibration->setChecked(true); _ui->comboBox_stereoZed_sensingMode->setCurrentIndex(0); @@ -6764,7 +6793,7 @@ Camera * PreferencesDialog::createCamera( { camera = new CameraStereoZed( device.isEmpty()?0:atoi(device.toStdString().c_str()), - _ui->comboBox_stereoZed_resolution->currentIndex(), + _ui->comboBox_stereoZed_resolution->currentIndex()-1, // depth should be enabled for zed vo to work _ui->comboBox_stereoZed_quality->currentIndex()==0&&odomOnly?1:_ui->comboBox_stereoZed_quality->currentIndex(), _ui->comboBox_stereoZed_sensingMode->currentIndex(), diff --git a/guilib/src/ui/aboutDialog.ui b/guilib/src/ui/aboutDialog.ui index 05d1036dfa..1fe54f3104 100644 --- a/guilib/src/ui/aboutDialog.ui +++ b/guilib/src/ui/aboutDialog.ui @@ -164,7 +164,7 @@ p, li { white-space: pre-wrap; } 0 0 596 - 1096 + 1142 @@ -185,81 +185,91 @@ p, li { white-space: pre-wrap; } - - + + - With K4A : + OpenCV version : true - - + + - BSD + With ORB Octree : true - - + + - <html><head/><body><p><span style=" font-weight:600;">Third Party Libraries</span></p></body></html> + Apache v2 - - Qt::RichText + + true + + + + + + + With K4W2 : true - - + + - With Viso2 : + + + + Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter true - - + + - With CPU-TSDF : + GPLv3 true - - + + - BSD + PSF true - - + + - Apache-2 + With TORO : true - - + + @@ -271,21 +281,28 @@ p, li { white-space: pre-wrap; } - - + + - + GPLv3 - - Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter + + true + + + + + + + Apache v2 and/or GPLv2 true - - + + @@ -297,18 +314,18 @@ p, li { white-space: pre-wrap; } - - + + - GPLv3 + Apache-2 true - - + + @@ -320,41 +337,41 @@ p, li { white-space: pre-wrap; } - - + + - With stereo dc1394 : + LGPL true - - + + - - - - Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter + With g2o : true - - + + - With Zed Open Capture : + + + + Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter true - - + + @@ -366,8 +383,18 @@ p, li { white-space: pre-wrap; } - - + + + + Apache v2 + + + true + + + + + @@ -379,18 +406,18 @@ p, li { white-space: pre-wrap; } - - + + - With OpenVINS : + With OpenNI2 : true - - + + GPLv3 @@ -399,18 +426,18 @@ p, li { white-space: pre-wrap; } - - + + - With Open3D : + With stereo FlyCapture2 : true - - + + @@ -422,81 +449,87 @@ p, li { white-space: pre-wrap; } - - + + - BSD + With Zed Open Capture : true - - + + - + <html><head/><body><p><span style=" font-weight:600;">Third Party Libraries</span></p></body></html> - - Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter + + Qt::RichText true - - + + - With RealSense2 : + + + + Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter true - - + + - BSD + + + + Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter true - - + + - With g2o : + Apache v2 true - - + + - With OpenNI2 : + Creative Commons [Attribution-NonCommercial-ShareAlike] true - - + + - BSD + GPLv3 true - - + + @@ -508,28 +541,28 @@ p, li { white-space: pre-wrap; } - - + + - BSD + With FastCV : true - - + + - With AliceVision : + BSD true - - + + @@ -541,21 +574,48 @@ p, li { white-space: pre-wrap; } - - + + - + With Zed SDK : - - Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter + + true + + + + + + + BSD true - - + + + + With loam_velodyne : + + + true + + + + + + + With Python3 : + + + true + + + + + @@ -567,78 +627,84 @@ p, li { white-space: pre-wrap; } - - + + - Open Source or Commercial + With CCCoreLib : true - - + + - MPL2 + + + + Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter true - - + + - With MRPT : + With Ceres : true - - + + - With MYNTEYE S : + With RealSense : true - - + + - With DVO : + Apache-2 true - - + + - With OpenChisel : + BSD true - - + + - With VINS-Fusion : + + + + Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter true - - + + @@ -650,84 +716,81 @@ p, li { white-space: pre-wrap; } - - + + - GPLv3 + + + + Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter true - - + + - GPLv3 + With GridMap : true - - + + - - - - Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter + BSD true - - + + - With cvsba : + BSD true - - + + - GPLv2 + BSD true - - + + - - - - Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter + With Octomap : true - - + + - With Freenect : + Penn Software License true - - + + @@ -739,48 +802,54 @@ p, li { white-space: pre-wrap; } - - + + - With FastCV : + + + + Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter true - - + + - Apache v2 and/or GPLv2 + With AliceVision : true - - + + - With stereo FlyCapture2 : + + + + Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter true - - + + - MIT + MPL2 true - - + + @@ -792,51 +861,48 @@ p, li { white-space: pre-wrap; } - - + + - - - - Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter + With OpenChisel : true - - + + - Creative Commons [Attribution-NonCommercial-ShareAlike] + With cvsba : true - - + + - With ORB Octree : + GPLv2 true - - + + - OpenCV version : + With Open3D : true - - + + @@ -848,41 +914,38 @@ p, li { white-space: pre-wrap; } - - + + - - - - Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter + GPLv3 true - - + + - With DepthAI : + MIT true - - + + - GPLv2 + With CPU-TSDF : true - - + + @@ -894,21 +957,18 @@ p, li { white-space: pre-wrap; } - - + + - - - - Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter + With OpenNI : true - - + + @@ -920,8 +980,8 @@ p, li { white-space: pre-wrap; } - - + + @@ -933,18 +993,28 @@ p, li { white-space: pre-wrap; } - - + + - BSD + GPLv2 true - - + + + + With Freenect2 : + + + true + + + + + @@ -956,86 +1026,87 @@ p, li { white-space: pre-wrap; } - - + + - Apache v2 + Qt version : true - - + + - - - - Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter + With RealSense2 : true - - + + - <html><head/><body><p><span style=" font-weight:600;">License</span></p></body></html> + Apache v2 and/or GPLv2 true - - + + - - - - Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter + BSD true - - + + - With K4W2 : + With K4A : true - - + + - + BSD - - Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter + + true + + + + + + + GPLv3 true - - + + - MIT + GPLv3 true - + With libpointmatcher : @@ -1045,7 +1116,7 @@ p, li { white-space: pre-wrap; } - + With ORB SLAM 2 : @@ -1055,8 +1126,8 @@ p, li { white-space: pre-wrap; } - - + + BSD @@ -1065,8 +1136,8 @@ p, li { white-space: pre-wrap; } - - + + @@ -1078,8 +1149,8 @@ p, li { white-space: pre-wrap; } - - + + @@ -1092,7 +1163,7 @@ p, li { white-space: pre-wrap; } - + @@ -1104,31 +1175,38 @@ p, li { white-space: pre-wrap; } - - + + - + With OKVIS : - - Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter + + true + + + + + + + MIT true - - + + - Penn Software License + With DVO : true - - + + @@ -1140,84 +1218,81 @@ p, li { white-space: pre-wrap; } - - + + - GPLv2 + Open Source or Commercial true - - + + - With FOVIS : + With MYNTEYE S : true - - + + - MIT + VTK version : true - - + + - - - - Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter + GPLv2 true - - + + - With loam_velodyne : + + + + Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter true - - + + - BSD + With DepthAI : true - - + + - - - - Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter + With OpenVINS : true - - + + @@ -1229,38 +1304,44 @@ p, li { white-space: pre-wrap; } - - + + - GPLv3 + + + + Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter true - - + + - PCL version : + + + + Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter true - - + + - Apache v2 + With FOVIS : true - - + + @@ -1272,131 +1353,134 @@ p, li { white-space: pre-wrap; } - - + + - With Freenect2 : + BSD true - - + + - With Python3 : + PCL version : true - - + + - Apache-2 + + + + Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter true - - + + - BSD + With Viso2 : true - - + + - GPLv3 + <html><head/><body><p><span style=" font-weight:600;">License</span></p></body></html> true - - + + - BSD + + + + Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter true - - + + - With RealSense : + BSD true - - + + - Qt version : + BSD true - - + + - Apache v2 and/or GPLv2 + MIT true - - + + - With Ceres : + MIT true - - + + - - - - Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter + With GTSAM : true - - + + - MIT + With Freenect : true - - + + @@ -1408,8 +1492,8 @@ p, li { white-space: pre-wrap; } - - + + @@ -1421,60 +1505,66 @@ p, li { white-space: pre-wrap; } - - + + - With OKVIS : + With MRPT : true - - + + - With Octomap : + + + + Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter true - - + + - BSD + + + + Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter true - - + + - GPLv3 + With XVisio SDK : true - - + + - PSF + BSD true - - + + - With GridMap : + With CudaSift : true @@ -1482,19 +1572,22 @@ p, li { white-space: pre-wrap; } - + - With Zed SDK : + With stereo dc1394 : true - - + + - With TORO : + + + + Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter true @@ -1502,7 +1595,7 @@ p, li { white-space: pre-wrap; } - + @@ -1514,18 +1607,8 @@ p, li { white-space: pre-wrap; } - - - - With CCCoreLib : - - - true - - - - - + + @@ -1537,58 +1620,61 @@ p, li { white-space: pre-wrap; } - - + + - VTK version : + With VINS-Fusion : true - - + + - BSD + MIT true - - + + - With XVisio SDK : + With MSCKF : true - - + + - LGPL + + + + Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter true - - + + - With MSCKF : + With SuperPoint Torch : true - - + + @@ -1600,18 +1686,8 @@ p, li { white-space: pre-wrap; } - - - - With GTSAM : - - - true - - - - - + + @@ -1623,28 +1699,28 @@ p, li { white-space: pre-wrap; } - - + + - With SuperPoint Torch : + BSD true - - + + - With OpenNI : + With PDAL : true - - + + @@ -1656,16 +1732,6 @@ p, li { white-space: pre-wrap; } - - - - Apache v2 - - - true - - - diff --git a/guilib/src/ui/preferencesDialog.ui b/guilib/src/ui/preferencesDialog.ui index be76a324f7..f0980e11fd 100644 --- a/guilib/src/ui/preferencesDialog.ui +++ b/guilib/src/ui/preferencesDialog.ui @@ -95,7 +95,7 @@ QFrame::Raised - 7 + 24 @@ -5534,6 +5534,16 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki + + + AUTO + + + + + HD4K + + HD2K @@ -5564,11 +5574,6 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki VGA - - - AUTO - - @@ -15707,7 +15712,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag - 5 + 1 @@ -16107,27 +16112,11 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag [Visual] Correspondences computation: Optical Flow - - - - - 1 - - - 999999 - - - 1 - - - 21 - - - - - + + + - Iterations. + Window size. true @@ -16150,34 +16139,40 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag - - - - Window size. + + + + 1 - - true + + 999999 - - Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse + + 1 + + + 30 - - - - Epsilon. + + + + 1 - - true + + 999999 - - Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse + + 1 + + + 21 - + 3 @@ -16195,8 +16190,21 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag + + + + Iterations. + + + true + + + Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse + + + - + 0 @@ -16211,19 +16219,36 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag - - - - 1 + + + + Epsilon. - - 999999 + + true - - 1 + + Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse - - 30 + + + + + + Use GPU. OpenCV built with CUDA required. + + + true + + + Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse + + + + + + + @@ -24313,23 +24338,10 @@ Lower the ratio -> higher the precision. - - - - Window height. - - - true - - - Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse - - - - - + + - Minimum disparity. + Maximum disparity. true @@ -24339,10 +24351,10 @@ Lower the ratio -> higher the precision. - - + + - 3 + 1 999999 @@ -24351,14 +24363,14 @@ Lower the ratio -> higher the precision. 1 - 21 + 30 - - + + - Window width. + Use optical flow to find stereo correspondences, otherwise a simple block matching approach is used. true @@ -24368,10 +24380,10 @@ Lower the ratio -> higher the precision. - - + + - Maximum iterations. + Maximum pyramid level. true @@ -24381,68 +24393,30 @@ Lower the ratio -> higher the precision. - - + + - - - - - - - - 3 - - - 999999 - - - 1 - - - 21 - - - - - - - 1 - - - 999999 + [OpticalFlow = true] Epsilon stop criterion. - - 1 + + true - - 30 + + Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse - - - - 4 - - - 0.000100000000000 - + + - 0.100000000000000 - - - 0.010000000000000 - - - 0.010000000000000 + 9999.000000000000000 - - + + - [OpticalFlow = true] Epsilon stop criterion. + Maximum iterations. true @@ -24452,10 +24426,10 @@ Lower the ratio -> higher the precision. - - + + - Maximum pyramid level. + Window width. true @@ -24465,22 +24439,6 @@ Lower the ratio -> higher the precision. - - - - 0 - - - 999999 - - - 1 - - - 3 - - - @@ -24494,10 +24452,10 @@ Lower the ratio -> higher the precision. - - + + - Use optical flow to find stereo correspondences, otherwise a simple block matching approach is used. + Minimum disparity. true @@ -24507,16 +24465,36 @@ Lower the ratio -> higher the precision. - - - - Maximum disparity. - - - true + + + + 9999.000000000000000 - - Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse + + + + + + 4 + + + 0.000100000000000 + + + 0.100000000000000 + + + 0.010000000000000 + + + 0.010000000000000 + + + + + + + @@ -24527,17 +24505,84 @@ Lower the ratio -> higher the precision. - - + + + + 3 + - 9999.000000000000000 + 999999 + + + 1 + + + 21 - - + + + + 0 + - 9999.000000000000000 + 999999 + + + 1 + + + 3 + + + + + + + Window height. + + + true + + + Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse + + + + + + + 3 + + + 999999 + + + 1 + + + 21 + + + + + + + [OpticalFlow = true] Do optical flow on GPU. RTAB-Map should be built with OpenCV CUDA. + + + true + + + Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse + + + + + + + @@ -25515,13 +25560,46 @@ Lower the ratio -> higher the precision. SIFT + + + + + + + + + + + Edge threshold. The threshold used to filter out edge-like features. Note that the its meaning is different from the contrastThreshold, i.e. the larger the edgeThreshold, the less features are filtered out (more features are retained). + + + true + + + Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse + + + - + - + + + Whether to enable precise upscaling in the scale pyramid. + + + Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse + + + + + - Sigma. + The number of layers in each octave. 3 is the value used in D. Lowe paper. The number of octaves is computed automatically from the image resolution. Not used by CudaSift, the number of octaves is still computed automatically. + + + true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse @@ -25529,6 +25607,23 @@ Lower the ratio -> higher the precision. + + + 0.100000000000000 + + + 10.000000000000000 + + + + + + + + + + + 6 @@ -25547,81 +25642,116 @@ Lower the ratio -> higher the precision. - - + + + + 0.100000000000000 + + + 10.000000000000000 + + + + + - Contrast threshold. + CudaSift: Use GPU version of SIFT. This option is enabled only RTAB-Map is built with CudaSift dependency and GPUs are detected. + + + true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse - - + + - Edge threshold. + Contrast threshold. The contrast threshold used to filter out weak features in semi-uniform (low-contrast) regions. The larger the threshold, the less features are produced by the detector. Not used by CudaSift. + + + true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse - - + + + + 2 + + + 0.010000000000000 + + + 100.000000000000000 + 0.100000000000000 - 10.000000000000000 + 4.500000000000000 - - - - 0.100000000000000 + + + + RootSIFT. - - 10.000000000000000 + + Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse - - - - - + + - nOctaveLayers. + CudaSift: Threshold on difference of Gaussians for feature pruning. The higher the threshold, the less features are produced by the detector. + + + true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse - - + + + + + + + + + - nFeatures. + Sigma. The sigma of the Gaussian applied to the input image at the octave #0. If your image is captured with a weak camera with soft lenses, you might want to reduce the number. + + + true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse - - + + - RootSIFT. + CudaSift: Whether to enable upscaling. Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse - - + + @@ -26272,22 +26402,16 @@ Lower the ratio -> higher the precision. GFTT - - - - 4 - - - 0.000100000000000 - - - 1.000000000000000 + + + + Quality level. Parameter characterizing the minimal accepted quality of image corners. The parameter value is multiplied by the best corner quality measure, which is the minimal eigenvalue (see cornerMinEigenVal() ) or the Harris function response. The corners with the quality measure less than the product are rejected. For example, if the best corner has the quality measure = 1500, and the qualityLevel=0.01 , then all the corners with the quality measure less than 15 are rejected. - - 0.010000000000000 + + true - - 0.010000000000000 + + Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse @@ -26311,21 +26435,14 @@ Lower the ratio -> higher the precision. - - - - Use Harris detector. - - - true + + + + 4 - - Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse + + 0.000100000000000 - - - - 1.000000000000000 @@ -26333,7 +26450,7 @@ Lower the ratio -> higher the precision. 0.010000000000000 - 0.040000000000000 + 0.010000000000000 @@ -26357,10 +26474,23 @@ Lower the ratio -> higher the precision. - - + + + + 1.000000000000000 + + + 0.010000000000000 + + + 0.040000000000000 + + + + + - Quality level. Parameter characterizing the minimal accepted quality of image corners. The parameter value is multiplied by the best corner quality measure, which is the minimal eigenvalue (see cornerMinEigenVal() ) or the Harris function response. The corners with the quality measure less than the product are rejected. For example, if the best corner has the quality measure = 1500, and the qualityLevel=0.01 , then all the corners with the quality measure less than 15 are rejected. + Block size. Size of an average block for computing a derivative covariation matrix over each pixel neighborhood. true @@ -26383,10 +26513,10 @@ Lower the ratio -> higher the precision. - - + + - Block size. Size of an average block for computing a derivative covariation matrix over each pixel neighborhood. + Use Harris detector. true @@ -26396,6 +26526,29 @@ Lower the ratio -> higher the precision. + + + + GPU-GFTT: Use GPU version of GFTT. This option is available only if OpenCV>=3 is built with CUDA and GPUs are detected. + + + true + + + Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse + + + + + + + + + + true + + + diff --git a/tools/OdometryViewer/main.cpp b/tools/OdometryViewer/main.cpp index 565cc1ce15..67c65a0d51 100644 --- a/tools/OdometryViewer/main.cpp +++ b/tools/OdometryViewer/main.cpp @@ -330,7 +330,7 @@ int main (int argc, char * argv[]) UERROR("Not built with ZED sdk support..."); exit(-1); } - camera = new rtabmap::CameraStereoZed(0,3,1,0,100,false,rate); + camera = new rtabmap::CameraStereoZed(0,-1,1,0,100,false,rate); } else if (driver == 9) {