Updated Map Matching With TEBLID and CLAHE #797
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| verbose_localization = false | ||
| visualize_localization_matches = false | ||
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| -- BRISK |
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Are BRISK and TEBLID the only choices? What about SURF? What about TEBLID256 vs. TEBLID512? (It's ok if this file isn't merged in its final form because we can tune it after the ISAAC16 code freeze. But it might help to list the available feature types at the top of the file even if we don't define parameters for all the types yet. Also, not sure about this, but it might make sense to define a default value for each parameter that applies across all feature types while enabling a feature-type-specific value to override that.)
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Added teblid512 and teblid256, we don't really support SURF for loc since we never merged the vocab branch so I'll leave that out
| * @copyright 2021 Xoan Iago Suarez Canosa. All rights reserved. | ||
| * Constact: [email protected] | ||
| * Software developed in the PhD: Low-level vision for resource-limited devices | ||
| */ |
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Suggest adding to the comment:
"We provide a free pre-trained version of the execution code."
https://github.com/iago-suarez/efficient-descriptors/blob/0aa561bd44b58c66ae6af4705091e0147a7cc5e8/README.md
https://github.com/iago-suarez/efficient-descriptors/blob/0aa561bd44b58c66ae6af4705091e0147a7cc5e8/LICENSE
(And propagate to BAD.h as well.)
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(Used similar link with license as suggested by @bcoltin)
| if (detector_name == "ORGBRISK") { | ||
| prefix = "brisk_"; | ||
| } else if (detector_name == "TEBLID") { | ||
| prefix = "teblid_"; |
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(Possibly support "TEBLID512" and "TEBLID256"?)
| histogram_equalization); | ||
| loc_params.histogram_equalization); | ||
| // Check consistency between clahe params | ||
| if (loc_params.use_clahe && (loc_params.histogram_equalization != 3 || map_->GetHistogramEqualization() != 3)) { |
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The literal 3 here is a bit obscure. Probably there should be an enum or at least a macro that you can compare to?
| @@ -272,15 +229,12 @@ struct SparseMap { | |||
| std::vector<cv::Mat> cid_to_descriptor_map_; | |||
| // generated on load | |||
| std::vector<std::map<int, int> > cid_fid_to_pid_; | |||
| std::vector<std::map<int, int>> cid_to_matching_cid_counts_; | |||
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If we're adding new fields to the map, ideally we should also log their memory usage in our memory debug statistics. (Not sure if you were aware there's per-field code for that.)
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Oh actually I wasn't aware of that, which file(s) should I edit?
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(found it, looks like it's still in PR, I'll update the pr)
…surf_and_teblib_interest_points
….com/rsoussan/astrobee into hash_surf_and_teblib_interest_points
| /** | ||
| * @copyright 2021 Xoan Iago Suarez Canosa. All rights reserved. | ||
| * Constact: [email protected] | ||
| * Software developed in the PhD: Low-level vision for resource-limited devices |
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and does this really need to be included instead of linked to
Added TEBLID feature support for mapping and localization, added option for using CLAHE for histogram equalization, added options for adding similar images, best previous image, and essential matrix filtering.