From e4ad5bfeec68b9906510bdd7e3cf1bcc707fb712 Mon Sep 17 00:00:00 2001
From: Nicolas Pope <nwpope@utu.fi>
Date: Thu, 20 Jun 2019 11:25:28 +0300
Subject: [PATCH] Tweaks to reg parameters
---
.../registration/src/correspondances.cpp | 18 ++++++++++--------
applications/registration/src/manual.cpp | 4 ++--
applications/registration/src/sfm.cpp | 4 ++--
3 files changed, 14 insertions(+), 12 deletions(-)
diff --git a/applications/registration/src/correspondances.cpp b/applications/registration/src/correspondances.cpp
index 5292905e9..6d4ac2b03 100644
--- a/applications/registration/src/correspondances.cpp
+++ b/applications/registration/src/correspondances.cpp
@@ -37,6 +37,7 @@ Correspondances::Correspondances(Correspondances *parent, Source *src)
static void averageDepth(vector<Mat> &in, Mat &out, float varThresh) {
const int rows = in[0].rows;
const int cols = in[0].cols;
+ float varThresh2 = varThresh*varThresh;
// todo: create new only if out is empty (or wrong shape/type)
out = Mat(rows, cols, CV_32FC1);
@@ -62,16 +63,16 @@ static void averageDepth(vector<Mat> &in, Mat &out, float varThresh) {
for (int i_in = 0; i_in < in.size(); ++i_in) {
double d = in[i_in].at<float>(i);
if (d < 40.0) {
- double delta = (d*1000.0 - sum*1000.0);
+ double delta = (d - sum);
var += delta*delta;
+
+ //LOG(INFO) << "VAR " << delta;
}
}
if (good_values > 1) var /= (double)(good_values-1);
else var = 0.0;
- //LOG(INFO) << "VAR " << var;
-
- if (var < varThresh) {
+ if (var < varThresh2) {
out.at<float>(i) = (float)sum;
} else {
out.at<float>(i) = 41.0f;
@@ -119,13 +120,14 @@ bool Correspondances::capture(cv::Mat &rgb1, cv::Mat &rgb2) {
targ_->grab();
src_->getFrames(rgb1, d1);
targ_->getFrames(rgb2, d2);
- buffer[0][i] = d1;
- buffer[1][i] = d2;
+
+ d1.copyTo(buffer[0][i]);
+ d2.copyTo(buffer[1][i]);
std::this_thread::sleep_for(std::chrono::milliseconds(50));
}
- averageDepth(buffer[0], d1, 0.00000005f);
- averageDepth(buffer[1], d2, 0.00000005f);
+ averageDepth(buffer[0], d1, 0.01f);
+ averageDepth(buffer[1], d2, 0.01f);
Mat d1_v, d2_v;
d1.convertTo(d1_v, CV_8U, 255.0f / 10.0f);
d2.convertTo(d2_v, CV_8U, 255.0f / 10.0f);
diff --git a/applications/registration/src/manual.cpp b/applications/registration/src/manual.cpp
index be729155c..3138a0ae8 100644
--- a/applications/registration/src/manual.cpp
+++ b/applications/registration/src/manual.cpp
@@ -328,7 +328,7 @@ void ftl::registration::manual(ftl::Configurable *root) {
lastScore = 1000.0;
do {
Eigen::Matrix4d tr;
- float s = current->findBestSubset(tr, (int)(current->screenPoints().size() * 0.4f), 100);
+ float s = current->findBestSubset(tr, 20, 100); // (int)(current->screenPoints().size() * 0.4f)
LOG(INFO) << "SCORE = " << s;
if (s < lastScore) {
lastScore = s;
@@ -353,7 +353,7 @@ void ftl::registration::manual(ftl::Configurable *root) {
current->capture(f1,f2);
vector<tuple<int,int,int,int>> feat;
- if (ftl::registration::featuresSIFT(f1, f2, feat, 2)) {
+ if (ftl::registration::featuresSIFT(f1, f2, feat, 10)) {
for (int j=0; j<feat.size(); j++) {
auto [sx,sy,tx,ty] = feat[j];
current->add(tx, ty, sx, sy);
diff --git a/applications/registration/src/sfm.cpp b/applications/registration/src/sfm.cpp
index 5d5e7cc9a..43711312d 100644
--- a/applications/registration/src/sfm.cpp
+++ b/applications/registration/src/sfm.cpp
@@ -109,7 +109,7 @@ bool ftl::registration::featuresChess(cv::Mat &frame1, cv::Mat &frame2, std::vec
bool ftl::registration::featuresSIFT(cv::Mat &frame1, cv::Mat &frame2, std::vector<std::tuple<int,int,int,int>> &points, int K) {
int minHessian = 400;
- Ptr<SIFT> detector = SIFT::create();
+ Ptr<SIFT> detector = SIFT::create(10000,3,0.04,10);
//detector->setHessianThreshold(minHessian);
vector<vector<KeyPoint>> keypoints;
@@ -139,7 +139,7 @@ bool ftl::registration::featuresSIFT(cv::Mat &frame1, cv::Mat &frame2, std::vect
std::vector<std::vector< DMatch >> matches;
matcher.knnMatch( descriptors[0], descriptors[1], matches, K );
- const float ratio_thresh = 0.7f;
+ const float ratio_thresh = 0.9f;
std::vector<DMatch> good_matches;
for (size_t i = 0; i < matches.size(); i++)
{
--
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