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added weighting to rgbd odometry

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This commit is contained in:
Maria Dimashova 2012-06-14 14:34:15 +00:00
parent 913d4541a5
commit 1774e73324
1 changed files with 28 additions and 8 deletions
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36
modules/contrib/src/rgbdodometry.cpp
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@ -393,7 +393,7 @@ bool computeKsi( int transformType,
const Mat& image0, const Mat& cloud0, const Mat& image0, const Mat& cloud0,
const Mat& image1, const Mat& dI_dx1, const Mat& dI_dy1, const Mat& image1, const Mat& dI_dx1, const Mat& dI_dy1,
const Mat& corresps, int correspsCount, const Mat& corresps, int correspsCount,
double fx, double fy, double sobelScale, double normScale, double determinantThreshold, double fx, double fy, double sobelScale, double determinantThreshold,
Mat& ksi ) Mat& ksi )
{ {
int Cwidth = -1; int Cwidth = -1;
@ -419,6 +419,7 @@ bool computeKsi( int transformType,
Mat C( correspsCount, Cwidth, CV_64FC1 ); Mat C( correspsCount, Cwidth, CV_64FC1 );
Mat dI_dt( correspsCount, 1, CV_64FC1 ); Mat dI_dt( correspsCount, 1, CV_64FC1 );
double sigma = 0;
int pointCount = 0; int pointCount = 0;
for( int v0 = 0; v0 < corresps.rows; v0++ ) for( int v0 = 0; v0 < corresps.rows; v0++ )
{ {
@ -428,14 +429,35 @@ bool computeKsi( int transformType,
{ {
int u1, v1; int u1, v1;
get2shorts( corresps.at<int>(v0,u0), u1, v1 ); get2shorts( corresps.at<int>(v0,u0), u1, v1 );
double diff = static_cast<double>(image1.at<uchar>(v1,u1)) -
static_cast<double>(image0.at<uchar>(v0,u0));
sigma += diff * diff;
pointCount++;
}
}
}
sigma = std::sqrt(sigma/pointCount);
pointCount = 0;
for( int v0 = 0; v0 < corresps.rows; v0++ )
{
for( int u0 = 0; u0 < corresps.cols; u0++ )
{
if( corresps.at<int>(v0,u0) != -1 )
{
int u1, v1;
get2shorts( corresps.at<int>(v0,u0), u1, v1 );
double diff = static_cast<double>(image1.at<uchar>(v1,u1)) -
static_cast<double>(image0.at<uchar>(v0,u0));
double w = 1./(sigma + std::abs(diff));
(*computeCFuncPtr)( (double*)C.ptr(pointCount), (*computeCFuncPtr)( (double*)C.ptr(pointCount),
normScale * sobelScale * dI_dx1.at<short int>(v1,u1), w * sobelScale * dI_dx1.at<short int>(v1,u1),
normScale * sobelScale * dI_dy1.at<short int>(v1,u1), w * sobelScale * dI_dy1.at<short int>(v1,u1),
cloud0.at<Point3f>(v0,u0), fx, fy); cloud0.at<Point3f>(v0,u0), fx, fy);
dI_dt.at<double>(pointCount) = normScale * (static_cast<double>(image1.at<uchar>(v1,u1)) - dI_dt.at<double>(pointCount) = w * diff;
static_cast<double>(image0.at<uchar>(v0,u0)));
pointCount++; pointCount++;
} }
} }
@ -556,8 +578,6 @@ bool cv::RGBDOdometry( cv::Mat& Rt, const Mat& initRt,
const double fx = levelCameraMatrix.at<double>(0,0); const double fx = levelCameraMatrix.at<double>(0,0);
const double fy = levelCameraMatrix.at<double>(1,1); const double fy = levelCameraMatrix.at<double>(1,1);
const double avgf = 0.5 *(fx + fy);
const double normScale = 1./(255*avgf);
const double determinantThreshold = 1e-6; const double determinantThreshold = 1e-6;
Mat corresps( levelImage0.size(), levelImage0.type(), CV_32SC1 ); Mat corresps( levelImage0.size(), levelImage0.type(), CV_32SC1 );
@ -576,7 +596,7 @@ bool cv::RGBDOdometry( cv::Mat& Rt, const Mat& initRt,
levelImage0, levelCloud0, levelImage0, levelCloud0,
levelImage1, level_dI_dx1, level_dI_dy1, levelImage1, level_dI_dx1, level_dI_dy1,
corresps, correspsCount, corresps, correspsCount,
fx, fy, sobelScale, normScale, determinantThreshold, fx, fy, sobelScale, determinantThreshold,
ksi ); ksi );
if( !solutionExist ) if( !solutionExist )