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30th AGU

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This commit is contained in:
gfuse
2021-08-30 20:16:11 +02:00
parent 79909d040d
commit 3ae7ff38af
1 changed files with 6 additions and 11 deletions
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GPU_version/vio/src/reprojector.cpp
+6 -11
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@@ -31,6 +31,7 @@
#include <opencv2/xfeatures2d.hpp> #include <opencv2/xfeatures2d.hpp>
#include <opencv2/features2d.hpp> #include <opencv2/features2d.hpp>
#include <vio/for_it.hpp>
namespace vio { namespace vio {
@@ -161,7 +162,7 @@ void Reprojector::reprojectMap(
matcher->match(descriptors_ref,descriptors_cur,matches); matcher->match(descriptors_ref,descriptors_cur,matches);
//std::cerr<<"matches size : "<<matches.size()<<std::endl; //std::cerr<<"matches size : "<<matches.size()<<std::endl;
for(int i; i < matches.size(); i++) for(int i=0; i < matches.size(); i++)
{ {
auto fts = framel->fts_.begin(); auto fts = framel->fts_.begin();
auto fts2 = fts; auto fts2 = fts;
@@ -173,7 +174,7 @@ void Reprojector::reprojectMap(
keypoints_cur[i].class_id = 0; keypoints_cur[i].class_id = 0;
} }
for(int i; i < keypoints_cur.size(); i++) for(int i=0; i < keypoints_cur.size(); i++)
{ {
if(keypoints_cur[i].class_id == 0) if(keypoints_cur[i].class_id == 0)
continue; continue;
@@ -215,14 +216,12 @@ void Reprojector::reprojectMap(
resetGrid(); resetGrid();
cv::Mat descriptors_cur; cv::Mat descriptors_cur;
std::vector<cv::KeyPoint> keypoints_cur; std::vector<cv::KeyPoint> keypoints_cur;
std::vector<cv::DMatch> matches;
cv::Ptr<cv::xfeatures2d::FREAK> extractor = cv::xfeatures2d::FREAK::create(true, true, 50.0f, 4); cv::Ptr<cv::xfeatures2d::FREAK> extractor = cv::xfeatures2d::FREAK::create(true, true, 50.0f, 4);
cv::Ptr<cv::BFMatcher> matcher = cv::BFMatcher::create(cv::NORM_HAMMING, true); cv::Ptr<cv::BFMatcher> matcher = cv::BFMatcher::create(cv::NORM_HAMMING, true);
cv::FAST(frame->img(),keypoints_cur,50); cv::FAST(frame->img(),keypoints_cur,50);
extractor->compute(frame->img(), keypoints_cur, descriptors_cur); extractor->compute(frame->img(), keypoints_cur, descriptors_cur);
list< pair<FramePtr,double> > close_kfs; list< pair<FramePtr,double> > close_kfs;
map_.getCloseKeyframes(frame, close_kfs); map_.getCloseKeyframes(frame, close_kfs);
std::cerr<<close_kfs.size()<<'\n';
close_kfs.sort(boost::bind(&std::pair<FramePtr, double>::second, _1) < close_kfs.sort(boost::bind(&std::pair<FramePtr, double>::second, _1) <
boost::bind(&std::pair<FramePtr, double>::second, _2)); boost::bind(&std::pair<FramePtr, double>::second, _2));
size_t n = 0; size_t n = 0;
@@ -231,6 +230,7 @@ void Reprojector::reprojectMap(
it_frame!=ite_frame && n<options_.max_n_kfs; ++it_frame, ++n) it_frame!=ite_frame && n<options_.max_n_kfs; ++it_frame, ++n)
{ {
std::vector<cv::KeyPoint> keypoints_kfs; std::vector<cv::KeyPoint> keypoints_kfs;
std::vector<cv::DMatch> matches;
cv::Mat descriptors_ref; cv::Mat descriptors_ref;
FramePtr ref_frame = it_frame->first; FramePtr ref_frame = it_frame->first;
overlap_kfs.push_back(pair<FramePtr,size_t>(ref_frame,0)); overlap_kfs.push_back(pair<FramePtr,size_t>(ref_frame,0));
@@ -251,13 +251,8 @@ void Reprojector::reprojectMap(
} }
extractor->compute(it_frame->first->img(), keypoints_kfs, descriptors_ref); extractor->compute(it_frame->first->img(), keypoints_kfs, descriptors_ref);
matcher->match(descriptors_ref, descriptors_cur, matches); matcher->match(descriptors_ref, descriptors_cur, matches);
for (int i=0; i < matches.size(); i++){ for(auto&& f: _for(ref_frame->fts_)){
std::cerr<<matches[i].queryIdx<<"\t"<<matches[i].trainIdx<<"\t"<<matches[i].distance<<std::endl; if (reprojectPoint1(frame, f.item->point, keypoints_cur[matches[f.index].trainIdx].pt.x, keypoints_cur[matches[f.index].trainIdx].pt.y)) {
auto fts = ref_frame->fts_.begin();
auto fts2 = fts;
for (int f = 0; f < matches[i].queryIdx; f++)
fts2++;
if (reprojectPoint1(frame, (*fts2)->point, keypoints_cur[i].pt.x, keypoints_cur[i].pt.y)) {
overlap_kfs.back().second++; overlap_kfs.back().second++;
} }
} }