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moved feature selection to matcher

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This commit is contained in:
Christian Forster
2014-05-09 15:05:33 +02:00
parent bee16e2d03
commit 734a5c007b
2 changed files with 22 additions and 3 deletions
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svo/include/svo/matcher.h
+7 -1
View File
@@ -76,21 +76,27 @@ public:
double max_epi_length_optim;//!< max length of epipolar line to skip epipolar search and directly go to img align double max_epi_length_optim;//!< max length of epipolar line to skip epipolar search and directly go to img align
size_t max_epi_search_steps;//!< max number of evaluations along epipolar line size_t max_epi_search_steps;//!< max number of evaluations along epipolar line
bool subpix_refinement; //!< do gauss newton feature patch alignment after epipolar search bool subpix_refinement; //!< do gauss newton feature patch alignment after epipolar search
bool epi_search_edgelet_filtering;
double epi_search_edgelet_max_angle;
Options() : Options() :
align_1d(false), align_1d(false),
align_max_iter(10), align_max_iter(10),
max_epi_length_optim(2.0), max_epi_length_optim(2.0),
max_epi_search_steps(1000), max_epi_search_steps(1000),
subpix_refinement(true) subpix_refinement(true),
epi_search_edgelet_filtering(true),
epi_search_edgelet_max_angle(0.7)
{} {}
} options_; } options_;
uint8_t* patch_; uint8_t* patch_;
uint8_t* patch_with_border_; uint8_t* patch_with_border_;
Matrix2d A_cur_ref_; //!< affine warp matrix Matrix2d A_cur_ref_; //!< affine warp matrix
Vector2d epi_dir_;
double epi_length_; //!< length of epipolar line segment in pixels (only used for epipolar search) double epi_length_; //!< length of epipolar line segment in pixels (only used for epipolar search)
double h_inv_; //!< hessian of 1d image alignment along epipolar line double h_inv_; //!< hessian of 1d image alignment along epipolar line
int search_level_; int search_level_;
bool reject_;
Feature* ref_ftr_; Feature* ref_ftr_;
Vector2d px_cur_; Vector2d px_cur_;
svo/src/matcher.cpp
+15 -2
View File
@@ -206,12 +206,25 @@ bool Matcher::findEpipolarMatchDirect(
// Compute start and end of epipolar line in old_kf for match search, on unit plane! // Compute start and end of epipolar line in old_kf for match search, on unit plane!
Vector2d A = vk::project2d(T_cur_ref * (ref_ftr.f*d_min)); Vector2d A = vk::project2d(T_cur_ref * (ref_ftr.f*d_min));
Vector2d B = vk::project2d(T_cur_ref * (ref_ftr.f*d_max)); Vector2d B = vk::project2d(T_cur_ref * (ref_ftr.f*d_max));
Vector2d epi_dir = A - B; epi_dir_ = A - B;
// Compute affine warp matrix // Compute affine warp matrix
warp::getWarpMatrixAffine( warp::getWarpMatrixAffine(
*ref_frame.cam_, *cur_frame.cam_, ref_ftr.px, ref_ftr.f, *ref_frame.cam_, *cur_frame.cam_, ref_ftr.px, ref_ftr.f,
d_estimate, T_cur_ref, ref_ftr.level, A_cur_ref_); d_estimate, T_cur_ref, ref_ftr.level, A_cur_ref_);
// feature pre-selection
reject_ = false;
if(ref_ftr.type == Feature::EDGELET && options_.epi_search_edgelet_filtering)
{
const Vector2d grad_cur = (A_cur_ref_ * ref_ftr.grad).normalized();
const double cosangle = fabs(grad_cur.dot(epi_dir_.normalized()));
if(cosangle < options_.epi_search_edgelet_max_angle) {
reject_ = true;
return false;
}
}
search_level_ = warp::getBestSearchLevel(A_cur_ref_, Config::nPyrLevels()-1); search_level_ = warp::getBestSearchLevel(A_cur_ref_, Config::nPyrLevels()-1);
// Find length of search range on epipolar line // Find length of search range on epipolar line
@@ -247,7 +260,7 @@ bool Matcher::findEpipolarMatchDirect(
} }
size_t n_steps = epi_length_/0.7; // one step per pixel size_t n_steps = epi_length_/0.7; // one step per pixel
Vector2d step = epi_dir/n_steps; Vector2d step = epi_dir_/n_steps;
if(n_steps > options_.max_epi_search_steps) if(n_steps > options_.max_epi_search_steps)
{ {