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30th agu

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This commit is contained in:
gfuse
2021-08-30 19:36:19 +02:00
parent e84c05235c
commit 79909d040d
1 changed files with 7 additions and 7 deletions
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GPU_version/vio/src/reprojector.cpp
+7 -7
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@@ -213,7 +213,7 @@ void Reprojector::reprojectMap(
std::vector< std::pair<FramePtr,std::size_t> >& overlap_kfs) std::vector< std::pair<FramePtr,std::size_t> >& overlap_kfs)
{ {
resetGrid(); resetGrid();
cv::Mat descriptors_ref, descriptors_cur; cv::Mat descriptors_cur;
std::vector<cv::KeyPoint> keypoints_cur; std::vector<cv::KeyPoint> keypoints_cur;
std::vector<cv::DMatch> matches; 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);
@@ -231,6 +231,7 @@ 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;
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));
@@ -243,15 +244,14 @@ void Reprojector::reprojectMap(
if((*it_ftr)->point->last_projected_kf_id_ == frame->id_) if((*it_ftr)->point->last_projected_kf_id_ == frame->id_)
continue; continue;
(*it_ftr)->point->last_projected_kf_id_ = frame->id_; (*it_ftr)->point->last_projected_kf_id_ = frame->id_;
cv::KeyPoint * kp = new cv::KeyPoint; cv::KeyPoint kp;
kp->pt.x = (*it_ftr)->px.x(); kp.pt.x = (*it_ftr)->px.x();
kp->pt.y = (*it_ftr)->px.y(); kp.pt.y = (*it_ftr)->px.y();
keypoints_kfs.push_back(*kp); keypoints_kfs.push_back(kp);
} }
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);
//std::cerr<<keypoints_cur.size()<<"\t"<<descriptors_cur.size<<"\t"<<keypoints_kfs.size()<<"\t"<<descriptors_ref.size<<"\t"<<matches.size()<<std::endl; for (int i=0; i < matches.size(); i++){
for (int i; i < matches.size(); i++){
std::cerr<<matches[i].queryIdx<<"\t"<<matches[i].trainIdx<<"\t"<<matches[i].distance<<std::endl; std::cerr<<matches[i].queryIdx<<"\t"<<matches[i].trainIdx<<"\t"<<matches[i].distance<<std::endl;
auto fts = ref_frame->fts_.begin(); auto fts = ref_frame->fts_.begin();
auto fts2 = fts; auto fts2 = fts;