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local m: working version 4

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This commit is contained in:
gfuse
2021-08-30 16:05:25 +02:00
parent 5e8e31d691
commit 8921283c42
3 changed files with 4 additions and 15 deletions
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GPU_version/vio/src/map.cpp
-1
View File
@@ -112,7 +112,6 @@ void Map::getCloseKeyframes(
for(auto kf : keyframes_)
{
// check if kf has overlaping field of view with frame, use therefore KeyPoints
std::cerr<<kf->key_pts_.size()<<'\t';
for(auto keypoint : kf->key_pts_)
{
if(keypoint == nullptr)
GPU_version/vio/src/reprojector.cpp
+3 -13
View File
@@ -72,7 +72,6 @@ void Reprojector::reprojectMap(
{
resetGrid();
list< pair<FramePtr,double> > close_kfs;
//assert(frame== nullptr);
map_.getCloseKeyframes(frame, close_kfs);
close_kfs.sort(boost::bind(&std::pair<FramePtr, double>::second, _1) <
boost::bind(&std::pair<FramePtr, double>::second, _2));
@@ -114,7 +113,6 @@ void Reprojector::reprojectMap(
}
for(size_t i=0; i<grid_.cells.size(); ++i)
{
if(reprojectCell(*grid_.cells.at(grid_.cell_order[i]), frame))
++n_matches_;
if(n_matches_ > (size_t) Config::maxFts())
@@ -223,7 +221,6 @@ void Reprojector::reprojectMap(
std::vector<cv::KeyPoint> keypoints_kfs;
std::vector<std::vector<cv::KeyPoint>> keypoints_ref;
map_.getCloseKeyframes(frame, close_kfs);
std::cerr<<"close_kfs size : "<<close_kfs.size()<<std::endl;
// Sort KFs with overlap according to their closeness
close_kfs.sort(boost::bind(&std::pair<FramePtr, double>::second, _1) <
@@ -239,7 +236,6 @@ void Reprojector::reprojectMap(
{
keypoints_kfs.clear();
FramePtr ref_frame = it_frame->first;
// Try to reproject each mappoint that the other KF observes
for(auto it_ftr=ref_frame->fts_.begin(), ite_ftr=ref_frame->fts_.end();
it_ftr!=ite_ftr; ++it_ftr)
@@ -247,7 +243,6 @@ void Reprojector::reprojectMap(
// check if the feature has a mappoint assigned
if((*it_ftr)->point == NULL)
continue;
// make sure we project a point only once
if((*it_ftr)->point->last_projected_kf_id_ == frame->id_)
continue;
@@ -257,10 +252,8 @@ void Reprojector::reprojectMap(
kp->pt.y = (*it_ftr)->px.y();
keypoints_kfs.push_back(*kp);
}
std::cerr<<"keypoints_kfs size : "<<keypoints_kfs.size()<<std::endl;
keypoints_ref.push_back(keypoints_kfs);
}
std::cerr<<"keypoints_ref size : "<<keypoints_ref.size()<<std::endl;
//SVO_STOP_TIMER("reproject_kfs");
cv::Mat descriptors_ref, descriptors_cur;
@@ -287,11 +280,8 @@ void Reprojector::reprojectMap(
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)) {
std::cerr<<"i : "<<i<<"\t True"<<std::endl;
overlap_kfs.back().second++;
}
else
std::cerr<<"i : "<<i<<"\t False"<<std::endl;
//keypoints_cur[i].class_id = 0;
}
@@ -394,7 +384,7 @@ bool Reprojector::reprojectCell(Cell& cell, FramePtr frame)
bool Reprojector::reprojectPoint(FramePtr frame, Point* point)
{
Vector2d px(frame->w2c(point->pos_));
if(frame->cam_->isInFrame(px.cast<int>(), 3)) // 8px is the patch size in the matcher
if(frame->cam_->isInFrame(px.cast<int>(), 8)) // 8px is the patch size in the matcher
{
const int k = static_cast<int>(px[1]/grid_.cell_size)*grid_.grid_n_cols
+ static_cast<int>(px[0]/grid_.cell_size);
@@ -409,7 +399,7 @@ bool Reprojector::reprojectPoint(FramePtr frame, Point* point)
{
if(point) {
Vector2d px(x, y);
if (frame->cam_->isInFrame(px.cast<int>(), 3)) // 8px is the patch size in the matcher
if (frame->cam_->isInFrame(px.cast<int>(), 8)) // 8px is the patch size in the matcher
{
const int k = static_cast<int>(px[1] / grid_.cell_size) * grid_.grid_n_cols
+ static_cast<int>(px[0] / grid_.cell_size);
@@ -420,7 +410,7 @@ bool Reprojector::reprojectPoint(FramePtr frame, Point* point)
}
else{
Vector2d px(x, y);
if (frame->cam_->isInFrame(px.cast<int>(), 3)) // 8px is the patch size in the matcher
if (frame->cam_->isInFrame(px.cast<int>(), 8)) // 8px is the patch size in the matcher
{
const int k = static_cast<int>(px[1] / grid_.cell_size) * grid_.grid_n_cols
+ static_cast<int>(px[0] / grid_.cell_size);