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combined reprojection functions in new reprojector class

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This commit is contained in:
Christian Forster
2014-03-31 19:31:11 +02:00
parent ac8b7be117
commit 8cf1504f7c
7 changed files with 160 additions and 174 deletions
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svo/include/svo/frame_handler_mono.h
+2 -2
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@@ -19,7 +19,7 @@
#include <vikit/abstract_camera.h>
#include <svo/frame_handler_base.h>
#include <svo/reprojection.h>
#include <svo/reprojector.h>
#include <svo/initialization.h>
namespace svo {
@@ -49,7 +49,7 @@ public:
protected:
vk::AbstractCamera* cam_; //!< Camera model, can be ATAN, Pinhole or Ocam (see vikit).
reprojection::Grid reprojection_grid_; //!< Grid used for reprojection to make sure we have evenly distributed features.
Reprojector reprojector_; //!< Projects points from other keyframes into the current frame
FramePtr new_frame_; //!< Current frame.
FramePtr last_frame_; //!< Last frame, not necessarily a keyframe.
set<FramePtr> core_kfs_; //!< Keyframes in the closer neighbourhood.
svo/include/svo/reprojection.h
-98
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@@ -1,98 +0,0 @@
// This file is part of SVO - Semi-direct Visual Odometry.
//
// Copyright (C) 2014 Christian Forster <forster at ifi dot uzh dot ch>
// (Robotics and Perception Group, University of Zurich, Switzerland).
//
// SVO is free software: you can redistribute it and/or modify it under the
// terms of the GNU General Public License as published by the Free Software
// Foundation, either version 3 of the License, or any later version.
//
// SVO is distributed in the hope that it will be useful, but WITHOUT ANY
// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
// FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details.
//
// You should have received a copy of the GNU General Public License
// along with this program. If not, see <http://www.gnu.org/licenses/>.
#ifndef SVO_REPROJECTION_H_
#define SVO_REPROJECTION_H_
#include <svo/global.h>
#include <svo/matcher.h>
namespace vk {
class AbstractCamera;
}
namespace svo {
class Map;
class Point;
class MapPointCandidates;
/// Project points from the map into the image and find the corresponding
/// feature (corner). We don't search a match for every point but only for one
/// point per cell. Thereby, we achieve a homogeneously distributed set of
/// matched features and at the same time we can save processing time by not
/// projecting all points.
namespace reprojection {
/// A candidate is a point that projects into the image plane and for which we
/// will search a maching feature in the image.
struct Candidate {
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
Point* pt; //!< 3D point.
Vector2d px; //!< projected 2D pixel location.
Candidate(Point* pt, Vector2d& px)
: pt(pt),
px(px)
{}
};
typedef std::list<Candidate, aligned_allocator<Candidate> > Cell;
typedef std::vector<Cell*> CandidateGrid;
/// The grid stores a set of candidate matches. For every grid cell we try to find one match.
struct Grid
{
CandidateGrid cells;
vector<int> cell_order;
int cell_size;
int grid_n_cols;
int grid_n_rows;
Grid();
void initialize(vk::AbstractCamera* cam);
~Grid();
};
/// Reset the grid
void resetGrid(Grid& grid);
/// Project points from the map into the image. First finds keyframes with
/// overlapping field of view and projects only those map-points.
void reprojectMap(
Map& map,
FramePtr frame,
Grid& grid,
MapPointCandidates& candidate_points,
std::vector< std::pair<FramePtr,std::size_t> >& overlap_kfs,
size_t& n_matches,
size_t& n_trials);
bool reprojectCell(
Cell& cell,
FramePtr frame,
Map& map,
MapPointCandidates& candidate_points,
size_t& n_trials);
bool reprojectPoint(
Grid& grid,
FramePtr frame,
Point* point);
} // namespace reprojection
} // namespace svo
#endif // SVO_REPROJECTION_H_
svo/include/svo/reprojector.h
+98
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@@ -0,0 +1,98 @@
// This file is part of SVO - Semi-direct Visual Odometry.
//
// Copyright (C) 2014 Christian Forster <forster at ifi dot uzh dot ch>
// (Robotics and Perception Group, University of Zurich, Switzerland).
//
// SVO is free software: you can redistribute it and/or modify it under the
// terms of the GNU General Public License as published by the Free Software
// Foundation, either version 3 of the License, or any later version.
//
// SVO is distributed in the hope that it will be useful, but WITHOUT ANY
// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
// FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details.
//
// You should have received a copy of the GNU General Public License
// along with this program. If not, see <http://www.gnu.org/licenses/>.
#ifndef SVO_REPROJECTION_H_
#define SVO_REPROJECTION_H_
#include <svo/global.h>
#include <svo/matcher.h>
namespace vk {
class AbstractCamera;
}
namespace svo {
class Map;
class Point;
/// Project points from the map into the image and find the corresponding
/// feature (corner). We don't search a match for every point but only for one
/// point per cell. Thereby, we achieve a homogeneously distributed set of
/// matched features and at the same time we can save processing time by not
/// projecting all points.
class Reprojector
{
public:
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
/// Reprojector config parameters
struct Options {
size_t max_n_kfs; //!< max number of keyframes to reproject from
Options()
: max_n_kfs(10)
{}
} options_;
size_t n_matches_;
size_t n_trials_;
Reprojector(vk::AbstractCamera* cam, Map& map);
~Reprojector();
/// Project points from the map into the image. First finds keyframes with
/// overlapping field of view and projects only those map-points.
void reprojectMap(
FramePtr frame,
std::vector< std::pair<FramePtr,std::size_t> >& overlap_kfs);
private:
/// A candidate is a point that projects into the image plane and for which we
/// will search a maching feature in the image.
struct Candidate {
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
Point* pt; //!< 3D point.
Vector2d px; //!< projected 2D pixel location.
Candidate(Point* pt, Vector2d& px) : pt(pt), px(px) {}
};
typedef std::list<Candidate, aligned_allocator<Candidate> > Cell;
typedef std::vector<Cell*> CandidateGrid;
/// The grid stores a set of candidate matches. For every grid cell we try to find one match.
struct Grid
{
CandidateGrid cells;
vector<int> cell_order;
int cell_size;
int grid_n_cols;
int grid_n_rows;
};
Grid grid_;
Map& map_;
static bool pointQualityComparator(Candidate& lhs, Candidate& rhs);
void initializeGrid(vk::AbstractCamera* cam);
void resetGrid();
bool reprojectCell(Cell& cell, FramePtr frame);
bool reprojectPoint(FramePtr frame, Point* point);
};
} // namespace svo
#endif // SVO_REPROJECTION_H_