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working version 5

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VahdPourAmin
2021-08-31 13:34:05 +02:00
parent 3ae7ff38af
commit b44d04faba
2 changed files with 26 additions and 15 deletions
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GPU_version/vio/src/frame_handler_mono.cpp
+2 -2
View File
@@ -170,8 +170,8 @@ FrameHandlerBase::UpdateResult FrameHandlerMono::processFrame()
//assert(new_frame_.get()== nullptr);
SparseImgAlignGpu img_align(Config::kltMaxLevel(), Config::kltMinLevel(),30, SparseImgAlignGpu::GaussNewton, false,gpu_fast_);
if(img_align.run(last_frame_, new_frame_)==0)return RESULT_FAILURE;
//reprojector_.reprojectMap(new_frame_, overlap_kfs_);
//reprojector_.reprojectMap1(new_frame_, last_frame_, overlap_kfs_);
// reprojector_.reprojectMap(new_frame_, overlap_kfs_);
// reprojector_.reprojectMap1(new_frame_, last_frame_, overlap_kfs_);
reprojector_.reprojectMap2(new_frame_, overlap_kfs_);
//assert (false);
GPU_version/vio/src/reprojector.cpp
+24 -13
View File
@@ -162,17 +162,16 @@ void Reprojector::reprojectMap(
matcher->match(descriptors_ref,descriptors_cur,matches);
//std::cerr<<"matches size : "<<matches.size()<<std::endl;
for(int i=0; i < matches.size(); i++)
{
auto fts = framel->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++;
int i = 0;
for(auto&& f: _for(framel->fts_)){
if (f.index == matches[i].queryIdx) {
if (reprojectPoint1(frame, f.item->point, keypoints_cur[matches[i].trainIdx].pt.x,
keypoints_cur[matches[i].trainIdx].pt.y)) {
overlap_kfs.back().second++;
}
keypoints_cur[i].class_id = 0;
i++;
}
keypoints_cur[i].class_id = 0;
}
for(int i=0; i < keypoints_cur.size(); i++)
{
@@ -251,12 +250,25 @@ void Reprojector::reprojectMap(
}
extractor->compute(it_frame->first->img(), keypoints_kfs, descriptors_ref);
matcher->match(descriptors_ref, descriptors_cur, matches);
int i = 0;
for(auto&& f: _for(ref_frame->fts_)){
if (reprojectPoint1(frame, f.item->point, keypoints_cur[matches[f.index].trainIdx].pt.x, keypoints_cur[matches[f.index].trainIdx].pt.y)) {
overlap_kfs.back().second++;
if (f.index == matches[i].queryIdx) {
if (reprojectPoint1(frame, f.item->point, keypoints_cur[matches[i].trainIdx].pt.x,
keypoints_cur[matches[i].trainIdx].pt.y)) {
overlap_kfs.back().second++;
// keypoints_cur[matches[i].trainIdx].class_id = 0;
}
i++;
}
}
}
// for(int i=0; i < keypoints_cur.size(); i++)
// {
// if(keypoints_cur[i].class_id == 0)
// continue;
// if(reprojectPoint1(frame, nullptr, keypoints_cur[i].pt.x, keypoints_cur[i].pt.y))
// overlap_kfs.back().second++;
// }
boost::unique_lock<boost::mutex> lock(map_.point_candidates_.mut_);
auto it=map_.point_candidates_.candidates_.begin();
while(it!=map_.point_candidates_.candidates_.end())
@@ -296,7 +308,6 @@ bool Reprojector::reprojectCell(Cell& cell, FramePtr frame)
while(it!=cell.end())
{
++n_trials_;
//std::cerr<<"n_trials_ : "<<n_trials_<<"\t"<<it->pt->type_<<"\t"<<it->pt->n_failed_reproj_<<"\t"<<it->pt->n_succeeded_reproj_<<std::endl;
if(it->pt->type_ == Point::TYPE_DELETED)
{
it = cell.erase(it);