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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,88 @@ | ||
| #include "descriptor_tracker.h" | ||
| #include "util/tf_util.h" | ||
|
|
||
| namespace omni_slam | ||
| { | ||
| namespace feature | ||
| { | ||
|
|
||
| DescriptorTracker::DescriptorTracker(std::string detector_type, std::string descriptor_type, std::map<std::string, double> det_args, std::map<std::string, double> desc_args, const float match_thresh, const int keyframe_interval) | ||
| : Tracker(keyframe_interval), | ||
| Matcher(descriptor_type, match_thresh), | ||
| Detector(detector_type, descriptor_type, det_args, desc_args) | ||
| { | ||
| } | ||
|
|
||
| int DescriptorTracker::DoTrack(std::vector<data::Landmark> &landmarks, data::Frame &cur_frame, std::vector<double> &errors, bool stereo) | ||
| { | ||
| std::vector<data::Landmark> curLandmarks; | ||
| std::vector<data::Landmark> prevLandmarks; | ||
| int imsize = std::max(cur_frame.GetImage().rows, cur_frame.GetImage().cols); | ||
| #pragma omp parallel for collapse(2) | ||
| for (int i = 0; i < Region::rs.size() - 1; i++) | ||
| { | ||
| for (int j = 0; j < Region::ts.size() - 1; j++) | ||
| { | ||
| feature::Detector detector(*static_cast<Detector*>(this)); | ||
| detector.DetectInRadialRegion(cur_frame, curLandmarks, feature::Region::rs[i] * imsize, feature::Region::rs[i+1] * imsize, feature::Region::ts[j], feature::Region::ts[j+1]); | ||
| detector.DetectInRadialRegion(cur_frame, curLandmarks, feature::Region::rs[i] * imsize, feature::Region::rs[i+1] * imsize, feature::Region::ts[j], feature::Region::ts[j+1], true); | ||
| } | ||
| } | ||
| std::vector<int> origInx; | ||
| int i = 0; | ||
| for (const data::Landmark &landmark : landmarks) | ||
| { | ||
| if (landmark.IsObservedInFrame(keyframeId_)) | ||
| { | ||
| data::Landmark l; | ||
| l.AddObservation(*landmark.GetObservationByFrameID(keyframeId_), false); | ||
| if (stereo) | ||
| { | ||
| const data::Feature* stereoFeat = landmark.GetStereoObservationByFrameID(keyframeId_); | ||
| if (stereoFeat != nullptr) | ||
| { | ||
| l.AddStereoObservation(*stereoFeat); | ||
| } | ||
| } | ||
| prevLandmarks.push_back(l); | ||
| origInx.push_back(i); | ||
| } | ||
| i++; | ||
| } | ||
| std::vector<data::Landmark> matches; | ||
| std::vector<data::Landmark> stereoMatches; | ||
| std::vector<int> indices; | ||
| std::vector<std::vector<double>> distances; | ||
| std::vector<std::vector<double>> stereoDistances; | ||
| std::vector<int> stereoIndices; | ||
| Match(curLandmarks, prevLandmarks, matches, distances, indices, false); | ||
| if (stereo) | ||
| { | ||
| Match(curLandmarks, prevLandmarks, stereoMatches, stereoDistances, stereoIndices, true); | ||
| } | ||
| errors.clear(); | ||
| int numGood = 0; | ||
| for (int i = 0; i < matches.size(); i++) | ||
| { | ||
| data::Landmark &landmark = landmarks[origInx[indices[i]]]; | ||
| data::Feature feat(cur_frame, matches[i].GetObservationByFrameID(cur_frame.GetID())->GetKeypoint(), matches[i].GetObservationByFrameID(cur_frame.GetID())->GetDescriptor()); | ||
| landmark.AddObservation(feat); | ||
| errors.push_back(distances[i][0]); | ||
| numGood++; | ||
| } | ||
| for (int i = 0; i < stereoMatches.size(); i++) | ||
| { | ||
| data::Landmark &landmark = landmarks[origInx[stereoIndices[i]]]; | ||
| if (!landmark.IsObservedInFrame(cur_frame.GetID())) | ||
| { | ||
| continue; | ||
| } | ||
| data::Feature feat(cur_frame, stereoMatches[i].GetObservationByFrameID(cur_frame.GetID())->GetKeypoint(), stereoMatches[i].GetObservationByFrameID(cur_frame.GetID())->GetDescriptor(), true); | ||
| landmark.AddStereoObservation(feat); | ||
| } | ||
|
|
||
| return numGood; | ||
| } | ||
|
|
||
| } | ||
| } |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,30 @@ | ||
| #ifndef _DESCRIPTOR_TRACKER_H_ | ||
| #define _DESCRIPTOR_TRACKER_H_ | ||
|
|
||
| #include "tracker.h" | ||
| #include "matcher.h" | ||
| #include "detector.h" | ||
| #include "region.h" | ||
| #include <opencv2/opencv.hpp> | ||
| #include "data/frame.h" | ||
| #include "data/landmark.h" | ||
| #include "odometry/five_point.h" | ||
| #include <vector> | ||
|
|
||
| namespace omni_slam | ||
| { | ||
| namespace feature | ||
| { | ||
|
|
||
| class DescriptorTracker : public Tracker, public Matcher, public Detector | ||
| { | ||
| public: | ||
| DescriptorTracker(std::string detector_type, std::string descriptor_type, std::map<std::string, double> det_args, std::map<std::string, double> desc_args, const float match_thresh = 0., const int keyframe_interval = 1); | ||
|
|
||
| private: | ||
| int DoTrack(std::vector<data::Landmark> &landmarks, data::Frame &cur_frame, std::vector<double> &errors, bool stereo); | ||
| }; | ||
|
|
||
| } | ||
| } | ||
| #endif /* _DESCRIPTOR_TRACKER_H_ */ |
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