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mobile_robotics
wolf_projects
wolf_lib
plugins
objectslam
Commits
59b9181d
Commit
59b9181d
authored
3 years ago
by
ydepledt
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Refactor code
parent
6d97be52
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2 changed files
src/processor/processor_tracker_landmark_object.cpp
+3
-7
3 additions, 7 deletions
src/processor/processor_tracker_landmark_object.cpp
test/gtest_processor_tracker_landmark_object.cpp
+59
-27
59 additions, 27 deletions
test/gtest_processor_tracker_landmark_object.cpp
with
62 additions
and
34 deletions
src/processor/processor_tracker_landmark_object.cpp
+
3
−
7
View file @
59b9181d
...
...
@@ -697,11 +697,6 @@ bool ProcessorTrackerLandmarkObject::matchingRANSAC(const std::vector<Eigen::Iso
Eigen
::
Isometry3d
&
_best_model
)
{
//Check if the dataset has a sufficient size
// if (nbOfDifferentMatches(_matches) < 3)
// return false;
// Vector that will contains index of inliers/outliers for each iteration
std
::
vector
<
std
::
pair
<
int
,
int
>
>
inliers_idx_buff
;
std
::
vector
<
std
::
pair
<
int
,
int
>
>
outliers_idx_buff
;
...
...
@@ -749,8 +744,6 @@ bool ProcessorTrackerLandmarkObject::matchingRANSAC(const std::vector<Eigen::Iso
outliers_idx_buff
.
push_back
(
p
);
}
}
// std::cout << index_feat_last << " " << index_feat_incoming << "--->" << index_feat_last_other << " " << index_feat_incomming_other << " ---> " << outliers_idx_buff << "\n";
}
//Feature which provide the model is an inlier
...
...
@@ -778,6 +771,9 @@ bool ProcessorTrackerLandmarkObject::matchingRANSAC(const std::vector<Eigen::Iso
return
true
;
}
if
(
best_nb_inliers
<
2
)
{
return
false
;
}
return
true
;
}
...
...
This diff is collapsed.
Click to expand it.
test/gtest_processor_tracker_landmark_object.cpp
+
59
−
27
View file @
59b9181d
...
...
@@ -465,6 +465,7 @@ std::ostream &operator<<(std::ostream &flux, std::vector<std::pair<int, int>> ve
TEST_F
(
ProcessorTrackerLandmarkObject_fixture
,
matchingRANSAC
)
{
//Matches with two outliers
std
::
vector
<
Eigen
::
Isometry3d
>
cl_M_o_vec
;
std
::
vector
<
Eigen
::
Isometry3d
>
ci_M_o_vec
;
std
::
vector
<
std
::
pair
<
int
,
int
>>
matches
;
...
...
@@ -472,6 +473,14 @@ TEST_F(ProcessorTrackerLandmarkObject_fixture, matchingRANSAC)
std
::
vector
<
std
::
pair
<
int
,
int
>>
outliers_idx
;
Eigen
::
Isometry3d
best_model
;
//Matches with too many outliers
std
::
vector
<
Eigen
::
Isometry3d
>
cl_M_o_vec_2
;
std
::
vector
<
Eigen
::
Isometry3d
>
ci_M_o_vec_2
;
std
::
vector
<
std
::
pair
<
int
,
int
>>
matches_2
;
std
::
vector
<
std
::
pair
<
int
,
int
>>
inliers_idx_2
;
std
::
vector
<
std
::
pair
<
int
,
int
>>
outliers_idx_2
;
Eigen
::
Isometry3d
best_model_2
;
// Transform pose into isometry
Eigen
::
Isometry3d
w_M_cl
=
posevec_to_isometry
(
pose_cam_last_
);
Eigen
::
Isometry3d
w_M_ci
=
posevec_to_isometry
(
pose_cam_incoming_
);
...
...
@@ -484,9 +493,11 @@ TEST_F(ProcessorTrackerLandmarkObject_fixture, matchingRANSAC)
Eigen
::
Isometry3d
cl_M_o1
=
w_M_cl
.
inverse
()
*
w_M_o1
;
Eigen
::
Isometry3d
cl_M_o2
=
w_M_cl
.
inverse
()
*
w_M_o2
;
Eigen
::
Isometry3d
cl_M_o3
=
w_M_o3
;
Eigen
::
Isometry3d
cl_M_o3
=
w_M_o3
;
//outliers
Eigen
::
Isometry3d
cl_M_o4
=
w_M_cl
.
inverse
()
*
w_M_o4
;
Eigen
::
Isometry3d
cl_M_o5
=
w_M_o5
;
Eigen
::
Isometry3d
cl_M_o5
=
w_M_o5
;
//outliers
Eigen
::
Isometry3d
cl_M_o6
=
w_M_o1
;
//outliers
Eigen
::
Isometry3d
cl_M_o7
=
w_M_o2
;
//outliers
cl_M_o_vec
.
push_back
(
cl_M_o1
);
cl_M_o_vec
.
push_back
(
cl_M_o2
);
...
...
@@ -494,11 +505,19 @@ TEST_F(ProcessorTrackerLandmarkObject_fixture, matchingRANSAC)
cl_M_o_vec
.
push_back
(
cl_M_o4
);
cl_M_o_vec
.
push_back
(
cl_M_o5
);
cl_M_o_vec_2
.
push_back
(
cl_M_o1
);
cl_M_o_vec_2
.
push_back
(
cl_M_o3
);
cl_M_o_vec_2
.
push_back
(
cl_M_o5
);
cl_M_o_vec_2
.
push_back
(
cl_M_o6
);
cl_M_o_vec_2
.
push_back
(
cl_M_o7
);
Eigen
::
Isometry3d
ci_M_o1
=
w_M_ci
.
inverse
()
*
w_M_o1
;
Eigen
::
Isometry3d
ci_M_o2
=
w_M_ci
.
inverse
()
*
w_M_o2
;
Eigen
::
Isometry3d
ci_M_o3
=
w_M_o5
;
// outliers
Eigen
::
Isometry3d
ci_M_o4
=
w_M_ci
.
inverse
()
*
w_M_o4
;
Eigen
::
Isometry3d
ci_M_o5
=
w_M_o2
;
// outliers
Eigen
::
Isometry3d
ci_M_o6
=
w_M_o1
;
// outliers
Eigen
::
Isometry3d
ci_M_o7
=
w_M_o3
;
// outliers
ci_M_o_vec
.
push_back
(
ci_M_o1
);
ci_M_o_vec
.
push_back
(
ci_M_o2
);
...
...
@@ -506,6 +525,12 @@ TEST_F(ProcessorTrackerLandmarkObject_fixture, matchingRANSAC)
ci_M_o_vec
.
push_back
(
ci_M_o4
);
ci_M_o_vec
.
push_back
(
ci_M_o5
);
ci_M_o_vec_2
.
push_back
(
ci_M_o1
);
ci_M_o_vec_2
.
push_back
(
ci_M_o3
);
ci_M_o_vec_2
.
push_back
(
ci_M_o5
);
ci_M_o_vec_2
.
push_back
(
ci_M_o6
);
ci_M_o_vec_2
.
push_back
(
ci_M_o7
);
Eigen
::
Isometry3d
cl_M_ci
=
w_M_cl
.
inverse
()
*
w_M_ci
;
// Create 5 matches
...
...
@@ -515,6 +540,12 @@ TEST_F(ProcessorTrackerLandmarkObject_fixture, matchingRANSAC)
auto
pair_o4
=
std
::
make_pair
(
3
,
3
);
auto
pair_o5
=
std
::
make_pair
(
4
,
4
);
auto
pair_o1_2
=
std
::
make_pair
(
0
,
0
);
auto
pair_o2_2
=
std
::
make_pair
(
1
,
1
);
auto
pair_o3_2
=
std
::
make_pair
(
2
,
2
);
auto
pair_o4_2
=
std
::
make_pair
(
3
,
3
);
auto
pair_o5_2
=
std
::
make_pair
(
4
,
4
);
// Append pairs in matches object
matches
.
push_back
(
pair_o1
);
matches
.
push_back
(
pair_o2
);
...
...
@@ -522,8 +553,15 @@ TEST_F(ProcessorTrackerLandmarkObject_fixture, matchingRANSAC)
matches
.
push_back
(
pair_o4
);
matches
.
push_back
(
pair_o5
);
matches_2
.
push_back
(
pair_o1_2
);
matches_2
.
push_back
(
pair_o2_2
);
matches_2
.
push_back
(
pair_o3_2
);
matches_2
.
push_back
(
pair_o4_2
);
matches_2
.
push_back
(
pair_o5_2
);
// Detect all outliers of our batch
ProcessorTrackerLandmarkObject
::
matchingRANSAC
(
cl_M_o_vec
,
ci_M_o_vec
,
matches
,
0.55
,
inliers_idx
,
outliers_idx
,
best_model
);
bool
firstMatchRansacWorked
=
ProcessorTrackerLandmarkObject
::
matchingRANSAC
(
cl_M_o_vec
,
ci_M_o_vec
,
matches
,
0.55
,
inliers_idx
,
outliers_idx
,
best_model
);
bool
secondMatchRansacWorked
=
ProcessorTrackerLandmarkObject
::
matchingRANSAC
(
cl_M_o_vec_2
,
ci_M_o_vec_2
,
matches_2
,
0.55
,
inliers_idx_2
,
outliers_idx_2
,
best_model_2
);
Quaterniond
quat_cam
(
cl_M_ci
.
linear
());
Vector3d
pos_cam
=
cl_M_ci
.
translation
();
...
...
@@ -531,6 +569,10 @@ TEST_F(ProcessorTrackerLandmarkObject_fixture, matchingRANSAC)
Quaterniond
quat_cam_RANSAC
(
best_model
.
linear
());
Vector3d
pos_cam_RANSAC
=
best_model
.
translation
();
ASSERT_TRUE
(
firstMatchRansacWorked
);
ASSERT_FALSE
(
secondMatchRansacWorked
);
ASSERT_TRUE
(
matches
.
size
()
==
5
);
ProcessorTrackerLandmarkObject
::
filterMatchesOutliers
(
outliers_idx
,
matches
);
ASSERT_TRUE
(
matches
.
size
()
==
3
);
...
...
@@ -562,8 +604,8 @@ TEST_F(ProcessorTrackerLandmarkObject_fixture, isInliers)
ASSERT_TRUE
(
ProcessorTrackerLandmarkObject
::
isInliers
(
cl_M_o1
,
ci_M_o1
,
cl_M_ci
));
ASSERT_TRUE
(
ProcessorTrackerLandmarkObject
::
isInliers
(
cl_M_o2
,
ci_M_o2
,
cl_M_ci
));
ASSERT_TRUE
(
ProcessorTrackerLandmarkObject
::
isInliers
(
cl_M_o3
,
ci_M_o3
,
cl_M_ci
));
ASSERT_
TRUE
(
!
(
ProcessorTrackerLandmarkObject
::
isInliers
(
cl_M_o1
,
ci_M_o2
,
cl_M_ci
))
)
;
// outliers
ASSERT_
TRUE
(
!
(
ProcessorTrackerLandmarkObject
::
isInliers
(
cl_M_o2
,
ci_M_o1
,
cl_M_ci
))
)
;
// outliers
ASSERT_
FALSE
(
ProcessorTrackerLandmarkObject
::
isInliers
(
cl_M_o1
,
ci_M_o2
,
cl_M_ci
));
// outliers
ASSERT_
FALSE
(
ProcessorTrackerLandmarkObject
::
isInliers
(
cl_M_o2
,
ci_M_o1
,
cl_M_ci
));
// outliers
}
TEST
(
ProcessorTrackerLandmarkObject
,
nbOfDifferentMatches
)
...
...
@@ -571,15 +613,15 @@ TEST(ProcessorTrackerLandmarkObject, nbOfDifferentMatches)
std
::
vector
<
std
::
pair
<
int
,
int
>>
matches
;
// Create 12 matches
auto
pair_o1
=
std
::
make_pair
(
0
,
0
);
auto
pair_o2
=
std
::
make_pair
(
1
,
1
);
auto
pair_o3
=
std
::
make_pair
(
2
,
2
);
auto
pair_o4
=
std
::
make_pair
(
3
,
3
);
auto
pair_o5
=
std
::
make_pair
(
4
,
4
);
auto
pair_o6
=
std
::
make_pair
(
8
,
9
);
auto
pair_o7
=
std
::
make_pair
(
1
,
4
);
// Not unique
auto
pair_o8
=
std
::
make_pair
(
3
,
2
);
// Not unique
auto
pair_o9
=
std
::
make_pair
(
1
,
6
);
// Not unique
auto
pair_o1
=
std
::
make_pair
(
0
,
0
);
auto
pair_o2
=
std
::
make_pair
(
1
,
1
);
auto
pair_o3
=
std
::
make_pair
(
2
,
2
);
auto
pair_o4
=
std
::
make_pair
(
3
,
3
);
auto
pair_o5
=
std
::
make_pair
(
4
,
4
);
auto
pair_o6
=
std
::
make_pair
(
8
,
9
);
auto
pair_o7
=
std
::
make_pair
(
1
,
4
);
// Not unique
auto
pair_o8
=
std
::
make_pair
(
3
,
2
);
// Not unique
auto
pair_o9
=
std
::
make_pair
(
1
,
6
);
// Not unique
auto
pair_o10
=
std
::
make_pair
(
4
,
1
);
// Not unique
auto
pair_o11
=
std
::
make_pair
(
3
,
7
);
// Not unique
auto
pair_o12
=
std
::
make_pair
(
6
,
7
);
...
...
@@ -655,8 +697,8 @@ TEST(ProcessorTrackerLandmarkObject, filterMatchesOutliers)
matches1
.
push_back
(
pair_o11
);
matches1
.
push_back
(
pair_o12
);
matches2
=
matches1
;
matches3
=
matches1
;
matches2
=
matches1
;
matches3
=
matches1
;
matches1I
=
matches1
;
matches2I
=
matches1
;
matches3I
=
matches1
;
...
...
@@ -678,16 +720,6 @@ TEST(ProcessorTrackerLandmarkObject, filterMatchesOutliers)
ASSERT_TRUE
(
matches3I
.
size
()
==
5
);
}
// std::ostream& operator<<(std::ostream &flux, std::vector<std::pair<int,int> > vector)
// {
// for (auto pair : vector)
// {
// flux << pair.first << " " << pair.second << "\n";
// }
// return flux;
// }
TEST_F
(
ProcessorTrackerLandmarkObject_fixture
,
allMatchesSameType
)
{
FeatureBasePtrList
features_last
;
...
...
@@ -864,7 +896,7 @@ TEST_F(ProcessorTrackerLandmarkObject_fixture, processFeatures)
//Test if the trackMatrix is the one above
ASSERT_TRUE
(
sizeTrackFeat1
==
3
);
ASSERT_TRUE
(
sizeTrackFeat2
==
3
);
ASSERT_TRUE
(
sizeTrackFeat3
==
3
);
...
...
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