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mobile_robotics
wolf_projects
wolf_lib
plugins
objectslam
Commits
6bbff39f
Commit
6bbff39f
authored
3 years ago
by
ydepledt
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parent
7e673b4d
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include/objectslam/processor/processor_tracker_landmark_object.h
+1
-1
1 addition, 1 deletion
.../objectslam/processor/processor_tracker_landmark_object.h
src/processor/processor_tracker_landmark_object.cpp
+11
-13
11 additions, 13 deletions
src/processor/processor_tracker_landmark_object.cpp
with
12 additions
and
14 deletions
include/objectslam/processor/processor_tracker_landmark_object.h
+
1
−
1
View file @
6bbff39f
...
@@ -85,7 +85,7 @@ class ProcessorTrackerLandmarkObject : public ProcessorTrackerLandmark
...
@@ -85,7 +85,7 @@ class ProcessorTrackerLandmarkObject : public ProcessorTrackerLandmark
void
preProcess
()
override
;
void
preProcess
()
override
;
void
postProcess
()
override
;
void
postProcess
()
override
;
/** \brief
Find provided landmarks as features in the provided capture
/** \brief
Select which method for matching(first or best) folowing user parameter
* \param _landmarks_in input list of landmarks to be found
* \param _landmarks_in input list of landmarks to be found
* \param _capture the capture in which the _landmarks_in should be searched
* \param _capture the capture in which the _landmarks_in should be searched
* \param _features_out returned list of features found in \b _capture corresponding to a landmark of _landmarks_in
* \param _features_out returned list of features found in \b _capture corresponding to a landmark of _landmarks_in
...
...
This diff is collapsed.
Click to expand it.
src/processor/processor_tracker_landmark_object.cpp
+
11
−
13
View file @
6bbff39f
...
@@ -61,6 +61,7 @@ void ProcessorTrackerLandmarkObject::postProcess()
...
@@ -61,6 +61,7 @@ void ProcessorTrackerLandmarkObject::postProcess()
if
(
keyframe_voted_
){
if
(
keyframe_voted_
){
// Only if a keyframe is voted so that a suppressed landmark is not assigned to a factor
// Only if a keyframe is voted so that a suppressed landmark is not assigned to a factor
for
(
auto
lmk
:
getProblem
()
->
getMap
()
->
getLandmarkList
()){
for
(
auto
lmk
:
getProblem
()
->
getMap
()
->
getLandmarkList
()){
auto
lmk_obj
=
std
::
dynamic_pointer_cast
<
LandmarkObject
>
(
lmk
);
auto
lmk_obj
=
std
::
dynamic_pointer_cast
<
LandmarkObject
>
(
lmk
);
double
dt_lmk
=
getProblem
()
->
getTimeStamp
().
get
()
-
lmk_obj
->
getInitTimestamp
().
get
();
double
dt_lmk
=
getProblem
()
->
getTimeStamp
().
get
()
-
lmk_obj
->
getInitTimestamp
().
get
();
int
number_of_factors
=
lmk_obj
->
getConstrainedByList
().
size
();
int
number_of_factors
=
lmk_obj
->
getConstrainedByList
().
size
();
...
@@ -103,10 +104,7 @@ LandmarkBasePtr ProcessorTrackerLandmarkObject::emplaceLandmark(FeatureBasePtr _
...
@@ -103,10 +104,7 @@ LandmarkBasePtr ProcessorTrackerLandmarkObject::emplaceLandmark(FeatureBasePtr _
Eigen
::
Isometry3d
r_M_c
=
posevec_to_isometry
(
getSensor
()
->
getStateVector
(
"PO"
));
Eigen
::
Isometry3d
r_M_c
=
posevec_to_isometry
(
getSensor
()
->
getStateVector
(
"PO"
));
// camera to lmk
// camera to lmk
Vector3d
pos
=
_feature_ptr
->
getMeasurement
().
head
(
3
);
Eigen
::
Isometry3d
c_M_t
=
posevec_to_isometry
(
_feature_ptr
->
getMeasurement
());
Quaterniond
quat
;
quat
.
coeffs
()
=
_feature_ptr
->
getMeasurement
().
tail
(
4
);
Eigen
::
Isometry3d
c_M_t
=
Eigen
::
Translation
<
double
,
3
>
(
pos
)
*
quat
;
// world to lmk
// world to lmk
Eigen
::
Isometry3d
w_M_t
=
w_M_r
*
r_M_c
*
c_M_t
;
Eigen
::
Isometry3d
w_M_t
=
w_M_r
*
r_M_c
*
c_M_t
;
...
@@ -245,13 +243,13 @@ unsigned int ProcessorTrackerLandmarkObject::firstLmkMatching(const LandmarkBase
...
@@ -245,13 +243,13 @@ unsigned int ProcessorTrackerLandmarkObject::firstLmkMatching(const LandmarkBase
//Try matching only if lmk and feat have the same type
//Try matching only if lmk and feat have the same type
if
(
lmk_obj
!=
nullptr
and
lmk_obj
->
getObjectType
()
==
object_type
)
if
(
lmk_obj
!=
nullptr
and
lmk_obj
->
getObjectType
()
==
object_type
)
{
{
//
world to feat
//world to feat
Eigen
::
Isometry3d
w_M_f
=
w_M_r
*
r_M_c
*
c_M_f
;
Eigen
::
Isometry3d
w_M_f
=
w_M_r
*
r_M_c
*
c_M_f
;
//Create a pair that stock both position and rotation error
//Create a pair that stock both position and rotation error
auto
error
=
errorsComputations
(
w_M_f
,
lmk_obj
);
auto
error
=
errorsComputations
(
w_M_f
,
lmk_obj
);
//Test
if the error is
below
the
thresholds
//Test
errors are
below thresholds
if
(
error
.
first
<
e_pos_thr_
&&
error
.
second
<
e_rot_thr_
){
if
(
error
.
first
<
e_pos_thr_
&&
error
.
second
<
e_rot_thr_
){
_features_out
.
push_back
(
feat
);
_features_out
.
push_back
(
feat
);
double
score
(
1.0
);
// not used
double
score
(
1.0
);
// not used
...
@@ -383,11 +381,13 @@ unsigned int ProcessorTrackerLandmarkObject::findLandmarks(const LandmarkBasePtr
...
@@ -383,11 +381,13 @@ unsigned int ProcessorTrackerLandmarkObject::findLandmarks(const LandmarkBasePtr
{
{
int
ftr_size
;
int
ftr_size
;
//First lmk in list (lower than threshold) is matched
if
(
first_lmk_matching_
)
if
(
first_lmk_matching_
)
{
{
ftr_size
=
firstLmkMatching
(
_landmarks_in
,
_capture
,
_features_out
,
_feature_landmark_correspondences
);
ftr_size
=
firstLmkMatching
(
_landmarks_in
,
_capture
,
_features_out
,
_feature_landmark_correspondences
);
}
}
//Best lmk in list (lower than threshold) is matched
else
else
{
{
ftr_size
=
bestLmkMatching
(
_landmarks_in
,
_capture
,
_features_out
,
_feature_landmark_correspondences
);
ftr_size
=
bestLmkMatching
(
_landmarks_in
,
_capture
,
_features_out
,
_feature_landmark_correspondences
);
...
@@ -406,14 +406,12 @@ unsigned int ProcessorTrackerLandmarkObject::multiviewTypeMatching(const Capture
...
@@ -406,14 +406,12 @@ unsigned int ProcessorTrackerLandmarkObject::multiviewTypeMatching(const Capture
return
0
;
return
0
;
}
}
//
world to rob
//world to rob
Eigen
::
Isometry3d
w_M_r_last
=
posevec_to_isometry
(
getLast
()
->
getFrame
()
->
getStateVector
(
"PO"
));
Eigen
::
Isometry3d
w_M_r_last
=
posevec_to_isometry
(
getLast
()
->
getFrame
()
->
getStateVector
(
"PO"
));
Vector3d
pos_rob_incoming
=
getIncoming
()
->
getFrame
()
->
getP
()
->
getState
();
Eigen
::
Isometry3d
w_M_r_incoming
=
posevec_to_isometry
(
getIncoming
()
->
getFrame
()
->
getStateVector
(
"PO"
));
Quaterniond
quat_rob_incoming
(
getIncoming
()
->
getFrame
()
->
getO
()
->
getState
().
data
());
Eigen
::
Isometry3d
w_M_r_incoming
=
Eigen
::
Translation
<
double
,
3
>
(
pos_rob_incoming
.
head
(
3
))
*
quat_rob_incoming
;
//
rob to sensor
//rob to sensor
Eigen
::
Isometry3d
r_M_c
=
posevec_to_isometry
(
getSensor
()
->
getStateVector
(
"PO"
));
Eigen
::
Isometry3d
r_M_c
=
posevec_to_isometry
(
getSensor
()
->
getStateVector
(
"PO"
));
...
@@ -435,7 +433,7 @@ unsigned int ProcessorTrackerLandmarkObject::multiviewTypeMatching(const Capture
...
@@ -435,7 +433,7 @@ unsigned int ProcessorTrackerLandmarkObject::multiviewTypeMatching(const Capture
{
{
std
::
string
object_type_last
=
std
::
static_pointer_cast
<
FeatureObject
>
(
feat_last
)
->
getObjectType
();
std
::
string
object_type_last
=
std
::
static_pointer_cast
<
FeatureObject
>
(
feat_last
)
->
getObjectType
();
//
camera to feat
//camera to feat
Vector3d
pos_obj_last
=
feat_last
->
getMeasurement
().
head
(
3
);
Vector3d
pos_obj_last
=
feat_last
->
getMeasurement
().
head
(
3
);
Quaterniond
quat_obj_last
(
feat_last
->
getMeasurement
().
tail
(
4
).
data
());
Quaterniond
quat_obj_last
(
feat_last
->
getMeasurement
().
tail
(
4
).
data
());
Eigen
::
Isometry3d
c_M_f_last
=
Eigen
::
Translation
<
double
,
3
>
(
pos_obj_last
)
*
quat_obj_last
;
Eigen
::
Isometry3d
c_M_f_last
=
Eigen
::
Translation
<
double
,
3
>
(
pos_obj_last
)
*
quat_obj_last
;
...
...
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