diff --git a/demos/cosyslam.cpp b/demos/cosyslam.cpp
index edb4194887380f717dca583ec91b648c21b4b721..13eedb5557e34d09c1c65febfc8f9ef49966354b 100644
--- a/demos/cosyslam.cpp
+++ b/demos/cosyslam.cpp
@@ -137,7 +137,7 @@ int main()
/////////////////////////
std::string wolf_root = _WOLF_OBJECTSLAM_ROOT_DIR;
- std::string filename = wolf_root + "/demos/input_demo2.csv";
+ std::string filename = wolf_root + "/demos/input_demoMulti.csv";
std::vector<std::pair<std::string, std::vector<std::string>>> csv_values;
csv_values = read_csv(filename);
@@ -145,6 +145,11 @@ int main()
// setup the wolf problem //
////////////////////////////
+ // retrieve parameters from yaml file
+ // YAML::Node config = YAML::LoadFile(wolf_root + "/demos/processor_tracker_landmark_object.yaml");
+ // std::cout << config['vote']['max_time_vote'].as<double>();
+ double kf_dt = 0.1;
+
ProblemPtr problem = Problem::create("POV", 3);
SolverCeresPtr solver = std::make_shared<SolverCeres>(problem);
solver->getSolverOptions().max_num_iterations = 200;
@@ -171,8 +176,9 @@ int main()
// SLAM loop //
///////////////
-
double t_cur = 0;
+ double t_since_last_kf = 0;
+
for (int i = 0; i < len; i++)
{
std::cout << i << std::endl;
@@ -200,10 +206,17 @@ int main()
CaptureObjectPtr cap = std::make_shared<CaptureObject>(t_cur, sen, dets);
cap->process();
+ t_since_last_kf += t-t_cur;
dets.clear();
dets.push_back(det);
}
t_cur = t;
+
+ // Solve if a KF should be voted
+ if (t_since_last_kf > kf_dt){
+ std::string report = solver->solve(SolverCeres::ReportVerbosity::FULL);
+ t_since_last_kf = 0;
+ }
}
std::string report = solver->solve(SolverCeres::ReportVerbosity::FULL);
@@ -248,6 +261,10 @@ int main()
counter = 0;
for (auto& elt: problem->getMap()->getLandmarkList()){
state_est = elt->getState();
+
+ if (elt->getConstrainedByList().size() < 15){
+ continue;
+ }
file_map << counter << ","
<< state_est['P'](0) << ","
<< state_est['P'](1) << ","
diff --git a/demos/map.csv b/demos/map.csv
index d27dfe0cbbbc2e37b18ef06d85cd8702f0e31c57..ed18c9e7d31c0679baab56ffb3d6b127655161a0 100644
--- a/demos/map.csv
+++ b/demos/map.csv
@@ -1,4 +1,7 @@
id,px,py,pz,qx,qy,qz,qw,
-0,-0.0614247,-0.102457,0.495463,-0.0662311,0.421016,0.904218,0.0273766,
-1,-0.160675,0.0237989,0.338653,-0.167039,0.900001,-0.402082,-0.0206261,
-2,0.132295,-0.0152859,0.425448,0.194154,0.906178,-0.348613,0.140051,
+0,-0.0586016,-0.103967,0.490275,-0.0429536,0.420095,0.905714,0.0368407,
+1,-0.160589,0.0243347,0.339189,-0.169076,0.90165,-0.397773,-0.0147582,
+2,0.133311,-0.0155249,0.4244,0.195321,0.903983,-0.354899,0.136787,
+3,0.148708,-0.0284635,0.414177,0.90161,-0.207589,0.0839353,0.370082,
+4,-0.0559744,-0.0953355,0.488029,0.905121,-0.0368711,0.0457529,0.421075,
+5,-0.146218,0.0292149,0.339253,0.908714,0.15218,-0.0469421,0.385845,
diff --git a/demos/processor_tracker_landmark_object.yaml b/demos/processor_tracker_landmark_object.yaml
index 6e36010be4d2aedd07a28aad85d1893e7f2cb6cd..f95f2422744379c4e658feb8d41e734a99da12a4 100644
--- a/demos/processor_tracker_landmark_object.yaml
+++ b/demos/processor_tracker_landmark_object.yaml
@@ -5,7 +5,7 @@ time_tolerance: 0.1222
vote:
voting_active: true
min_time_vote: 0 # s
- max_time_vote: 0.2 # s
+ max_time_vote: 0.1 # s
min_features_for_keyframe: 1
nb_vote_for_every_first: 0
diff --git a/demos/result.csv b/demos/result.csv
index 018218898e4042dd04fbd1a93395aa10f7e492b5..400ccbadc376d3c76e2d63cc2274d181d47d6ec1 100644
--- a/demos/result.csv
+++ b/demos/result.csv
@@ -1,24 +1,160 @@
id,t,px,py,pz,qx,qy,qz,qw,
-0,0.000000000,-7.13745e-09,-3.17056e-09,2.67137e-09,-1.08901e-09,3.88643e-09,4.77464e-10,1,
-1,0.199035000,-0.0147153,0.000985145,0.00321811,-0.00562051,-0.000470111,-0.00193335,0.999982,
-2,0.398070000,-0.0179304,0.00258154,0.000629218,-0.00857347,-0.00101809,0.013546,0.999871,
-3,0.597106000,-0.0267357,0.00768433,0.000805707,-0.00544569,0.00583282,0.018268,0.999801,
-4,0.796141000,-0.034288,0.00881549,0.00312212,-0.00439498,0.0043273,0.0186002,0.999808,
-5,0.995176000,-0.054172,0.00412001,0.00517675,-0.00973791,0.0254734,0.0217271,0.999392,
-6,1.194211000,-0.0706687,-0.00257071,0.00593923,-0.0144656,0.0582125,0.0284753,0.997793,
-7,1.393246000,-0.0898303,-0.00531453,0.00976512,-0.0230286,0.0866555,0.0367664,0.995293,
-8,1.592281000,-0.103203,-0.0164662,0.0111209,-0.0398646,0.105225,0.0513253,0.992323,
-9,1.791317000,-0.125482,-0.0229034,0.00803872,-0.040498,0.130044,0.0678853,0.988352,
-10,1.990352000,-0.153863,-0.024897,0.0100727,-0.025176,0.151829,0.0926269,0.983735,
-11,2.189387000,-0.200826,-0.0311449,0.0416477,-0.0355259,0.180014,0.109197,0.976939,
-12,2.388422000,-0.215623,-0.0467369,0.0541434,-0.0353748,0.207558,0.140889,0.967377,
-13,2.653802000,0,0,0,0,0,0,1,
-14,13.898505000,0,0,0,0,0,0,1,
-15,14.097541000,0.0882042,0.093087,0.00755886,0.129889,-0.104404,-0.153225,0.974038,
-16,14.296576000,-0.000340052,0.0563682,-0.0220339,0.0960243,-0.00648276,-0.105164,0.989787,
-17,14.495611000,-0.00608663,0.066942,-0.0199413,0.110239,-0.00262628,-0.0804219,0.990643,
-18,14.694646000,-0.023845,0.0595486,-0.0238599,0.0927894,0.00941896,-0.0622909,0.993691,
-19,14.893681000,-0.0447324,0.0587233,-0.0228003,0.0974111,0.0113943,-0.0464065,0.994096,
-20,15.092716000,-0.0452005,0.0576207,-0.0213797,0.0998969,0.00601765,-0.0470362,0.993867,
-21,15.291752000,-0.0503393,0.0628617,-0.019674,0.104966,0.00829545,-0.0414138,0.993578,
-22,15.490787000,-0.0570391,0.0705774,-0.0207946,0.120835,0.0115654,-0.0464367,0.991518,
+0,0.000000000,0.00053724,0.000209711,-0.000341171,2.71308e-05,0.000158285,3.95115e-05,1,
+1,0.099518000,-0.00513182,0.000146188,0.000370784,-0.00361063,-0.00156841,-0.000563434,0.999992,
+2,0.199035000,-0.0136749,0.00163525,0.00248326,-0.00542409,-0.000310748,-0.00170426,0.999984,
+3,0.298553000,-0.0170197,0.00576942,0.00122761,-0.0013344,0.00191335,0.00293387,0.999993,
+4,0.398070000,-0.0169183,0.00302827,2.26597e-05,-0.00852854,-0.000791014,0.0137308,0.999869,
+5,0.497588000,-0.0220316,0.00292576,-0.000118058,-0.0104321,0.00339222,0.0180385,0.999777,
+6,0.597106000,-0.0257956,0.00810196,0.000230124,-0.0054016,0.00604,0.0184232,0.999797,
+7,0.696623000,-0.0308121,0.0106795,0.00125538,-0.00272841,0.00758898,0.0182663,0.999801,
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+11,1.094694000,-0.0559504,0.00337196,0.00379001,-0.0104416,0.0356446,0.029455,0.998876,
+12,1.194211000,-0.0675741,4.70758e-05,0.00444209,-0.0118591,0.0556111,0.0302859,0.997923,
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diff --git a/demos/test.csv b/demos/test.csv
deleted file mode 100644
index b47298165e8b7203544e602d2b40ed2e0706d25d..0000000000000000000000000000000000000000
--- a/demos/test.csv
+++ /dev/null
@@ -1,483 +0,0 @@
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-469,470,0470.png,0 obj_000004,-0.9811162 0.15039003 0.12162859-0.02287751 -0.05487286 0.38657886-0.92062455 0.00772852 -0.18547179-0.909914 -0.37102652 0.372256 0. 0. 0. 1. ,0.999989,0 days 00:00:00.301746,OK,15.624260, 0.00036885 0. 0. 0. 0. 0. 0. 0.00007812 0. 0. 0. 0. 0. 0. 0.00001547 0. 0. 0. 0. 0. 0. 0.0022952 0. 0. 0. 0. 0. 0. 0.00448542 0. 0. 0. 0. 0. 0. 0.01360506
-470,471,0471.png,0 obj_000004,-0.9811122 0.15190996 0.11975791-0.02310142 -0.05262142 0.38615894-0.9209322 0.00748328 -0.18614435-0.90983975-0.37087157 0.37207577 0. 0. 0. 1. ,0.999987,0 days 00:00:00.281953,OK,15.657433, 0.00036469 0. 0. 0. 0. 0. 0. 0.00007786 0. 0. 0. 0. 0. 0. 0.0000154 0. 0. 0. 0. 0. 0. 0.00221327 0. 0. 0. 0. 0. 0. 0.00437757 0. 0. 0. 0. 0. 0. 0.01453522
-471,472,0472.png,0 obj_000004,-0.98000556 0.1555522 0.12406565-0.02348512 -0.05498233 0.38754582-0.9202114 0.00702561 -0.19122203-0.90863395-0.3712445 0.37268412 0. 0. 0. 1. ,0.999989,0 days 00:00:00.290518,OK,15.690605, 0.0003637 0. 0. 0. 0. 0. 0. 0.00007759 0. 0. 0. 0. 0. 0. 0.00001548 0. 0. 0. 0. 0. 0. 0.00222047 0. 0. 0. 0. 0. 0. 0.00435142 0. 0. 0. 0. 0. 0. 0.01465145
-472,473,0473.png,0 obj_000004,-0.98025626 0.15646856 0.12089162-0.02322122 -0.05172086 0.38720948-0.92054206 0.00676961 -0.1908463 -0.90862006-0.3714719 0.37130144 0. 0. 0. 1. ,0.999989,0 days 00:00:00.273012,OK,15.723778, 0.00036079 0. 0. 0. 0. 0. 0. 0.00007762 0. 0. 0. 0. 0. 0. 0.00001524 0. 0. 0. 0. 0. 0. 0.00213146 0. 0. 0. 0. 0. 0. 0.00424841 0. 0. 0. 0. 0. 0. 0.01553774
-473,474,0474.png,0 obj_000004,-0.9806272 0.14953631 0.12652546-0.02319277 -0.05963964 0.38733366-0.9200106 0.00674519 -0.18658262-0.9097337 -0.37091178 0.37182635 0. 0. 0. 1. ,0.999989,0 days 00:00:00.275567,OK,15.756950, 0.00036251 0. 0. 0. 0. 0. 0. 0.00007766 0. 0. 0. 0. 0. 0. 0.00001534 0. 0. 0. 0. 0. 0. 0.00217503 0. 0. 0. 0. 0. 0. 0.00430454 0. 0. 0. 0. 0. 0. 0.01505858
-474,475,0475.png,0 obj_000004,-0.97914004 0.1601095 0.12509657-0.02363223 -0.05338463 0.39132938-0.9187031 0.00612469 -0.19604708-0.9062175 -0.37461898 0.37105596 0. 0. 0. 1. ,0.999989,0 days 00:00:00.287292,OK,15.790123, 0.00035986 0. 0. 0. 0. 0. 0. 0.00007758 0. 0. 0. 0. 0. 0. 0.0000152 0. 0. 0. 0. 0. 0. 0.00210954 0. 0. 0. 0. 0. 0. 0.00421885 0. 0. 0. 0. 0. 0. 0.01579247
-475,476,0476.png,0 obj_000004,-0.97879845 0.16188012 0.12549137-0.02404374 -0.05347576 0.3894621 -0.9194911 0.00571483 -0.19772145-0.9067073 -0.37254825 0.37108803 0. 0. 0. 1. ,0.999989,0 days 00:00:00.281971,OK,15.823296, 0.00036125 0. 0. 0. 0. 0. 0. 0.00007769 0. 0. 0. 0. 0. 0. 0.00001522 0. 0. 0. 0. 0. 0. 0.00213475 0. 0. 0. 0. 0. 0. 0.00425741 0. 0. 0. 0. 0. 0. 0.01545977
-476,477,0477.png,0 obj_000004,-0.97989434 0.15412182 0.12670216-0.02425408 -0.05939849 0.38089967-0.922709 0.00571689 -0.19047038-0.9116831 -0.36408678 0.3702957 0. 0. 0. 1. ,0.999991,0 days 00:00:00.289594,OK,15.856468, 0.00035803 0. 0. 0. 0. 0. 0. 0.00007746 0. 0. 0. 0. 0. 0. 0.00001507 0. 0. 0. 0. 0. 0. 0.0020703 0. 0. 0. 0. 0. 0. 0.00414089 0. 0. 0. 0. 0. 0. 0.01633179
-477,478,0478.png,0 obj_000004,-0.97985333 0.15573135 0.12504075-0.02459989 -0.05664242 0.38368735-0.92172706 0.00546333 -0.19151829-0.9102396 -0.3671362 0.37003738 0. 0. 0. 1. ,0.999991,0 days 00:00:00.302842,OK,15.889641, 0.00035235 0. 0. 0. 0. 0. 0. 0.00007699 0. 0. 0. 0. 0. 0. 0.00001498 0. 0. 0. 0. 0. 0. 0.0019739 0. 0. 0. 0. 0. 0. 0.00397396 0. 0. 0. 0. 0. 0. 0.01777582
-478,479,0479.png,0 obj_000004,-0.97990966 0.15403296 0.12669222-0.02467523 -0.05745975 0.39026386-0.9189113 0.00504364 -0.19098593-0.90772927-0.37357247 0.37006512 0. 0. 0. 1. ,0.999990,0 days 00:00:00.282274,OK,15.922813, 0.00035374 0. 0. 0. 0. 0. 0. 0.00007715 0. 0. 0. 0. 0. 0. 0.000015 0. 0. 0. 0. 0. 0. 0.00199264 0. 0. 0. 0. 0. 0. 0.00401994 0. 0. 0. 0. 0. 0. 0.01742482
-479,480,0480.png,0 obj_000004,-0.9799767 0.15354672 0.12676366-0.02476968 -0.05851814 0.3864291 -0.9204639 0.00492145 -0.1903193 -0.90945077-0.3697061 0.36972144 0. 0. 0. 1. ,0.999990,0 days 00:00:00.285925,OK,15.955986, 0.0003574 0. 0. 0. 0. 0. 0. 0.00007754 0. 0. 0. 0. 0. 0. 0.00001499 0. 0. 0. 0. 0. 0. 0.00204242 0. 0. 0. 0. 0. 0. 0.00411851 0. 0. 0. 0. 0. 0. 0.01657823
-480,481,0481.png,0 obj_000004,-0.9807008 0.14843115 0.12725526-0.02455432 -0.06114335 0.38539156-0.92072815 0.00516115 -0.18570781-0.91073936-0.36887813 0.36859837 0. 0. 0. 1. ,0.999990,0 days 00:00:00.275877,OK,15.989158, 0.00035427 0. 0. 0. 0. 0. 0. 0.00007741 0. 0. 0. 0. 0. 0. 0.00001479 0. 0. 0. 0. 0. 0. 0.00196913 0. 0. 0. 0. 0. 0. 0.00400254 0. 0. 0. 0. 0. 0. 0.01753331
-481,482,0482.png,0 obj_000004,-0.9798874 0.1536931 0.12727454-0.02461398 -0.05790839 0.3913506 -0.9184209 0.00472206 -0.19096388-0.9073191 -0.37457934 0.36863837 0. 0. 0. 1. ,0.999990,0 days 00:00:00.266663,OK,16.022331, 0.00035496 0. 0. 0. 0. 0. 0. 0.00007747 0. 0. 0. 0. 0. 0. 0.00001481 0. 0. 0. 0. 0. 0. 0.00198049 0. 0. 0. 0. 0. 0. 0.00402347 0. 0. 0. 0. 0. 0. 0.01735491
-482,483,0483.png,0 obj_000004,-0.9803532 0.14997175 0.12812418-0.0245467 -0.06187433 0.38295653-0.9216949 0.00501175 -0.18729417-0.911514 -0.3661532 0.3680247 0. 0. 0. 1. ,0.999990,0 days 00:00:00.275706,OK,16.055503, 0.00035821 0. 0. 0. 0. 0. 0. 0.00007787 0. 0. 0. 0. 0. 0. 0.00001475 0. 0. 0. 0. 0. 0. 0.00201703 0. 0. 0. 0. 0. 0. 0.00410442 0. 0. 0. 0. 0. 0. 0.01665798
-483,484,0484.png,0 obj_000004,-0.98082155 0.14803472 0.12678532-0.02439874 -0.06167284 0.38135192-0.9223735 0.00547248 -0.1848931 -0.9125028 -0.3649084 0.36782846 0. 0. 0. 1. ,0.999989,0 days 00:00:00.281736,OK,16.088676, 0.0003542 0. 0. 0. 0. 0. 0. 0.00007758 0. 0. 0. 0. 0. 0. 0.00001468 0. 0. 0. 0. 0. 0. 0.0019459 0. 0. 0. 0. 0. 0. 0.00399146 0. 0. 0. 0. 0. 0. 0.01768702
-484,485,0485.png,0 obj_000004,-0.98066384 0.14881246 0.12709484-0.02431508 -0.06098989 0.3846954 -0.92102945 0.00552374 -0.18595341-0.9109716 -0.36818075 0.3680557 0. 0. 0. 1. ,0.999989,0 days 00:00:00.281362,OK,16.121848, 0.0003547 0. 0. 0. 0. 0. 0. 0.00007759 0. 0. 0. 0. 0. 0. 0.00001472 0. 0. 0. 0. 0. 0. 0.0019588 0. 0. 0. 0. 0. 0. 0.00401031 0. 0. 0. 0. 0. 0. 0.01752298
-485,486,0486.png,0 obj_000004,-0.97995037 0.15345238 0.12707943-0.02425026 -0.05894006 0.38600236-0.920616 0.00532682 -0.19032365-0.909648 -0.36921868 0.36795682 0. 0. 0. 1. ,0.999990,0 days 00:00:00.274892,OK,16.155021, 0.00035641 0. 0. 0. 0. 0. 0. 0.00007772 0. 0. 0. 0. 0. 0. 0.00001472 0. 0. 0. 0. 0. 0. 0.00198679 0. 0. 0. 0. 0. 0. 0.00405144 0. 0. 0. 0. 0. 0. 0.01711151
-486,487,0487.png,0 obj_000004,-0.9798367 0.15458407 0.12658313-0.02378278 -0.05820784 0.3852139 -0.9209928 0.00544281 -0.19113235-0.9097907 -0.36844873 0.36759368 0. 0. 0. 1. ,0.999990,0 days 00:00:00.290371,OK,16.188193, 0.00035674 0. 0. 0. 0. 0. 0. 0.0000778 0. 0. 0. 0. 0. 0. 0.00001467 0. 0. 0. 0. 0. 0. 0.00198361 0. 0. 0. 0. 0. 0. 0.00405207 0. 0. 0. 0. 0. 0. 0.01709402
diff --git a/include/objectslam/processor/processor_tracker_landmark_object.h b/include/objectslam/processor/processor_tracker_landmark_object.h
index cc6658bf7ce0b07c0816ed5175e497b8634ed8d7..9b32a5505971170ad0d43ee71f7764acc89670e6 100644
--- a/include/objectslam/processor/processor_tracker_landmark_object.h
+++ b/include/objectslam/processor/processor_tracker_landmark_object.h
@@ -135,6 +135,7 @@ class ProcessorTrackerLandmarkObject : public ProcessorTrackerLandmark
// To be able to access them in unit tests
protected:
Vector3d last_pos;
+ double dt_kf;
int lmks_matched;
double min_time_vote_;
double max_time_vote_;
diff --git a/src/processor/processor_tracker_landmark_object.cpp b/src/processor/processor_tracker_landmark_object.cpp
index c30f0d39f84f50262c2244d4afd79fd0f23df326..85b08e3aee3472fff2c8ffcdba790a1fdbe4e033 100644
--- a/src/processor/processor_tracker_landmark_object.cpp
+++ b/src/processor/processor_tracker_landmark_object.cpp
@@ -36,13 +36,6 @@ void ProcessorTrackerLandmarkObject::preProcess()
//clear wolf detections so that new ones will be stored inside
detections_incoming_.clear();
- // Set the last pos for velocity computation
- if (getOrigin() != nullptr){
- last_pos = getOrigin()->getFrame()->getP()->getState();
- } else {
- last_pos << 0,0,0;
- }
-
auto incoming_ptr = std::dynamic_pointer_cast<CaptureObject>(incoming_ptr_);
assert(incoming_ptr != nullptr && "Capture type mismatch. ProcessorTrackerLandmarkObject can only process captures of type CaptureObject");
@@ -60,7 +53,7 @@ void ProcessorTrackerLandmarkObject::postProcess()
// Test velocity
Vector3d pos_k = getOrigin()->getFrame()->getP()->getState();
- Vector3d vel = (pos_k-last_pos);
+ Vector3d vel = (pos_k-last_pos)/0.1;
WOLF_INFO("======SPEEDO========");
std::cout << vel << std::endl;
}
@@ -115,6 +108,13 @@ unsigned int ProcessorTrackerLandmarkObject::detectNewFeatures(const int& _max_n
const CaptureBasePtr& _capture,
FeatureBasePtrList& _features_out)
{
+ // Set the last pos for velocity computation
+ if (getLast() != nullptr){
+ last_pos = getLast()->getFrame()->getP()->getState();
+ } else {
+ last_pos << 0,0,0;
+ }
+
// list of landmarks in the map
auto lmk_lst = getProblem()->getMap()->getLandmarkList();
for (auto feat : detections_last_)
@@ -127,9 +127,6 @@ unsigned int ProcessorTrackerLandmarkObject::detectNewFeatures(const int& _max_n
auto feat_obj = std::static_pointer_cast<FeatureObject>(feat);
// Loop over the landmark to find if one is associated to feat
- // !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
- // !! Assume that the object type is unique -> to be adapted if necessary
- // !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
for(auto lmk: lmk_lst){
LandmarkObjectPtr lmk_obj = std::dynamic_pointer_cast<LandmarkObject>(lmk);
@@ -137,49 +134,46 @@ unsigned int ProcessorTrackerLandmarkObject::detectNewFeatures(const int& _max_n
if(lmk_obj != nullptr and lmk_obj->getObjectType() == feat_obj->getObjectType()){
// Then check if the world pose is similar
+
// world to rob
- // Vector3d pos = getLast()->getFrame()->getP()->getState();
- // Quaterniond quat (getLast()->getFrame()->getO()->getState().data());
- // Eigen::Isometry3d w_M_r = Eigen::Translation<double,3>(pos.head(3)) * quat;
-
- // // rob to sensor
- // pos = getSensor()->getP()->getState();
- // quat.coeffs() = getSensor()->getO()->getState();
- // Eigen::Isometry3d r_M_c = Eigen::Translation<double,3>(pos.head(3)) * quat;
-
- // // camera to feat
- // pos = feat->getMeasurement().head(3);
- // quat.coeffs() = feat->getMeasurement().tail(4);
- // Eigen::Isometry3d c_M_f = Eigen::Translation<double,3>(pos) * quat;
-
- // // world to feat
- // Eigen::Isometry3d w_M_f = w_M_r * r_M_c * c_M_f;
- // Quaterniond quat_feat;
- // Eigen::Matrix3d wRf = w_M_f.linear();
- // quat_feat.coeffs() = R2q(wRf).coeffs().transpose();
- // Vector3d pos_feat = w_M_f.translation();
-
- // // world to lmk
- // Vector3d pos_lmk = lmk_obj->getP()->getState();
- // Quaterniond quat_lmk(lmk_obj->getO()->getState().data());
-
- // // Error computation
- // double e_pos = (pos_lmk - pos_feat).norm();
- // double e_rot = (quat_lmk.vec() - quat_feat.vec()).norm();
-
- // if (e_pos < 0.2 && e_rot < 0.25){
- // feature_already_found = true;
- // break;
- // }
-
- feature_already_found = true;
- break;
+ Vector3d pos = getLast()->getFrame()->getP()->getState();
+ Quaterniond quat (getLast()->getFrame()->getO()->getState().data());
+ Eigen::Isometry3d w_M_r = Eigen::Translation<double,3>(pos.head(3)) * quat;
+
+ // rob to sensor
+ pos = getSensor()->getP()->getState();
+ quat.coeffs() = getSensor()->getO()->getState();
+ Eigen::Isometry3d r_M_c = Eigen::Translation<double,3>(pos.head(3)) * quat;
+
+ // camera to feat
+ pos = feat->getMeasurement().head(3);
+ quat.coeffs() = feat->getMeasurement().tail(4);
+ Eigen::Isometry3d c_M_f = Eigen::Translation<double,3>(pos) * quat;
+
+ // world to feat
+ Eigen::Isometry3d w_M_f = w_M_r * r_M_c * c_M_f;
+ Quaterniond quat_feat;
+ Eigen::Matrix3d wRf = w_M_f.linear();
+ quat_feat.coeffs() = R2q(wRf).coeffs().transpose();
+ Vector3d pos_feat = w_M_f.translation();
+
+ // world to lmk
+ Vector3d pos_lmk = lmk_obj->getP()->getState();
+ Quaterniond quat_lmk(lmk_obj->getO()->getState().data());
+
+ // Error computation
+ double e_pos = (pos_lmk - pos_feat).norm();
+ double e_rot = (quat_lmk.vec() - quat_feat.vec()).norm();
+
+ if (e_pos < 0.15 && e_rot < 0.2){
+ feature_already_found = true;
+ break;
+ }
}
}
if (!feature_already_found)
{
- std::cout << feat_obj->getObjectType() << std::endl;
// If the feature is not in the map & not in the list of newly detected features yet, then we add it.
_features_out.push_back(feat);
@@ -198,6 +192,11 @@ bool ProcessorTrackerLandmarkObject::voteForKeyFrame() const
if (detections_last_.empty())
return false;
+ // Impossible to make a keyframe if no landmarks have been matched
+ if (lmks_matched == 0){
+ return false;
+ }
+
auto origin = getOrigin();
auto incoming = getIncoming();
std::cout << "voteForKeyFrame" << std::endl;
@@ -208,10 +207,6 @@ bool ProcessorTrackerLandmarkObject::voteForKeyFrame() const
bool enough_time_vote = dt_incoming_origin > min_time_vote_;
bool too_long_since_last_KF = dt_incoming_origin > max_time_vote_;
- // Impossible to make a keyframe if no landmarks have been matched
- if (lmks_matched == 0){
- return false;
- }
// the elapsed time since last KF is too long
if (too_long_since_last_KF){
return true;
@@ -232,7 +227,7 @@ unsigned int ProcessorTrackerLandmarkObject::findLandmarks(const LandmarkBasePtr
const CaptureBasePtr& _capture,
FeatureBasePtrList& _features_out,
LandmarkMatchMap& _feature_landmark_correspondences)
-{
+{
for (auto feat : detections_incoming_)
{
std::string object_type = std::static_pointer_cast<FeatureObject>(feat)->getObjectType();