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mobile_robotics
wolf_projects
wolf_lib
plugins
vision
Commits
49fc8383
Commit
49fc8383
authored
3 years ago
by
César DEBEUNNE
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Comment PreProcess() data structure
parent
ff5047a4
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2 merge requests
!36
After cmake and const refactor
,
!28
Resolve "Building a new visual odometry system"
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2 changed files
include/vision/capture/capture_image.h
+5
-1
5 additions, 1 deletion
include/vision/capture/capture_image.h
src/processor/processor_visual_odometry.cpp
+7
-2
7 additions, 2 deletions
src/processor/processor_visual_odometry.cpp
with
12 additions
and
3 deletions
include/vision/capture/capture_image.h
+
5
−
1
View file @
49fc8383
...
@@ -68,8 +68,12 @@ class WKeyPoint
...
@@ -68,8 +68,12 @@ class WKeyPoint
};
};
// This map is frame specific and enables to recover a Wolf KeyPoint with a certain
// ID in a frame
typedef
std
::
unordered_map
<
size_t
,
WKeyPoint
>
KeyPointsMap
;
typedef
std
::
unordered_map
<
size_t
,
WKeyPoint
>
KeyPointsMap
;
// This maps the IDs of the Wolf KeyPoints that are tracked from a frame to the other.
// It takes the ID of a WKeyPoint and returns the ID of its track in another Frame.
typedef
std
::
unordered_map
<
size_t
,
size_t
>
TracksMap
;
typedef
std
::
unordered_map
<
size_t
,
size_t
>
TracksMap
;
// Set ClassPtr, ClassConstPtr and ClassWPtr typedefs;
// Set ClassPtr, ClassConstPtr and ClassWPtr typedefs;
...
...
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src/processor/processor_visual_odometry.cpp
+
7
−
2
View file @
49fc8383
...
@@ -125,11 +125,16 @@ void ProcessorVisualOdometry::preProcess()
...
@@ -125,11 +125,16 @@ void ProcessorVisualOdometry::preProcess()
// - ...
// - ...
////////////////////////////////
////////////////////////////////
// Tracks between last and incoming
// TracksMap between last and incoming
// Input: ID of Wkp in last. Output: ID of the tracked Wkp in incoming.
TracksMap
tracks_last_incoming
=
kltTrack
(
img_last
,
img_incoming
,
mwkps_last
,
mwkps_incoming
);
TracksMap
tracks_last_incoming
=
kltTrack
(
img_last
,
img_incoming
,
mwkps_last
,
mwkps_incoming
);
// Merge tracks to get tracks_origin_incoming
// TracksMap between origin and last
// Input: ID of Wkp in origin. Output: ID of the tracked Wkp in last.
TracksMap
tracks_origin_last
=
capture_image_last_
->
getTracksOrigin
();
TracksMap
tracks_origin_last
=
capture_image_last_
->
getTracksOrigin
();
// Merge tracks to get TracksMap between origin and incoming
// Input: ID of Wkp in origin. Output: ID of the tracked Wkp in incoming.
TracksMap
tracks_origin_incoming
=
mergeTracks
(
tracks_origin_last
,
tracks_last_incoming
);
TracksMap
tracks_origin_incoming
=
mergeTracks
(
tracks_origin_last
,
tracks_last_incoming
);
// Outliers rejection with essential matrix
// Outliers rejection with essential matrix
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