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Commit c0f86a08 authored by Joan Solà Ortega's avatar Joan Solà Ortega
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improve book-keeping of incoming keypoints

parent 7346e3c0
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2 merge requests!36After cmake and const refactor,!28Resolve "Building a new visual odometry system"
...@@ -174,22 +174,19 @@ void ProcessorVisualOdometry::preProcess() ...@@ -174,22 +174,19 @@ void ProcessorVisualOdometry::preProcess()
filterWithEssential(mwkps_origin, mwkps_incoming, tracks_origin_incoming, E); filterWithEssential(mwkps_origin, mwkps_incoming, tracks_origin_incoming, E);
// Edit tracks prev with only inliers wrt origin // Edit tracks prev with only inliers wrt origin
// and remove also from mwkps_incoming all the keypoints that have not been tracked
TracksMap tracks_last_incoming_filtered; TracksMap tracks_last_incoming_filtered;
KeyPointsMap mwkps_incoming_fitered;
for (auto & track_origin_incoming : tracks_origin_incoming){ for (auto & track_origin_incoming : tracks_origin_incoming){
for (auto & track_last_incoming : tracks_last_incoming){ for (auto & track_last_incoming : tracks_last_incoming){
if (track_origin_incoming.second == track_last_incoming.second){ if (track_origin_incoming.second == track_last_incoming.second){
tracks_last_incoming_filtered[track_last_incoming.first] = track_last_incoming.second; tracks_last_incoming_filtered[track_last_incoming.first] = track_last_incoming.second;
mwkps_incoming_fitered[track_last_incoming.second] = mwkps_incoming[track_last_incoming.second];
continue; continue;
} }
} }
} }
WOLF_INFO( "Retained " , tracks_last_incoming_filtered.size(), " inliers..." ); WOLF_INFO( "Retained " , mwkps_incoming_fitered.size(), " inliers..." );
// Remove from mwkps_incoming all the keypoints that have not been tracked
// TODO: there might be a faster way than creating a new map from scratch?
KeyPointsMap mwkps_incoming_fitered;
for (auto track : tracks_last_incoming_filtered)
mwkps_incoming_fitered[track.second] = mwkps_incoming[track.second];
// Update captures // Update captures
capture_image_incoming_->addKeyPoints(mwkps_incoming_fitered); capture_image_incoming_->addKeyPoints(mwkps_incoming_fitered);
......
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