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mobile_robotics
wolf_projects
wolf_lib
plugins
vision
Commits
c0f86a08
Commit
c0f86a08
authored
3 years ago
by
Joan Solà Ortega
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improve book-keeping of incoming keypoints
parent
7346e3c0
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2 merge requests
!36
After cmake and const refactor
,
!28
Resolve "Building a new visual odometry system"
Changes
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src/processor/processor_visual_odometry.cpp
+4
-7
4 additions, 7 deletions
src/processor/processor_visual_odometry.cpp
with
4 additions
and
7 deletions
src/processor/processor_visual_odometry.cpp
+
4
−
7
View file @
c0f86a08
...
@@ -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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