From c0f86a0827ac9004dfc8c543ded19695ab99c5d7 Mon Sep 17 00:00:00 2001
From: Joan Sola <jsola@iri.upc.edu>
Date: Sun, 17 Apr 2022 11:47:05 +0200
Subject: [PATCH] improve book-keeping of incoming keypoints
---
src/processor/processor_visual_odometry.cpp | 11 ++++-------
1 file changed, 4 insertions(+), 7 deletions(-)
diff --git a/src/processor/processor_visual_odometry.cpp b/src/processor/processor_visual_odometry.cpp
index 9b748d12f..3fe9961f0 100644
--- a/src/processor/processor_visual_odometry.cpp
+++ b/src/processor/processor_visual_odometry.cpp
@@ -174,22 +174,19 @@ void ProcessorVisualOdometry::preProcess()
filterWithEssential(mwkps_origin, mwkps_incoming, tracks_origin_incoming, E);
// 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;
+ KeyPointsMap mwkps_incoming_fitered;
for (auto & track_origin_incoming : tracks_origin_incoming){
for (auto & track_last_incoming : tracks_last_incoming){
if (track_origin_incoming.second == 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;
}
}
}
- WOLF_INFO( "Retained " , tracks_last_incoming_filtered.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];
+ WOLF_INFO( "Retained " , mwkps_incoming_fitered.size(), " inliers..." );
// Update captures
capture_image_incoming_->addKeyPoints(mwkps_incoming_fitered);
--
GitLab