diff --git a/demos/processor_visual_odometry.yaml b/demos/processor_visual_odometry.yaml
index 1eb9dbf40f8f465c32440ad359a6143a03aa032c..b586000d424ab57f11b5f070ff6c2733d138c898 100644
--- a/demos/processor_visual_odometry.yaml
+++ b/demos/processor_visual_odometry.yaml
@@ -1,31 +1,39 @@
-# ProcessorBase and ProcessorTracker parameters
time_tolerance: 0.005
keyframe_vote:
voting_active: true
- min_features_for_keyframe: 42 # not used
+ # Trigger a new keyframe creation as well as detection of new keypoints in last frame
+ # when the track number goes below min_features_for_keyframe in incoming
+ min_features_for_keyframe: 10
+#Â Use a robust cost function
apply_loss_function: true
-# ProcessorTracker
-max_new_features: 42 # not used
+# Select the best new Keypoints when performing detection
+max_new_features: 100
-# ProcessorBase parameters
+####################################
+# ProcessorVisualOdometry parameters
+# FAST KeyPoint detection
+fast_params:
+ # Threshold on the keypoint pixel intensity (in uchar [0-255])
+ # the higher, the more selective the detector is
+ threshold_fast: 50
+ # Avoids getting multiple keypoints at the same place
+ non_max_suppresion: true
+
+# Lucas Kanade tracking parameters
klt_params:
patch_width: 15
patch_height: 15
nlevels_pyramids: 3
klt_max_err: 0.3
-fast_params:
- threshold_fast: 50
- non_max_suppresion: true
-
-min_nb_tracks: 10
+# Keep the number of tracks below
max_nb_tracks: 20
+# standard deviation of the pixel reprojection factor
std_pix: 1
+# before creating a landmark, wait until the track is old enough
min_track_length_for_landmark: 3
-
-max_new_detections: 100
diff --git a/include/vision/processor/processor_visual_odometry.h b/include/vision/processor/processor_visual_odometry.h
index 768ea232237ad4bb4b5a10570a93b31c74a0b1f2..49a5201efbcbde4c0da1401a155685ee334a9d68 100644
--- a/include/vision/processor/processor_visual_odometry.h
+++ b/include/vision/processor/processor_visual_odometry.h
@@ -71,8 +71,6 @@ struct ParamsProcessorVisualOdometry : public ParamsProcessorTracker
double std_pix_;
KltParams klt_params_;
FastParams fast_params_;
- unsigned int max_new_detections_;
- unsigned int min_nb_tracks_;
unsigned int max_nb_tracks_;
unsigned int min_track_length_for_landmark_;
@@ -91,8 +89,6 @@ struct ParamsProcessorVisualOdometry : public ParamsProcessorTracker
fast_params_.threshold_fast_ = _server.getParam<int>( prefix + _unique_name + "/fast_params/threshold_fast");
fast_params_.non_max_suppresion_ = _server.getParam<bool>(prefix + _unique_name + "/fast_params/non_max_suppresion");
- max_new_detections_ = _server.getParam<unsigned int>(prefix + _unique_name + "/max_new_detections");
- min_nb_tracks_ = _server.getParam<unsigned int>(prefix + _unique_name + "/min_nb_tracks");
max_nb_tracks_ = _server.getParam<unsigned int>(prefix + _unique_name + "/max_nb_tracks");
min_track_length_for_landmark_ = _server.getParam<unsigned int>(prefix + _unique_name + "/min_track_length_for_landmark");
@@ -106,7 +102,6 @@ struct ParamsProcessorVisualOdometry : public ParamsProcessorTracker
+ "klt_params_.nlevels_pyramids_: " + std::to_string(klt_params_.nlevels_pyramids_) + "\n"
+ "fast_params_.threshold_fast_ : " + std::to_string(fast_params_.threshold_fast_) + "\n"
+ "fast_params_.non_max_suppresion_: " + std::to_string(fast_params_.non_max_suppresion_) + "\n"
- + "min_nb_tracks_: " + std::to_string(min_nb_tracks_) + "\n"
+ "max_nb_tracks_: " + std::to_string(max_nb_tracks_) + "\n"
+ "min_track_length_for_landmark_: " + std::to_string(min_track_length_for_landmark_) + "\n";
}
diff --git a/src/processor/processor_visual_odometry.cpp b/src/processor/processor_visual_odometry.cpp
index 6c25c15cdf7b396991d8d8f76693629f92f11259..f42814743a7a5dd994b9e3237fd7d0a167e06727 100644
--- a/src/processor/processor_visual_odometry.cpp
+++ b/src/processor/processor_visual_odometry.cpp
@@ -86,7 +86,7 @@ void ProcessorVisualOdometry::preProcess()
detector_->detect(img_incoming, kps_current);
// Select a limited number of these keypoints
- cv::KeyPointsFilter::retainBest(kps_current, params_visual_odometry_->max_new_detections_);
+ cv::KeyPointsFilter::retainBest(kps_current, params_visual_odometry_->max_new_features);
capture_image_incoming_->addKeyPoints(kps_current);
// Initialize the tracks data structure with a "dummy track" where the keypoint is pointing to itself
@@ -157,13 +157,13 @@ void ProcessorVisualOdometry::preProcess()
// detect new KeyPoints in last and track them to incoming
////////////////////////////////
size_t n_tracks_origin = tracks_origin_incoming.size();
- if (n_tracks_origin < params_visual_odometry_->min_nb_tracks_){
+ if (n_tracks_origin < params_visual_odometry_->min_features_for_keyframe){
std::cout << " Too Few Tracks" << std::endl;
// Detect new KeyPoints
std::vector<cv::KeyPoint> kps_last_new;
detector_->detect(img_last, kps_last_new);
- cv::KeyPointsFilter::retainBest(kps_last_new, params_visual_odometry_->max_new_detections_);
+ cv::KeyPointsFilter::retainBest(kps_last_new, params_visual_odometry_->max_new_features);
// Create a map of wolf KeyPoints to track only the new ones
KeyPointsMap mwkps_last_new, mwkps_incoming_new;
@@ -181,6 +181,8 @@ void ProcessorVisualOdometry::preProcess()
// Concatenation of old tracks and new tracks
// Only keep tracks until it reaches a max nb of tracks
+ // TODO: the strategy for keeping the best new tracks is dumb
+ // -> should be improved for a better spatial repartition
unsigned int count_new_tracks = 0;
for (auto & track: tracks_last_incoming_new){
if ((n_tracks_origin + count_new_tracks) >= params_visual_odometry_->max_nb_tracks_){
diff --git a/test/gtest_processor_visual_odometry.cpp b/test/gtest_processor_visual_odometry.cpp
index 6a2cfa10ccd1c6e177424de247b76e851dcb12ff..dcf4e4a25653045a5d42fc46174491d583afc377 100644
--- a/test/gtest_processor_visual_odometry.cpp
+++ b/test/gtest_processor_visual_odometry.cpp
@@ -147,7 +147,7 @@ TEST(ProcessorVisualOdometry, preProcess)
params->klt_params_.criteria_ = cv::TermCriteria(cv::TermCriteria::COUNT+cv::TermCriteria::EPS, 30, 0.01);
params->fast_params_.threshold_fast_ = 20;
params->fast_params_.non_max_suppresion_ = true;
- params->min_nb_tracks_ = 50;
+ params->min_features_for_keyframe = 50;
params->max_nb_tracks_ = 400;
params->min_track_length_for_landmark_ = 4;
ProcessorVisualOdometryTest processor(params);
diff --git a/test/processor_visual_odometry_gtest.yaml b/test/processor_visual_odometry_gtest.yaml
index 8d0064d8ebc56fe870c989c109205bec1c484973..b586000d424ab57f11b5f070ff6c2733d138c898 100644
--- a/test/processor_visual_odometry_gtest.yaml
+++ b/test/processor_visual_odometry_gtest.yaml
@@ -1,31 +1,39 @@
-# ProcessorBase and ProcessorTracker parameters
time_tolerance: 0.005
keyframe_vote:
voting_active: true
- min_features_for_keyframe: 42 # not used
+ # Trigger a new keyframe creation as well as detection of new keypoints in last frame
+ # when the track number goes below min_features_for_keyframe in incoming
+ min_features_for_keyframe: 10
+#Â Use a robust cost function
apply_loss_function: true
-# ProcessorTracker
-max_new_features: 42 # not used
+# Select the best new Keypoints when performing detection
+max_new_features: 100
-# ProcessorBase parameters
+####################################
+# ProcessorVisualOdometry parameters
+# FAST KeyPoint detection
+fast_params:
+ # Threshold on the keypoint pixel intensity (in uchar [0-255])
+ # the higher, the more selective the detector is
+ threshold_fast: 50
+ # Avoids getting multiple keypoints at the same place
+ non_max_suppresion: true
+
+# Lucas Kanade tracking parameters
klt_params:
patch_width: 15
patch_height: 15
nlevels_pyramids: 3
klt_max_err: 0.3
-fast_params:
- threshold_fast: 50
- non_max_suppresion: true
-
-min_nb_tracks: 100
-max_nb_tracks: 200
+# Keep the number of tracks below
+max_nb_tracks: 20
+# standard deviation of the pixel reprojection factor
std_pix: 1
+# before creating a landmark, wait until the track is old enough
min_track_length_for_landmark: 3
-
-max_new_detections: 100