From 1932e9349339525bb417600323c6ba0d63036e85 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Jaime=20Tarras=C3=B3=20Martinez?= <jtarraso@iri.upc.edu>
Date: Tue, 15 Nov 2016 15:16:20 +0100
Subject: [PATCH] Add noise parameters in yaml
---
src/examples/processor_image_ORB.yaml | 3 +++
src/processor_image_feature.cpp | 7 +++++--
src/processor_image_landmark.cpp | 6 ++++--
src/processor_image_params.h | 6 ++++++
src/yaml/processor_image_yaml.cpp | 4 ++++
5 files changed, 22 insertions(+), 4 deletions(-)
diff --git a/src/examples/processor_image_ORB.yaml b/src/examples/processor_image_ORB.yaml
index d7a4a6c2e..3839dc8b3 100644
--- a/src/examples/processor_image_ORB.yaml
+++ b/src/examples/processor_image_ORB.yaml
@@ -31,6 +31,9 @@ algorithm:
time tolerance: 0.01
distance: 20
+noise:
+ pixel noise std: 1 # pixels
+
draw: # Used to control drawing options
primary draw: true
secondary draw: true
diff --git a/src/processor_image_feature.cpp b/src/processor_image_feature.cpp
index 8b4de5967..974b81fea 100644
--- a/src/processor_image_feature.cpp
+++ b/src/processor_image_feature.cpp
@@ -139,7 +139,8 @@ unsigned int ProcessorImageFeature::trackFeatures(const FeatureBaseList& _featur
{
FeaturePointImage::Ptr incoming_point_ptr = std::make_shared<FeaturePointImage>(
candidate_keypoints[cv_matches[0].trainIdx], (candidate_descriptors.row(cv_matches[0].trainIdx)),
- feature_ptr->isKnown());
+ Eigen::Matrix2s::Identity()*params_.noise.pixel_noise_var);
+ incoming_point_ptr->setIsKnown(feature_ptr->isKnown());
_feature_list_out.push_back(incoming_point_ptr);
incoming_point_ptr->setTrackId(feature_ptr->trackId());
@@ -244,7 +245,9 @@ unsigned int ProcessorImageFeature::detectNewFeatures(const unsigned int& _max_n
if(new_keypoints[0].response > params_.algorithm.min_response_for_new_features)
{
std::cout << "response: " << new_keypoints[0].response << std::endl;
- FeaturePointImage::Ptr point_ptr = std::make_shared<FeaturePointImage>(new_keypoints[0], new_descriptors.row(index), false);
+ FeaturePointImage::Ptr point_ptr = std::make_shared<FeaturePointImage>(new_keypoints[0], new_descriptors.row(index),
+ Eigen::Matrix2s::Identity()*params_.noise.pixel_noise_var);
+ point_ptr->setIsKnown(false);
point_ptr->setTrackId(point_ptr->id());
addNewFeatureLast(point_ptr);
active_search_grid_.hitCell(new_keypoints[0]);
diff --git a/src/processor_image_landmark.cpp b/src/processor_image_landmark.cpp
index 67d39dcac..f5afce9d2 100644
--- a/src/processor_image_landmark.cpp
+++ b/src/processor_image_landmark.cpp
@@ -166,7 +166,7 @@ unsigned int ProcessorImageLandmark::findLandmarks(const LandmarkBaseList& _land
std::shared_ptr<FeaturePointImage> incoming_point_ptr = std::make_shared<FeaturePointImage>(candidate_keypoints[cv_matches[0].trainIdx],
- (candidate_descriptors.row(cv_matches[0].trainIdx)), Eigen::Matrix2s::Identity());
+ (candidate_descriptors.row(cv_matches[0].trainIdx)), Eigen::Matrix2s::Identity()*params_.noise.pixel_noise_var);
incoming_point_ptr->setTrackId(landmark_in_ptr->id());
incoming_point_ptr->setLandmarkId(landmark_in_ptr->id());
_feature_list_out.push_back(incoming_point_ptr);
@@ -229,7 +229,9 @@ unsigned int ProcessorImageLandmark::detectNewFeatures(const unsigned int& _max_
if(new_keypoints[0].response > params_.algorithm.min_response_for_new_features)
{
list_response_.push_back(new_keypoints[0].response);
- std::shared_ptr<FeaturePointImage> point_ptr = std::make_shared<FeaturePointImage>(new_keypoints[0], new_descriptors.row(index), false);
+ std::shared_ptr<FeaturePointImage> point_ptr = std::make_shared<FeaturePointImage>(new_keypoints[0], new_descriptors.row(index),
+ Eigen::Matrix2s::Identity()*params_.noise.pixel_noise_var);
+ point_ptr->setIsKnown(false);
point_ptr->setTrackId(point_ptr->id());
addNewFeatureLast(point_ptr);
active_search_grid_.hitCell(new_keypoints[0]);
diff --git a/src/processor_image_params.h b/src/processor_image_params.h
index 07d5b60d7..b17351cc7 100644
--- a/src/processor_image_params.h
+++ b/src/processor_image_params.h
@@ -67,6 +67,12 @@ struct ProcessorParamsImage : public ProcessorParamsBase
Scalar distance;
}algorithm;
+ struct Noise
+ {
+ Scalar pixel_noise_std; ///< std noise of the pixel
+ Scalar pixel_noise_var; ///< var noise of the pixel
+ }noise;
+
struct Draw
{
bool primary_drawing; ///< draw the features found in the image
diff --git a/src/yaml/processor_image_yaml.cpp b/src/yaml/processor_image_yaml.cpp
index 82b031dfc..9a5e34487 100644
--- a/src/yaml/processor_image_yaml.cpp
+++ b/src/yaml/processor_image_yaml.cpp
@@ -68,6 +68,10 @@ static ProcessorParamsBasePtr createProcessorParamsImage(const std::string & _fi
p->algorithm.time_tolerance= alg["time tolerance"].as<Scalar>();
p->algorithm.distance= alg["distance"].as<Scalar>();
+ Node noi = params["noise"];
+ p->noise.pixel_noise_std = noi["pixel noise std"].as<Scalar>();
+ p->noise.pixel_noise_var = p->noise.pixel_noise_std * p->noise.pixel_noise_std;
+
Node draw = params["draw"];
p->draw.primary_drawing = draw["primary draw"].as<bool>();
p->draw.secondary_drawing = draw["secondary draw"].as<bool>();
--
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