From 61ad4c558b592dbca4b75d1985b19251f68f9abb Mon Sep 17 00:00:00 2001
From: Joan Sola <jsola@iri.upc.edu>
Date: Wed, 21 Feb 2018 17:28:19 +0100
Subject: [PATCH] State machine, and checkTimeTolerance()
---
src/processor_tracker.cpp | 274 ++++++++++++++++++++------------------
src/processor_tracker.h | 32 +++++
2 files changed, 180 insertions(+), 126 deletions(-)
diff --git a/src/processor_tracker.cpp b/src/processor_tracker.cpp
index 2f1486dab..58c87a3a6 100644
--- a/src/processor_tracker.cpp
+++ b/src/processor_tracker.cpp
@@ -15,7 +15,11 @@ namespace wolf
{
ProcessorTracker::ProcessorTracker(const std::string& _type, const unsigned int _max_new_features, const Scalar& _time_tolerance) :
- ProcessorBase(_type, _time_tolerance), origin_ptr_(nullptr), last_ptr_(nullptr), incoming_ptr_(nullptr),
+ ProcessorBase(_type, _time_tolerance),
+ processing_step_(FIRST_TIME),
+ origin_ptr_(nullptr),
+ last_ptr_(nullptr),
+ incoming_ptr_(nullptr),
max_new_features_(_max_new_features)
{
//
@@ -32,8 +36,8 @@ void ProcessorTracker::process(CaptureBasePtr const _incoming_ptr)
if (_incoming_ptr == nullptr)
{
- WOLF_ERROR("Received capture is nullptr.");
- return;
+ WOLF_ERROR("Received capture is nullptr.");
+ return;
}
if ( !kf_pack_buffer_.empty() )
@@ -64,165 +68,173 @@ void ProcessorTracker::process(CaptureBasePtr const _incoming_ptr)
preProcess();
+ computeProcessingStep();
- // FIRST TIME
- if (origin_ptr_ == nullptr && last_ptr_ == nullptr)
+ switch (processing_step_)
{
- WOLF_DEBUG( "FIRST TIME" );
+ case FIRST_TIME :
+ {
+ WOLF_DEBUG( "FIRST TIME" );
- // advance
- advance();
+ // advance
+ advance();
- // advance this
- last_ptr_ = incoming_ptr_;
- incoming_ptr_ = nullptr;
+ // advance this
+ last_ptr_ = incoming_ptr_;
+ incoming_ptr_ = nullptr;
- // keyframe creation on last
- FrameBasePtr closest_key_frm = getProblem()->getTrajectoryPtr()->closestKeyFrameToTimeStamp(last_ptr_->getTimeStamp());
- if (closest_key_frm && abs(closest_key_frm->getTimeStamp() - last_ptr_->getTimeStamp()) <= time_tolerance_)
- {
- // Set KF
- closest_key_frm->addCapture(last_ptr_);
- closest_key_frm->setKey();
- WOLF_DEBUG( "Last appended to existing F, set KF" , closest_key_frm->id() );
- }
- else
- {
- // Make KF
- FrameBasePtr new_frame_ptr = getProblem()->emplaceFrame(KEY_FRAME,
- getProblem()->getState(last_ptr_->getTimeStamp()),
- last_ptr_->getTimeStamp());
- new_frame_ptr->addCapture(last_ptr_); // Add incoming Capture to the new Frame
- WOLF_DEBUG( "Last appended to new KF" , new_frame_ptr->id() );
-
- getProblem()->keyFrameCallback(new_frame_ptr, shared_from_this(), time_tolerance_);
- }
+ // keyframe creation on last
+ FrameBasePtr closest_key_frm = getProblem()->getTrajectoryPtr()->closestKeyFrameToTimeStamp(last_ptr_->getTimeStamp());
+ if (closest_key_frm && checkTimeTolerance(closest_key_frm, last_ptr_))
+ {
+ // Set KF
+ closest_key_frm->addCapture(last_ptr_);
+ closest_key_frm->setKey();
+ WOLF_DEBUG( "Last appended to existing F", closest_key_frm->id(), " ==> set KF" , closest_key_frm->id() );
+ }
+ else
+ {
+ // Make KF
+ FrameBasePtr new_frame_ptr = getProblem()->emplaceFrame(KEY_FRAME,
+ getProblem()->getState(last_ptr_->getTimeStamp()),
+ last_ptr_->getTimeStamp());
+ new_frame_ptr->addCapture(last_ptr_); // Add incoming Capture to the new Frame
+ WOLF_DEBUG( "Last appended to new KF" , new_frame_ptr->id() );
+
+ getProblem()->keyFrameCallback(new_frame_ptr, shared_from_this(), time_tolerance_);
+ }
- // Detect new Features, initialize Landmarks, create Constraints, ...
- processNew(max_new_features_);
+ // Detect new Features, initialize Landmarks, create Constraints, ...
+ processNew(max_new_features_);
- // Establish constraints from last
- establishConstraints();
- }
+ // Establish constraints from last
+ establishConstraints();
- // SECOND TIME or after KEY FRAME CALLBACK
- else if (origin_ptr_ == nullptr)
- {
- WOLF_DEBUG("SECOND TIME or after KEY FRAME CALLBACK");
+ break;
+ }
- // First we track the known Features
- processKnown();
- // Create a new non-key Frame in the Trajectory with the incoming Capture
- FrameBasePtr closest_key_frm = getProblem()->getTrajectoryPtr()->closestKeyFrameToTimeStamp(incoming_ptr_->getTimeStamp());
- if (closest_key_frm && abs(closest_key_frm->getTimeStamp() - incoming_ptr_->getTimeStamp()) <= time_tolerance_)
+ case SECOND_TIME :
{
- // Just append the Capture to the existing keyframe
- closest_key_frm->addCapture(incoming_ptr_);
- WOLF_DEBUG("Incoming appended to F" , closest_key_frm->id() );
- }
- else
- {
- // Create a frame to hold what will become the last Capture
- FrameBasePtr new_frame_ptr = getProblem()->emplaceFrame(NON_KEY_FRAME, incoming_ptr_->getTimeStamp());
- new_frame_ptr->addCapture(incoming_ptr_); // Add incoming Capture to the new Frame
- WOLF_DEBUG("Incoming in new F" , new_frame_ptr->id() );
- }
+ WOLF_DEBUG("SECOND TIME or after KEY FRAME CALLBACK");
- // Reset the derived Tracker
- reset();
-
- // Reset this
- origin_ptr_ = last_ptr_;
- last_ptr_ = incoming_ptr_;
- incoming_ptr_ = nullptr; // This line is not really needed, but it makes things clearer.
+ // First we track the known Features between last and incoming
+ processKnown();
+ // Create a new non-key Frame in the Trajectory with the incoming Capture
+ FrameBasePtr closest_key_frm = getProblem()->getTrajectoryPtr()->closestKeyFrameToTimeStamp(incoming_ptr_->getTimeStamp());
+ if (closest_key_frm && checkTimeTolerance(closest_key_frm, incoming_ptr_))
+ {
+ // Just append the Capture to the existing keyframe
+ closest_key_frm->addCapture(incoming_ptr_);
+ WOLF_DEBUG("Incoming appended to F" , closest_key_frm->id() );
+ }
+ else
+ {
+ // Create a frame to hold what will become the last Capture
+ FrameBasePtr new_frame_ptr = getProblem()->emplaceFrame(NON_KEY_FRAME, incoming_ptr_->getTimeStamp());
+ new_frame_ptr->addCapture(incoming_ptr_); // Add incoming Capture to the new Frame
+ WOLF_DEBUG("Incoming in new F" , new_frame_ptr->id() );
+ }
- }
+ // Reset the derived Tracker
+ reset();
- // OTHER TIMES
- else
- {
- WOLF_DEBUG("OTHER TIMES");
+ // Reset this
+ origin_ptr_ = last_ptr_;
+ last_ptr_ = incoming_ptr_;
+ incoming_ptr_ = nullptr; // This line is not really needed, but it makes things clearer.
- // 1. First we track the known Features and create new constraints as needed
+ // Establish constraints from last
+ establishConstraints();
- processKnown();
+ break;
+ }
- // 2. Then we see if we want and we are allowed to create a KeyFrame
- // Three conditions to make a KF:
- // - We vote for KF
- // - Problem allows us to make keyframe
- // - There is no existing KF very close to our Time Stamp <--- NOT SURE OF THIS
+ default:
+ {
+ WOLF_DEBUG("OTHER TIMES");
- FrameBasePtr closest_key_frm_to_last = last_ptr_->getFramePtr(); // start with the same last's frame
- if ( ! ( closest_key_frm_to_last && closest_key_frm_to_last->isKey() ) ) // last F is not KF
- closest_key_frm_to_last = getProblem()->getTrajectoryPtr()->closestKeyFrameToTimeStamp(last_ptr_->getTimeStamp());
+ // 1. First we track the known Features and create new constraints as needed
- if (closest_key_frm_to_last && abs(closest_key_frm_to_last->getTimeStamp() - last_ptr_->getTimeStamp()) > time_tolerance_) // closest KF is not close enough
- closest_key_frm_to_last = nullptr;
+ processKnown();
- if ( !( (voteForKeyFrame() && permittedKeyFrame() ) || closest_key_frm_to_last ) )
- {
+ // 2. Then we see if we want and we are allowed to create a KeyFrame
+ // Three conditions to make a KF:
+ // - We vote for KF
+ // - Problem allows us to make keyframe
+ // - There is no existing KF very close to our Time Stamp <--- NOT SURE OF THIS
- // 2.a. We did not create a KeyFrame:
+ FrameBasePtr closest_key_frm_to_last = last_ptr_->getFramePtr(); // start with the same last's frame
+ if ( ! ( closest_key_frm_to_last && closest_key_frm_to_last->isKey() ) ) // last F is not KF
+ closest_key_frm_to_last = getProblem()->getTrajectoryPtr()->closestKeyFrameToTimeStamp(last_ptr_->getTimeStamp());
- // advance the derived tracker
- advance();
+ if (closest_key_frm_to_last && !checkTimeTolerance(closest_key_frm_to_last, last_ptr_)) // closest KF is not close enough
+ closest_key_frm_to_last = nullptr;
- // Advance this
- last_ptr_->getFramePtr()->addCapture(incoming_ptr_); // Add incoming Capture to the tracker's last Frame
- last_ptr_->remove();
- incoming_ptr_->getFramePtr()->setTimeStamp(incoming_ptr_->getTimeStamp());
- last_ptr_ = incoming_ptr_; // Incoming Capture takes the place of last Capture
- incoming_ptr_ = nullptr; // This line is not really needed, but it makes things clearer.
+ if ( !( (voteForKeyFrame() && permittedKeyFrame() ) || closest_key_frm_to_last ) )
+ {
- WOLF_DEBUG("last <-- incoming");
+ // 2.a. We did not create a KeyFrame:
- }
- else
- {
+ // advance the derived tracker
+ advance();
- // 2.b. We create a KF
+ // Advance this
+ last_ptr_->getFramePtr()->addCapture(incoming_ptr_); // Add incoming Capture to the tracker's last Frame
+ last_ptr_->remove();
+ incoming_ptr_->getFramePtr()->setTimeStamp(incoming_ptr_->getTimeStamp());
+ last_ptr_ = incoming_ptr_; // Incoming Capture takes the place of last Capture
+ incoming_ptr_ = nullptr; // This line is not really needed, but it makes things clearer.
- // Detect new Features, initialize Landmarks, create Constraints, ...
- processNew(max_new_features_);
+ WOLF_DEBUG("last <-- incoming");
- FrameBasePtr key_frm = getProblem()->getTrajectoryPtr()->closestKeyFrameToTimeStamp(incoming_ptr_->getTimeStamp());
- if ( abs(key_frm->getTimeStamp() - incoming_ptr_->getTimeStamp() ) < time_tolerance_)
- {
- // Append incoming to existing key-frame
- key_frm->addCapture(incoming_ptr_);
- WOLF_DEBUG("Incoming adhered to existing KF" , key_frm->id());
}
else
{
- // Create a new non-key Frame in the Trajectory with the incoming Capture
- // Make a non-key-frame to hold incoming
- FrameBasePtr new_frame_ptr = getProblem()->emplaceFrame(NON_KEY_FRAME, incoming_ptr_->getTimeStamp());
- new_frame_ptr->addCapture(incoming_ptr_); // Add incoming Capture to the new Frame
- WOLF_DEBUG( "Incoming adhered to new F" , key_frm->id() );
- // Make the last Capture's Frame a KeyFrame
- setKeyFrame(last_ptr_);
- WOLF_DEBUG( "Set KEY to last F" , key_frm->id() );
- }
-
- // Establish constraints between last and origin
- establishConstraints();
-
- // Reset the derived Tracker
- reset();
-
- // Reset this
- origin_ptr_ = last_ptr_;
- last_ptr_ = incoming_ptr_;
- incoming_ptr_ = nullptr; // This line is not really needed, but it makes things clearer.
-
-}
+ // 2.b. We create a KF
+
+ // Detect new Features, initialize Landmarks, create Constraints, ...
+ processNew(max_new_features_);
+
+ FrameBasePtr key_frm = getProblem()->getTrajectoryPtr()->closestKeyFrameToTimeStamp(incoming_ptr_->getTimeStamp());
+ if ( abs(key_frm->getTimeStamp() - incoming_ptr_->getTimeStamp() ) < time_tolerance_)
+ {
+ // Append incoming to existing key-frame
+ key_frm->addCapture(incoming_ptr_);
+ WOLF_DEBUG("Incoming adhered to existing KF" , key_frm->id());
+ }
+ else
+ {
+ // Create a new non-key Frame in the Trajectory with the incoming Capture
+ // Make a non-key-frame to hold incoming
+ FrameBasePtr new_frame_ptr = getProblem()->emplaceFrame(NON_KEY_FRAME, incoming_ptr_->getTimeStamp());
+ new_frame_ptr->addCapture(incoming_ptr_); // Add incoming Capture to the new Frame
+ WOLF_DEBUG( "Incoming adhered to new F" , key_frm->id() );
+
+ // Make the last Capture's Frame a KeyFrame
+ setKeyFrame(last_ptr_);
+ WOLF_DEBUG( "Set KEY to last F" , key_frm->id() );
+ }
+
+ // Reset the derived Tracker
+ reset();
+
+ // Reset this
+ origin_ptr_ = last_ptr_;
+ last_ptr_ = incoming_ptr_;
+ incoming_ptr_ = nullptr; // This line is not really needed, but it makes things clearer.
+
+ // Establish constraints between last and origin
+ establishConstraints();
+ }
+ break;
+ }
}
+
postProcess();
//std::cout << "-----End of process():" << std::endl;
@@ -284,6 +296,16 @@ void ProcessorTracker::setKeyFrame(CaptureBasePtr _capture_ptr)
}
}
+void ProcessorTracker::computeProcessingStep()
+{
+ if (origin_ptr_ == nullptr && last_ptr_ == nullptr)
+ processing_step_ = FIRST_TIME;
+ else if (origin_ptr_ == nullptr)
+ processing_step_ = SECOND_TIME;
+}
+
+
+
} // namespace wolf
diff --git a/src/processor_tracker.h b/src/processor_tracker.h
index fb1029d72..755c15f92 100644
--- a/src/processor_tracker.h
+++ b/src/processor_tracker.h
@@ -67,7 +67,11 @@ struct ProcessorParamsTracker : public ProcessorParamsBase
*/
class ProcessorTracker : public ProcessorBase
{
+ public:
+ typedef enum {FIRST_TIME, SECOND_TIME} ProcessingStep ;
+
protected:
+ ProcessingStep processing_step_;
CaptureBasePtr origin_ptr_; ///< Pointer to the origin of the tracker.
CaptureBasePtr last_ptr_; ///< Pointer to the last tracked capture.
CaptureBasePtr incoming_ptr_; ///< Pointer to the incoming capture being processed.
@@ -91,6 +95,11 @@ class ProcessorTracker : public ProcessorBase
virtual bool keyFrameCallback(FrameBasePtr _keyframe_ptr, const Scalar& _time_tol_other);
+ bool checkTimeTolerance(const TimeStamp& _ts1, const TimeStamp& _ts2);
+ bool checkTimeTolerance(const CaptureBasePtr _cap, const TimeStamp& _ts);
+ bool checkTimeTolerance(const FrameBasePtr _frm, const TimeStamp& _ts);
+ bool checkTimeTolerance(const FrameBasePtr _frm, const CaptureBasePtr _cap);
+
virtual CaptureBasePtr getOriginPtr();
virtual CaptureBasePtr getLastPtr();
virtual CaptureBasePtr getIncomingPtr();
@@ -185,11 +194,14 @@ class ProcessorTracker : public ProcessorBase
protected:
+ void computeProcessingStep();
+
void addNewFeatureLast(FeatureBasePtr _feature_ptr);
FeatureBaseList& getNewFeaturesListIncoming();
void addNewFeatureIncoming(FeatureBasePtr _feature_ptr);
+
};
inline void ProcessorTracker::setMaxNewFeatures(const unsigned int& _max_new_features)
@@ -217,6 +229,26 @@ inline FeatureBaseList& ProcessorTracker::getNewFeaturesListIncoming()
return new_features_incoming_;
}
+inline bool ProcessorTracker::checkTimeTolerance(const TimeStamp& _ts1, const TimeStamp& _ts2)
+{
+ return (std::fabs(_ts2 - _ts2) < time_tolerance_);
+}
+
+inline bool ProcessorTracker::checkTimeTolerance(const CaptureBasePtr _cap, const TimeStamp& _ts)
+{
+ return checkTimeTolerance(_cap->getTimeStamp(), _ts);
+}
+
+inline bool ProcessorTracker::checkTimeTolerance(const FrameBasePtr _frm, const TimeStamp& _ts)
+{
+ return checkTimeTolerance(_frm->getTimeStamp(), _ts);
+}
+
+inline bool ProcessorTracker::checkTimeTolerance(const FrameBasePtr _frm, const CaptureBasePtr _cap)
+{
+ return checkTimeTolerance(_frm->getTimeStamp(), _cap->getTimeStamp());
+}
+
inline void ProcessorTracker::addNewFeatureIncoming(FeatureBasePtr _feature_ptr)
{
new_features_incoming_.push_back(_feature_ptr);
--
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