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mobile_robotics
wolf_projects
wolf_lib
wolf
Commits
827343a7
Commit
827343a7
authored
6 years ago
by
Mederic Fourmy
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Changed vote for keyframe policy from fixed time to number of features tracked
parent
f596a379
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1 merge request
!233
WIP: Apriltag
Pipeline
#2481
passed
6 years ago
Stage: build
Changes
2
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1
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2 changed files
src/examples/processor_tracker_landmark_apriltag.yaml
+8
-6
8 additions, 6 deletions
src/examples/processor_tracker_landmark_apriltag.yaml
src/processors/processor_tracker_landmark_apriltag.cpp
+2
-22
2 additions, 22 deletions
src/processors/processor_tracker_landmark_apriltag.cpp
with
10 additions
and
28 deletions
src/examples/processor_tracker_landmark_apriltag.yaml
+
8
−
6
View file @
827343a7
...
@@ -12,15 +12,17 @@ detector parameters:
...
@@ -12,15 +12,17 @@ detector parameters:
ippe_min_ratio
:
3.0
# quite arbitrary, always > 1 (to deactive, set at 0 for example)
ippe_min_ratio
:
3.0
# quite arbitrary, always > 1 (to deactive, set at 0 for example)
ippe_max_rep_error
:
2.0
# to deactivate, set at something big (100)
ippe_max_rep_error
:
2.0
# to deactivate, set at something big (100)
tag widths
:
0
:
0.055
1
:
0.055
2
:
0.055
3
:
0.055
tag parameters
:
tag parameters
:
tag_family
:
"
tag36h11"
tag_family
:
"
tag36h11"
tag_black_border
:
1
tag_black_border
:
1
tag_width_default
:
0.
05
5
#
enter -1 here if you want to provide a map of [ tagid : tag_width ], see lines just below
tag_width_default
:
0.
16
5
#
used if tag width not specified
tag widths
:
#1 : 0.2
#2 : 0.1
# etc...
noise
:
noise
:
std_xy
:
0.1
# m
std_xy
:
0.1
# m
...
@@ -30,7 +32,7 @@ noise:
...
@@ -30,7 +32,7 @@ noise:
vote
:
vote
:
voting active
:
true
voting active
:
true
min_time_vote
:
0.2
# s
min_time_vote
:
1
# s
min_features_for_keyframe
:
1
min_features_for_keyframe
:
1
...
...
This diff is collapsed.
Click to expand it.
src/processors/processor_tracker_landmark_apriltag.cpp
+
2
−
22
View file @
827343a7
...
@@ -69,26 +69,6 @@ ProcessorTrackerLandmarkApriltag::ProcessorTrackerLandmarkApriltag( ProcessorPar
...
@@ -69,26 +69,6 @@ ProcessorTrackerLandmarkApriltag::ProcessorTrackerLandmarkApriltag( ProcessorPar
detector_
=
*
apriltag_detector_create
();
detector_
=
*
apriltag_detector_create
();
apriltag_detector_add_family
(
&
detector_
,
&
tag_family_
);
apriltag_detector_add_family
(
&
detector_
,
&
tag_family_
);
WOLF_TRACE
(
"
\n\n\n\n
"
,
_params_tracker_landmark_apriltag
->
nthreads_
,
"
\n\n\n\n
"
);
WOLF_TRACE
(
"
\n\n\n\n
"
,
_params_tracker_landmark_apriltag
->
nthreads_
,
"
\n\n\n\n
"
);
WOLF_TRACE
(
"
\n\n\n\n
"
,
_params_tracker_landmark_apriltag
->
nthreads_
,
"
\n\n\n\n
"
);
WOLF_TRACE
(
"
\n\n\n\n
"
,
_params_tracker_landmark_apriltag
->
nthreads_
,
"
\n\n\n\n
"
);
WOLF_TRACE
(
"
\n\n\n\n
"
,
_params_tracker_landmark_apriltag
->
nthreads_
,
"
\n\n\n\n
"
);
WOLF_TRACE
(
"
\n\n\n\n
"
,
_params_tracker_landmark_apriltag
->
nthreads_
,
"
\n\n\n\n
"
);
WOLF_TRACE
(
"
\n\n\n\n
"
,
_params_tracker_landmark_apriltag
->
nthreads_
,
"
\n\n\n\n
"
);
WOLF_TRACE
(
"
\n\n\n\n
"
,
_params_tracker_landmark_apriltag
->
nthreads_
,
"
\n\n\n\n
"
);
WOLF_TRACE
(
"
\n\n\n\n
"
,
_params_tracker_landmark_apriltag
->
nthreads_
,
"
\n\n\n\n
"
);
WOLF_TRACE
(
"
\n\n\n\n
"
,
_params_tracker_landmark_apriltag
->
nthreads_
,
"
\n\n\n\n
"
);
WOLF_TRACE
(
"
\n\n\n\n
"
,
_params_tracker_landmark_apriltag
->
nthreads_
,
"
\n\n\n\n
"
);
WOLF_TRACE
(
"
\n\n\n\n
"
,
_params_tracker_landmark_apriltag
->
nthreads_
,
"
\n\n\n\n
"
);
WOLF_TRACE
(
"
\n\n\n\n
"
,
_params_tracker_landmark_apriltag
->
nthreads_
,
"
\n\n\n\n
"
);
WOLF_TRACE
(
"
\n\n\n\n
"
,
_params_tracker_landmark_apriltag
->
nthreads_
,
"
\n\n\n\n
"
);
WOLF_TRACE
(
"
\n\n\n\n
"
,
_params_tracker_landmark_apriltag
->
nthreads_
,
"
\n\n\n\n
"
);
WOLF_TRACE
(
"
\n\n\n\n
"
,
_params_tracker_landmark_apriltag
->
nthreads_
,
"
\n\n\n\n
"
);
WOLF_TRACE
(
"
\n\n\n\n
"
,
_params_tracker_landmark_apriltag
->
nthreads_
,
"
\n\n\n\n
"
);
WOLF_TRACE
(
"
\n\n\n\n
"
,
_params_tracker_landmark_apriltag
->
nthreads_
,
"
\n\n\n\n
"
);
detector_
.
quad_decimate
=
_params_tracker_landmark_apriltag
->
quad_decimate_
;
detector_
.
quad_decimate
=
_params_tracker_landmark_apriltag
->
quad_decimate_
;
detector_
.
quad_sigma
=
_params_tracker_landmark_apriltag
->
quad_sigma_
;
detector_
.
quad_sigma
=
_params_tracker_landmark_apriltag
->
quad_sigma_
;
detector_
.
nthreads
=
_params_tracker_landmark_apriltag
->
nthreads_
;
detector_
.
nthreads
=
_params_tracker_landmark_apriltag
->
nthreads_
;
...
@@ -229,7 +209,7 @@ void ProcessorTrackerLandmarkApriltag::preProcess()
...
@@ -229,7 +209,7 @@ void ProcessorTrackerLandmarkApriltag::preProcess()
// add to detected features list
// add to detected features list
detections_incoming_
.
push_back
(
std
::
make_shared
<
FeatureApriltag
>
(
pose
,
info
,
tag_id
,
*
det
,
FeatureBase
::
UncertaintyType
::
UNCERTAINTY_IS_INFO
));
detections_incoming_
.
push_back
(
std
::
make_shared
<
FeatureApriltag
>
(
pose
,
info
,
tag_id
,
*
det
,
FeatureBase
::
UncertaintyType
::
UNCERTAINTY_IS_INFO
));
// WOLF_TRACE("Meas Covariance tag ", tag_id, "\n", info.inverse());
// WOLF_TRACE("Meas Covariance tag ", tag_id, "\n", info.inverse());
WOLF_TRACE
(
"---------------------
\n
"
);
//
WOLF_TRACE("---------------------\n");
}
}
apriltag_detections_destroy
(
detections
);
apriltag_detections_destroy
(
detections
);
...
@@ -454,7 +434,7 @@ bool ProcessorTrackerLandmarkApriltag::voteForKeyFrame()
...
@@ -454,7 +434,7 @@ bool ProcessorTrackerLandmarkApriltag::voteForKeyFrame()
if
(
dt_incoming_origin
>
min_time_vote_
){
if
(
dt_incoming_origin
>
min_time_vote_
){
bool
more_in_last
=
getLastPtr
()
->
getFeatureList
().
size
()
>=
min_features_for_keyframe_
;
bool
more_in_last
=
getLastPtr
()
->
getFeatureList
().
size
()
>=
min_features_for_keyframe_
;
bool
less_in_incoming
=
getIncomingPtr
()
->
getFeatureList
().
size
()
<
min_features_for_keyframe_
;
bool
less_in_incoming
=
getIncomingPtr
()
->
getFeatureList
().
size
()
<
min_features_for_keyframe_
;
return
more_in_last
;
//
return more_in_last;
// Only used for fixed time kf creation
return
more_in_last
&&
less_in_incoming
;
return
more_in_last
&&
less_in_incoming
;
// return getLastPtr()->getFeatureList().size() >= min_features_for_keyframe_
// return getLastPtr()->getFeatureList().size() >= min_features_for_keyframe_
// && getIncomingPtr()->getFeatureList().size() < min_features_for_keyframe_;
// && getIncomingPtr()->getFeatureList().size() < min_features_for_keyframe_;
...
...
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