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Commit 827343a7 authored by Mederic Fourmy's avatar 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!233WIP: Apriltag
Pipeline #2481 passed
...@@ -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: 0.055 # enter -1 here if you want to provide a map of [ tagid : tag_width ], see lines just below tag_width_default: 0.165 # 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
......
...@@ -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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