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projection.cc
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projection.cc
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/**
* This file is part of Structure PLP-SLAM, originally from OpenVSLAM.
*
* Copyright 2022 DFKI (German Research Center for Artificial Intelligence)
* Modified by Fangwen Shu <Fangwen.Shu@dfki.de>
*
* If you use this code, please cite the respective publications as
* listed on the github repository.
*
* Structure PLP-SLAM is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* Structure PLP-SLAM is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with Structure PLP-SLAM. If not, see <http://www.gnu.org/licenses/>.
*/
#include "PLPSLAM/camera/base.h"
#include "PLPSLAM/data/frame.h"
#include "PLPSLAM/data/keyframe.h"
#include "PLPSLAM/data/landmark.h"
#include "PLPSLAM/data/landmark_line.h"
#include "PLPSLAM/match/projection.h"
#include "PLPSLAM/match/angle_checker.h"
namespace PLPSLAM
{
namespace match
{
unsigned int projection::match_frame_and_landmarks(data::frame &frm, const std::vector<data::landmark *> &local_landmarks, const float margin) const
{
unsigned int num_matches = 0;
for (auto local_lm : local_landmarks)
{
if (!local_lm->is_observable_in_tracking_)
{
continue;
}
if (local_lm->will_be_erased())
{
continue;
}
const auto pred_scale_level = local_lm->scale_level_in_tracking_;
// Get the feature point of the cell where the point that reprojected the 3D point exists
const auto indices_in_cell = frm.get_keypoints_in_cell(local_lm->reproj_in_tracking_(0), local_lm->reproj_in_tracking_(1),
margin * frm.scale_factors_.at(pred_scale_level),
pred_scale_level - 1, pred_scale_level);
if (indices_in_cell.empty())
{
continue;
}
const cv::Mat lm_desc = local_lm->get_descriptor();
unsigned int best_hamm_dist = MAX_HAMMING_DIST;
int best_scale_level = -1;
unsigned int second_best_hamm_dist = MAX_HAMMING_DIST;
int second_best_scale_level = -1;
int best_idx = -1;
for (const auto idx : indices_in_cell)
{
if (frm.landmarks_.at(idx) && frm.landmarks_.at(idx)->has_observation())
{
continue;
}
if (0 < frm.stereo_x_right_.at(idx))
{
const auto reproj_error = std::abs(local_lm->x_right_in_tracking_ - frm.stereo_x_right_.at(idx));
if (margin * frm.scale_factors_.at(pred_scale_level) < reproj_error)
{
continue;
}
}
const cv::Mat &desc = frm.descriptors_.row(idx);
const auto dist = compute_descriptor_distance_32(lm_desc, desc);
if (dist < best_hamm_dist)
{
second_best_hamm_dist = best_hamm_dist;
best_hamm_dist = dist;
second_best_scale_level = best_scale_level;
best_scale_level = frm.undist_keypts_.at(idx).octave;
best_idx = idx;
}
else if (dist < second_best_hamm_dist)
{
second_best_scale_level = frm.undist_keypts_.at(idx).octave;
second_best_hamm_dist = dist;
}
}
if (best_hamm_dist <= HAMMING_DIST_THR_HIGH)
{
// lowe's ratio test
if (best_scale_level == second_best_scale_level && best_hamm_dist > lowe_ratio_ * second_best_hamm_dist)
{
continue;
}
// Add support information
frm.landmarks_.at(best_idx) = local_lm;
++num_matches;
}
}
return num_matches;
}
// FW:
unsigned int projection::match_frame_and_landmarks_line(data::frame &frm,
const std::vector<data::Line *> &local_landmarks_line,
const float margin) const
{
unsigned int num_matches = 0;
if (local_landmarks_line.empty())
{
return 0;
}
for (auto local_lm_line : local_landmarks_line)
{
if (!local_lm_line->_is_observable_in_tracking)
{
continue;
}
if (local_lm_line->will_be_erased())
{
continue;
}
const auto pred_scale_level = local_lm_line->_scale_level_in_tracking;
// Get the feature line of the cell where the line that reprojected the 3D line exists
const auto indices_in_cell = frm.get_keylines_in_cell(local_lm_line->_reproj_in_tracking_sp(0),
local_lm_line->_reproj_in_tracking_sp(1),
local_lm_line->_reproj_in_tracking_ep(0),
local_lm_line->_reproj_in_tracking_ep(1),
margin * frm._scale_factors_lsd.at(pred_scale_level),
pred_scale_level - 1, pred_scale_level);
if (indices_in_cell.empty())
{
continue;
}
// std::cout << "indices_in_cell number: " << indices_in_cell.size() << std::endl;
const cv::Mat lm_line_desc = local_lm_line->get_descriptor();
unsigned int best_hamm_dist = MAX_HAMMING_DIST;
int best_scale_level = -1;
unsigned int second_best_hamm_dist = MAX_HAMMING_DIST;
int second_best_scale_level = -1;
int best_idx = -1;
for (const auto idx : indices_in_cell)
{
if (frm._landmarks_line.at(idx) && frm._landmarks_line.at(idx)->has_observation())
{
continue;
}
const cv::Mat &desc = frm._lbd_descr.row(idx);
const auto dist = compute_descriptor_distance_32(lm_line_desc, desc);
if (dist < best_hamm_dist)
{
second_best_hamm_dist = best_hamm_dist;
best_hamm_dist = dist;
second_best_scale_level = best_scale_level;
best_scale_level = frm.undist_keypts_.at(idx).octave;
best_idx = idx;
}
else if (dist < second_best_hamm_dist)
{
second_best_scale_level = frm.undist_keypts_.at(idx).octave;
second_best_hamm_dist = dist;
}
}
if (best_hamm_dist <= HAMMING_DIST_THR_HIGH)
{
// lowe's ratio test
if (best_scale_level == second_best_scale_level && best_hamm_dist > lowe_ratio_ * second_best_hamm_dist)
{
continue;
}
// Add support information
frm._landmarks_line.at(best_idx) = local_lm_line;
++num_matches;
}
}
return num_matches;
}
unsigned int projection::match_current_and_last_frames(data::frame &curr_frm, const data::frame &last_frm, const float margin) const
{
unsigned int num_matches = 0;
angle_checker<int> angle_checker;
const Mat33_t rot_cw = curr_frm.cam_pose_cw_.block<3, 3>(0, 0);
const Vec3_t trans_cw = curr_frm.cam_pose_cw_.block<3, 1>(0, 3);
const Vec3_t trans_wc = -rot_cw.transpose() * trans_cw;
const Mat33_t rot_lw = last_frm.cam_pose_cw_.block<3, 3>(0, 0);
const Vec3_t trans_lw = last_frm.cam_pose_cw_.block<3, 1>(0, 3);
const Vec3_t trans_lc = rot_lw * trans_wc + trans_lw;
// If it is not monocular, it is judged whether it is advancing or not by the z component of the translation vector of current-> last.
// The z component is swinging positively-> moving forward
const bool assume_forward = (curr_frm.camera_->setup_type_ == camera::setup_type_t::Monocular)
? false
: trans_lc(2) > curr_frm.camera_->true_baseline_;
// z component swings negative-> recedes
const bool assume_backward = (curr_frm.camera_->setup_type_ == camera::setup_type_t::Monocular)
? false
: -trans_lc(2) > curr_frm.camera_->true_baseline_;
// Back-project the 3D point that corresponds to the feature point of the last frame onto the current frame to find the correspondence.
for (unsigned int idx_last = 0; idx_last < last_frm.num_keypts_; ++idx_last)
{
auto *lm = last_frm.landmarks_.at(idx_last);
// Not compatible with 3D points
if (!lm)
{
continue;
}
// Does not correspond to the outlier in pose optimization
if (last_frm.outlier_flags_.at(idx_last))
{
continue;
}
// Global standard 3D point coordinates
const Vec3_t pos_w = lm->get_pos_in_world();
// Reproject for visibility
Vec2_t reproj;
float x_right;
const bool in_image = curr_frm.camera_->reproject_to_image(rot_cw, trans_cw, pos_w, reproj, x_right);
// Through if reprojected outside the image
if (!in_image)
{
continue;
}
// The search range is set assuming that the scale of the corresponding feature points is constant between adjacent frames.
const auto last_scale_level = last_frm.keypts_.at(idx_last).octave;
// Acquire the feature point of the cell where the point that reprojected the 3D point exists
std::vector<unsigned int> indices;
if (assume_forward)
{
indices = curr_frm.get_keypoints_in_cell(reproj(0), reproj(1),
margin * curr_frm.scale_factors_.at(last_scale_level),
last_scale_level, last_frm.num_scale_levels_ - 1);
}
else if (assume_backward)
{
indices = curr_frm.get_keypoints_in_cell(reproj(0), reproj(1),
margin * curr_frm.scale_factors_.at(last_scale_level),
0, last_scale_level);
}
else
{ // FW: neither forward nor backwork?
indices = curr_frm.get_keypoints_in_cell(reproj(0), reproj(1),
margin * curr_frm.scale_factors_.at(last_scale_level),
last_scale_level - 1, last_scale_level + 1);
}
if (indices.empty())
{
continue;
}
const auto lm_desc = lm->get_descriptor();
unsigned int best_hamm_dist = MAX_HAMMING_DIST;
int best_idx = -1;
for (const auto curr_idx : indices)
{
if (curr_frm.landmarks_.at(curr_idx) && curr_frm.landmarks_[curr_idx]->has_observation())
{
continue;
}
if (curr_frm.stereo_x_right_.at(curr_idx) > 0)
{
const float reproj_error = std::fabs(x_right - curr_frm.stereo_x_right_.at(curr_idx));
if (margin * curr_frm.scale_factors_.at(last_scale_level) < reproj_error)
{
continue;
}
}
const auto &desc = curr_frm.descriptors_.row(curr_idx);
const auto hamm_dist = compute_descriptor_distance_32(lm_desc, desc);
if (hamm_dist < best_hamm_dist)
{
best_hamm_dist = hamm_dist;
best_idx = curr_idx;
}
}
if (HAMMING_DIST_THR_HIGH < best_hamm_dist)
{
continue;
}
// Make it a valid matching
curr_frm.landmarks_.at(best_idx) = lm;
++num_matches;
if (check_orientation_)
{
const auto delta_angle = last_frm.undist_keypts_.at(idx_last).angle - curr_frm.undist_keypts_.at(best_idx).angle;
angle_checker.append_delta_angle(delta_angle, best_idx);
}
}
if (check_orientation_)
{
const auto invalid_matches = angle_checker.get_invalid_matches();
for (const auto invalid_idx : invalid_matches)
{
curr_frm.landmarks_.at(invalid_idx) = nullptr;
--num_matches;
}
}
return num_matches;
}
// FW:
unsigned int projection::match_current_and_last_frames_line(data::frame &curr_frm, const data::frame &last_frm, const float margin) const
{
unsigned int num_matches = 0;
const Mat33_t rot_cw = curr_frm.cam_pose_cw_.block<3, 3>(0, 0);
const Vec3_t trans_cw = curr_frm.cam_pose_cw_.block<3, 1>(0, 3);
const Vec3_t trans_wc = -rot_cw.transpose() * trans_cw;
const Mat33_t rot_lw = last_frm.cam_pose_cw_.block<3, 3>(0, 0);
const Vec3_t trans_lw = last_frm.cam_pose_cw_.block<3, 1>(0, 3);
const Vec3_t trans_lc = rot_lw * trans_wc + trans_lw;
// If it is not monocular, it is judged whether it is advancing or not by the z component of the translation vector of current-> last.
// The z component is swinging positively-> moving forward
const bool assume_forward = (curr_frm.camera_->setup_type_ == camera::setup_type_t::Monocular)
? false
: trans_lc(2) > curr_frm.camera_->true_baseline_;
// z component swings negative-> recedes
const bool assume_backward = (curr_frm.camera_->setup_type_ == camera::setup_type_t::Monocular)
? false
: -trans_lc(2) > curr_frm.camera_->true_baseline_;
// Back-project the 3D line that corresponds to the feature lines of the last frame onto the current frame to find the correspondence.
for (unsigned int idx_last = 0; idx_last < last_frm._num_keylines; ++idx_last)
{
auto *lm_line = last_frm._landmarks_line.at(idx_last);
// Not compatible with 3D lines
if (!lm_line)
{
continue;
}
// Does not correspond to the outlier in pose optimization
if (last_frm._outlier_flags_line.at(idx_last))
{
continue;
}
// Global standard endpoints coordinates
const Vec6_t pos_w = lm_line->get_pos_in_world();
// Reproject for visibility
Vec2_t reproj_sp;
float x_right_sp;
const bool in_image_sp = curr_frm.camera_->reproject_to_image(rot_cw, trans_cw, pos_w.head<3>(), reproj_sp, x_right_sp);
Vec2_t reproj_ep;
float x_right_ep;
const bool in_image_ep = curr_frm.camera_->reproject_to_image(rot_cw, trans_cw, pos_w.tail<3>(), reproj_ep, x_right_ep);
// Through if reprojected outside the image
if (!in_image_sp && !in_image_ep)
{
continue;
}
// check if the 3D line is partially occluded
bool partial_occlusion = false;
if (!in_image_sp || !in_image_ep)
{
// check if the middle point are within the image frustum
Vec3_t pos_w_mp = 0.5 * (pos_w.head<3>() + pos_w.tail<3>());
Vec2_t reproj_mp;
float x_right_mp;
const bool in_image_mp = curr_frm.camera_->reproject_to_image(rot_cw, trans_cw, pos_w_mp, reproj_mp, x_right_mp);
if (in_image_mp)
{
// partially occluded is ok, it would be good, if the middle point is visible
partial_occlusion = true;
}
else
{
// if the middle point is not even visible, discard this landmark
continue;
}
}
// The search range is set assuming that the scale of the corresponding feature points is constant between adjacent frames.
const auto last_scale_level = last_frm._keylsd.at(idx_last).octave;
// std::cout << "last_scale_level: " << last_scale_level << std::endl; // 0
// std::cout << "last_frm.num_scale_levels_ - 1: " << last_frm._num_scale_levels_lsd - 1 << std::endl; // 0
// std::cout << std::endl;
// Acquire the feature point of the cell where the point that reprojected the 3D point exists
std::vector<unsigned int> indices;
if (assume_forward)
{
indices = curr_frm.get_keylines_in_cell(reproj_sp(0), reproj_sp(1),
reproj_ep(0), reproj_ep(1),
margin * curr_frm._scale_factors_lsd.at(last_scale_level),
last_scale_level, last_frm._num_scale_levels_lsd);
}
else if (assume_backward)
{
indices = curr_frm.get_keylines_in_cell(reproj_sp(0), reproj_sp(1),
reproj_ep(0), reproj_ep(1),
margin * curr_frm._scale_factors_lsd.at(last_scale_level),
0, last_scale_level + 1);
}
else
{ // FW: neither forward nor backwork?
indices = curr_frm.get_keylines_in_cell(reproj_sp(0), reproj_sp(1),
reproj_ep(0), reproj_ep(1),
margin * curr_frm._scale_factors_lsd.at(last_scale_level),
last_scale_level - 1, last_scale_level + 1);
}
if (indices.empty())
{
continue;
}
const auto lm_line_desc = lm_line->get_descriptor();
unsigned int best_hamm_dist = MAX_HAMMING_DIST;
int best_idx = -1;
for (const auto curr_idx : indices)
{
if (curr_frm._landmarks_line.at(curr_idx) && curr_frm._landmarks_line[curr_idx]->has_observation())
{
continue;
}
if (curr_frm.camera_->setup_type_ == camera::setup_type_t::RGBD)
{
if (curr_frm._stereo_x_right_cooresponding_to_keylines.at(curr_idx).first > 0 &&
curr_frm._stereo_x_right_cooresponding_to_keylines.at(curr_idx).second > 0)
{
const float reproj_error_sp = std::fabs(x_right_sp - curr_frm._stereo_x_right_cooresponding_to_keylines.at(curr_idx).first);
const float reproj_error_ep = std::fabs(x_right_ep - curr_frm._stereo_x_right_cooresponding_to_keylines.at(curr_idx).second);
if (margin * curr_frm._scale_factors_lsd.at(last_scale_level) < reproj_error_sp ||
margin * curr_frm._scale_factors_lsd.at(last_scale_level) < reproj_error_ep)
{
continue;
}
}
}
const auto &desc = curr_frm._lbd_descr.row(curr_idx);
const auto hamm_dist = compute_descriptor_distance_32(lm_line_desc, desc);
if (hamm_dist < best_hamm_dist)
{
best_hamm_dist = hamm_dist;
best_idx = curr_idx;
}
}
if (HAMMING_DIST_THR_HIGH < best_hamm_dist)
{
continue;
}
// Make it a valid matching
curr_frm._landmarks_line.at(best_idx) = lm_line;
++num_matches;
}
return num_matches;
}
unsigned int projection::match_frame_and_keyframe(data::frame &curr_frm, data::keyframe *keyfrm, const std::set<data::landmark *> &already_matched_lms,
const float margin, const unsigned int hamm_dist_thr) const
{
unsigned int num_matches = 0;
angle_checker<int> angle_checker;
const Mat33_t rot_cw = curr_frm.cam_pose_cw_.block<3, 3>(0, 0);
const Vec3_t trans_cw = curr_frm.cam_pose_cw_.block<3, 1>(0, 3);
const Vec3_t cam_center = -rot_cw.transpose() * trans_cw;
const auto landmarks = keyfrm->get_landmarks();
for (unsigned int idx = 0; idx < landmarks.size(); idx++)
{
auto *lm = landmarks.at(idx);
if (!lm)
{
continue;
}
if (lm->will_be_erased())
{
continue;
}
if (already_matched_lms.count(lm))
{
continue;
}
// Global standard 3D point coordinates
const Vec3_t pos_w = lm->get_pos_in_world();
// Reproject for visibility
Vec2_t reproj;
float x_right;
const bool in_image = curr_frm.camera_->reproject_to_image(rot_cw, trans_cw, pos_w, reproj, x_right);
// Through if reprojected outside the image
if (!in_image)
{
continue;
}
// Make sure it is within the ORB scale
const Vec3_t cam_to_lm_vec = pos_w - cam_center;
const auto cam_to_lm_dist = cam_to_lm_vec.norm();
const auto max_cam_to_lm_dist = lm->get_max_valid_distance();
const auto min_cam_to_lm_dist = lm->get_min_valid_distance();
if (cam_to_lm_dist < min_cam_to_lm_dist || max_cam_to_lm_dist < cam_to_lm_dist)
{
continue;
}
// Get the feature point of the cell where the point that reprojected the 3D point exists
const auto pred_scale_level = lm->predict_scale_level(cam_to_lm_dist, &curr_frm);
const auto indices = curr_frm.get_keypoints_in_cell(reproj(0), reproj(1),
margin * curr_frm.scale_factors_.at(pred_scale_level),
pred_scale_level - 1, pred_scale_level + 1);
if (indices.empty())
{
continue;
}
const auto lm_desc = lm->get_descriptor();
unsigned int best_hamm_dist = MAX_HAMMING_DIST;
int best_idx = -1;
for (unsigned long curr_idx : indices)
{
if (curr_frm.landmarks_.at(curr_idx))
{
continue;
}
const auto &desc = curr_frm.descriptors_.row(curr_idx);
const auto hamm_dist = compute_descriptor_distance_32(lm_desc, desc);
if (hamm_dist < best_hamm_dist)
{
best_hamm_dist = hamm_dist;
best_idx = curr_idx;
}
}
// Make it a valid matching
if (hamm_dist_thr < best_hamm_dist)
{
continue;
}
curr_frm.landmarks_.at(best_idx) = lm;
num_matches++;
if (check_orientation_)
{
const auto delta_angle = keyfrm->undist_keypts_.at(idx).angle - curr_frm.undist_keypts_.at(best_idx).angle;
angle_checker.append_delta_angle(delta_angle, best_idx);
}
}
if (check_orientation_)
{
const auto invalid_matches = angle_checker.get_invalid_matches();
for (const auto invalid_idx : invalid_matches)
{
curr_frm.landmarks_.at(invalid_idx) = nullptr;
--num_matches;
}
}
return num_matches;
}
// FW:
unsigned int projection::match_frame_and_keyframe_line(data::frame &curr_frm,
data::keyframe *keyfrm,
const std::set<data::Line *> &already_matched_lms,
const float margin,
const unsigned int hamm_dist_thr) const
{
unsigned int num_matches = 0;
const Mat33_t rot_cw = curr_frm.cam_pose_cw_.block<3, 3>(0, 0);
const Vec3_t trans_cw = curr_frm.cam_pose_cw_.block<3, 1>(0, 3);
const Vec3_t cam_center = -rot_cw.transpose() * trans_cw;
const auto landmarks_line = keyfrm->get_landmarks_line();
for (unsigned int idx = 0; idx < landmarks_line.size(); idx++)
{
auto *lm_line = landmarks_line.at(idx);
if (!lm_line)
{
continue;
}
if (lm_line->will_be_erased())
{
continue;
}
if (already_matched_lms.count(lm_line))
{
continue;
}
// Global standard endpoints coordinates
const Vec6_t pos_w = lm_line->get_pos_in_world();
// Reproject for visibility
Vec2_t reproj_sp;
float x_right_sp;
const bool in_image_sp = curr_frm.camera_->reproject_to_image(rot_cw, trans_cw, pos_w.head<3>(), reproj_sp, x_right_sp);
Vec2_t reproj_ep;
float x_right_ep;
const bool in_image_ep = curr_frm.camera_->reproject_to_image(rot_cw, trans_cw, pos_w.tail<3>(), reproj_ep, x_right_ep);
// Through if reprojected outside the image
if (!in_image_sp && !in_image_ep)
{
continue;
}
Vec3_t pos_w_sp = pos_w.head(3);
Vec3_t pos_w_ep = pos_w.tail(3);
// check if the 3D line is partially occluded
bool partial_occlusion = false;
if (!in_image_sp || !in_image_ep)
{
// check if the middle point are within the image frustum
Vec3_t pos_w_mp = 0.5 * (pos_w_sp + pos_w_ep);
Vec2_t reproj_mp;
float x_right_mp;
const bool in_image_mp = curr_frm.camera_->reproject_to_image(rot_cw, trans_cw, pos_w_mp, reproj_mp, x_right_mp);
if (in_image_mp)
{
// partially occluded is ok, it would be good, if the middle point is visible
partial_occlusion = true;
}
else
{
// if the middle point is not even visible, discard this landmark
continue;
}
}
// Make sure it is within the scale
const Vec3_t cam_to_lm_vec = 0.5 * (pos_w_sp + pos_w_ep) - cam_center;
const auto cam_to_lm_dist = cam_to_lm_vec.norm();
const auto max_cam_to_lm_dist = lm_line->get_max_valid_distance();
const auto min_cam_to_lm_dist = lm_line->get_min_valid_distance();
if (cam_to_lm_dist < min_cam_to_lm_dist || max_cam_to_lm_dist < cam_to_lm_dist)
{
continue;
}
// Get the feature line of the cell where the line that reprojected the 3D line exists
const auto pred_scale_level = lm_line->predict_scale_level(cam_to_lm_dist, curr_frm._log_scale_factor_lsd, curr_frm._num_scale_levels_lsd);
const auto indices = curr_frm.get_keylines_in_cell(reproj_sp(0), reproj_sp(1),
reproj_ep(0), reproj_ep(1),
margin * curr_frm._scale_factors_lsd.at(pred_scale_level),
pred_scale_level - 1, pred_scale_level + 1);
if (indices.empty())
{
continue;
}
const auto lm_line_desc = lm_line->get_descriptor();
unsigned int best_hamm_dist = MAX_HAMMING_DIST;
int best_idx = -1;
for (unsigned long curr_idx : indices)
{
if (curr_frm._landmarks_line.at(curr_idx))
{
continue;
}
const auto &desc = curr_frm._lbd_descr.row(curr_idx);
const auto hamm_dist = compute_descriptor_distance_32(lm_line_desc, desc);
if (hamm_dist < best_hamm_dist)
{
best_hamm_dist = hamm_dist;
best_idx = curr_idx;
}
}
// Make it a valid matching
if (hamm_dist_thr < best_hamm_dist)
{
continue;
}
curr_frm._landmarks_line.at(best_idx) = lm_line;
num_matches++;
}
return num_matches;
}
unsigned int projection::match_by_Sim3_transform(data::keyframe *keyfrm, const Mat44_t &Sim3_cw, const std::vector<data::landmark *> &landmarks,
std::vector<data::landmark *> &matched_lms_in_keyfrm, const float margin) const
{
unsigned int num_matches = 0;
// Disassemble Sim3 into SE3
const Mat33_t s_rot_cw = Sim3_cw.block<3, 3>(0, 0);
const auto s_cw = std::sqrt(s_rot_cw.block<1, 3>(0, 0).dot(s_rot_cw.block<1, 3>(0, 0)));
const Mat33_t rot_cw = s_rot_cw / s_cw;
const Vec3_t trans_cw = Sim3_cw.block<3, 1>(0, 3) / s_cw;
const Vec3_t cam_center = -rot_cw.transpose() * trans_cw;
std::set<data::landmark *> already_matched(matched_lms_in_keyfrm.begin(), matched_lms_in_keyfrm.end());
already_matched.erase(static_cast<data::landmark *>(nullptr));
for (auto lm : landmarks)
{
if (lm->will_be_erased())
{
continue;
}
if (already_matched.count(lm))
{
continue;
}
// Global standard 3D point coordinates
const Vec3_t pos_w = lm->get_pos_in_world();
// Reproject for visibility
Vec2_t reproj;
float x_right;
const bool in_image = keyfrm->camera_->reproject_to_image(rot_cw, trans_cw, pos_w, reproj, x_right);
// Through if reprojected outside the image
if (!in_image)
{
continue;
}
// Make sure it is within the ORB scale
const Vec3_t cam_to_lm_vec = pos_w - cam_center;
const auto cam_to_lm_dist = cam_to_lm_vec.norm();
const auto max_cam_to_lm_dist = lm->get_max_valid_distance();
const auto min_cam_to_lm_dist = lm->get_min_valid_distance();
if (cam_to_lm_dist < min_cam_to_lm_dist || max_cam_to_lm_dist < cam_to_lm_dist)
{
continue;
}
// Calculate the angle of the 3D point with the average observation vector, and discard if it is larger than the threshold (60deg).
const Vec3_t obs_mean_normal = lm->get_obs_mean_normal();
if (cam_to_lm_vec.dot(obs_mean_normal) < 0.5 * cam_to_lm_dist)
{
continue;
}
// Get the feature point of the cell where the point that reprojected the 3D point exists
const auto pred_scale_level = lm->predict_scale_level(cam_to_lm_dist, keyfrm);
const auto indices = keyfrm->get_keypoints_in_cell(reproj(0), reproj(1), margin * keyfrm->scale_factors_.at(pred_scale_level));
if (indices.empty())
{
continue;
}
// Find the feature point with the closest descriptor
const auto lm_desc = lm->get_descriptor();
unsigned int best_dist = MAX_HAMMING_DIST;
int best_idx = -1;
for (const auto idx : indices)
{
if (matched_lms_in_keyfrm.at(idx))
{
continue;
}
const auto scale_level = static_cast<unsigned int>(keyfrm->keypts_.at(idx).octave);
// TODO: Use keyfrm-> get_keypts_in_cell () to determine the scale
if (scale_level < pred_scale_level - 1 || pred_scale_level < scale_level)
{
continue;
}
const auto &desc = keyfrm->descriptors_.row(idx);
const auto hamm_dist = compute_descriptor_distance_32(lm_desc, desc);
if (hamm_dist < best_dist)
{
best_dist = hamm_dist;
best_idx = idx;
}
}
if (HAMMING_DIST_THR_LOW < best_dist)
{
continue;
}
matched_lms_in_keyfrm.at(best_idx) = lm;
++num_matches;
}
return num_matches;
}
unsigned int projection::match_keyframes_mutually(data::keyframe *keyfrm_1, data::keyframe *keyfrm_2, std::vector<data::landmark *> &matched_lms_in_keyfrm_1,
const float &s_12, const Mat33_t &rot_12, const Vec3_t &trans_12, const float margin) const
{
// Pose of keyframe1
const Mat33_t rot_1w = keyfrm_1->get_rotation();
const Vec3_t trans_1w = keyfrm_1->get_translation();
// Pose of keyframe2
const Mat33_t rot_2w = keyfrm_2->get_rotation();
const Vec3_t trans_2w = keyfrm_2->get_translation();
// Similarity transformation of coordinate system between given cameras
const Mat33_t s_rot_12 = s_12 * rot_12;
const Mat33_t s_rot_21 = (1.0 / s_12) * rot_12.transpose();
const Vec3_t trans_21 = -s_rot_21 * trans_12;
const auto landmarks_1 = keyfrm_1->get_landmarks();
const auto landmarks_2 = keyfrm_2->get_landmarks();
// Mark keyframes 1 and 2 if there are already matching feature points
std::vector<bool> is_already_matched_in_keyfrm_1(landmarks_1.size(), false);
std::vector<bool> is_already_matched_in_keyfrm_2(landmarks_2.size(), false);
for (unsigned int idx_1 = 0; idx_1 < landmarks_1.size(); ++idx_1)
{
auto *lm = matched_lms_in_keyfrm_1.at(idx_1);
if (!lm)
{
continue;
}
const auto idx_2 = lm->get_index_in_keyframe(keyfrm_2);
if (0 <= idx_2 && idx_2 < static_cast<int>(landmarks_2.size()))
{
is_already_matched_in_keyfrm_1.at(idx_1) = true;
is_already_matched_in_keyfrm_2.at(idx_2) = true;
}
}
std::vector<int> matched_indices_2_in_keyfrm_1(landmarks_1.size(), -1);
std::vector<int> matched_indices_1_in_keyfrm_2(landmarks_2.size(), -1);
// The 3D point observed by keyframe1 is transformed into the coordinate system of keyframe2 and then reprojected.
// Find the corresponding feature points
// (world -- SE3 -> keyframe1 -- Sim3 --> keyframe2)
// s_rot_21 * (rot_1w * pos_w + trans_1w) + trans_21
// = s_rot_21 * rot_1w * pos_w + s_rot_21 * trans_1w + trans_21
{
const Mat33_t s_rot_21w = s_rot_21 * rot_1w;
const Vec3_t trans_21w = s_rot_21 * trans_1w + trans_21;
for (unsigned int idx_1 = 0; idx_1 < landmarks_1.size(); ++idx_1)
{
auto *lm = landmarks_1.at(idx_1);
if (!lm)
{
continue;
}
if (lm->will_be_erased())
{
continue;
}
if (is_already_matched_in_keyfrm_1.at(idx_1))
{
continue;
}
// Global standard 3D point coordinates
const Vec3_t pos_w = lm->get_pos_in_world();
const Vec3_t pos_2 = s_rot_21w * pos_w + trans_21w;
// Reproject for visibility
Vec2_t reproj;
float x_right;
const bool in_image = keyfrm_2->camera_->reproject_to_image(s_rot_21w, trans_21w, pos_w, reproj, x_right);
// Through if reprojected outside the image
if (!in_image)
{
continue;
}
// Make sure it is within the ORB scale
const auto cam_to_lm_dist = pos_2.norm();
const auto max_cam_to_lm_dist = lm->get_max_valid_distance();
const auto min_cam_to_lm_dist = lm->get_min_valid_distance();
if (cam_to_lm_dist < min_cam_to_lm_dist || max_cam_to_lm_dist < cam_to_lm_dist)
{
continue;
}
// Get the feature point of the cell where the point that reprojected the 3D point exists
const auto pred_scale_level = lm->predict_scale_level(cam_to_lm_dist, keyfrm_2);
const auto indices = keyfrm_2->get_keypoints_in_cell(reproj(0), reproj(1), margin * keyfrm_2->scale_factors_.at(pred_scale_level));
if (indices.empty())
{
continue;
}
// Find the feature point with the closest descriptor
const auto lm_desc = lm->get_descriptor();
unsigned int best_hamm_dist = MAX_HAMMING_DIST;
int best_idx_2 = -1;