C++ FramePtr::f2c方法代码示例

void DepthFilter::updateLineSeeds(FramePtr frame)
{
  // update only a limited number of seeds, because we don't have time to do it
  // for all the seeds in every frame!
  size_t n_updates=0, n_failed_matches=0, n_seeds = seg_seeds_.size();
  lock_t lock(seeds_mut_);
  list<LineSeed>::iterator it=seg_seeds_.begin();

  const double focal_length = frame->cam_->errorMultiplier2();
  double px_noise = 1.0;
  double px_error_angle = atan(px_noise/(2.0*focal_length))*2.0; // law of chord (sehnensatz)

  while( it!=seg_seeds_.end())
  {
    // set this value true when seeds updating should be interrupted
    if(seeds_updating_halt_)
      return;

    // check if seed is not already too old
    if((LineSeed::batch_counter - it->batch_id) > options_.max_n_kfs) {
      it = seg_seeds_.erase(it);
      continue;
    }

    // check if segment is visible in the current image
    SE3 T_ref_cur = it->ftr->frame->T_f_w_ * frame->T_f_w_.inverse();
    const Vector3d xyz_f_s(T_ref_cur.inverse()*(1.0/it->mu_s * static_cast<LineFeat*>(it->ftr)->sf) );
    const Vector3d xyz_f_e(T_ref_cur.inverse()*(1.0/it->mu_e * static_cast<LineFeat*>(it->ftr)->ef) );
    if( xyz_f_s.z() < 0.0 || xyz_f_e.z() < 0.0 )  {
      ++it; // behind the camera
      continue;
    }
    if( !frame->cam_->isInFrame(frame->f2c(xyz_f_s).cast<int>()) ||
        !frame->cam_->isInFrame(frame->f2c(xyz_f_e).cast<int>()) ) {
      ++it; // segment does not project in image
      continue;
    }

    // we are using inverse depth coordinates
    float z_inv_min_s = it->mu_s + sqrt(it->sigma2_s);
    float z_inv_max_s = max(it->mu_s - sqrt(it->sigma2_s), 0.00000001f);
    float z_inv_min_e = it->mu_e + sqrt(it->sigma2_e);
    float z_inv_max_e = max(it->mu_e - sqrt(it->sigma2_e), 0.00000001f);
    double z_s, z_e;
    if(!matcherls_.findEpipolarMatchDirectSegmentEndpoint(
        *it->ftr->frame, *frame, *it->ftr, 1.0/it->mu_s, 1.0/z_inv_min_s, 1.0/z_inv_max_s, z_s) ||
       !matcherls_.findEpipolarMatchDirectSegmentEndpoint(
        *it->ftr->frame, *frame, *it->ftr, 1.0/it->mu_e, 1.0/z_inv_min_e, 1.0/z_inv_max_e, z_e)  )
    {
      it->b++; // increase outlier probability when no match was found
      ++it;
      ++n_failed_matches;
      continue;
    }

    // compute tau
    double tau_s = computeTau(T_ref_cur, static_cast<LineFeat*>(it->ftr)->sf, z_s, px_error_angle);
    double tau_inverse_s = 0.5 * (1.0/max(0.0000001, z_s-tau_s) - 1.0/(z_s+tau_s));
    double tau_e = computeTau(T_ref_cur, static_cast<LineFeat*>(it->ftr)->ef, z_e, px_error_angle);
    double tau_inverse_e = 0.5 * (1.0/max(0.0000001, z_e-tau_e) - 1.0/(z_e+tau_e));

    // update the estimate
    updateLineSeed(1./z_s, tau_inverse_s*tau_inverse_s, 1./z_e, tau_inverse_e*tau_inverse_e, &*it);
    ++n_updates;

    if(frame->isKeyframe())
    {
      // The feature detector should not initialize new seeds close to this location
      seg_feature_detector_->setGridOccpuancy(LineFeat(matcher_.px_cur_,matcherls_.px_cur_));
    }

    // if the seed has converged, we initialize a new candidate point and remove the seed
    if(sqrt(it->sigma2_s) < it->z_range_s/options_.seed_convergence_sigma2_thresh &&
       sqrt(it->sigma2_e) < it->z_range_e/options_.seed_convergence_sigma2_thresh  )
    {
      assert(static_cast<LineFeat*>(it->ftr)->feat3D == NULL); // TODO this should not happen anymore
      Vector3d xyz_world_s(it->ftr->frame->T_f_w_.inverse() * (static_cast<LineFeat*>(it->ftr)->sf * (1.0/it->mu_s)));
      Vector3d xyz_world_e(it->ftr->frame->T_f_w_.inverse() * (static_cast<LineFeat*>(it->ftr)->ef * (1.0/it->mu_e)));
      LineSeg* line = new LineSeg(xyz_world_s, xyz_world_e, it->ftr);
      static_cast<LineFeat*>(it->ftr)->feat3D = line;
      /* FIXME it is not threadsafe to add a feature to the frame here.
      if(frame->isKeyframe())
      {
        Feature* ftr = new PointFeat(frame.get(), matcher_.px_cur_, matcher_.search_level_);
        ftr->point = point;
        point->addFrameRef(ftr);
        frame->addFeature(ftr);
        it->ftr->frame->addFeature(it->ftr);
      }
      else
      */
      {
        seed_converged_cb_ls_(line, it->sigma2_s, it->sigma2_e); // put in candidate list
      }
      it = seg_seeds_.erase(it);
    }
    else if( isnan(z_inv_min_s) || isnan(z_inv_min_e) )
    {
      SVO_WARN_STREAM("z_min_s or z_min_e is NaN");
      it = seg_seeds_.erase(it);
//.........这里部分代码省略.........

void DepthFilter::updateSeeds(FramePtr frame)
{
  // update only a limited number of seeds, because we don't have time to do it
  // for all the seeds in every frame!
  int count = 0;
  size_t n_updates=0, n_failed_matches=0, n_seeds = seeds_.size();
  lock_t lock(seeds_mut_);
  list<Seed>::iterator it=seeds_.begin();

  const double focal_length = frame->cam_->errorMultiplier2();
  double px_noise = 1.0;
  double px_error_angle = atan(px_noise/(2.0*focal_length))*2.0; // law of chord (sehnensatz)
  double z_real = 0.0;

  while( it!=seeds_.end())
  {
    // set this value true when seeds updating should be interrupted
    if(seeds_updating_halt_)
      return;

    // check if seed is not already too old
    if((Seed::batch_counter - it->batch_id) > options_.max_n_kfs) {
      it = seeds_.erase(it);
      continue;
    }

    // check if point is visible in the current image
    SE3 T_ref_cur = it->ftr->frame->T_f_w_ * frame->T_f_w_.inverse();
    const Vector3d xyz_f(T_ref_cur.inverse()*(1.0/it->mu * it->ftr->f) );
    if(xyz_f.z() < 0.0)  {
      ++it; // behind the camera
      continue;
    }
    if(!frame->cam_->isInFrame(frame->f2c(xyz_f).cast<int>())) {
      ++it; // point does not project in image
      continue;
    }

    // we are using inverse depth coordinates
    float z_inv_min = it->mu + sqrt(it->sigma2);
    float z_inv_max = max(it->mu - sqrt(it->sigma2), 0.00000001f);
    double z;
    if(!matcher_.findEpipolarMatchDirect(
        *it->ftr->frame, *frame, *it->ftr, 1.0/it->mu, 1.0/z_inv_min, 1.0/z_inv_max, z))
    {
      it->b++; // increase outlier probability when no match was found
      ++it;
      ++n_failed_matches;
      continue;
    }

    // compute tau
    double tau = computeTau(T_ref_cur, it->ftr->f, z, px_error_angle);
    double tau_inverse = 0.5 * (1.0/max(0.0000001, z-tau) - 1.0/(z+tau));

    // update the estimate
    updateSeed(1./z, tau_inverse*tau_inverse, &*it);
    ++n_updates;

    if(frame->isKeyframe())
    {
      // The feature detector should not initialize new seeds close to this location
      feature_detector_->setGridOccpuancy(matcher_.px_cur_);
    }

    // if the seed has converged, we initialize a new candidate point and remove the seed
    //if(sqrt(it->sigma2) < it->z_range/options_.seed_convergence_sigma2_thresh)
    if(1.0 > 0.0)
    {
      count++;
      // assert(it->ftr->point == NULL); // TODO this should not happen anymore
      // Vector3d xyz_world(it->ftr->frame->T_f_w_.inverse() * (it->ftr->f * (1.0/it->mu)));
      // Point* point = new Point(xyz_world, it->ftr);
      // it->ftr->point = point;

      cv::Mat map = it->ftr->frame->depthmap_;

      Eigen::Vector3d pos_real(it->ftr->px[1], it->ftr->px[0], map.at<float>(it->ftr->px[1],it->ftr->px[0]));

      const double z_real_old = z_real;
      z_real = map.at<float>(it->ftr->px[1],it->ftr->px[0]);
      //cout <<"getting pixel at:" << map.at<float>(it->ftr->px[1],it->ftr->px[0]) << "\t"<< "svo depth:" << (1.0/it->mu) << endl;
      Vector3d xyz_world;
      //printf("Estimated depth: %f \t Real Depth: %f\n", (1.0/it->mu), z_real);
      if(z_real > 0){
        
        xyz_world = (it->ftr->frame->T_f_w_.inverse() * (it->ftr->f * z_real));
            // Eigen::Vector3d xyz_real = it->ftr->frame->f2w(pos_real);
        //const double z_real = (it->ftr->frame->pos()-pos_real).norm().z();
        //printf("Inserted Point %f %f\n", (1.0/it->mu), z_real);
        /* FIXME it is not threadsafe to add a feature to the frame here.
        if(frame->isKeyframe())
        {
          Feature* ftr = new Feature(frame.get(), matcher_.px_cur_, matcher_.search_level_);
          ftr->point = point;
          point->addFrameRef(ftr);
          frame->addFeature(ftr);
          it->ftr->frame->addFeature(it->ftr);
        }
        else
//.........这里部分代码省略.........