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Removed parameter Vis/ForwardEstOnly. Added odometry statistics (matches,inliers,inliersRatio) per camera. Added OdometryInfo::statistics() function for convenience.

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This commit is contained in:
matlabbe
2025-04-14 09:52:41 -07:00
parent b750e94eaa
commit 1d6c70c1db
16 changed files with 720 additions and 546 deletions
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20
corelib/src/odometry/OdometryF2M.cpp
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@@ -154,16 +154,6 @@ OdometryF2M::OdometryF2M(const ParametersMap & parameters) :
}
uInsert(bundleParameters, ParametersPair(Parameters::kVisEstimationType(), uNumber2Str(estType)));
bool forwardEst = Parameters::defaultVisForwardEstOnly();
Parameters::parse(parameters, Parameters::kVisForwardEstOnly(), forwardEst);
if(!forwardEst)
{
UWARN("%s=false is not supported by OdometryF2M, setting to true.",
Parameters::kVisForwardEstOnly().c_str());
forwardEst = true;
}
uInsert(bundleParameters, ParametersPair(Parameters::kVisForwardEstOnly(), uBool2Str(forwardEst)));
regPipeline_ = Registration::create(bundleParameters);
if(bundleAdjustment_>0 && regPipeline_->isScanRequired())
{
@@ -497,8 +487,13 @@ Transform OdometryF2M::computeTransform(
{
if(!bundlePoses.rbegin()->second.isNull())
{
if(info)
{
info->localBundleOutliersPerCam = std::vector<int>(lastFrameModels.size(),0);
}
if(sbaOutliers.size())
{
regInfo.inliersPerCam = std::vector<int>(lastFrameModels.size(),0);
std::vector<int> newInliers(regInfo.inliersIDs.size());
int oi=0;
for(unsigned int i=0; i<regInfo.inliersIDs.size(); ++i)
@@ -506,6 +501,11 @@ Transform OdometryF2M::computeTransform(
if(sbaOutliers.find(regInfo.inliersIDs[i]) == sbaOutliers.end())
{
newInliers[oi++] = regInfo.inliersIDs[i];
regInfo.inliersPerCam[wordReferences.at(regInfo.inliersIDs[i]).at(lastFrame_->id()).cameraIndex] += 1;
}
else if(info)
{
info->localBundleOutliersPerCam[wordReferences.at(regInfo.inliersIDs[i]).at(lastFrame_->id()).cameraIndex] += 1;
}
}
newInliers.resize(oi);