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OdometryF2F: Fixed broken OpticalFlow approach

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matlabbe
2016-02-24 17:42:23 -05:00
parent 172e9857c7
commit a8d1b91083
8 changed files with 55 additions and 45 deletions
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corelib/src/OdometryF2F.cpp
+5 -7
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@@ -84,11 +84,9 @@ Transform OdometryF2F::computeTransform(
output = registrationPipeline_->computeTransformationMod(
refFrame_,
newFrame,
guessFromMotion_?motionSinceLastKeyFrame_*this->previousTransform():Transform(),
guessFromMotion_&&!this->previousTransform().isNull()?motionSinceLastKeyFrame_*this->previousTransform():Transform(),
&regInfo);
data.setFeatures(newFrame.sensorData().keypoints(), newFrame.sensorData().descriptors());
if(info && this->isInfoDataFilled())
{
std::list<std::pair<int, std::pair<cv::KeyPoint, cv::KeyPoint> > > pairs;
@@ -132,18 +130,16 @@ Transform OdometryF2F::computeTransform(
if(keyFrameThr_ <= 0 || (int)regInfo.inliers <= keyFrameThr_)
{
UDEBUG("Update key frame");
int features = newFrame.sensorData().keypoints().size();
int features = newFrame.getWordsDescriptors().size();
if(features == 0)
{
newFrame = Signature(data);
// this will generate features only for the first frame
// this will generate features only for the first frame or if optical flow was used (no 3d words)
Signature dummy;
registrationPipeline_->computeTransformationMod(
newFrame,
dummy);
features = (int)newFrame.sensorData().keypoints().size();
data.setFeatures(newFrame.sensorData().keypoints(), newFrame.sensorData().descriptors());
}
if((features >= registrationPipeline_->getMinVisualCorrespondences()) &&
@@ -183,6 +179,8 @@ Transform OdometryF2F::computeTransform(
UWARN("Registration failed: \"%s\"", regInfo.rejectedMsg.c_str());
}
data.setFeatures(newFrame.sensorData().keypoints(), newFrame.sensorData().descriptors());
if(info)
{
info->type = 1;