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Feature: Implement Keypoint filtering using a cv::Mat #46

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Feature: Implement Keypoint filtering using a cv::Mat #46

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c32f3db
basic attempt
DavidPetkovsek Jun 29, 2022
4d51d19
working basic filtering
DavidPetkovsek Jun 30, 2022
99d7f94
preserve stereoIndex
DavidPetkovsek Jun 30, 2022
9442cb7
WARNING: WILL BREAK EXAMPLES
DavidPetkovsek Jul 4, 2022
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10 changes: 5 additions & 5 deletions include/Frame.h
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Expand Up @@ -59,19 +59,19 @@ class Frame
Frame(const Frame &frame);

// Constructor for stereo cameras.
Frame(const cv::Mat &imLeft, const cv::Mat &imRight, const double &timeStamp, ORBextractor* extractorLeft, ORBextractor* extractorRight, ORBVocabulary* voc, cv::Mat &K, cv::Mat &distCoef, const float &bf, const float &thDepth, GeometricCamera* pCamera,Frame* pPrevF = static_cast<Frame*>(NULL), const IMU::Calib &ImuCalib = IMU::Calib());
Frame(const cv::Mat &imLeft, const cv::Mat &imRight, const cv::Mat *mask, const double &timeStamp, ORBextractor* extractorLeft, ORBextractor* extractorRight, ORBVocabulary* voc, cv::Mat &K, cv::Mat &distCoef, const float &bf, const float &thDepth, GeometricCamera* pCamera,Frame* pPrevF = static_cast<Frame*>(NULL), const IMU::Calib &ImuCalib = IMU::Calib());

// Constructor for RGB-D cameras.
Frame(const cv::Mat &imGray, const cv::Mat &imDepth, const double &timeStamp, ORBextractor* extractor,ORBVocabulary* voc, cv::Mat &K, cv::Mat &distCoef, const float &bf, const float &thDepth, GeometricCamera* pCamera,Frame* pPrevF = static_cast<Frame*>(NULL), const IMU::Calib &ImuCalib = IMU::Calib());
Frame(const cv::Mat &imGray, const cv::Mat &imDepth, const cv::Mat *mask, const double &timeStamp, ORBextractor* extractor,ORBVocabulary* voc, cv::Mat &K, cv::Mat &distCoef, const float &bf, const float &thDepth, GeometricCamera* pCamera,Frame* pPrevF = static_cast<Frame*>(NULL), const IMU::Calib &ImuCalib = IMU::Calib());

// Constructor for Monocular cameras.
Frame(const cv::Mat &imGray, const double &timeStamp, ORBextractor* extractor,ORBVocabulary* voc, GeometricCamera* pCamera, cv::Mat &distCoef, const float &bf, const float &thDepth, Frame* pPrevF = static_cast<Frame*>(NULL), const IMU::Calib &ImuCalib = IMU::Calib());
Frame(const cv::Mat &imGray, const cv::Mat *mask, const double &timeStamp, ORBextractor* extractor,ORBVocabulary* voc, GeometricCamera* pCamera, cv::Mat &distCoef, const float &bf, const float &thDepth, Frame* pPrevF = static_cast<Frame*>(NULL), const IMU::Calib &ImuCalib = IMU::Calib());

// Destructor
// ~Frame();

// Extract ORB on the image. 0 for left image and 1 for right image.
void ExtractORB(int flag, const cv::Mat &im, const int x0, const int x1);
void ExtractORB(int flag, const cv::Mat &im, const int x0, const int x1, const cv::Mat * mask = nullptr);

// Compute Bag of Words representation.
void ComputeBoW();
Expand Down Expand Up @@ -343,7 +343,7 @@ class Frame
//Grid for the right image
std::vector<std::size_t> mGridRight[FRAME_GRID_COLS][FRAME_GRID_ROWS];

Frame(const cv::Mat &imLeft, const cv::Mat &imRight, const double &timeStamp, ORBextractor* extractorLeft, ORBextractor* extractorRight, ORBVocabulary* voc, cv::Mat &K, cv::Mat &distCoef, const float &bf, const float &thDepth, GeometricCamera* pCamera, GeometricCamera* pCamera2, Sophus::SE3f& Tlr,Frame* pPrevF = static_cast<Frame*>(NULL), const IMU::Calib &ImuCalib = IMU::Calib());
Frame(const cv::Mat &imLeft, const cv::Mat &imRight, const cv::Mat *mask, const double &timeStamp, ORBextractor* extractorLeft, ORBextractor* extractorRight, ORBVocabulary* voc, cv::Mat &K, cv::Mat &distCoef, const float &bf, const float &thDepth, GeometricCamera* pCamera, GeometricCamera* pCamera2, Sophus::SE3f& Tlr,Frame* pPrevF = static_cast<Frame*>(NULL), const IMU::Calib &ImuCalib = IMU::Calib());

//Stereo fisheye
void ComputeStereoFishEyeMatches();
Expand Down
5 changes: 4 additions & 1 deletion include/ORBextractor.h
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Expand Up @@ -53,11 +53,14 @@ class ORBextractor

// Compute the ORB features and descriptors on an image.
// ORB are dispersed on the image using an octree.
// Mask is ignored in the current implementation.
int operator()( cv::InputArray _image, cv::InputArray _mask,
std::vector<cv::KeyPoint>& _keypoints,
cv::OutputArray _descriptors, std::vector<int> &vLappingArea);

int operator()( cv::InputArray _image,
std::vector<cv::KeyPoint>& _keypoints,
cv::OutputArray _descriptors, std::vector<int> &vLappingArea);

int inline GetLevels(){
return nlevels;}

Expand Down
6 changes: 3 additions & 3 deletions include/System.h
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Expand Up @@ -107,18 +107,18 @@ class System
// Proccess the given stereo frame. Images must be synchronized and rectified.
// Input images: RGB (CV_8UC3) or grayscale (CV_8U). RGB is converted to grayscale.
// Returns the camera pose (empty if tracking fails).
Sophus::SE3f TrackStereo(const cv::Mat &imLeft, const cv::Mat &imRight, const double &timestamp, const vector<IMU::Point>& vImuMeas = vector<IMU::Point>(), string filename="");
Sophus::SE3f TrackStereo(const cv::Mat &imLeft, const cv::Mat &imRight, const cv::Mat *mask, const double &timestamp, const vector<IMU::Point>& vImuMeas = vector<IMU::Point>(), string filename="");

// Process the given rgbd frame. Depthmap must be registered to the RGB frame.
// Input image: RGB (CV_8UC3) or grayscale (CV_8U). RGB is converted to grayscale.
// Input depthmap: Float (CV_32F).
// Returns the camera pose (empty if tracking fails).
Sophus::SE3f TrackRGBD(const cv::Mat &im, const cv::Mat &depthmap, const double &timestamp, const vector<IMU::Point>& vImuMeas = vector<IMU::Point>(), string filename="");
Sophus::SE3f TrackRGBD(const cv::Mat &im, const cv::Mat &depthmap, const cv::Mat *mask, const double &timestamp, const vector<IMU::Point>& vImuMeas = vector<IMU::Point>(), string filename="");

// Proccess the given monocular frame and optionally imu data
// Input images: RGB (CV_8UC3) or grayscale (CV_8U). RGB is converted to grayscale.
// Returns the camera pose (empty if tracking fails).
Sophus::SE3f TrackMonocular(const cv::Mat &im, const double &timestamp, const vector<IMU::Point>& vImuMeas = vector<IMU::Point>(), string filename="");
Sophus::SE3f TrackMonocular(const cv::Mat &im, const cv::Mat *mask, const double &timestamp, const vector<IMU::Point>& vImuMeas = vector<IMU::Point>(), string filename="");


// This stops local mapping thread (map building) and performs only camera tracking.
Expand Down
6 changes: 3 additions & 3 deletions include/Tracking.h
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Expand Up @@ -69,9 +69,9 @@ class Tracking
bool ParseIMUParamFile(cv::FileStorage &fSettings);

// Preprocess the input and call Track(). Extract features and performs stereo matching.
Sophus::SE3f GrabImageStereo(const cv::Mat &imRectLeft,const cv::Mat &imRectRight, const double &timestamp, string filename);
Sophus::SE3f GrabImageRGBD(const cv::Mat &imRGB,const cv::Mat &imD, const double &timestamp, string filename);
Sophus::SE3f GrabImageMonocular(const cv::Mat &im, const double &timestamp, string filename);
Sophus::SE3f GrabImageStereo(const cv::Mat &imRectLeft,const cv::Mat &imRectRight, const cv::Mat *mask, const double &timestamp, string filename);
Sophus::SE3f GrabImageRGBD(const cv::Mat &imRGB,const cv::Mat &imD, const cv::Mat *mask, const double &timestamp, string filename);
Sophus::SE3f GrabImageMonocular(const cv::Mat &im, const cv::Mat *mask, const double &timestamp, string filename);

void GrabImuData(const IMU::Point &imuMeasurement);

Expand Down
37 changes: 22 additions & 15 deletions src/Frame.cc
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Expand Up @@ -98,7 +98,7 @@ Frame::Frame(const Frame &frame)
}


Frame::Frame(const cv::Mat &imLeft, const cv::Mat &imRight, const double &timeStamp, ORBextractor* extractorLeft, ORBextractor* extractorRight, ORBVocabulary* voc, cv::Mat &K, cv::Mat &distCoef, const float &bf, const float &thDepth, GeometricCamera* pCamera, Frame* pPrevF, const IMU::Calib &ImuCalib)
Frame::Frame(const cv::Mat &imLeft, const cv::Mat &imRight, const cv::Mat * mask, const double &timeStamp, ORBextractor* extractorLeft, ORBextractor* extractorRight, ORBVocabulary* voc, cv::Mat &K, cv::Mat &distCoef, const float &bf, const float &thDepth, GeometricCamera* pCamera, Frame* pPrevF, const IMU::Calib &ImuCalib)
:mpcpi(NULL), mpORBvocabulary(voc),mpORBextractorLeft(extractorLeft),mpORBextractorRight(extractorRight), mTimeStamp(timeStamp), mK(K.clone()), mK_(Converter::toMatrix3f(K)), mDistCoef(distCoef.clone()), mbf(bf), mThDepth(thDepth),
mImuCalib(ImuCalib), mpImuPreintegrated(NULL), mpPrevFrame(pPrevF),mpImuPreintegratedFrame(NULL), mpReferenceKF(static_cast<KeyFrame*>(NULL)), mbIsSet(false), mbImuPreintegrated(false),
mpCamera(pCamera) ,mpCamera2(nullptr), mbHasPose(false), mbHasVelocity(false)
Expand All @@ -119,8 +119,8 @@ Frame::Frame(const cv::Mat &imLeft, const cv::Mat &imRight, const double &timeSt
#ifdef REGISTER_TIMES
std::chrono::steady_clock::time_point time_StartExtORB = std::chrono::steady_clock::now();
#endif
thread threadLeft(&Frame::ExtractORB,this,0,imLeft,0,0);
thread threadRight(&Frame::ExtractORB,this,1,imRight,0,0);
thread threadLeft(&Frame::ExtractORB,this,0,imLeft,0,0, mask);
thread threadRight(&Frame::ExtractORB,this,1,imRight,0,0, mask);
threadLeft.join();
threadRight.join();
#ifdef REGISTER_TIMES
Expand Down Expand Up @@ -197,7 +197,7 @@ Frame::Frame(const cv::Mat &imLeft, const cv::Mat &imRight, const double &timeSt
AssignFeaturesToGrid();
}

Frame::Frame(const cv::Mat &imGray, const cv::Mat &imDepth, const double &timeStamp, ORBextractor* extractor,ORBVocabulary* voc, cv::Mat &K, cv::Mat &distCoef, const float &bf, const float &thDepth, GeometricCamera* pCamera,Frame* pPrevF, const IMU::Calib &ImuCalib)
Frame::Frame(const cv::Mat &imGray, const cv::Mat &imDepth, const cv::Mat * mask, const double &timeStamp, ORBextractor* extractor,ORBVocabulary* voc, cv::Mat &K, cv::Mat &distCoef, const float &bf, const float &thDepth, GeometricCamera* pCamera,Frame* pPrevF, const IMU::Calib &ImuCalib)
:mpcpi(NULL),mpORBvocabulary(voc),mpORBextractorLeft(extractor),mpORBextractorRight(static_cast<ORBextractor*>(NULL)),
mTimeStamp(timeStamp), mK(K.clone()), mK_(Converter::toMatrix3f(K)),mDistCoef(distCoef.clone()), mbf(bf), mThDepth(thDepth),
mImuCalib(ImuCalib), mpImuPreintegrated(NULL), mpPrevFrame(pPrevF), mpImuPreintegratedFrame(NULL), mpReferenceKF(static_cast<KeyFrame*>(NULL)), mbIsSet(false), mbImuPreintegrated(false),
Expand All @@ -219,7 +219,7 @@ Frame::Frame(const cv::Mat &imGray, const cv::Mat &imDepth, const double &timeSt
#ifdef REGISTER_TIMES
std::chrono::steady_clock::time_point time_StartExtORB = std::chrono::steady_clock::now();
#endif
ExtractORB(0,imGray,0,0);
ExtractORB(0,imGray,0,0, mask);
#ifdef REGISTER_TIMES
std::chrono::steady_clock::time_point time_EndExtORB = std::chrono::steady_clock::now();

Expand Down Expand Up @@ -286,7 +286,7 @@ Frame::Frame(const cv::Mat &imGray, const cv::Mat &imDepth, const double &timeSt
}


Frame::Frame(const cv::Mat &imGray, const double &timeStamp, ORBextractor* extractor,ORBVocabulary* voc, GeometricCamera* pCamera, cv::Mat &distCoef, const float &bf, const float &thDepth, Frame* pPrevF, const IMU::Calib &ImuCalib)
Frame::Frame(const cv::Mat &imGray, const cv::Mat * mask, const double &timeStamp, ORBextractor* extractor,ORBVocabulary* voc, GeometricCamera* pCamera, cv::Mat &distCoef, const float &bf, const float &thDepth, Frame* pPrevF, const IMU::Calib &ImuCalib)
:mpcpi(NULL),mpORBvocabulary(voc),mpORBextractorLeft(extractor),mpORBextractorRight(static_cast<ORBextractor*>(NULL)),
mTimeStamp(timeStamp), mK(static_cast<Pinhole*>(pCamera)->toK()), mK_(static_cast<Pinhole*>(pCamera)->toK_()), mDistCoef(distCoef.clone()), mbf(bf), mThDepth(thDepth),
mImuCalib(ImuCalib), mpImuPreintegrated(NULL),mpPrevFrame(pPrevF),mpImuPreintegratedFrame(NULL), mpReferenceKF(static_cast<KeyFrame*>(NULL)), mbIsSet(false), mbImuPreintegrated(false), mpCamera(pCamera),
Expand All @@ -308,7 +308,7 @@ Frame::Frame(const cv::Mat &imGray, const double &timeStamp, ORBextractor* extra
#ifdef REGISTER_TIMES
std::chrono::steady_clock::time_point time_StartExtORB = std::chrono::steady_clock::now();
#endif
ExtractORB(0,imGray,0,1000);
ExtractORB(0,imGray,0,1000, mask);
#ifdef REGISTER_TIMES
std::chrono::steady_clock::time_point time_EndExtORB = std::chrono::steady_clock::now();

Expand Down Expand Up @@ -415,13 +415,20 @@ void Frame::AssignFeaturesToGrid()
}
}

void Frame::ExtractORB(int flag, const cv::Mat &im, const int x0, const int x1)
void Frame::ExtractORB(int flag, const cv::Mat &im, const int x0, const int x1, const cv::Mat * mask)
{
vector<int> vLapping = {x0,x1};
if(flag==0)
monoLeft = (*mpORBextractorLeft)(im,cv::Mat(),mvKeys,mDescriptors,vLapping);
else
monoRight = (*mpORBextractorRight)(im,cv::Mat(),mvKeysRight,mDescriptorsRight,vLapping);
if (mask == nullptr){
if(flag==0)
monoLeft = (*mpORBextractorLeft)(im,mvKeys,mDescriptors,vLapping);
else
monoRight = (*mpORBextractorRight)(im,mvKeysRight,mDescriptorsRight,vLapping);
} else {
if(flag==0)
monoLeft = (*mpORBextractorLeft)(im,*mask,mvKeys,mDescriptors,vLapping);
else
monoRight = (*mpORBextractorRight)(im,*mask,mvKeysRight,mDescriptorsRight,vLapping);
}
}

bool Frame::isSet() const {
Expand Down Expand Up @@ -1031,7 +1038,7 @@ void Frame::setIntegrated()
mbImuPreintegrated = true;
}

Frame::Frame(const cv::Mat &imLeft, const cv::Mat &imRight, const double &timeStamp, ORBextractor* extractorLeft, ORBextractor* extractorRight, ORBVocabulary* voc, cv::Mat &K, cv::Mat &distCoef, const float &bf, const float &thDepth, GeometricCamera* pCamera, GeometricCamera* pCamera2, Sophus::SE3f& Tlr,Frame* pPrevF, const IMU::Calib &ImuCalib)
Frame::Frame(const cv::Mat &imLeft, const cv::Mat &imRight, const cv::Mat * mask, const double &timeStamp, ORBextractor* extractorLeft, ORBextractor* extractorRight, ORBVocabulary* voc, cv::Mat &K, cv::Mat &distCoef, const float &bf, const float &thDepth, GeometricCamera* pCamera, GeometricCamera* pCamera2, Sophus::SE3f& Tlr,Frame* pPrevF, const IMU::Calib &ImuCalib)
:mpcpi(NULL), mpORBvocabulary(voc),mpORBextractorLeft(extractorLeft),mpORBextractorRight(extractorRight), mTimeStamp(timeStamp), mK(K.clone()), mK_(Converter::toMatrix3f(K)), mDistCoef(distCoef.clone()), mbf(bf), mThDepth(thDepth),
mImuCalib(ImuCalib), mpImuPreintegrated(NULL), mpPrevFrame(pPrevF),mpImuPreintegratedFrame(NULL), mpReferenceKF(static_cast<KeyFrame*>(NULL)), mbImuPreintegrated(false), mpCamera(pCamera), mpCamera2(pCamera2),
mbHasPose(false), mbHasVelocity(false)
Expand All @@ -1056,8 +1063,8 @@ Frame::Frame(const cv::Mat &imLeft, const cv::Mat &imRight, const double &timeSt
#ifdef REGISTER_TIMES
std::chrono::steady_clock::time_point time_StartExtORB = std::chrono::steady_clock::now();
#endif
thread threadLeft(&Frame::ExtractORB,this,0,imLeft,static_cast<KannalaBrandt8*>(mpCamera)->mvLappingArea[0],static_cast<KannalaBrandt8*>(mpCamera)->mvLappingArea[1]);
thread threadRight(&Frame::ExtractORB,this,1,imRight,static_cast<KannalaBrandt8*>(mpCamera2)->mvLappingArea[0],static_cast<KannalaBrandt8*>(mpCamera2)->mvLappingArea[1]);
thread threadLeft(&Frame::ExtractORB,this,0,imLeft, static_cast<KannalaBrandt8*>(mpCamera)->mvLappingArea[0],static_cast<KannalaBrandt8*>(mpCamera)->mvLappingArea[1], mask);
thread threadRight(&Frame::ExtractORB,this,1,imRight, static_cast<KannalaBrandt8*>(mpCamera2)->mvLappingArea[0],static_cast<KannalaBrandt8*>(mpCamera2)->mvLappingArea[1], mask);
threadLeft.join();
threadRight.join();
#ifdef REGISTER_TIMES
Expand Down
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