TrackDescriptor.h

Go to the documentation of this file.

/*
 * OpenVINS: An Open Platform for Visual-Inertial Research
 * Copyright (C) 2018-2023 Patrick Geneva
 * Copyright (C) 2018-2023 Guoquan Huang
 * Copyright (C) 2018-2023 OpenVINS Contributors
 * Copyright (C) 2018-2019 Kevin Eckenhoff
 *
 * This program 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.
 *
 * This program 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 this program.  If not, see <https://www.gnu.org/licenses/>.
 */
 
#ifndef OV_CORE_TRACK_DESC_H
#define OV_CORE_TRACK_DESC_H
 
#include "TrackBase.h"
 
namespace ov_core {
 
class TrackDescriptor : public TrackBase {
 
public:
  explicit TrackDescriptor(std::unordered_map<size_t, std::shared_ptr<CamBase>> cameras, int numfeats, int numaruco, bool stereo,
                           HistogramMethod histmethod, int fast_threshold, int gridx, int gridy, int minpxdist, double knnratio)
      : TrackBase(cameras, numfeats, numaruco, stereo, histmethod), threshold(fast_threshold), grid_x(gridx), grid_y(gridy),
        min_px_dist(minpxdist), knn_ratio(knnratio) {}
 
  void feed_new_camera(const CameraData &message) override;
 
protected:
  void feed_monocular(const CameraData &message, size_t msg_id);
 
  void feed_stereo(const CameraData &message, size_t msg_id_left, size_t msg_id_right);
 
  void perform_detection_monocular(const cv::Mat &img0, const cv::Mat &mask0, std::vector<cv::KeyPoint> &pts0, cv::Mat &desc0,
                                   std::vector<size_t> &ids0);
 
  void perform_detection_stereo(const cv::Mat &img0, const cv::Mat &img1, const cv::Mat &mask0, const cv::Mat &mask1,
                                std::vector<cv::KeyPoint> &pts0, std::vector<cv::KeyPoint> &pts1, cv::Mat &desc0, cv::Mat &desc1,
                                size_t cam_id0, size_t cam_id1, std::vector<size_t> &ids0, std::vector<size_t> &ids1);
 
  void robust_match(const std::vector<cv::KeyPoint> &pts0, const std::vector<cv::KeyPoint> &pts1, const cv::Mat &desc0,
                    const cv::Mat &desc1, size_t id0, size_t id1, std::vector<cv::DMatch> &matches);
 
  // Helper functions for the robust_match function
  // Original code is from the "RobustMatcher" in the opencv examples
  // https://github.com/opencv/opencv/blob/master/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/RobustMatcher.cpp
  void robust_ratio_test(std::vector<std::vector<cv::DMatch>> &matches);
  void robust_symmetry_test(std::vector<std::vector<cv::DMatch>> &matches1, std::vector<std::vector<cv::DMatch>> &matches2,
                            std::vector<cv::DMatch> &good_matches);
 
  // Timing variables
  boost::posix_time::ptime rT1, rT2, rT3, rT4, rT5, rT6, rT7;
 
  // Our orb extractor
  cv::Ptr<cv::ORB> orb0 = cv::ORB::create();
  cv::Ptr<cv::ORB> orb1 = cv::ORB::create();
 
  // Our descriptor matcher
  cv::Ptr<cv::DescriptorMatcher> matcher = cv::DescriptorMatcher::create("BruteForce-Hamming");
 
  // Parameters for our FAST grid detector
  int threshold;
  int grid_x;
  int grid_y;
 
  // Minimum pixel distance to be "far away enough" to be a different extracted feature
  int min_px_dist;
 
  // The ratio between two kNN matches, if that ratio is larger then this threshold
  // then the two features are too close, so should be considered ambiguous/bad match
  double knn_ratio;
 
  // Descriptor matrices
  std::unordered_map<size_t, cv::Mat> desc_last;
};
 
} // namespace ov_core
 
#endif /* OV_CORE_TRACK_DESC_H */