/** @brief (one liner)
*
* (documentation goes here)
*/
bool flythrough_c::load(std::string filename)
{
if (loaded) return false;
FILE* f = fopen(filename.c_str(), "rb");
if (!f) return false;
flyversion_t ver;
flyheader_t head;
fread(&ver, sizeof(ver), 1, f);
if (!(ver.major == 1 && ver.minor == 0 && ver.revision == 0)) {
// version mismatch
fclose(f);
return false;
}
fread(&head, sizeof(head), 1, f);
for (int i = 0 ; i < head.n ; ++i) {
new_keyframe();
fread(kf[i], sizeof(flykf_t), 1, f);
}
fclose(f);
loaded = true;
set_active_keyframe(0);
player_current_time = 0;
player_current_kf_time = 0;
return true;
}
bool VisualOdometry::AddNewFrame(std::unique_ptr<ImageFrame> frame) {
std::vector<cv::DMatch> matches;
if (!feature_tracker_->TrackFrame(map_.GetLastKeyframe().image_frame(),
*frame, matches)) {
std::cerr << "Error: Track new frame failed.\n";
return false;
}
// TODO: Refine Keyframe Selector.
// TODO: Add select keyframe for initialization
if (matches.size() < 50) {
std::cout << "Too few matches.\n";
// TODO: Use track by matching
if (!feature_tracker_->MatchFrame(map_.GetLastKeyframe().image_frame(),
*frame, matches)) {
std::cout << "Error: Matching frames failed.\n";
return false;
}
if (matches.size() < 50) {
std::cout << "Matching frames too few matches.\n";
return true;
} else {
tracking_or_matching_ = 2;
std::cout << "Matching found " << matches.size() << " features.\n";
}
} else {
tracking_or_matching_ = 1;
std::cout << "Tracking found " << matches.size() << " features.\n";
}
/*
if (map_.state() == Mapdata::INITIALIZED &&
!keyframe_selector_.isKeyframe(matches)) {
std::cout << "Skipped a frame. Not selected as keyframe.\n\n";
return true;
}
*/
if (plot_tracking_)
PlotTracking(*frame, map_.GetLastKeyframe().image_frame(), matches);
std::unique_ptr<Keyframe> new_keyframe(new Keyframe(std::move(frame)));
if (!map_.AddNewKeyframeMatchToLastKeyframe(std::move(new_keyframe), matches))
return false;
if (map_.state() != Mapdata::INITIALIZED) return true;
// Estimate last frame
if (!EstimateLastFrame()) {
map_.DropLastKeyframe();
std::cout << "Skipped a frame. Could not add as new frame.\n";
return true;
}
map_.PrintStats();
if (map_.num_frame() % optimize_every_frame_ == 0)
OptimizeMap();
else if (plot_3d_landmarks_ &&
map_.num_frame() % plot_3d_landmarks_every_frame_ == 0)
VisualizeNewLandmarks();
return true;
}
