void DepthFilter::updateLineSeeds(FramePtr frame)
{
// update only a limited number of seeds, because we don't have time to do it
// for all the seeds in every frame!
size_t n_updates=0, n_failed_matches=0, n_seeds = seg_seeds_.size();
lock_t lock(seeds_mut_);
list<LineSeed>::iterator it=seg_seeds_.begin();
const double focal_length = frame->cam_->errorMultiplier2();
double px_noise = 1.0;
double px_error_angle = atan(px_noise/(2.0*focal_length))*2.0; // law of chord (sehnensatz)
while( it!=seg_seeds_.end())
{
// set this value true when seeds updating should be interrupted
if(seeds_updating_halt_)
return;
// check if seed is not already too old
if((LineSeed::batch_counter - it->batch_id) > options_.max_n_kfs) {
it = seg_seeds_.erase(it);
continue;
}
// check if segment is visible in the current image
SE3 T_ref_cur = it->ftr->frame->T_f_w_ * frame->T_f_w_.inverse();
const Vector3d xyz_f_s(T_ref_cur.inverse()*(1.0/it->mu_s * static_cast<LineFeat*>(it->ftr)->sf) );
const Vector3d xyz_f_e(T_ref_cur.inverse()*(1.0/it->mu_e * static_cast<LineFeat*>(it->ftr)->ef) );
if( xyz_f_s.z() < 0.0 || xyz_f_e.z() < 0.0 ) {
++it; // behind the camera
continue;
}
if( !frame->cam_->isInFrame(frame->f2c(xyz_f_s).cast<int>()) ||
!frame->cam_->isInFrame(frame->f2c(xyz_f_e).cast<int>()) ) {
++it; // segment does not project in image
continue;
}
// we are using inverse depth coordinates
float z_inv_min_s = it->mu_s + sqrt(it->sigma2_s);
float z_inv_max_s = max(it->mu_s - sqrt(it->sigma2_s), 0.00000001f);
float z_inv_min_e = it->mu_e + sqrt(it->sigma2_e);
float z_inv_max_e = max(it->mu_e - sqrt(it->sigma2_e), 0.00000001f);
double z_s, z_e;
if(!matcherls_.findEpipolarMatchDirectSegmentEndpoint(
*it->ftr->frame, *frame, *it->ftr, 1.0/it->mu_s, 1.0/z_inv_min_s, 1.0/z_inv_max_s, z_s) ||
!matcherls_.findEpipolarMatchDirectSegmentEndpoint(
*it->ftr->frame, *frame, *it->ftr, 1.0/it->mu_e, 1.0/z_inv_min_e, 1.0/z_inv_max_e, z_e) )
{
it->b++; // increase outlier probability when no match was found
++it;
++n_failed_matches;
continue;
}
// compute tau
double tau_s = computeTau(T_ref_cur, static_cast<LineFeat*>(it->ftr)->sf, z_s, px_error_angle);
double tau_inverse_s = 0.5 * (1.0/max(0.0000001, z_s-tau_s) - 1.0/(z_s+tau_s));
double tau_e = computeTau(T_ref_cur, static_cast<LineFeat*>(it->ftr)->ef, z_e, px_error_angle);
double tau_inverse_e = 0.5 * (1.0/max(0.0000001, z_e-tau_e) - 1.0/(z_e+tau_e));
// update the estimate
updateLineSeed(1./z_s, tau_inverse_s*tau_inverse_s, 1./z_e, tau_inverse_e*tau_inverse_e, &*it);
++n_updates;
if(frame->isKeyframe())
{
// The feature detector should not initialize new seeds close to this location
seg_feature_detector_->setGridOccpuancy(LineFeat(matcher_.px_cur_,matcherls_.px_cur_));
}
// if the seed has converged, we initialize a new candidate point and remove the seed
if(sqrt(it->sigma2_s) < it->z_range_s/options_.seed_convergence_sigma2_thresh &&
sqrt(it->sigma2_e) < it->z_range_e/options_.seed_convergence_sigma2_thresh )
{
assert(static_cast<LineFeat*>(it->ftr)->feat3D == NULL); // TODO this should not happen anymore
Vector3d xyz_world_s(it->ftr->frame->T_f_w_.inverse() * (static_cast<LineFeat*>(it->ftr)->sf * (1.0/it->mu_s)));
Vector3d xyz_world_e(it->ftr->frame->T_f_w_.inverse() * (static_cast<LineFeat*>(it->ftr)->ef * (1.0/it->mu_e)));
LineSeg* line = new LineSeg(xyz_world_s, xyz_world_e, it->ftr);
static_cast<LineFeat*>(it->ftr)->feat3D = line;
/* FIXME it is not threadsafe to add a feature to the frame here.
if(frame->isKeyframe())
{
Feature* ftr = new PointFeat(frame.get(), matcher_.px_cur_, matcher_.search_level_);
ftr->point = point;
point->addFrameRef(ftr);
frame->addFeature(ftr);
it->ftr->frame->addFeature(it->ftr);
}
else
*/
{
seed_converged_cb_ls_(line, it->sigma2_s, it->sigma2_e); // put in candidate list
}
it = seg_seeds_.erase(it);
}
else if( isnan(z_inv_min_s) || isnan(z_inv_min_e) )
{
SVO_WARN_STREAM("z_min_s or z_min_e is NaN");
it = seg_seeds_.erase(it);
}
else
++it;
}
}
void DepthFilter::updateSeeds(FramePtr frame)
{
// update only a limited number of seeds, because we don't have time to do it
// for all the seeds in every frame!
int count = 0;
size_t n_updates=0, n_failed_matches=0, n_seeds = seeds_.size();
lock_t lock(seeds_mut_);
list<Seed>::iterator it=seeds_.begin();
const double focal_length = frame->cam_->errorMultiplier2();
double px_noise = 1.0;
double px_error_angle = atan(px_noise/(2.0*focal_length))*2.0; // law of chord (sehnensatz)
double z_real = 0.0;
while( it!=seeds_.end())
{
// set this value true when seeds updating should be interrupted
if(seeds_updating_halt_)
return;
// check if seed is not already too old
if((Seed::batch_counter - it->batch_id) > options_.max_n_kfs) {
it = seeds_.erase(it);
continue;
}
// check if point is visible in the current image
SE3 T_ref_cur = it->ftr->frame->T_f_w_ * frame->T_f_w_.inverse();
const Vector3d xyz_f(T_ref_cur.inverse()*(1.0/it->mu * it->ftr->f) );
if(xyz_f.z() < 0.0) {
++it; // behind the camera
continue;
}
if(!frame->cam_->isInFrame(frame->f2c(xyz_f).cast<int>())) {
++it; // point does not project in image
continue;
}
// we are using inverse depth coordinates
float z_inv_min = it->mu + sqrt(it->sigma2);
float z_inv_max = max(it->mu - sqrt(it->sigma2), 0.00000001f);
double z;
if(!matcher_.findEpipolarMatchDirect(
*it->ftr->frame, *frame, *it->ftr, 1.0/it->mu, 1.0/z_inv_min, 1.0/z_inv_max, z))
{
it->b++; // increase outlier probability when no match was found
++it;
++n_failed_matches;
continue;
}
// compute tau
double tau = computeTau(T_ref_cur, it->ftr->f, z, px_error_angle);
double tau_inverse = 0.5 * (1.0/max(0.0000001, z-tau) - 1.0/(z+tau));
// update the estimate
updateSeed(1./z, tau_inverse*tau_inverse, &*it);
++n_updates;
if(frame->isKeyframe())
{
// The feature detector should not initialize new seeds close to this location
feature_detector_->setGridOccpuancy(matcher_.px_cur_);
}
// if the seed has converged, we initialize a new candidate point and remove the seed
//if(sqrt(it->sigma2) < it->z_range/options_.seed_convergence_sigma2_thresh)
if(1.0 > 0.0)
{
count++;
// assert(it->ftr->point == NULL); // TODO this should not happen anymore
// Vector3d xyz_world(it->ftr->frame->T_f_w_.inverse() * (it->ftr->f * (1.0/it->mu)));
// Point* point = new Point(xyz_world, it->ftr);
// it->ftr->point = point;
cv::Mat map = it->ftr->frame->depthmap_;
Eigen::Vector3d pos_real(it->ftr->px[1], it->ftr->px[0], map.at<float>(it->ftr->px[1],it->ftr->px[0]));
const double z_real_old = z_real;
z_real = map.at<float>(it->ftr->px[1],it->ftr->px[0]);
//cout <<"getting pixel at:" << map.at<float>(it->ftr->px[1],it->ftr->px[0]) << "\t"<< "svo depth:" << (1.0/it->mu) << endl;
Vector3d xyz_world;
//printf("Estimated depth: %f \t Real Depth: %f\n", (1.0/it->mu), z_real);
if(z_real > 0){
xyz_world = (it->ftr->frame->T_f_w_.inverse() * (it->ftr->f * z_real));
// Eigen::Vector3d xyz_real = it->ftr->frame->f2w(pos_real);
//const double z_real = (it->ftr->frame->pos()-pos_real).norm().z();
//printf("Inserted Point %f %f\n", (1.0/it->mu), z_real);
/* FIXME it is not threadsafe to add a feature to the frame here.
if(frame->isKeyframe())
{
Feature* ftr = new Feature(frame.get(), matcher_.px_cur_, matcher_.search_level_);
ftr->point = point;
point->addFrameRef(ftr);
frame->addFeature(ftr);
it->ftr->frame->addFeature(it->ftr);
}
else
*/
}
else{
assert(it->ftr->point == NULL); // TODO this should not happen anymore
xyz_world = (it->ftr->frame->T_f_w_.inverse() * (it->ftr->f * (1.0/it->mu)));
}
{
Point* point = new Point(xyz_world, it->ftr);
it->ftr->point = point;
seed_converged_cb_(point, it->sigma2); // put in candidate list
}
it = seeds_.erase(it);
}
else if(isnan(z_inv_min))
{
SVO_WARN_STREAM("z_min is NaN");
it = seeds_.erase(it);
}
else
++it;
}
}