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keyframe.cpp
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#include "keyframe.h"
template <typename Derived>
static void reduceVector(vector<Derived> &v, vector<uchar> status)
{
int j = 0;
for (int i = 0; i < int(v.size()); i++)
if (status[i])
v[j++] = v[i];
v.resize(j);
}
// create keyframe online
KeyFrame::KeyFrame(double _time_stamp, int _index, Vector3d &_vio_T_w_i, Matrix3d &_vio_R_w_i, cv::Mat &_image,
vector<cv::Point3f> &_point_3d, vector<cv::Point2f> &_point_2d_uv, vector<cv::Point2f> &_point_2d_norm,
vector<double> &_point_id, int _sequence)
{
time_stamp = _time_stamp;
index = _index;
vio_T_w_i = _vio_T_w_i;
vio_R_w_i = _vio_R_w_i;
T_w_i = vio_T_w_i;
R_w_i = vio_R_w_i;
origin_vio_T = vio_T_w_i;
origin_vio_R = vio_R_w_i;
image = _image.clone();
cv::resize(image, thumbnail, cv::Size(80, 60));
point_3d = _point_3d;
point_2d_uv = _point_2d_uv;
point_2d_norm = _point_2d_norm;
point_id = _point_id;
has_loop = false;
loop_index = -1;
has_fast_point = false;
loop_info << 0, 0, 0, 0, 0, 0, 0, 0;
sequence = _sequence;
computeWindowBRIEFPoint();
computeBRIEFPoint();
if(!DEBUG_IMAGE)
image.release();
}
// load previous keyframe
KeyFrame::KeyFrame(double _time_stamp, int _index, Vector3d &_vio_T_w_i, Matrix3d &_vio_R_w_i, Vector3d &_T_w_i, Matrix3d &_R_w_i,
cv::Mat &_image, int _loop_index, Eigen::Matrix<double, 8, 1 > &_loop_info,
vector<cv::KeyPoint> &_keypoints, vector<cv::KeyPoint> &_keypoints_norm, vector<BRIEF::bitset> &_brief_descriptors)
{
time_stamp = _time_stamp;
index = _index;
//vio_T_w_i = _vio_T_w_i;
//vio_R_w_i = _vio_R_w_i;
vio_T_w_i = _T_w_i;
vio_R_w_i = _R_w_i;
T_w_i = _T_w_i;
R_w_i = _R_w_i;
if (DEBUG_IMAGE)
{
image = _image.clone();
cv::resize(image, thumbnail, cv::Size(80, 60));
}
if (_loop_index != -1)
has_loop = true;
else
has_loop = false;
loop_index = _loop_index;
loop_info = _loop_info;
has_fast_point = false;
sequence = 0;
keypoints = _keypoints;
keypoints_norm = _keypoints_norm;
brief_descriptors = _brief_descriptors;
}
void KeyFrame::computeWindowBRIEFPoint()
{
BriefExtractor extractor(BRIEF_PATTERN_FILE.c_str());
for(int i = 0; i < (int)point_2d_uv.size(); i++)
{
cv::KeyPoint key;
key.pt = point_2d_uv[i];
window_keypoints.push_back(key);
}
extractor(image, window_keypoints, window_brief_descriptors);
}
void KeyFrame::computeBRIEFPoint()
{
BriefExtractor extractor(BRIEF_PATTERN_FILE.c_str());
const int fast_th = 20; // corner detector response threshold
if(1)
cv::FAST(image, keypoints, fast_th, true);
else
{
vector<cv::Point2f> tmp_pts;
cv::goodFeaturesToTrack(image, tmp_pts, 500, 0.01, 10);
for(int i = 0; i < (int)tmp_pts.size(); i++)
{
cv::KeyPoint key;
key.pt = tmp_pts[i];
keypoints.push_back(key);
}
}
extractor(image, keypoints, brief_descriptors);
for (int i = 0; i < (int)keypoints.size(); i++)
{
Eigen::Vector3d tmp_p;
m_camera->liftProjective(Eigen::Vector2d(keypoints[i].pt.x, keypoints[i].pt.y), tmp_p);
cv::KeyPoint tmp_norm;
tmp_norm.pt = cv::Point2f(tmp_p.x()/tmp_p.z(), tmp_p.y()/tmp_p.z());
keypoints_norm.push_back(tmp_norm);
}
}
void BriefExtractor::operator() (const cv::Mat &im, vector<cv::KeyPoint> &keys, vector<BRIEF::bitset> &descriptors) const
{
m_brief.compute(im, keys, descriptors);
}
bool KeyFrame::searchInAera(const BRIEF::bitset window_descriptor,
const std::vector<BRIEF::bitset> &descriptors_old,
const std::vector<cv::KeyPoint> &keypoints_old,
const std::vector<cv::KeyPoint> &keypoints_old_norm,
cv::Point2f &best_match,
cv::Point2f &best_match_norm)
{
cv::Point2f best_pt;
int bestDist = 128;
int bestIndex = -1;
for(int i = 0; i < (int)descriptors_old.size(); i++)
{
int dis = HammingDis(window_descriptor, descriptors_old[i]);
if(dis < bestDist)
{
bestDist = dis;
bestIndex = i;
}
}
//printf("best dist %d", bestDist);
if (bestIndex != -1 && bestDist < 80)
{
best_match = keypoints_old[bestIndex].pt;
best_match_norm = keypoints_old_norm[bestIndex].pt;
return true;
}
else
return false;
}
void KeyFrame::searchByBRIEFDes(std::vector<cv::Point2f> &matched_2d_old,
std::vector<cv::Point2f> &matched_2d_old_norm,
std::vector<uchar> &status,
const std::vector<BRIEF::bitset> &descriptors_old,
const std::vector<cv::KeyPoint> &keypoints_old,
const std::vector<cv::KeyPoint> &keypoints_old_norm)
{
for(int i = 0; i < (int)window_brief_descriptors.size(); i++)
{
cv::Point2f pt(0.f, 0.f);
cv::Point2f pt_norm(0.f, 0.f);
if (searchInAera(window_brief_descriptors[i], descriptors_old, keypoints_old, keypoints_old_norm, pt, pt_norm))
status.push_back(1);
else
status.push_back(0);
matched_2d_old.push_back(pt);
matched_2d_old_norm.push_back(pt_norm);
}
}
void KeyFrame::FundmantalMatrixRANSAC(const std::vector<cv::Point2f> &matched_2d_cur_norm,
const std::vector<cv::Point2f> &matched_2d_old_norm,
vector<uchar> &status)
{
int n = (int)matched_2d_cur_norm.size();
for (int i = 0; i < n; i++)
status.push_back(0);
if (n >= 8)
{
vector<cv::Point2f> tmp_cur(n), tmp_old(n);
for (int i = 0; i < (int)matched_2d_cur_norm.size(); i++)
{
double FOCAL_LENGTH = 460.0;
double tmp_x, tmp_y;
tmp_x = FOCAL_LENGTH * matched_2d_cur_norm[i].x + COL / 2.0;
tmp_y = FOCAL_LENGTH * matched_2d_cur_norm[i].y + ROW / 2.0;
tmp_cur[i] = cv::Point2f(tmp_x, tmp_y);
tmp_x = FOCAL_LENGTH * matched_2d_old_norm[i].x + COL / 2.0;
tmp_y = FOCAL_LENGTH * matched_2d_old_norm[i].y + ROW / 2.0;
tmp_old[i] = cv::Point2f(tmp_x, tmp_y);
}
cv::findFundamentalMat(tmp_cur, tmp_old, cv::FM_RANSAC, 3.0, 0.9, status);
}
}
void KeyFrame::PnPRANSAC(const vector<cv::Point2f> &matched_2d_old_norm,
const std::vector<cv::Point3f> &matched_3d,
std::vector<uchar> &status,
Eigen::Vector3d &PnP_T_old, Eigen::Matrix3d &PnP_R_old)
{
//for (int i = 0; i < matched_3d.size(); i++)
// printf("3d x: %f, y: %f, z: %f\n",matched_3d[i].x, matched_3d[i].y, matched_3d[i].z );
//printf("match size %d \n", matched_3d.size());
cv::Mat r, rvec, t, D, tmp_r;
cv::Mat K = (cv::Mat_<double>(3, 3) << 1.0, 0, 0, 0, 1.0, 0, 0, 0, 1.0);
Matrix3d R_inital;
Vector3d P_inital;
Matrix3d R_w_c = origin_vio_R * qic;
Vector3d T_w_c = origin_vio_T + origin_vio_R * tic;
R_inital = R_w_c.inverse();
P_inital = -(R_inital * T_w_c);
cv::eigen2cv(R_inital, tmp_r);
cv::Rodrigues(tmp_r, rvec);
cv::eigen2cv(P_inital, t);
cv::Mat inliers;
TicToc t_pnp_ransac;
if (CV_MAJOR_VERSION < 3)
solvePnPRansac(matched_3d, matched_2d_old_norm, K, D, rvec, t, true, 100, 10.0 / 460.0, 100, inliers);
else
{
if (CV_MINOR_VERSION < 2)
solvePnPRansac(matched_3d, matched_2d_old_norm, K, D, rvec, t, true, 100, sqrt(10.0 / 460.0), 0.99, inliers);
else
solvePnPRansac(matched_3d, matched_2d_old_norm, K, D, rvec, t, true, 100, 10.0 / 460.0, 0.99, inliers);
}
for (int i = 0; i < (int)matched_2d_old_norm.size(); i++)
status.push_back(0);
for( int i = 0; i < inliers.rows; i++)
{
int n = inliers.at<int>(i);
status[n] = 1;
}
cv::Rodrigues(rvec, r);
Matrix3d R_pnp, R_w_c_old;
cv::cv2eigen(r, R_pnp);
R_w_c_old = R_pnp.transpose();
Vector3d T_pnp, T_w_c_old;
cv::cv2eigen(t, T_pnp);
T_w_c_old = R_w_c_old * (-T_pnp);
PnP_R_old = R_w_c_old * qic.transpose();
PnP_T_old = T_w_c_old - PnP_R_old * tic;
}
bool KeyFrame::findConnection(KeyFrame* old_kf)
{
TicToc tmp_t;
//printf("find Connection\n");
vector<cv::Point2f> matched_2d_cur, matched_2d_old;
vector<cv::Point2f> matched_2d_cur_norm, matched_2d_old_norm;
vector<cv::Point3f> matched_3d;
vector<double> matched_id;
vector<uchar> status;
matched_3d = point_3d;
matched_2d_cur = point_2d_uv;
matched_2d_cur_norm = point_2d_norm;
matched_id = point_id;
TicToc t_match;
#if 0
if (DEBUG_IMAGE)
{
cv::Mat gray_img, loop_match_img;
cv::Mat old_img = old_kf->image;
cv::hconcat(image, old_img, gray_img);
cvtColor(gray_img, loop_match_img, CV_GRAY2RGB);
for(int i = 0; i< (int)point_2d_uv.size(); i++)
{
cv::Point2f cur_pt = point_2d_uv[i];
cv::circle(loop_match_img, cur_pt, 5, cv::Scalar(0, 255, 0));
}
for(int i = 0; i< (int)old_kf->keypoints.size(); i++)
{
cv::Point2f old_pt = old_kf->keypoints[i].pt;
old_pt.x += COL;
cv::circle(loop_match_img, old_pt, 5, cv::Scalar(0, 255, 0));
}
ostringstream path;
path << "/home/tony-ws1/raw_data/loop_image/"
<< index << "-"
<< old_kf->index << "-" << "0raw_point.jpg";
cv::imwrite( path.str().c_str(), loop_match_img);
}
#endif
//printf("search by des\n");
searchByBRIEFDes(matched_2d_old, matched_2d_old_norm, status, old_kf->brief_descriptors, old_kf->keypoints, old_kf->keypoints_norm);
reduceVector(matched_2d_cur, status);
reduceVector(matched_2d_old, status);
reduceVector(matched_2d_cur_norm, status);
reduceVector(matched_2d_old_norm, status);
reduceVector(matched_3d, status);
reduceVector(matched_id, status);
//printf("search by des finish\n");
#if 0
if (DEBUG_IMAGE)
{
int gap = 10;
cv::Mat gap_image(ROW, gap, CV_8UC1, cv::Scalar(255, 255, 255));
cv::Mat gray_img, loop_match_img;
cv::Mat old_img = old_kf->image;
cv::hconcat(image, gap_image, gap_image);
cv::hconcat(gap_image, old_img, gray_img);
cvtColor(gray_img, loop_match_img, CV_GRAY2RGB);
for(int i = 0; i< (int)matched_2d_cur.size(); i++)
{
cv::Point2f cur_pt = matched_2d_cur[i];
cv::circle(loop_match_img, cur_pt, 5, cv::Scalar(0, 255, 0));
}
for(int i = 0; i< (int)matched_2d_old.size(); i++)
{
cv::Point2f old_pt = matched_2d_old[i];
old_pt.x += (COL + gap);
cv::circle(loop_match_img, old_pt, 5, cv::Scalar(0, 255, 0));
}
for (int i = 0; i< (int)matched_2d_cur.size(); i++)
{
cv::Point2f old_pt = matched_2d_old[i];
old_pt.x += (COL + gap);
cv::line(loop_match_img, matched_2d_cur[i], old_pt, cv::Scalar(0, 255, 0), 1, 8, 0);
}
ostringstream path, path1, path2;
path << "/home/tony-ws1/raw_data/loop_image/"
<< index << "-"
<< old_kf->index << "-" << "1descriptor_match.jpg";
cv::imwrite( path.str().c_str(), loop_match_img);
/*
path1 << "/home/tony-ws1/raw_data/loop_image/"
<< index << "-"
<< old_kf->index << "-" << "1descriptor_match_1.jpg";
cv::imwrite( path1.str().c_str(), image);
path2 << "/home/tony-ws1/raw_data/loop_image/"
<< index << "-"
<< old_kf->index << "-" << "1descriptor_match_2.jpg";
cv::imwrite( path2.str().c_str(), old_img);
*/
}
#endif
status.clear();
/*
FundmantalMatrixRANSAC(matched_2d_cur_norm, matched_2d_old_norm, status);
reduceVector(matched_2d_cur, status);
reduceVector(matched_2d_old, status);
reduceVector(matched_2d_cur_norm, status);
reduceVector(matched_2d_old_norm, status);
reduceVector(matched_3d, status);
reduceVector(matched_id, status);
*/
#if 0
if (DEBUG_IMAGE)
{
int gap = 10;
cv::Mat gap_image(ROW, gap, CV_8UC1, cv::Scalar(255, 255, 255));
cv::Mat gray_img, loop_match_img;
cv::Mat old_img = old_kf->image;
cv::hconcat(image, gap_image, gap_image);
cv::hconcat(gap_image, old_img, gray_img);
cvtColor(gray_img, loop_match_img, CV_GRAY2RGB);
for(int i = 0; i< (int)matched_2d_cur.size(); i++)
{
cv::Point2f cur_pt = matched_2d_cur[i];
cv::circle(loop_match_img, cur_pt, 5, cv::Scalar(0, 255, 0));
}
for(int i = 0; i< (int)matched_2d_old.size(); i++)
{
cv::Point2f old_pt = matched_2d_old[i];
old_pt.x += (COL + gap);
cv::circle(loop_match_img, old_pt, 5, cv::Scalar(0, 255, 0));
}
for (int i = 0; i< (int)matched_2d_cur.size(); i++)
{
cv::Point2f old_pt = matched_2d_old[i];
old_pt.x += (COL + gap) ;
cv::line(loop_match_img, matched_2d_cur[i], old_pt, cv::Scalar(0, 255, 0), 1, 8, 0);
}
ostringstream path;
path << "/home/tony-ws1/raw_data/loop_image/"
<< index << "-"
<< old_kf->index << "-" << "2fundamental_match.jpg";
cv::imwrite( path.str().c_str(), loop_match_img);
}
#endif
Eigen::Vector3d PnP_T_old;
Eigen::Matrix3d PnP_R_old;
Eigen::Vector3d relative_t;
Quaterniond relative_q;
double relative_yaw;
if ((int)matched_2d_cur.size() > MIN_LOOP_NUM)
{
status.clear();
PnPRANSAC(matched_2d_old_norm, matched_3d, status, PnP_T_old, PnP_R_old);
reduceVector(matched_2d_cur, status);
reduceVector(matched_2d_old, status);
reduceVector(matched_2d_cur_norm, status);
reduceVector(matched_2d_old_norm, status);
reduceVector(matched_3d, status);
reduceVector(matched_id, status);
#if 1
if (DEBUG_IMAGE)
{
int gap = 10;
cv::Mat gap_image(ROW, gap, CV_8UC1, cv::Scalar(255, 255, 255));
cv::Mat gray_img, loop_match_img;
cv::Mat old_img = old_kf->image;
cv::hconcat(image, gap_image, gap_image);
cv::hconcat(gap_image, old_img, gray_img);
cvtColor(gray_img, loop_match_img, CV_GRAY2RGB);
for(int i = 0; i< (int)matched_2d_cur.size(); i++)
{
cv::Point2f cur_pt = matched_2d_cur[i];
cv::circle(loop_match_img, cur_pt, 5, cv::Scalar(0, 255, 0));
}
for(int i = 0; i< (int)matched_2d_old.size(); i++)
{
cv::Point2f old_pt = matched_2d_old[i];
old_pt.x += (COL + gap);
cv::circle(loop_match_img, old_pt, 5, cv::Scalar(0, 255, 0));
}
for (int i = 0; i< (int)matched_2d_cur.size(); i++)
{
cv::Point2f old_pt = matched_2d_old[i];
old_pt.x += (COL + gap) ;
cv::line(loop_match_img, matched_2d_cur[i], old_pt, cv::Scalar(0, 255, 0), 2, 8, 0);
}
cv::Mat notation(50, COL + gap + COL, CV_8UC3, cv::Scalar(255, 255, 255));
putText(notation, "current frame: " + to_string(index) + " sequence: " + to_string(sequence), cv::Point2f(20, 30), CV_FONT_HERSHEY_SIMPLEX, 1, cv::Scalar(255), 3);
putText(notation, "previous frame: " + to_string(old_kf->index) + " sequence: " + to_string(old_kf->sequence), cv::Point2f(20 + COL + gap, 30), CV_FONT_HERSHEY_SIMPLEX, 1, cv::Scalar(255), 3);
cv::vconcat(notation, loop_match_img, loop_match_img);
/*
ostringstream path;
path << "/home/tony-ws1/raw_data/loop_image/"
<< index << "-"
<< old_kf->index << "-" << "3pnp_match.jpg";
cv::imwrite( path.str().c_str(), loop_match_img);
*/
if ((int)matched_2d_cur.size() > MIN_LOOP_NUM)
{
/*
cv::imshow("loop connection",loop_match_img);
cv::waitKey(10);
*/
cv::Mat thumbimage;
cv::resize(loop_match_img, thumbimage, cv::Size(loop_match_img.cols / 2, loop_match_img.rows / 2));
sensor_msgs::ImagePtr msg = cv_bridge::CvImage(std_msgs::Header(), "bgr8", thumbimage).toImageMsg();
msg->header.stamp = ros::Time(time_stamp);
pub_match_img.publish(msg);
}
}
#endif
}
if ((int)matched_2d_cur.size() > MIN_LOOP_NUM)
{
relative_t = PnP_R_old.transpose() * (origin_vio_T - PnP_T_old);
relative_q = PnP_R_old.transpose() * origin_vio_R;
relative_yaw = Utility::normalizeAngle(Utility::R2ypr(origin_vio_R).x() - Utility::R2ypr(PnP_R_old).x());
//printf("PNP relative\n");
//cout << "pnp relative_t " << relative_t.transpose() << endl;
//cout << "pnp relative_yaw " << relative_yaw << endl;
if (abs(relative_yaw) < 30.0 && relative_t.norm() < 20.0)
{
has_loop = true;
loop_index = old_kf->index;
loop_info << relative_t.x(), relative_t.y(), relative_t.z(),
relative_q.w(), relative_q.x(), relative_q.y(), relative_q.z(),
relative_yaw;
if(FAST_RELOCALIZATION)
{
sensor_msgs::PointCloud msg_match_points;
msg_match_points.header.stamp = ros::Time(time_stamp);
for (int i = 0; i < (int)matched_2d_old_norm.size(); i++)
{
geometry_msgs::Point32 p;
p.x = matched_2d_old_norm[i].x;
p.y = matched_2d_old_norm[i].y;
p.z = matched_id[i];
msg_match_points.points.push_back(p);
}
Eigen::Vector3d T = old_kf->T_w_i;
Eigen::Matrix3d R = old_kf->R_w_i;
Quaterniond Q(R);
sensor_msgs::ChannelFloat32 t_q_index;
t_q_index.values.push_back(T.x());
t_q_index.values.push_back(T.y());
t_q_index.values.push_back(T.z());
t_q_index.values.push_back(Q.w());
t_q_index.values.push_back(Q.x());
t_q_index.values.push_back(Q.y());
t_q_index.values.push_back(Q.z());
t_q_index.values.push_back(index);
msg_match_points.channels.push_back(t_q_index);
pub_match_points.publish(msg_match_points);
}
return true;
}
}
//printf("loop final use num %d %lf--------------- \n", (int)matched_2d_cur.size(), t_match.toc());
return false;
}
int KeyFrame::HammingDis(const BRIEF::bitset &a, const BRIEF::bitset &b)
{
BRIEF::bitset xor_of_bitset = a ^ b;
int dis = xor_of_bitset.count();
return dis;
}
void KeyFrame::getVioPose(Eigen::Vector3d &_T_w_i, Eigen::Matrix3d &_R_w_i)
{
_T_w_i = vio_T_w_i;
_R_w_i = vio_R_w_i;
}
void KeyFrame::getPose(Eigen::Vector3d &_T_w_i, Eigen::Matrix3d &_R_w_i)
{
_T_w_i = T_w_i;
_R_w_i = R_w_i;
}
void KeyFrame::updatePose(const Eigen::Vector3d &_T_w_i, const Eigen::Matrix3d &_R_w_i)
{
T_w_i = _T_w_i;
R_w_i = _R_w_i;
}
void KeyFrame::updateVioPose(const Eigen::Vector3d &_T_w_i, const Eigen::Matrix3d &_R_w_i)
{
vio_T_w_i = _T_w_i;
vio_R_w_i = _R_w_i;
T_w_i = vio_T_w_i;
R_w_i = vio_R_w_i;
}
Eigen::Vector3d KeyFrame::getLoopRelativeT()
{
return Eigen::Vector3d(loop_info(0), loop_info(1), loop_info(2));
}
Eigen::Quaterniond KeyFrame::getLoopRelativeQ()
{
return Eigen::Quaterniond(loop_info(3), loop_info(4), loop_info(5), loop_info(6));
}
double KeyFrame::getLoopRelativeYaw()
{
return loop_info(7);
}
void KeyFrame::updateLoop(Eigen::Matrix<double, 8, 1 > &_loop_info)
{
if (abs(_loop_info(7)) < 30.0 && Vector3d(_loop_info(0), _loop_info(1), _loop_info(2)).norm() < 20.0)
{
//printf("update loop info\n");
loop_info = _loop_info;
}
}
BriefExtractor::BriefExtractor(const std::string &pattern_file)
{
// The DVision::BRIEF extractor computes a random pattern by default when
// the object is created.
// We load the pattern that we used to build the vocabulary, to make
// the descriptors compatible with the predefined vocabulary
// loads the pattern
cv::FileStorage fs(pattern_file.c_str(), cv::FileStorage::READ);
if(!fs.isOpened()) throw string("Could not open file ") + pattern_file;
vector<int> x1, y1, x2, y2;
fs["x1"] >> x1;
fs["x2"] >> x2;
fs["y1"] >> y1;
fs["y2"] >> y2;
m_brief.importPairs(x1, y1, x2, y2);
}