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submap for loop closure detection in 3d

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This commit is contained in:
Zihao Mu 2021-08-26 11:26:12 +08:00
parent bae9cef0b5
commit 19116471fe
1 changed files with 35 additions and 0 deletions
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35
modules/3d/include/opencv2/3d/detail/submap.hpp
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@ -68,6 +68,9 @@ public:
return float(visible_blocks) / float(allocate_blocks); return float(visible_blocks) / float(allocate_blocks);
} }
// Adding new Edge for Loop Closure Detection. Return true or false to indicate whether adding success.
bool addEdgeToSubmap(const int tarSubmapID, const Affine3f& tarPose);
//! TODO: Possibly useless //! TODO: Possibly useless
virtual void setStartFrameId(int _startFrameId) { startFrameId = _startFrameId; }; virtual void setStartFrameId(int _startFrameId) { startFrameId = _startFrameId; };
virtual void setStopFrameId(int _stopFrameId) { stopFrameId = _stopFrameId; }; virtual void setStopFrameId(int _stopFrameId) { stopFrameId = _stopFrameId; };
@ -124,6 +127,27 @@ void Submap<MatType>::raycast(const cv::Affine3f& _cameraPose, const cv::Matx33f
} }
} }
template<typename MatType>
bool Submap<MatType>::addEdgeToSubmap(const int tarSubmapID, const Affine3f& tarPose)
{
auto iter = constraints.find(tarSubmapID);
// if there is NO edge of currSubmap to tarSubmap.
if(iter == constraints.end())
{
// Frome pose to tarPose transformation
Affine3f estimatePose = tarPose * pose.inv();
// Create new Edge.
PoseConstraint& preConstrain = getConstraint(tarSubmapID);
preConstrain.accumulatePose(estimatePose, 1);
return true;
} else
{
return false;
}
}
/** /**
* @brief: Manages all the created submaps for a particular scene * @brief: Manages all the created submaps for a particular scene
@ -173,6 +197,8 @@ public:
int estimateConstraint(int fromSubmapId, int toSubmapId, int& inliers, Affine3f& inlierPose); int estimateConstraint(int fromSubmapId, int toSubmapId, int& inliers, Affine3f& inlierPose);
bool updateMap(int _frameId, Ptr<OdometryFrame> _frame); bool updateMap(int _frameId, Ptr<OdometryFrame> _frame);
bool addEdgeToCurrentSubmap(const int currentSubmapID, const int tarSubmapID);
Ptr<detail::PoseGraph> MapToPoseGraph(); Ptr<detail::PoseGraph> MapToPoseGraph();
void PoseGraphToMap(const Ptr<detail::PoseGraph>& updatedPoseGraph); void PoseGraphToMap(const Ptr<detail::PoseGraph>& updatedPoseGraph);
@ -382,6 +408,15 @@ bool SubmapManager<MatType>::shouldChangeCurrSubmap(int _frameId, int toSubmapId
return false; return false;
} }
template<typename MatType>
bool SubmapManager<MatType>::addEdgeToCurrentSubmap(const int currentSubmapID, const int tarSubmapID)
{
Ptr<SubmapT> currentSubmap = getSubmap(currentSubmapID);
Ptr<SubmapT> tarSubmap = getSubmap(tarSubmapID);
return currentSubmap->addEdgeToSubmap(tarSubmapID, tarSubmap->pose);
}
template<typename MatType> template<typename MatType>
bool SubmapManager<MatType>::updateMap(int _frameId, Ptr<OdometryFrame> _frame) bool SubmapManager<MatType>::updateMap(int _frameId, Ptr<OdometryFrame> _frame)
{ {