ORBSLAM2学习笔记8(MapPoint)

MapPoint.h

/**
* This file is part of ORB-SLAM2.
*
* Copyright (C) 2014-2016 Raúl Mur-Artal <raulmur at unizar dot es> (University of Zaragoza)
* For more information see <https://github.com/raulmur/ORB_SLAM2>
*
* ORB-SLAM2 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.
*
* ORB-SLAM2 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 ORB-SLAM2. If not, see <http://www.gnu.org/licenses/>.
*/

#ifndef MAPPOINT_H
#define MAPPOINT_H

#include"KeyFrame.h"
#include"Frame.h"
#include"Map.h"

#include<opencv2/core/core.hpp>
#include<mutex>

namespace ORB_SLAM2
{

class KeyFrame;
class Map;
class Frame;


/**
 * 1.地图点可以通过关键帧来构造，也可以通过普通帧构造,普通帧构造的地图点只是临时被Tracking用来追踪的
 * 2.MapPoint中比较有意思的几个概念是mNormalVector,mObservations,mfMinDistance,mfMaxDistance,mnVisible,mnFound
 * 
 */
class MapPoint
{
public:
    MapPoint(const cv::Mat &Pos, KeyFrame* pRefKF, Map* pMap);
    MapPoint(const cv::Mat &Pos,  Map* pMap, Frame* pFrame, const int &idxF);

    void SetWorldPos(const cv::Mat &Pos);
    cv::Mat GetWorldPos();

    cv::Mat GetNormal();
    KeyFrame* GetReferenceKeyFrame();

    std::map<KeyFrame*,size_t> GetObservations();
    int Observations();

    void AddObservation(KeyFrame* pKF,size_t idx);
    void EraseObservation(KeyFrame* pKF);

    int GetIndexInKeyFrame(KeyFrame* pKF);
    bool IsInKeyFrame(KeyFrame* pKF);

    void SetBadFlag();
    bool isBad();

    void Replace(MapPoint* pMP);    
    MapPoint* GetReplaced();

    void IncreaseVisible(int n=1);
    void IncreaseFound(int n=1);
    float GetFoundRatio();
    inline int GetFound(){
        return mnFound;
    }

    /**
     * 在所有观测到该3D点的关键帧中选择一个最好的描述子作为该3D点的描述子
     * 最好的标准是:获取所有的描述子,然后计算描述子之间的两两之间的距离,最好的描述子
     * 就是和其它描述子具有最小的距离中值
     * 中值:计算一个描述子距离其它描述子的距离之后,然后进行排列,取中值,中值不收极大值和极小值的影响
     * 能够在一定程度上代表全体数据的一般水平.如果中值比较大,那么说明该描述子离其它的描述子比较远,
     * 这个描述子很可能不合理,因此选择一个最小中值对应的描述子作为最佳描述子.
     */
    void ComputeDistinctiveDescriptors();

    cv::Mat GetDescriptor();

    void UpdateNormalAndDepth();

    float GetMinDistanceInvariance();
    float GetMaxDistanceInvariance();
    int PredictScale(const float &currentDist, KeyFrame*pKF);
    int PredictScale(const float &currentDist, Frame* pF);

public:
    long unsigned int mnId;
    static long unsigned int nNextId;
    long int mnFirstKFid;
    long int mnFirstFrame;
    int nObs;

    // Variables used by the tracking
    float mTrackProjX;
    float mTrackProjY;
    float mTrackProjXR;
    bool mbTrackInView;
    int mnTrackScaleLevel;
    float mTrackViewCos;
    long unsigned int mnTrackReferenceForFrame;
    long unsigned int mnLastFrameSeen;

    // Variables used by local mapping
    /// use to avoid add to BA repeate
    long unsigned int mnBALocalForKF;
    long unsigned int mnFuseCandidateForKF;

    // Variables used by loop closing
    long unsigned int mnLoopPointForKF;
    long unsigned int mnCorrectedByKF;
    long unsigned int mnCorrectedReference;    
    cv::Mat mPosGBA;
    long unsigned int mnBAGlobalForKF;


    static std::mutex mGlobalMutex;

protected:    

     // Position in absolute coordinates
     cv::Mat mWorldPos;

     // Keyframes observing the point and associated index in keyframe
     // 观测到该MapPoint的KF和该MapPoint在KF中的索引
     std::map<KeyFrame*,size_t> mObservations;

     // Mean viewing direction
     /**
      * 计算所有观测到该地图的关键帧的观测该点的视角(即关键帧的光心到3D地图点的连线)的平均值
      * 平均观测方向
      *  */
     cv::Mat mNormalVector;

     // Best descriptor to fast matching
     cv::Mat mDescriptor;

     // Reference KeyFrame
     KeyFrame* mpRefKF;

     // Tracking counters
     int mnVisible; ///该地图在帧的视野中的数目
     int mnFound; ///实际观测到该地图点的帧的数目

     // Bad flag (we do not currently erase MapPoint from memory)
     bool mbBad;
     MapPoint* mpReplaced;

     // Scale invariance distances
     float mfMinDistance;
     float mfMaxDistance;

     Map* mpMap;

     std::mutex mMutexPos;
     std::mutex mMutexFeatures;
};

} //namespace ORB_SLAM

#endif // MAPPOINT_H

MapPoint.cc

/**
* This file is part of ORB-SLAM2.
*
* Copyright (C) 2014-2016 Raúl Mur-Artal <raulmur at unizar dot es> (University of Zaragoza)
* For more information see <https://github.com/raulmur/ORB_SLAM2>
*
* ORB-SLAM2 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.
*
* ORB-SLAM2 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 ORB-SLAM2. If not, see <http://www.gnu.org/licenses/>.
*/

#include "MapPoint.h"
#include "ORBmatcher.h"

#include<mutex>

namespace ORB_SLAM2
{

long unsigned int MapPoint::nNextId=0;
mutex MapPoint::mGlobalMutex;

MapPoint::MapPoint(const cv::Mat &Pos, KeyFrame *pRefKF, Map* pMap):
    mnFirstKFid(pRefKF->mnId), mnFirstFrame(pRefKF->mnFrameId), nObs(0), mnTrackReferenceForFrame(0),
    mnLastFrameSeen(0), mnBALocalForKF(0), mnFuseCandidateForKF(0), mnLoopPointForKF(0), mnCorrectedByKF(0),
    mnCorrectedReference(0), mnBAGlobalForKF(0), mpRefKF(pRefKF), mnVisible(1), mnFound(1), mbBad(false),
    mpReplaced(static_cast<MapPoint*>(NULL)), mfMinDistance(0), mfMaxDistance(0), mpMap(pMap)
{
    Pos.copyTo(mWorldPos);
    mNormalVector = cv::Mat::zeros(3,1,CV_32F);

    // MapPoints can be created from Tracking and Local Mapping. This mutex avoid conflicts with id.
    unique_lock<mutex> lock(mpMap->mMutexPointCreation);
    mnId=nNextId++;
}

MapPoint::MapPoint(const cv::Mat &Pos, Map* pMap, Frame* pFrame, const int &idxF):
    mnFirstKFid(-1), mnFirstFrame(pFrame->mnId), nObs(0), mnTrackReferenceForFrame(0), mnLastFrameSeen(0),
    mnBALocalForKF(0), mnFuseCandidateForKF(0),mnLoopPointForKF(0), mnCorrectedByKF(0),
    mnCorrectedReference(0), mnBAGlobalForKF(0), mpRefKF(static_cast<KeyFrame*>(NULL)), mnVisible(1),
    mnFound(1), mbBad(false), mpReplaced(NULL), mpMap(pMap)
{
    /// map point pose
    Pos.copyTo(mWorldPos);
    cv::Mat Ow = pFrame->GetCameraCenter();
    /// norm view angle of map point
    mNormalVector = mWorldPos - Ow;
    mNormalVector = mNormalVector/cv::norm(mNormalVector);

    /// distance from camera center to map point
    cv::Mat PC = Pos - Ow;
    const float dist = cv::norm(PC);
    /// keypoint's scale level
    const int level = pFrame->mvKeysUn[idxF].octave;
    const float levelScaleFactor =  pFrame->mvScaleFactors[level];
    /// mnScaleLevels number 
    const int nLevels = pFrame->mnScaleLevels;

    /**
     * 特征点的尺寸不变依赖的是多层金字塔来实现的,金字塔图像的缩放等效于相机远离或者靠近特征点,
     * 在一定的有效距离内,特征点一般只能在多层金字塔的一层上面能够检测到,想要在其它层检测到这个
     * 特征点就需要让相机靠近或者远离特征点.
     * 这里用到的一个主要的原理就是:图像缩小n倍,等效于相机距离特征点的距离放大n倍;
     * 图像放大n倍,等效于相机距离特征点的距离缩小n倍;.回到代码里面,特征点是在金字塔的level
     * 提取的,图像相对于原图像的缩小的比例是levelScaleFactor,然后根据缩小图像等效于相机远离
     * 特征点的原理,如果要在原图像检测到该特征点,那么相机距离特征点的距离就应该放大levelScaleFactor,即dist*levelScaleFactor;
     * 当图像缩小到金字塔最高一层的时候 (此时缩放因子为pFrame->mvScaleFactors[nLevels-1]),要想检测到
     * 该特征点,根据缩小相机到特征点等效于放大图像的原理,相机距离特征点的距离应该等效缩小pFrame->mvScaleFactors[nLevels-1]倍
     */
    mfMaxDistance = dist*levelScaleFactor;
    mfMinDistance = mfMaxDistance/pFrame->mvScaleFactors[nLevels-1];

    pFrame->mDescriptors.row(idxF).copyTo(mDescriptor);

    // MapPoints can be created from Tracking and Local Mapping. This mutex avoid conflicts with id.
    unique_lock<mutex> lock(mpMap->mMutexPointCreation);
    mnId=nNextId++;
}

void MapPoint::SetWorldPos(const cv::Mat &Pos)
{
    unique_lock<mutex> lock2(mGlobalMutex);
    unique_lock<mutex> lock(mMutexPos);
    Pos.copyTo(mWorldPos);
}

cv::Mat MapPoint::GetWorldPos()
{
    unique_lock<mutex> lock(mMutexPos);
    return mWorldPos.clone();
}

cv::Mat MapPoint::GetNormal()
{
    unique_lock<mutex> lock(mMutexPos);
    return mNormalVector.clone();
}

KeyFrame* MapPoint::GetReferenceKeyFrame()
{
    unique_lock<mutex> lock(mMutexFeatures);
    return mpRefKF;
}

void MapPoint::AddObservation(KeyFrame* pKF, size_t idx)
{
    unique_lock<mutex> lock(mMutexFeatures);
    if(mObservations.count(pKF))
        return;
    mObservations[pKF]=idx;

    if(pKF->mvuRight[idx]>=0)
        nObs+=2;
    else/// negative value for monocular points
        nObs++;
}

void MapPoint::EraseObservation(KeyFrame* pKF)
{
    bool bBad=false;
    {
        unique_lock<mutex> lock(mMutexFeatures);
        if(mObservations.count(pKF))
        {
            int idx = mObservations[pKF];
            if(pKF->mvuRight[idx]>=0)
                nObs-=2;
            else
                nObs--;

            mObservations.erase(pKF);

            /// reset mpRefKF frame to first KeyFrame in mObservations
            if(mpRefKF==pKF)
                mpRefKF=mObservations.begin()->first;

            // If only 2 observations or less, discard point
            if(nObs<=2)
                bBad=true;
        }
    }

    if(bBad)
        SetBadFlag();
}

map<KeyFrame*, size_t> MapPoint::GetObservations()
{
    unique_lock<mutex> lock(mMutexFeatures);
    return mObservations;
}

int MapPoint::Observations()
{
    unique_lock<mutex> lock(mMutexFeatures);
    return nObs;
}

void MapPoint::SetBadFlag()
{
    map<KeyFrame*,size_t> obs;
    {
        unique_lock<mutex> lock1(mMutexFeatures);
        unique_lock<mutex> lock2(mMutexPos);
        mbBad=true;
        obs = mObservations;
        mObservations.clear();
    }
    /// erase map point matched in keyframe
    for(map<KeyFrame*,size_t>::iterator mit=obs.begin(), mend=obs.end(); mit!=mend; mit++)
    {
        KeyFrame* pKF = mit->first;
        pKF->EraseMapPointMatch(mit->second);
    }

    /// erase map point from map
    mpMap->EraseMapPoint(this);
}

MapPoint* MapPoint::GetReplaced()
{
    unique_lock<mutex> lock1(mMutexFeatures);
    unique_lock<mutex> lock2(mMutexPos);
    return mpReplaced;
}

void MapPoint::Replace(MapPoint* pMP)
{
    if(pMP->mnId==this->mnId)
        return;

    int nvisible, nfound;
    map<KeyFrame*,size_t> obs;
    {
        unique_lock<mutex> lock1(mMutexFeatures);
        unique_lock<mutex> lock2(mMutexPos);
        obs=mObservations;
        mObservations.clear();
        mbBad=true;
        nvisible = mnVisible;
        nfound = mnFound;
        mpReplaced = pMP;
    }

    for(map<KeyFrame*,size_t>::iterator mit=obs.begin(), mend=obs.end(); mit!=mend; mit++)
    {
        // Replace measurement in keyframe
        KeyFrame* pKF = mit->first;

        if(!pMP->IsInKeyFrame(pKF))
        {
            pKF->ReplaceMapPointMatch(mit->second, pMP);
            pMP->AddObservation(pKF,mit->second);
        }
        else
        {
            pKF->EraseMapPointMatch(mit->second);
        }
    }
    pMP->IncreaseFound(nfound);
    pMP->IncreaseVisible(nvisible);
    pMP->ComputeDistinctiveDescriptors();

    mpMap->EraseMapPoint(this);
}

bool MapPoint::isBad()
{
    unique_lock<mutex> lock(mMutexFeatures);
    unique_lock<mutex> lock2(mMutexPos);
    return mbBad;
}

void MapPoint::IncreaseVisible(int n)
{
    unique_lock<mutex> lock(mMutexFeatures);
    mnVisible+=n;
}

void MapPoint::IncreaseFound(int n)
{
    unique_lock<mutex> lock(mMutexFeatures);
    mnFound+=n;
}


/// frame realy view the map point count / frame to be predicted to view the map point large than 25%
///实际观测到该MapPoint的帧的数目和在帧的可视范围内 的帧的数目的比值,即发现比值
float MapPoint::GetFoundRatio()
{
    unique_lock<mutex> lock(mMutexFeatures);
    return static_cast<float>(mnFound)/mnVisible;
}

/// select best descriptor among all observed frame's descriptors
void MapPoint::ComputeDistinctiveDescriptors()
{
    // Retrieve all observed descriptors
    vector<cv::Mat> vDescriptors;

    map<KeyFrame*,size_t> observations;

    {
        unique_lock<mutex> lock1(mMutexFeatures);
        if(mbBad)
            return;
        observations=mObservations;
    }

    if(observations.empty())
        return;

    vDescriptors.reserve(observations.size());

    /// get all keyframe's descriptor
    for(map<KeyFrame*,size_t>::iterator mit=observations.begin(), mend=observations.end(); mit!=mend; mit++)
    {
        KeyFrame* pKF = mit->first;

        if(!pKF->isBad())
            vDescriptors.push_back(pKF->mDescriptors.row(mit->second));
    }

    if(vDescriptors.empty())
        return;

    // Compute distances between them
    const size_t N = vDescriptors.size();

    /// compute each two descriptors
    float Distances[N][N];
    for(size_t i=0;i<N;i++)
    {
        Distances[i][i]=0;
        for(size_t j=i+1;j<N;j++)
        {
            int distij = ORBmatcher::DescriptorDistance(vDescriptors[i],vDescriptors[j]);
            Distances[i][j]=distij;
            Distances[j][i]=distij;
        }
    }

    // Take the descriptor with least median distance to the rest
    int BestMedian = INT_MAX;
    int BestIdx = 0;
    for(size_t i=0;i<N;i++)
    {
        /// construct vector from array
        vector<int> vDists(Distances[i],Distances[i]+N);
        sort(vDists.begin(),vDists.end());
        /// median value
        int median = vDists[0.5*(N-1)];

        if(median<BestMedian)
        {
            BestMedian = median;
            BestIdx = i;
        }
    }

    {
        unique_lock<mutex> lock(mMutexFeatures);
        mDescriptor = vDescriptors[BestIdx].clone();
    }
}

cv::Mat MapPoint::GetDescriptor()
{
    unique_lock<mutex> lock(mMutexFeatures);
    return mDescriptor.clone();
}

int MapPoint::GetIndexInKeyFrame(KeyFrame *pKF)
{
    unique_lock<mutex> lock(mMutexFeatures);
    if(mObservations.count(pKF))
        return mObservations[pKF];
    else
        return -1;
}

bool MapPoint::IsInKeyFrame(KeyFrame *pKF)
{
    unique_lock<mutex> lock(mMutexFeatures);
    return (mObservations.count(pKF));
}

void MapPoint::UpdateNormalAndDepth()
{
    map<KeyFrame*,size_t> observations;
    KeyFrame* pRefKF;
    cv::Mat Pos;
    {
        unique_lock<mutex> lock1(mMutexFeatures);
        unique_lock<mutex> lock2(mMutexPos);
        if(mbBad)
            return;
        observations=mObservations;
        pRefKF=mpRefKF;
        Pos = mWorldPos.clone();
    }

    if(observations.empty())
        return;

    cv::Mat normal = cv::Mat::zeros(3,1,CV_32F);
    int n=0;
    for(map<KeyFrame*,size_t>::iterator mit=observations.begin(), mend=observations.end(); mit!=mend; mit++)
    {
        KeyFrame* pKF = mit->first;
        cv::Mat Owi = pKF->GetCameraCenter();
        cv::Mat normali = mWorldPos - Owi;
        normal = normal + normali/cv::norm(normali);
        n++;
    }

    cv::Mat PC = Pos - pRefKF->GetCameraCenter();
    const float dist = cv::norm(PC);
    const int level = pRefKF->mvKeysUn[observations[pRefKF]].octave;
    const float levelScaleFactor =  pRefKF->mvScaleFactors[level];
    const int nLevels = pRefKF->mnScaleLevels;

    {
        unique_lock<mutex> lock3(mMutexPos);
        ///最大距离:特征点在原图像基础上的放大了levelScaleFactor倍,点到光心的距离为dist,
        ///那么理论上来说在dist*levelScaleFactor的距离远处也可以看到这个点
        mfMaxDistance = dist*levelScaleFactor;
        mfMinDistance = mfMaxDistance/pRefKF->mvScaleFactors[nLevels-1];
        mNormalVector = normal/n;
    }
}

float MapPoint::GetMinDistanceInvariance()
{
    unique_lock<mutex> lock(mMutexPos);
    return 0.8f*mfMinDistance;
}

float MapPoint::GetMaxDistanceInvariance()
{
    unique_lock<mutex> lock(mMutexPos);
    return 1.2f*mfMaxDistance;
}

/// predict KeyFrame's 
int MapPoint::PredictScale(const float &currentDist, KeyFrame* pKF)
{
    float ratio;
    {
        unique_lock<mutex> lock(mMutexPos);
        ratio = mfMaxDistance/currentDist;
    }

    int nScale = ceil(log(ratio)/pKF->mfLogScaleFactor);
    if(nScale<0)
        nScale = 0;
    else if(nScale>=pKF->mnScaleLevels)
        nScale = pKF->mnScaleLevels-1;

    return nScale;
}

int MapPoint::PredictScale(const float &currentDist, Frame* pF)
{
    float ratio;
    {
        unique_lock<mutex> lock(mMutexPos);
        ratio = mfMaxDistance/currentDist;
    }

    int nScale = ceil(log(ratio)/pF->mfLogScaleFactor);
    if(nScale<0)
        nScale = 0;
    else if(nScale>=pF->mnScaleLevels)
        nScale = pF->mnScaleLevels-1;

    return nScale;
}



} //namespace ORB_SLAM