视觉里程计(Visual Odometry, VO),通过使用相机提供的连续帧图像信息(以及局部地图,先不考虑)来估计相邻帧的相机运动,将这些相对运行转换为以第一帧为参考的位姿信息,就得到了相机载体(假设统一的刚体)的里程信息。先上一张本文主要内容的框图:
初始化实例
在实例化跟踪器的时候会实例化一个初始化实例,有一些比较重要的参数需要注意下,看代码注释以及初始值,参数值也可以在yaml文件中自定义。
// src/openvslam/module/initializer.h:83
//! max number of iterations of RANSAC (only for monocular initializer)
const unsigned int num_ransac_iters_;
//! min number of triangulated pts
const unsigned int min_num_triangulated_;
//! min parallax (only for monocular initializer)
const float parallax_deg_thr_;
//! reprojection error threshold (only for monocular initializer)
const float reproj_err_thr_;
//! max number of iterations of BA (only for monocular initializer)
const unsigned int num_ba_iters_;
//! initial scaling factor (only for monocular initializer)
const float scaling_factor_;
// src/openvslam/module/initializer.cc:16
initializer::initializer(const camera::setup_type_t setup_type,
data::map_database* map_db, data::bow_database* bow_db,
const YAML::Node& yaml_node)
: setup_type_(setup_type), map_db_(map_db), bow_db_(bow_db),
num_ransac_iters_(yaml_node["Initializer.num_ransac_iterations"].as<unsigned int>(100)),
min_num_triangulated_(yaml_node["Initializer.num_min_triangulated_pts"].as<unsigned int>(50)),
parallax_deg_thr_(yaml_node["Initializer.parallax_deg_threshold"].as<float>(1.0)),
reproj_err_thr_(yaml_node["Initializer.reprojection_error_threshold"].as<float>(4.0)),
num_ba_iters_(yaml_node["Initializer.num_ba_iterations"].as<unsigned int>(20)),
scaling_factor_(yaml_node["Initializer.scaling_factor"].as<float>(1.0)) {
spdlog::debug("CONSTRUCT: module::initializer");
}
使用不同的相机类型,初始化的方法也不相同,openvslam使用了perspective和bearing_vector两种初始化方法。
// src/openvslam/module/initializer.cc:91
void initializer::create_initializer(data::frame& curr_frm) {
// 将当前帧设置为初始化过程中的参考帧
init_frm_ = data::frame(curr_frm);
// 将当前帧的特征点当作previously matched coordinates
prev_matched_coords_.resize(init_frm_.undist_keypts_.size());
for (unsigned int i = 0; i < init_frm_.undist_keypts_.size(); ++i) {
prev_matched_coords_.at(i) = init_frm_.undist_keypts_.at(i).pt;
}
// initialize matchings (init_idx -> curr_idx)
std::fill(init_matches_.begin(), init_matches_.end(), -1);
// build a initializer
initializer_.reset(nullptr);
switch (init_