Vins中的FeatureTracker::readImage(const cv::Mat &_img, double _cur_time)函数

最新推荐文章于 2023-07-31 10:51:30 发布

音十一

最新推荐文章于 2023-07-31 10:51:30 发布

阅读量465

点赞数 1

分类专栏： slam 文章标签：计算机视觉

本文链接：https://blog.csdn.net/weixin_28930461/article/details/111998229

版权

slam 专栏收录该内容

13 篇文章 2 订阅

订阅专栏

该函数读取图像Mat以及当前世界_cur_time，并对其进行处理，这一段判断是否对图像利用opencv进行处理，从而消除其明暗变化，并且将传入的时间记录为当前时间。

    cv::Mat img;
    TicToc t_r;
    cur_time = _cur_time;
    if (EQUALIZE)
    {
        cv::Ptr<cv::CLAHE> clahe = cv::createCLAHE(3.0, cv::Size(8, 8));
        TicToc t_c;
        clahe->apply(_img, img);
        //ROS_DEBUG("CLAHE costs: %fms", t_c.toc());
    }
    else
        img = _img;

接下来是图像的一个保存，如果是处理第一帧图像，prev_img = cur_img = forw_img = img, 三个图像都是第一帧图像，第二帧图像进入后perv和cur是上一帧图像，forw_img是最新进入的图像

    if (forw_img.empty())
    {
        prev_img = cur_img = forw_img = img;
    }
    else
    {
        forw_img = img;
    }

    forw_pts.clear();

forw_pts记录新的特征点，因此对特征点集进行清空

forw_pts.clear();

cur_pts是记录的上一帧已经处理的图像的特征点，当第一帧图像进入时，cur_pts还为空，因此不会进入这一处理函数。如果是上一帧的img已经存在并且提取了特征点，就可以进行光流跟踪。cur_img是上一处理过的图像，cur_pts是对那张图像处理获得的二维点，forw_img是最新进来的图像，forw_pts是利用光流获得的跟踪点，status会记录是否跟踪成功。

    if (cur_pts.size() > 0)
    {
        TicToc t_o;
        vector<uchar> status;
        vector<float> err;
        cv::calcOpticalFlowPyrLK(cur_img, forw_img, cur_pts, forw_pts, status, err, cv::Size(21, 21), 3);

        for (int i = 0; i < int(forw_pts.size()); i++)
            if (status[i] && !inBorder(forw_pts[i]))
                status[i] = 0;
        reduceVector(prev_pts, status);
        reduceVector(cur_pts, status);
        reduceVector(forw_pts, status);
        reduceVector(ids, status);
        reduceVector(cur_un_pts, status);
        reduceVector(track_cnt, status);
        //ROS_DEBUG("temporal optical flow costs: %fms", t_o.toc());
    }

进行光流跟踪后，会判断新的点是否在图像内，如果距离边界小于1个像素，也会被排除

        for (int i = 0; i < int(forw_pts.size()); i++)
            if (status[i] && !inBorder(forw_pts[i]))
                status[i] = 0;


bool inBorder(const cv::Point2f &pt)
{
    const int BORDER_SIZE = 1;
    int img_x = cvRound(pt.x);
    int img_y = cvRound(pt.y);
    return BORDER_SIZE <= img_x && img_x < COL - BORDER_SIZE && BORDER_SIZE <= img_y && img_y < ROW - BORDER_SIZE;
}

如果status为0，也就是未成功跟踪，或者出界的点，将会被从prev_pts,cur_pts,forw_pts,ids,cur_un_pts,track_cnt中进行移除

        reduceVector(prev_pts, status);
        reduceVector(cur_pts, status);
        reduceVector(forw_pts, status);
        reduceVector(ids, status);
        reduceVector(cur_un_pts, status);
        reduceVector(track_cnt, status);

对所有未移除的点，track_nt记录跟踪成功的次数，需要对其进行+1

    for (auto &n : track_cnt)
        n++;

如果PUB_THIS_FRAME,

    if (PUB_THIS_FRAME)
    {
        rejectWithF();
        //ROS_DEBUG("set mask begins");
        TicToc t_m;
        setMask();
        //ROS_DEBUG("set mask costs %fms", t_m.toc());

        //ROS_DEBUG("detect feature begins");
        TicToc t_t;

利用F矩阵来排除异常点

void FeatureTracker::rejectWithF()
{
    if (forw_pts.size() >= 8)
    {
        //ROS_DEBUG("FM ransac begins");
        TicToc t_f;
        vector<cv::Point2f> un_cur_pts(cur_pts.size()), un_forw_pts(forw_pts.size());
        for (unsigned int i = 0; i < cur_pts.size(); i++)
        {
            Eigen::Vector3d tmp_p;
            m_camera->liftProjective(Eigen::Vector2d(cur_pts[i].x, cur_pts[i].y), tmp_p); //进行去畸变处理，并且投影到归一化平面
            tmp_p.x() = FOCAL_LENGTH * tmp_p.x() / tmp_p.z() + COL / 2.0;
            tmp_p.y() = FOCAL_LENGTH * tmp_p.y() / tmp_p.z() + ROW / 2.0;
            un_cur_pts[i] = cv::Point2f(tmp_p.x(), tmp_p.y());

            m_camera->liftProjective(Eigen::Vector2d(forw_pts[i].x, forw_pts[i].y), tmp_p);//去畸变，投影到归一化
            tmp_p.x() = FOCAL_LENGTH * tmp_p.x() / tmp_p.z() + COL / 2.0;
            tmp_p.y() = FOCAL_LENGTH * tmp_p.y() / tmp_p.z() + ROW / 2.0;
            un_forw_pts[i] = cv::Point2f(tmp_p.x(), tmp_p.y());
        }

        vector<uchar> status;
        cv::findFundamentalMat(un_cur_pts, un_forw_pts, cv::FM_RANSAC, F_THRESHOLD, 0.99, status); //排除异常点
        int size_a = cur_pts.size();
        reduceVector(prev_pts, status);
        reduceVector(cur_pts, status);
        reduceVector(forw_pts, status);
        reduceVector(cur_un_pts, status);
        reduceVector(ids, status);
        reduceVector(track_cnt, status);
        //ROS_DEBUG("FM ransac: %d -> %lu: %f", size_a, forw_pts.size(), 1.0 * forw_pts.size() / size_a);
        //ROS_DEBUG("FM ransac costs: %fms", t_f.toc());
    }
}

利用F矩阵来排除异常点，函数liftProjective是对图像的二维点去畸变，然后投影到归一化平面，其在camera.cc中是一个纯虚函数，在不同相机类,PinholeCamera.cc等中进行了具体实现，就是去畸变，然后投影。之后利用小孔成像，重新计算x和y，再利用opencv的函数寻找异常点

void FeatureTracker::rejectWithF()
{
    if (forw_pts.size() >= 8)
    {
        //ROS_DEBUG("FM ransac begins");
        TicToc t_f;
        vector<cv::Point2f> un_cur_pts(cur_pts.size()), un_forw_pts(forw_pts.size());
        for (unsigned int i = 0; i < cur_pts.size(); i++)
        {
            Eigen::Vector3d tmp_p;
            m_camera->liftProjective(Eigen::Vector2d(cur_pts[i].x, cur_pts[i].y), tmp_p); //进行去畸变处理，并且投影到归一化平面
            tmp_p.x() = FOCAL_LENGTH * tmp_p.x() / tmp_p.z() + COL / 2.0;
            tmp_p.y() = FOCAL_LENGTH * tmp_p.y() / tmp_p.z() + ROW / 2.0;
            un_cur_pts[i] = cv::Point2f(tmp_p.x(), tmp_p.y());

            m_camera->liftProjective(Eigen::Vector2d(forw_pts[i].x, forw_pts[i].y), tmp_p);//去畸变，投影到归一化
            tmp_p.x() = FOCAL_LENGTH * tmp_p.x() / tmp_p.z() + COL / 2.0;
            tmp_p.y() = FOCAL_LENGTH * tmp_p.y() / tmp_p.z() + ROW / 2.0;
            un_forw_pts[i] = cv::Point2f(tmp_p.x(), tmp_p.y());
        }

        vector<uchar> status;
        cv::findFundamentalMat(un_cur_pts, un_forw_pts, cv::FM_RANSAC, F_THRESHOLD, 0.99, status); //排除异常点
        int size_a = cur_pts.size();
        reduceVector(prev_pts, status);
        reduceVector(cur_pts, status);
        reduceVector(forw_pts, status);
        reduceVector(cur_un_pts, status);
        reduceVector(ids, status);
        reduceVector(track_cnt, status);
        //ROS_DEBUG("FM ransac: %d -> %lu: %f", size_a, forw_pts.size(), 1.0 * forw_pts.size() / size_a);
        //ROS_DEBUG("FM ransac costs: %fms", t_f.toc());
    }
}

接下来会寻找新的特征点，例如总特征点数为150，上一帧还剩下120个特征点，那么就需要重新寻找新的30个特征点，新的30个特征点需要与已找到的特征点尽量分开，因此会通过setMask函数来对已有的点进行记录

void FeatureTracker::setMask()
{
    if(FISHEYE)
        mask = fisheye_mask.clone();
    else
        mask = cv::Mat(ROW, COL, CV_8UC1, cv::Scalar(255));
    

    // prefer to keep features that are tracked for long time
    vector<pair<int, pair<cv::Point2f, int>>> cnt_pts_id;

    for (unsigned int i = 0; i < forw_pts.size(); i++) //对最新跟踪的点放入到cnt_pts_id中
        cnt_pts_id.push_back(make_pair(track_cnt[i], make_pair(forw_pts[i], ids[i])));

    sort(cnt_pts_id.begin(), cnt_pts_id.end(), [](const pair<int, pair<cv::Point2f, int>> &a, const pair<int, pair<cv::Point2f, int>> &b)  //对cnt_pts_id利用跟踪的次数进行排序
         {
            return a.first > b.first;
         });

    forw_pts.clear();
    ids.clear();
    track_cnt.clear();

    for (auto &it : cnt_pts_id)
    {
        if (mask.at<uchar>(it.second.first) == 255)
        {
            forw_pts.push_back(it.second.first);
            ids.push_back(it.second.second);
            track_cnt.push_back(it.first);
            cv::circle(mask, it.second.first, MIN_DIST, 0, -1); //将特征点附近设置为0
        }
    }
}

检测新的角点

        TicToc t_t;
        int n_max_cnt = MAX_CNT - static_cast<int>(forw_pts.size());
        if (n_max_cnt > 0)
        {
            if(mask.empty())
                cout << "mask is empty " << endl;
            if (mask.type() != CV_8UC1)
                cout << "mask type wrong " << endl;
            if (mask.size() != forw_img.size())
                cout << "wrong size " << endl;
            cv::goodFeaturesToTrack(forw_img, n_pts, MAX_CNT - forw_pts.size(), 0.01, MIN_DIST, mask);
        }
        else
            n_pts.clear();
        //ROS_DEBUG("detect feature costs: %fms", t_t.toc());

        //ROS_DEBUG("add feature begins");
        TicToc t_a;
        addPoints();
        //ROS_DEBUG("selectFeature costs: %fms", t_a.toc());
    }
    prev_img = cur_img;
    prev_pts = cur_pts;
    prev_un_pts = cur_un_pts;
    cur_img = forw_img;
    cur_pts = forw_pts;
    undistortedPoints(); //计算当前的无畸变点，并且计算速度
    prev_time = cur_time;

其中addPoints会将新检测的点添加到forw_pts中，ids全部设置为-1，track_cnt则会设置为1，因此是第一次被追踪

void FeatureTracker::addPoints()
{
    for (auto &p : n_pts)
    {
        forw_pts.push_back(p);
        ids.push_back(-1);
        track_cnt.push_back(1);
    }
}

对当前的点计算计算速度与无畸变的投影

void FeatureTracker::undistortedPoints()
{
    cur_un_pts.clear();
    cur_un_pts_map.clear();
    //cv::undistortPoints(cur_pts, un_pts, K, cv::Mat());
    for (unsigned int i = 0; i < cur_pts.size(); i++)
    {
        Eigen::Vector2d a(cur_pts[i].x, cur_pts[i].y);
        Eigen::Vector3d b;
        m_camera->liftProjective(a, b);
        cur_un_pts.push_back(cv::Point2f(b.x() / b.z(), b.y() / b.z()));
        cur_un_pts_map.insert(make_pair(ids[i], cv::Point2f(b.x() / b.z(), b.y() / b.z())));
        //printf("cur pts id %d %f %f", ids[i], cur_un_pts[i].x, cur_un_pts[i].y);
    }
    // caculate points velocity
    if (!prev_un_pts_map.empty())
    {
        double dt = cur_time - prev_time;
        pts_velocity.clear();
        for (unsigned int i = 0; i < cur_un_pts.size(); i++)
        {
            if (ids[i] != -1)
            {
                std::map<int, cv::Point2f>::iterator it;
                it = prev_un_pts_map.find(ids[i]);
                if (it != prev_un_pts_map.end())
                {
                    double v_x = (cur_un_pts[i].x - it->second.x) / dt;
                    double v_y = (cur_un_pts[i].y - it->second.y) / dt;
                    pts_velocity.push_back(cv::Point2f(v_x, v_y));
                }
                else
                    pts_velocity.push_back(cv::Point2f(0, 0));
            }
            else
            {
                pts_velocity.push_back(cv::Point2f(0, 0));
            }
        }
    }
    else
    {
        for (unsigned int i = 0; i < cur_pts.size(); i++)
        {
            pts_velocity.push_back(cv::Point2f(0, 0));
        }
    }
    prev_un_pts_map = cur_un_pts_map;
}

经过处理后获得了以下数据：

    vector<cv::Point2f> prev_pts, cur_pts, forw_pts; //前，中，后三帧图像的特征点
    vector<cv::Point2f> prev_un_pts, cur_un_pts; //去畸变后的点
    vector<cv::Point2f> pts_velocity; //点的速度
    vector<int> ids; //点的id
    vector<int> track_cnt; //点跟踪的次数
    map<int, cv::Point2f> cur_un_pts_map; //map
    map<int, cv::Point2f> prev_un_pts_map; //map