ORB-SLAM2学习笔记——闭环检测DetectLoop

ORB-SLAM2学习笔记——闭环检测DetectLoop

1、理论部分

2、代码详解

#include "KeyFrameDatabase.h"

#include "KeyFrame.h"
#include "Thirdparty/DBoW2/DBoW2/BowVector.h"

#include<mutex>

using namespace std;

namespace ORB_SLAM2
{

KeyFrameDatabase::KeyFrameDatabase (const ORBVocabulary &voc):
    mpVoc(&voc)
{
    mvInvertedFile.resize(voc.size());
}

//为每一个word添加该关键帧
void KeyFrameDatabase::add(KeyFrame *pKF)
{
    unique_lock<mutex> lock(mMutex);
    //为每一个word添加该关键帧
    for(DBoW2::BowVector::const_iterator vit= pKF->mBowVec.begin(), vend=pKF->mBowVec.end(); vit!=vend; vit++)
        mvInvertedFile[vit->first].push_back(pKF);
}
// 每一个KeyFrame包含多个words，遍历mvInvertedFile中的这些words，然后在word中删除该KeyFrame
void KeyFrameDatabase::erase(KeyFrame* pKF)
{
    unique_lock<mutex> lock(mMutex);

    // Erase elements in the Inverse File for the entry
    // 每一个KeyFrame包含多个words，遍历mvInvertedFile中的这些words，然后在word中删除该KeyFrame
    for(DBoW2::BowVector::const_iterator vit=pKF->mBowVec.begin(), vend=pKF->mBowVec.end(); vit!=vend; vit++)
    {
        // List of keyframes that share the word
        list<KeyFrame*> &lKFs =   mvInvertedFile[vit->first];

        for(list<KeyFrame*>::iterator lit=lKFs.begin(), lend= lKFs.end(); lit!=lend; lit++)
        {
            if(pKF==*lit)
            {
                lKFs.erase(lit);
                break;
            }
        }
    }
}

void KeyFrameDatabase::clear()
{
    mvInvertedFile.clear();// mvInvertedFile[i]表示包含了第i个word id的所有关键帧
    mvInvertedFile.resize(mpVoc->size());// mpVoc：预先训练好的词典
}
/**
 * BRIEF 在闭环检测中找到与该关键帧可能闭环的关键帧
 *
 * 1. 找出和当前帧具有公共单词的所有关键帧（不包括与当前帧相连的关键帧）
 * 2. 只和具有共同单词较多的关键帧进行相似度计算
 * 3. 将与关键帧相连（权值最高）的前十个关键帧归为一组，计算累计得分
 * 4. 只返回累计得分较高的组中分数最高的关键帧
 * @param pKF      需要闭环的关键帧
 * @param minScore 相似性分数最低要求
 * @return         可能闭环的关键帧
 * @see III-E Bags of Words Place Recognition
 */
//建立候选回环帧
vector<KeyFrame*> KeyFrameDatabase::DetectLoopCandidates(KeyFrame* pKF, float minScore)
{
    // 提出所有与该pKF相连的KeyFrame，这些相连Keyframe都是局部相连，在闭环检测的时候将被剔除
    set<KeyFrame*> spConnectedKeyFrames = pKF->GetConnectedKeyFrames();
    //共享关键帧，用于存储与当前关键帧集相似的关键帧
    list<KeyFrame*> lKFsSharingWords;

    // Search all keyframes that share a word with current keyframes
    // Discard keyframes connected to the query keyframe
    //找出和当前帧具有公共单词的所有关键帧（不包括与当前帧相连的关键帧）
    {
        unique_lock<mutex> lock(mMutex);
        //遍历词典
        for(DBoW2::BowVector::const_iterator vit=pKF->mBowVec.begin(), vend=pKF->mBowVec.end(); vit != vend; vit++)
        {
            //提取单词对应的关键帧
            list<KeyFrame*> &lKFs = mvInvertedFile[vit->first];
            //遍历所提取的关键帧
            for(list<KeyFrame*>::iterator lit=lKFs.begin(), lend= lKFs.end(); lit!=lend; lit++)
            {
                KeyFrame* pKFi=*lit;
                // pKFi还没有标记为pKF的候选帧
                if(pKFi->mnLoopQuery!=pKF->mnId)
                {
                    pKFi->mnLoopWords=0;
                    //如果不是与当前帧连接的关键帧，那么存入共享关键帧
                    if(!spConnectedKeyFrames.count(pKFi))
                    {
                        //标记为候选关键帧
                        pKFi->mnLoopQuery=pKF->mnId;
                        lKFsSharingWords.push_back(pKFi);
                    }
                }
                pKFi->mnLoopWords++;
            }
        }
    }

    if(lKFsSharingWords.empty())
        return vector<KeyFrame*>();
    //用于记录得分
    list<pair<float,KeyFrame*> > lScoreAndMatch;

    // Only compare against those keyframes that share enough words

    
    int maxCommonWords=0;
    //把回环的单词数当成最大值赋给maxCommonords
    for(list<KeyFrame*>::iterator lit=lKFsSharingWords.begin(), lend= lKFsSharingWords.end(); lit!=lend; lit++)
    {
        if((*lit)->mnLoopWords>maxCommonWords)
            maxCommonWords=(*lit)->mnLoopWords;
    }
    //回环数量最小取 0.8maxcommonword
    int minCommonWords = maxCommonWords*0.8f;
    //分数合格的数量
    int nscores=0;

    // Compute similarity score. Retain the matches whose score is higher than minScore
    //计算分数，保留分数大于最低分数的匹配的关键帧
    //遍历所有单词
    for(list<KeyFrame*>::iterator lit=lKFsSharingWords.begin(), lend= lKFsSharingWords.end(); lit!=lend; lit++)
    {
        //提取单词对应关键帧
        KeyFrame* pKFi = *lit;
        //如果回环的单词数大于最小标准
        if(pKFi->mnLoopWords>minCommonWords)
        {
            nscores++;
            //计算分数
            float si = mpVoc->score(pKF->mBowVec,pKFi->mBowVec);
            //对应的关键帧保存分数
            pKFi->mLoopScore = si;
            //分数大于最小分数保存分数
            if(si>=minScore)
                lScoreAndMatch.push_back(make_pair(si,pKFi));
        }
    }
    

    // Lets now accumulate score by covisibility
    //用来存储与当前帧共视帧（10帧）累加分数
    list<pair<float,KeyFrame*> > lAccScoreAndMatch;
    float bestAccScore = minScore;

    // Lets now accumulate score by covisibility
    //计算与当前帧共视帧（10帧）累加分数
    for(list<pair<float,KeyFrame*> >::iterator it=lScoreAndMatch.begin(), itend=lScoreAndMatch.end(); it!=itend; it++)
    {
        //提取分数高的关键帧
        KeyFrame* pKFi = it->second;
        //选取10个共视帧
        vector<KeyFrame*> vpNeighs = pKFi->GetBestCovisibilityKeyFrames(10);

        float bestScore = it->first;
        float accScore = it->first;
        KeyFrame* pBestKF = pKFi;
        //遍历这10帧
        for(vector<KeyFrame*>::iterator vit=vpNeighs.begin(), vend=vpNeighs.end(); vit!=vend; vit++)
        {
            KeyFrame* pKF2 = *vit;
            //符合回环要求，计算分数累加到一起
            if(pKF2->mnLoopQuery==pKF->mnId && pKF2->mnLoopWords>minCommonWords)
            {
                accScore+=pKF2->mLoopScore;
                //通过比较计算出最高的分数的那一帧
                if(pKF2->mLoopScore>bestScore)
                {
                    pBestKF=pKF2;
                    bestScore = pKF2->mLoopScore;
                }
            }
        }
        //保存该次的累积得分，与分数最高的关键帧
        lAccScoreAndMatch.push_back(make_pair(accScore,pBestKF));
        if(accScore>bestAccScore)
            bestAccScore=accScore;
    }

    // Return all those keyframes with a score higher than 0.75*bestScore
    //保留所有分数大于0.75*最高分数的关键帧
    float minScoreToRetain = 0.75f*bestAccScore;

    set<KeyFrame*> spAlreadyAddedKF;
    vector<KeyFrame*> vpLoopCandidates;
    vpLoopCandidates.reserve(lAccScoreAndMatch.size());
    //保留所有分数大于0.75*最高分数的关键帧，作为候选关键帧
    for(list<pair<float,KeyFrame*> >::iterator it=lAccScoreAndMatch.begin(), itend=lAccScoreAndMatch.end(); it!=itend; it++)
    {
        if(it->first>minScoreToRetain)
        {
            KeyFrame* pKFi = it->second;
            if(!spAlreadyAddedKF.count(pKFi))
            {
                vpLoopCandidates.push_back(pKFi);
                spAlreadyAddedKF.insert(pKFi);
            }
        }
    }


    return vpLoopCandidates;
}

//大体与上面一致，有些区别
/**
 * BRIEF 在重定位中找到与该帧相似的关键帧
 * 1. 找出和当前帧具有公共单词的所有关键帧
 * 2. 只和具有共同单词较多的关键帧进行相似度计算
 * 3. 将与关键帧相连（权值最高）的前十个关键帧归为一组，计算累计得分
 * 4. 只返回累计得分较高的组中分数最高的关键帧
 * @param F 需要重定位的帧
 * @return  相似的关键帧
 * @see III-E Bags of Words Place Recognition
 */
vector<KeyFrame*> KeyFrameDatabase::DetectRelocalizationCandidates(Frame *F)
{
    // 相对于关键帧的闭环检测DetectLoopCandidates，重定位检测中没法获得相连的关键帧
    // 用于保存可能与F形成回环的候选帧（只要有相同的word，且不属于局部相连帧）
    list<KeyFrame*> lKFsSharingWords;

    // Search all keyframes that share a word with current frame
    //找出和当前帧具有公共单词的所有关键帧
    {
        unique_lock<mutex> lock(mMutex);

        for(DBoW2::BowVector::const_iterator vit=F->mBowVec.begin(), vend=F->mBowVec.end(); vit != vend; vit++)
        {
            list<KeyFrame*> &lKFs =   mvInvertedFile[vit->first];

            for(list<KeyFrame*>::iterator lit=lKFs.begin(), lend= lKFs.end(); lit!=lend; lit++)
            {
                KeyFrame* pKFi=*lit;
                if(pKFi->mnRelocQuery!=F->mnId)
                {
                    pKFi->mnRelocWords=0;
                    pKFi->mnRelocQuery=F->mnId;
                    lKFsSharingWords.push_back(pKFi);
                }
                pKFi->mnRelocWords++;
            }
        }
    }
    if(lKFsSharingWords.empty())
        return vector<KeyFrame*>();

    // Only compare against those keyframes that share enough words
    //统计所有闭环候选帧中与当前帧F具有共同单词最多的单词数，并以此决定阈值
    int maxCommonWords=0;
    for(list<KeyFrame*>::iterator lit=lKFsSharingWords.begin(), lend= lKFsSharingWords.end(); lit!=lend; lit++)
    {
        if((*lit)->mnRelocWords>maxCommonWords)
            maxCommonWords=(*lit)->mnRelocWords;
    }

    int minCommonWords = maxCommonWords*0.8f;

    list<pair<float,KeyFrame*> > lScoreAndMatch;

    int nscores=0;

    // Compute similarity score.
    // 遍历所有闭环候选帧，挑选出共有单词数大于阈值minCommonWords且单词匹配度大于minScore存入lScoreAndMatch
    for(list<KeyFrame*>::iterator lit=lKFsSharingWords.begin(), lend= lKFsSharingWords.end(); lit!=lend; lit++)
    {
        KeyFrame* pKFi = *lit;

        if(pKFi->mnRelocWords>minCommonWords)
        {
            nscores++;
            float si = mpVoc->score(F->mBowVec,pKFi->mBowVec);
            pKFi->mRelocScore=si;
            lScoreAndMatch.push_back(make_pair(si,pKFi));
        }
    }

    if(lScoreAndMatch.empty())
        return vector<KeyFrame*>();

    list<pair<float,KeyFrame*> > lAccScoreAndMatch;
    float bestAccScore = 0;

    // Lets now accumulate score by covisibility
    for(list<pair<float,KeyFrame*> >::iterator it=lScoreAndMatch.begin(), itend=lScoreAndMatch.end(); it!=itend; it++)
    {
        KeyFrame* pKFi = it->second;
        vector<KeyFrame*> vpNeighs = pKFi->GetBestCovisibilityKeyFrames(10);

        float bestScore = it->first;
        float accScore = bestScore;
        KeyFrame* pBestKF = pKFi;
        for(vector<KeyFrame*>::iterator vit=vpNeighs.begin(), vend=vpNeighs.end(); vit!=vend; vit++)
        {
            KeyFrame* pKF2 = *vit;
            if(pKF2->mnRelocQuery!=F->mnId)
                continue;

            accScore+=pKF2->mRelocScore;
            if(pKF2->mRelocScore>bestScore)
            {
                pBestKF=pKF2;
                bestScore = pKF2->mRelocScore;
            }

        }
        lAccScoreAndMatch.push_back(make_pair(accScore,pBestKF));
        if(accScore>bestAccScore)
            bestAccScore=accScore;
    }

    // Return all those keyframes with a score higher than 0.75*bestScore
    //得到组得分大于阈值的，组内得分最高的关键帧
    float minScoreToRetain = 0.75f*bestAccScore;
    set<KeyFrame*> spAlreadyAddedKF;
    vector<KeyFrame*> vpRelocCandidates;
    vpRelocCandidates.reserve(lAccScoreAndMatch.size());
    for(list<pair<float,KeyFrame*> >::iterator it=lAccScoreAndMatch.begin(), itend=lAccScoreAndMatch.end(); it!=itend; it++)
    {
        const float &si = it->first;
        if(si>minScoreToRetain)
        {
            KeyFrame* pKFi = it->second;
            if(!spAlreadyAddedKF.count(pKFi))
            {
                vpRelocCandidates.push_back(pKFi);
                spAlreadyAddedKF.insert(pKFi);
            }
        }
    }

    return vpRelocCandidates;
}// 寻找重定位候选关键帧.

} //namespace ORB_SLAM