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Add parameter KeyframeInserter::min_distance #545

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merged 1 commit into from
Dec 10, 2023
Merged

Add parameter KeyframeInserter::min_distance #545

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9 changes: 8 additions & 1 deletion src/stella_vslam/module/keyframe_inserter.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -13,13 +13,15 @@ namespace module {
keyframe_inserter::keyframe_inserter(const double max_interval,
const double min_interval,
const double max_distance,
const double min_distance,
const double lms_ratio_thr_almost_all_lms_are_tracked,
const double lms_ratio_thr_view_changed,
const unsigned int enough_lms_thr,
const bool wait_for_local_bundle_adjustment)
: max_interval_(max_interval),
min_interval_(min_interval),
max_distance_(max_distance),
min_distance_(min_distance),
lms_ratio_thr_almost_all_lms_are_tracked_(lms_ratio_thr_almost_all_lms_are_tracked),
lms_ratio_thr_view_changed_(lms_ratio_thr_view_changed),
enough_lms_thr_(enough_lms_thr),
Expand All @@ -29,6 +31,7 @@ keyframe_inserter::keyframe_inserter(const YAML::Node& yaml_node)
: keyframe_inserter(yaml_node["max_interval"].as<double>(1.0),
yaml_node["min_interval"].as<double>(0.1),
yaml_node["max_distance"].as<double>(-1.0),
yaml_node["min_distance"].as<double>(-1.0),
yaml_node["lms_ratio_thr_almost_all_lms_are_tracked"].as<double>(0.9),
yaml_node["lms_ratio_thr_view_changed"].as<double>(0.5),
yaml_node["enough_lms_thr"].as<unsigned int>(100),
Expand Down Expand Up @@ -77,6 +80,10 @@ bool keyframe_inserter::new_keyframe_is_needed(data::map_database* map_db,
if (max_distance_ > 0.0) {
max_distance_traveled = last_inserted_keyfrm && (last_inserted_keyfrm->get_trans_wc() - curr_frm.get_trans_wc()).norm() > max_distance_;
}
bool min_distance_traveled = true;
if (min_distance_ > 0.0) {
min_distance_traveled = !last_inserted_keyfrm || (last_inserted_keyfrm->get_trans_wc() - curr_frm.get_trans_wc()).norm() > min_distance_;
}
// New keyframe is needed if the field-of-view of the current frame is changed a lot
const bool view_changed = num_reliable_lms < num_reliable_lms_ref * lms_ratio_thr_view_changed_;
// const bool view_changed = num_tracked_lms < num_tracked_lms_on_ref_keyfrm * lms_ratio_thr_view_changed_;
Expand All @@ -100,7 +107,7 @@ bool keyframe_inserter::new_keyframe_is_needed(data::map_database* map_db,
SPDLOG_TRACE("keyframe_inserter: almost_all_lms_are_tracked={}", almost_all_lms_are_tracked);
SPDLOG_TRACE("keyframe_inserter: mapper_is_skipping_localBA={}", mapper_is_skipping_localBA);
return (max_interval_elapsed || max_distance_traveled || view_changed || not_enough_lms)
&& (!enough_keyfrms || min_interval_elapsed)
&& (!enough_keyfrms || (min_interval_elapsed && min_distance_traveled))
&& !tracking_is_unstable
&& !almost_all_lms_are_tracked
&& !mapper_is_skipping_localBA;
Expand Down
2 changes: 2 additions & 0 deletions src/stella_vslam/module/keyframe_inserter.h
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Expand Up @@ -22,6 +22,7 @@ class keyframe_inserter {
explicit keyframe_inserter(const double max_interval = 1.0,
const double min_interval = 0.1,
const double max_distance = -1.0,
const double min_distance = -1.0,
const double lms_ratio_thr_almost_all_lms_are_tracked = 0.9,
const double lms_ratio_thr_view_changed = 0.8,
const unsigned int enough_lms_thr = 100,
Expand Down Expand Up @@ -60,6 +61,7 @@ class keyframe_inserter {
const double max_interval_ = 1.0;
const double min_interval_ = 0.1;
const double max_distance_ = -1.0;
const double min_distance_ = -1.0;

//! Ratio-threshold of "the number of 3D points observed in the current frame" / "that of 3D points observed in the last keyframe"
const double lms_ratio_thr_almost_all_lms_are_tracked_ = 0.9;
Expand Down