Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Refactoring new_keyframe_is_needed #563

Merged
merged 1 commit into from
Feb 24, 2024
Merged

Refactoring new_keyframe_is_needed #563

Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
18 changes: 14 additions & 4 deletions src/stella_vslam/module/keyframe_inserter.cc
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -76,16 +76,23 @@ bool keyframe_inserter::new_keyframe_is_needed(data::map_database* map_db,
if (min_interval_ > 0.0) {
min_interval_elapsed = !last_inserted_keyfrm || last_inserted_keyfrm->timestamp_ + min_interval_ <= curr_frm.timestamp_;
}
float distance_traveled = -1.0;
if (last_inserted_keyfrm) {
distance_traveled = (last_inserted_keyfrm->get_trans_wc() - curr_frm.get_trans_wc()).norm();
}
bool max_distance_traveled = false;
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_;
max_distance_traveled = last_inserted_keyfrm && distance_traveled > 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_;
min_distance_traveled = !last_inserted_keyfrm || distance_traveled > 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_;
bool view_changed = false;
if (lms_ratio_thr_view_changed_ > 0.0) {
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_;
const bool not_enough_lms = num_reliable_lms < enough_lms_thr_;

Expand All @@ -94,7 +101,10 @@ bool keyframe_inserter::new_keyframe_is_needed(data::map_database* map_db,
// and concurrently the ratio of the reliable 3D points larger than the threshold ratio
constexpr unsigned int num_tracked_lms_thr_unstable = 15;
bool tracking_is_unstable = num_tracked_lms < num_tracked_lms_thr_unstable;
bool almost_all_lms_are_tracked = num_reliable_lms > num_reliable_lms_ref * lms_ratio_thr_almost_all_lms_are_tracked_;
bool almost_all_lms_are_tracked = false;
if (lms_ratio_thr_almost_all_lms_are_tracked_ > 0.0) {
almost_all_lms_are_tracked = num_reliable_lms > num_reliable_lms_ref * lms_ratio_thr_almost_all_lms_are_tracked_;
}
SPDLOG_TRACE("keyframe_inserter: num_reliable_lms_ref={}", num_reliable_lms_ref);
SPDLOG_TRACE("keyframe_inserter: num_reliable_lms={}", num_reliable_lms);
SPDLOG_TRACE("keyframe_inserter: max_interval_elapsed={}", max_interval_elapsed);
Expand Down
Loading