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BA优化

master
electech6 2021-04-03 14:02:42 +08:00
parent 23394ee656
commit c584237503
1 changed files with 15 additions and 6 deletions
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21
src/ORBmatcher.cc
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@ -303,9 +303,17 @@ bool ORBmatcher::CheckDistEpipolarLine2(const cv::KeyPoint &kp1, const cv::KeyPo
return dsqr<3.84*pKF2->mvLevelSigma2[kp2.octave]*unc;
}
/**
* @brief 通过词袋，对关键帧的特征点进行跟踪
*
* @param[in] pKF 关键帧
* @param[in] F 当前普通帧
* @param[in] vpMapPointMatches F中地图点对应的匹配，NULL表示未匹配
* @return int 成功匹配的数量
*/
int ORBmatcher::SearchByBoW(KeyFrame* pKF,Frame &F, vector<MapPoint*> &vpMapPointMatches)
{
// 获取该关键帧的mappoint
// 获取该关键帧的地图点
const vector<MapPoint*> vpMapPointsKF = pKF->GetMapPointMatches();
// 和普通帧F特征点的索引一致
@ -348,7 +356,7 @@ int ORBmatcher::SearchByBoW(KeyFrame* pKF,Frame &F, vector<MapPoint*> &vpMapPoin
// 关键帧该节点中特征点的索引
const unsigned int realIdxKF = vIndicesKF[iKF];
// 取出KF中该特征对应的MapPoint
// 取出KF中该特征对应的地图点
MapPoint* pMP = vpMapPointsKF[realIdxKF];
if(!pMP)
@ -356,8 +364,8 @@ int ORBmatcher::SearchByBoW(KeyFrame* pKF,Frame &F, vector<MapPoint*> &vpMapPoin
if(pMP->isBad())
continue;
const cv::Mat &dKF= pKF->mDescriptors.row(realIdxKF); // 取出KF中该特征对应的描述子
// 取出关键帧KF中该特征对应的描述子
const cv::Mat &dKF= pKF->mDescriptors.row(realIdxKF);
int bestDist1=256; // 最好的距离（最小距离）
int bestIdxF =-1 ;
@ -370,13 +378,14 @@ int ORBmatcher::SearchByBoW(KeyFrame* pKF,Frame &F, vector<MapPoint*> &vpMapPoin
for(size_t iF=0; iF<vIndicesF.size(); iF++)
{
if(F.Nleft == -1){
// 这里的realIdxF是指普通帧该节点中特征点的索引
const unsigned int realIdxF = vIndicesF[iF];
// 如果地图点存在，说明这个点已经被匹配过了，不再匹配，加快速度
if(vpMapPointMatches[realIdxF])
continue;
const cv::Mat &dF = F.mDescriptors.row(realIdxF); // 取出F中该特征对应的描述子
// 取出普通帧F中该特征对应的描述子
const cv::Mat &dF = F.mDescriptors.row(realIdxF);
// 计算描述子的距离
const int dist = DescriptorDistance(dKF,dF);