Merge pull request #376 from ethz-asl/devel/remove_match_scores

Updated aslam version and removed track scores with it

Author: smauq

algorithms/feature-tracking/src/vo-feature-tracking-pipeline.cc

@@ -1,5 +1,3 @@
-#include "feature-tracking/vo-feature-tracking-pipeline.h"
-
 #include <aslam/common/timer.h>
 #include <aslam/geometric-vision/match-outlier-rejection-twopt.h>
 #include <aslam/matcher/match.h>
@@ -10,6 +8,8 @@
 #include <sensors/external-features.h>
 #include <visualization/common-rviz-visualization.h>
 
+#include "feature-tracking/vo-feature-tracking-pipeline.h"
+
 DEFINE_double(
     feature_tracker_two_pt_ransac_threshold, 1.0 - cos(0.5 * kDegToRad),
     "Threshold for the 2-pt RANSAC used for feature tracking outlier "
@@ -169,9 +169,8 @@ void VOFeatureTrackingPipeline::trackFeaturesSingleCamera(
       ncamera_->get_T_C_B(camera_idx).getRotation();
   aslam::Quaternion q_Ckp1_Ck = q_C_B * q_Bkp1_Bk * q_C_B.inverse();
 
-  aslam::FrameToFrameMatchesWithScore matches_with_score_kp1_k;
-  trackers_[camera_idx]->track(
-      q_Ckp1_Ck, *frame_k, frame_kp1, &matches_with_score_kp1_k);
+  aslam::FrameToFrameMatches matches_kp1_k;
+  trackers_[camera_idx]->track(q_Ckp1_Ck, *frame_k, frame_kp1, &matches_kp1_k);
 
   // The tracker will return the indices with respect to the tracked feature
   // block, so here we renormalize them so that the rest of the code can deal
@@ -182,60 +181,49 @@ void VOFeatureTrackingPipeline::trackFeaturesSingleCamera(
   frame_kp1->getDescriptorBlockTypeStartAndSize(
       descriptor_type, &start_kp1, &size_kp1);
 
-  for (aslam::FrameToFrameMatchWithScore& match_kp1_k :
-       matches_with_score_kp1_k) {
-    match_kp1_k.setIndexApple(match_kp1_k.getIndexApple() + start_kp1);
-    match_kp1_k.setIndexBanana(match_kp1_k.getIndexBanana() + start_k);
+  for (aslam::FrameToFrameMatch& match_kp1_k : matches_kp1_k) {
+    match_kp1_k.setKeypointIndexInFrameA(match_kp1_k.getKeypointIndexInFrameA() + start_kp1);
+    match_kp1_k.setKeypointIndexInFrameB(match_kp1_k.getKeypointIndexInFrameB() + start_k);
   }
 
   // Remove outlier matches.
-  aslam::FrameToFrameMatchesWithScore inlier_matches_with_score_kp1_k;
-  aslam::FrameToFrameMatchesWithScore outlier_matches_with_score_kp1_k;
-
   statistics::StatsCollector stat_ransac("Twopt RANSAC (1 image) in ms");
   timing::Timer timer_ransac(
       "VOFeatureTrackingPipeline: trackFeaturesSingleCamera - ransac");
   bool ransac_success = aslam::geometric_vision::
       rejectOutlierFeatureMatchesTranslationRotationSAC(
-          *frame_kp1, *frame_k, q_Ckp1_Ck, matches_with_score_kp1_k,
+          *frame_kp1, *frame_k, q_Ckp1_Ck, matches_kp1_k,
           FLAGS_feature_tracker_deterministic,
           FLAGS_feature_tracker_two_pt_ransac_threshold,
           FLAGS_feature_tracker_two_pt_ransac_max_iterations,
-          &inlier_matches_with_score_kp1_k, &outlier_matches_with_score_kp1_k);
+          inlier_matches_kp1_k, outlier_matches_kp1_k);
 
   LOG_IF(WARNING, !ransac_success)
       << "Match outlier rejection RANSAC failed on camera " << camera_idx
       << ".";
-  const size_t num_outliers = outlier_matches_with_score_kp1_k.size();
-  VLOG_IF(5, num_outliers > 0) << "Removed " << num_outliers << " outliers of "
-                               << matches_with_score_kp1_k.size()
-                               << " matches on camera " << camera_idx << ".";
+  const size_t num_outliers = outlier_matches_kp1_k->size();
+  VLOG_IF(5, num_outliers > 0)
+      << "Removed " << num_outliers << " outliers of " << matches_kp1_k.size()
+      << " matches on camera " << camera_idx << ".";
 
   // Assign track ids.
   timing::Timer timer_track_manager(
       "VOFeatureTrackingPipeline: trackFeaturesSingleCamera - track manager");
   track_managers_[camera_idx]->applyMatchesToFrames(
-      inlier_matches_with_score_kp1_k, frame_kp1, frame_k);
-
-  aslam::convertMatchesWithScoreToMatches<
-      aslam::FrameToFrameMatchWithScore, aslam::FrameToFrameMatch>(
-      inlier_matches_with_score_kp1_k, inlier_matches_kp1_k);
-  aslam::convertMatchesWithScoreToMatches<
-      aslam::FrameToFrameMatchWithScore, aslam::FrameToFrameMatch>(
-      outlier_matches_with_score_kp1_k, outlier_matches_kp1_k);
+      *inlier_matches_kp1_k, frame_kp1, frame_k);
 
   if (visualize_keypoint_matches_) {
     cv::Mat image;
     aslam_cv_visualization::visualizeMatches(
-        *frame_kp1, *frame_k, inlier_matches_with_score_kp1_k, &image);
+        *frame_kp1, *frame_k, *inlier_matches_kp1_k, &image);
     const std::string topic = feature_tracking_ros_base_topic_ +
                               "/keypoint_matches_camera_" +
                               std::to_string(camera_idx);
     visualization::RVizVisualizationSink::publish(topic, image);
 
     cv::Mat outlier_image;
     aslam_cv_visualization::visualizeMatches(
-        *frame_kp1, *frame_k, outlier_matches_with_score_kp1_k, &outlier_image);
+        *frame_kp1, *frame_k, *outlier_matches_kp1_k, &outlier_image);
     const std::string outlier_topic = feature_tracking_ros_base_topic_ +
                                       "/keypoint_outlier_matches_camera_" +
                                       std::to_string(camera_idx);

aslam_cv2

@@ -14,7 +14,6 @@ cs_add_library(${PROJECT_NAME}
   src/common-rviz-visualization.cc
   src/constant-velocity-smoother.cc
   src/debug-visualizer.cc
-  src/feature-matches-visualization.cc
   src/landmark-observer-plotter.cc
   src/patch-based-visualization.cc
   src/resource-visualization.cc