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Use configurable voxel_size in plane queries (vio.cpp) #352

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Use configurable voxel_size in plane queries (vio.cpp) #352

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2 changes: 2 additions & 0 deletions include/vio.h
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Original file line number Diff line number Diff line change
Expand Up @@ -108,6 +108,8 @@ class VIOManager

double img_point_cov, outlier_threshold, ncc_thre;

float plane_voxel_size;

SubSparseMap *visual_submap;
std::vector<std::vector<V3D>> rays_with_sample_points;

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1 change: 1 addition & 0 deletions src/LIVMapper.cpp
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Expand Up @@ -138,6 +138,7 @@ void LIVMapper::initializeComponents()
vio_manager->grid_n_width = grid_n_width;
vio_manager->grid_n_height = grid_n_height;
vio_manager->patch_pyrimid_level = patch_pyrimid_level;
vio_manager->plane_voxel_size = voxelmap_manager->config_setting_.max_voxel_size_;
vio_manager->exposure_estimate_en = exposure_estimate_en;
vio_manager->colmap_output_en = colmap_output_en;
vio_manager->initializeVIO();
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7 changes: 6 additions & 1 deletion src/vio.cpp
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Expand Up @@ -568,6 +568,11 @@ void VIOManager::retrieveFromVisualSparseMap(cv::Mat img, vector<pointWithVar> &
}
else
{
for (int j = 0; j < 3; j++)
{
loc_xyz[j] = floor(sample_point_w[j] / plane_voxel_size);
if (loc_xyz[j] < 0) { loc_xyz[j] -= 1.0; }
}
VOXEL_LOCATION sample_pos(loc_xyz[0], loc_xyz[1], loc_xyz[2]);
auto iter = plane_map.find(sample_pos);
if (iter != plane_map.end())
Expand Down Expand Up @@ -983,7 +988,7 @@ void VIOManager::updateReferencePatch(const unordered_map<VOXEL_LOCATION, VoxelO
float loc_xyz[3];
for (int j = 0; j < 3; j++)
{
loc_xyz[j] = p_w[j] / 0.5;
loc_xyz[j] = p_w[j] / plane_voxel_size;
if (loc_xyz[j] < 0) { loc_xyz[j] -= 1.0; }
}
VOXEL_LOCATION position((int64_t)loc_xyz[0], (int64_t)loc_xyz[1], (int64_t)loc_xyz[2]);
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