CVTrackedWAI Class Reference

Tracker that uses the ORB-Slam based WAI library (Where Am I) More...

#include <CVTrackedWAI.h>

Inheritance diagram for CVTrackedWAI:

Public Member Functions
	CVTrackedWAI (const string &vocabularyFile)
	~CVTrackedWAI () override
bool	track (CVMat imageGray, CVMat imageBgr, CVCalibration *calib) final
Public Member Functions inherited from CVTracked
	CVTracked ()
virtual	~CVTracked ()=default
void	drawDetection (bool draw)
bool	isVisible ()
bool	drawDetection ()
CVMatx44f	objectViewMat ()

Private Attributes
WAISlam *	_waiSlamer = nullptr
ORB_SLAM2::ORBextractor *	_trackingExtractor = nullptr
ORB_SLAM2::ORBextractor *	_initializationExtractor = nullptr
WAIOrbVocabulary *	_voc

Additional Inherited Members
Static Public Member Functions inherited from CVTracked
static cv::Matx44f	createGLMatrix (const CVMat &tVec, const CVMat &rVec)
	Create an OpenGL 4x4 matrix from an OpenCV translation & rotation vector. More...
static void	createRvecTvec (const CVMatx44f &glMat, CVMat &tVec, CVMat &rVec)
	Creates the OpenCV rvec & tvec vectors from an column major OpenGL 4x4 matrix. More...
static CVMatx44f	calcObjectMatrix (const CVMatx44f &cameraObjectMat, const CVMatx44f &objectViewMat)
static CVVec3f	averageVector (vector< CVVec3f > vectors, vector< float > weights)
static SLQuat4f	averageQuaternion (vector< SLQuat4f > quaternions, vector< float > weights)
static void	resetTimes ()
	Resets all static variables. More...
Static Public Attributes inherited from CVTracked
static AvgFloat	trackingTimesMS
	Averaged time for video tracking in ms. More...
static AvgFloat	detectTimesMS
	Averaged time for video feature detection & description in ms. More...
static AvgFloat	detect1TimesMS
	Averaged time for video feature detection subpart 1 in ms. More...
static AvgFloat	detect2TimesMS
	Averaged time for video feature detection subpart 2 in ms. More...
static AvgFloat	matchTimesMS
	Averaged time for video feature matching in ms. More...
static AvgFloat	optFlowTimesMS
	Averaged time for video feature optical flow tracking in ms. More...
static AvgFloat	poseTimesMS
	Averaged time for video feature pose estimation in ms. More...
Protected Attributes inherited from CVTracked
bool	_isVisible
	Flag if marker is visible. More...
bool	_drawDetection
	Flag if detection should be drawn into image. More...
CVMatx44f	_objectViewMat
	view transformation matrix More...
HighResTimer	_timer
	High resolution timer. More...

Detailed Description

Tracker that uses the ORB-Slam based WAI library (Where Am I)

Definition at line 25 of file CVTrackedWAI.h.

Constructor & Destructor Documentation

CVTrackedWAI()

CVTrackedWAI::CVTrackedWAI ( const string &  vocabularyFile )

explicit

Definition at line 15 of file CVTrackedWAI.cpp.

{
    _voc          = new WAIOrbVocabulary();
    float startMS = _timer.elapsedTimeInMilliSec();
 
    try
    {
        _voc->loadFromFile(vocabularyFile);
    }
    catch (std::exception& e)
    {
        Utils::log("SLProject",
                   "Could not open the ORB vocabulary file: %s",
                   e.what());
        exit(0);
    }
    SL_LOG_DEBUG("Loaded voc file  : %f ms", _timer.elapsedTimeInMilliSec() - startMS);
}

~CVTrackedWAI()

CVTrackedWAI::~CVTrackedWAI ( )

override

Definition at line 34 of file CVTrackedWAI.cpp.

{
    delete _trackingExtractor;
    delete _waiSlamer;
}

Member Function Documentation

track()

bool CVTrackedWAI::track ( CVMat  imageGray, CVMat  imageBgr, CVCalibration *  calib  )

finalvirtual

This function is called every frame in the apps onUpdateVideo function. It uses the on-the-fly built 3D point cloud generated by the ORB-SLAM2 library that is integrated within the lib-WAI. It only works well if the camera is calibrated.

Parameters

imageGray	Image for processing
imageBgr	Image for visualizations
calib	Pointer to a valid camera calibration

Returns

returns true if pose estimation was successful

Implements CVTracked.

Definition at line 49 of file CVTrackedWAI.cpp.

{
    PROFILE_FUNCTION();
 
    bool result = false;
 
    float startMS = _timer.elapsedTimeInMilliSec();
 
    if (!_waiSlamer)
    {
        if (_voc == nullptr)
            return false;
 
        int   nf           = 1000; // NO. of features
        float fScaleFactor = 1.2f; // Scale factor for pyramid construction
        int   nLevels      = 8;    // NO. of pyramid levels
        int   fIniThFAST   = 20;   // Init threshold for FAST corner detector
        int   fMinThFAST   = 7;    // Min. threshold for FAST corner detector
        _trackingExtractor = new ORB_SLAM2::ORBextractor(nf,
                                                         fScaleFactor,
                                                         nLevels,
                                                         fIniThFAST,
                                                         fMinThFAST);
 
        _initializationExtractor = new ORB_SLAM2::ORBextractor(2 * nf,
                                                               fScaleFactor,
                                                               nLevels,
                                                               fIniThFAST,
                                                               fMinThFAST);
 
        WAISlam::Params params;
        params.cullRedundantPerc   = 0.95f;
        params.ensureKFIntegration = false;
        params.fixOldKfs           = false;
        params.onlyTracking        = false;
        params.retainImg           = false;
        params.serial              = false;
        params.trackOptFlow        = false;
 
        _waiSlamer = new WAISlam(calib->cameraMat(),
                                 calib->distortion(),
                                 _voc,
                                 _initializationExtractor,
                                 _trackingExtractor,
                                 _trackingExtractor,
                                 nullptr, // global map
                                 params);
    }
 
    if (_waiSlamer->update(imageGray))
    {
        cv::Mat pose = _waiSlamer->getPose();
 
        // ORB-SLAM uses a right handed Y-down coordinate system
        // SLProject uses a right handed Y-Up coordinate system
        cv::Mat rot         = cv::Mat::eye(4, 4, CV_32F);
        rot.at<float>(1, 1) = -1.0f; // mirror y-axis
        rot.at<float>(2, 2) = -1.0f; // mirror z-axis
 
        pose = rot * pose;
 
        pose.copyTo(_objectViewMat);
 
        result = true;
    }
 
    if (_drawDetection)
    {
        _waiSlamer->drawInfo(imageBgr, 1.0f, true, true, true);
    }
 
    // TODO(dgj1): at the moment we cant differentiate between these two
    // as they are both done in the same call to WAI
    CVTracked::detectTimesMS.set(_timer.elapsedTimeInMilliSec() - startMS);
    CVTracked::poseTimesMS.set(_timer.elapsedTimeInMilliSec() - startMS);
 
    return result;
}

Member Data Documentation

_initializationExtractor

ORB_SLAM2::ORBextractor* CVTrackedWAI::_initializationExtractor = nullptr

private

Definition at line 38 of file CVTrackedWAI.h.

_trackingExtractor

ORB_SLAM2::ORBextractor* CVTrackedWAI::_trackingExtractor = nullptr

private

Definition at line 37 of file CVTrackedWAI.h.

_voc

WAIOrbVocabulary* CVTrackedWAI::_voc

private

Definition at line 39 of file CVTrackedWAI.h.

_waiSlamer

WAISlam* CVTrackedWAI::_waiSlamer = nullptr

private

Definition at line 36 of file CVTrackedWAI.h.

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The documentation for this class was generated from the following files:

• CVTrackedWAI.h
• CVTrackedWAI.cpp