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Added view_offset to multiscale_frame_to_frame_optical_flow

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Ruben Rodriguez 2022-02-17 19:21:15 +01:00 committed by Mateo de Mayo
parent 8e4b5d8cc4
commit e66ed19bf9
1 changed files with 9 additions and 5 deletions
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14
include/basalt/optical_flow/multiscale_frame_to_frame_optical_flow.h
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@ -200,7 +200,7 @@ class MultiscaleFrameToFrameOpticalFlow : public OpticalFlowBase {
transform_map_1, transform_map_1,
const std::map<KeypointId, size_t>& pyramid_levels_1, const std::map<KeypointId, size_t>& pyramid_levels_1,
Eigen::aligned_map<KeypointId, Eigen::AffineCompact2f>& transform_map_2, Eigen::aligned_map<KeypointId, Eigen::AffineCompact2f>& transform_map_2,
std::map<KeypointId, size_t>& pyramid_levels_2) const { std::map<KeypointId, size_t>& pyramid_levels_2, int64_t view_offset = 0) const {
size_t num_points = transform_map_1.size(); size_t num_points = transform_map_1.size();
std::vector<KeypointId> ids; std::vector<KeypointId> ids;
@ -229,13 +229,17 @@ class MultiscaleFrameToFrameOpticalFlow : public OpticalFlowBase {
const Eigen::AffineCompact2f& transform_1 = init_vec[r]; const Eigen::AffineCompact2f& transform_1 = init_vec[r];
Eigen::AffineCompact2f transform_2 = transform_1; Eigen::AffineCompact2f transform_2 = transform_1;
transform_2.translation()(0) -= view_offset;
bool valid = trackPoint(pyr_1, pyr_2, transform_1, pyramid_level[r], bool valid = transform_2.translation()(0) >= 0 &&
transform_2.translation()(0) < pyr_2.lvl(pyramid_level[r]).w;
if (!valid) continue;
valid = trackPoint(pyr_1, pyr_2, transform_1, pyramid_level[r],
transform_2); transform_2);
if (valid) { if (valid) {
Eigen::AffineCompact2f transform_1_recovered = transform_2; Eigen::AffineCompact2f transform_1_recovered = transform_2;
transform_1_recovered.translation()(0) += view_offset;
valid = trackPoint(pyr_2, pyr_1, transform_2, pyramid_level[r], valid = trackPoint(pyr_2, pyr_1, transform_2, pyramid_level[r],
transform_1_recovered); transform_1_recovered);
@ -392,7 +396,7 @@ class MultiscaleFrameToFrameOpticalFlow : public OpticalFlowBase {
trackPoints(pyramid->at(0), pyramid->at(1), new_poses_main, trackPoints(pyramid->at(0), pyramid->at(1), new_poses_main,
new_pyramid_levels_main, new_poses_stereo, new_pyramid_levels_main, new_poses_stereo,
new_pyramid_levels_stereo); new_pyramid_levels_stereo, calib.view_offset);
for (const auto& kv : new_poses_stereo) { for (const auto& kv : new_poses_stereo) {
transforms->observations.at(1).emplace(kv); transforms->observations.at(1).emplace(kv);