- Notifications
You must be signed in to change notification settings - Fork5.9k
New odometry Pipeline#3055
New issue
Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.
By clicking “Sign up for GitHub”, you agree to ourterms of service andprivacy statement. We’ll occasionally send you account related emails.
Already on GitHub?Sign in to your account
Uh oh!
There was an error while loading.Please reload this page.
Conversation
Date type fixer* Update unicomblock.hppmodify data type of m_iNowIdx* Update unicomblock.cpp
savuor left a comment
There was a problem hiding this comment.
Choose a reason for hiding this comment
The reason will be displayed to describe this comment to others.Learn more.
Changes I mentioned + what was the problem inwechat_qrcode module?
modules/rgbd/samples/kinfu_demo.cpp Outdated
| UMat cvt8; | ||
| float depthFactor = params->depthFactor; | ||
| convertScaleAbs(frame, cvt8,0.25*256. / depthFactor); | ||
| //convertScaleAbs(frame, cvt8, 16. / depthFactor); |
There was a problem hiding this comment.
Choose a reason for hiding this comment
The reason will be displayed to describe this comment to others.Learn more.
Commented code
| ds->updateParams(*params); | ||
| cv::setUseOptimized(true); | ||
| cv::setUseOptimized(false); |
There was a problem hiding this comment.
Choose a reason for hiding this comment
The reason will be displayed to describe this comment to others.Learn more.
This will be enabled as soon as OCL implementation works, right?
There was a problem hiding this comment.
Choose a reason for hiding this comment
The reason will be displayed to describe this comment to others.Learn more.
yes
| icp =FastICPOdometry::create(Mat(params.intr), params.icpDistThresh, params.icpAngleThresh, | ||
| params.bilateral_sigma_depth, params.bilateral_sigma_spatial, params.bilateral_kernel_size, | ||
| params.icpIterations, params.depthFactor, params.truncateThreshold); | ||
| OdometrySettings ods; |
There was a problem hiding this comment.
Choose a reason for hiding this comment
The reason will be displayed to describe this comment to others.Learn more.
What about other settings passed inFastICP constructor? Are they already set by default?
There was a problem hiding this comment.
Choose a reason for hiding this comment
The reason will be displayed to describe this comment to others.Learn more.
yes
modules/rgbd/src/colored_kinfu.cpp Outdated
| if(frameCounter ==0) | ||
| { | ||
| icp.prepareFrames(newFrame, newFrame); |
There was a problem hiding this comment.
Choose a reason for hiding this comment
The reason will be displayed to describe this comment to others.Learn more.
Please use 1-argument call instead
There was a problem hiding this comment.
Choose a reason for hiding this comment
The reason will be displayed to describe this comment to others.Learn more.
(here and in other places too)
| // use depth instead of distance | ||
| volume->integrate(depth, rgb, params.depthFactor, pose, params.intr, params.rgb_intr); | ||
| newFrame->setPyramidAt(rgb, OdometryFrame::PYR_IMAGE,0); | ||
| newFrame.setPyramidLevel(params.icpIterations.size(), OdometryFramePyramidType::PYR_IMAGE); |
There was a problem hiding this comment.
Choose a reason for hiding this comment
The reason will be displayed to describe this comment to others.Learn more.
I guesssetPyramidLevel is called because all pyramid vectors are empty by default.
I left a comment in main repo's PR on that.
modules/rgbd/src/colored_kinfu.cpp Outdated
| prevFrame = icp.createOdometryFrame(); | ||
| newFrame.setImage(rgb); | ||
| prevFrame.setDepth(depth); |
There was a problem hiding this comment.
Choose a reason for hiding this comment
The reason will be displayed to describe this comment to others.Learn more.
Why not to doprevFrame = newFrame?
There was a problem hiding this comment.
Choose a reason for hiding this comment
The reason will be displayed to describe this comment to others.Learn more.
Oh, looks like colored KinFu code differs from other KinFu pipelines, this should have its reason or be aligned to them.
Uh oh!
There was an error while loading.Please reload this page.
Pull Request Readiness Checklist
See details athttps://github.com/opencv/opencv/wiki/How_to_contribute#making-a-good-pull-request
Patch to opencv_extra has the same branch name.