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slam VO review2 minor changes/fixes

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This commit is contained in:
Agrim Rai
2026-07-14 03:48:16 +05:30
parent 4ef179b4bf
commit ccbc31a0f1
7 changed files with 48 additions and 32 deletions
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modules/ptcloud/CMakeLists.txt
+1 -2
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@@ -4,11 +4,10 @@ set(debug_modules "")
if(DEBUG_opencv_ptcloud)
list(APPEND debug_modules opencv_highgui)
endif()
ocv_define_module(ptcloud opencv_geometry opencv_imgproc opencv_flann opencv_features opencv_imgcodecs opencv_video ${debug_modules}
ocv_define_module(ptcloud opencv_geometry opencv_imgproc opencv_features opencv_video ${debug_modules}
WRAP java objc python js
)
ocv_target_link_libraries(${the_module} ${LAPACK_LIBRARIES})
ocv_warnings_disable(CMAKE_CXX_FLAGS -Wshadow)
if(NOT HAVE_EIGEN)
message(STATUS "Geometry: Eigen support is disabled. Eigen is Required for Posegraph optimization")
modules/ptcloud/src/slam/odometry/visual_odometry.cpp
+4 -4
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@@ -35,12 +35,12 @@ Ptr<VisualOdometry> VisualOdometry::create(
// Constructor
VisualOdometryImpl::VisualOdometryImpl(
const Ptr<Feature2D>& detector,
const Ptr<DescriptorMatcher>& matcher,
const Ptr<Feature2D>& detector_,
const Ptr<DescriptorMatcher>& matcher_,
const Mat& cameraMatrix,
const Mat& distCoeffs,
const OdometryParams& params)
: detector(detector), matcher(matcher), params(params)
const OdometryParams& params_)
: detector(detector_), matcher(matcher_), params(params_)
{
cameraMatrix.convertTo(K, CV_64F);
if (!distCoeffs.empty())
modules/ptcloud/src/slam/odometry/vo_keyframe.cpp
+3 -3
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@@ -132,10 +132,10 @@ bool VisualOdometryImpl::shouldPromoteKeyframe(int nInliers, const Matx44d& T_cw
Point3d cCur = detail::cameraCenterWorld(T_cw);
Point3d cLast = detail::cameraCenterWorld(lastKf->poseCw);
Point3d d = cCur - cLast;
double dist = std::sqrt(d.dot(d));
if (dist > params.kfTransThresh)
double transDist = std::sqrt(d.dot(d));
if (transDist > params.kfTransThresh)
{
reason = format("trans=%.3f", dist);
reason = format("trans=%.3f", transDist);
return true;
}
modules/ptcloud/src/slam/odometry/vo_tracking.cpp
+14 -3
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@@ -218,9 +218,13 @@ bool VisualOdometryImpl::trackWithOpticalFlow(Frame& cur)
if (!hasPrevFrame || prevFrame.image.empty()) return false;
const Frame& prev = prevFrame;
if (prev.undistKpts.empty()) return false;
if (prev.keypoints.empty()) return false;
// LK runs on the raw imgs
std::vector<Point2f> prevPts;
prevPts.reserve(prev.keypoints.size());
for (const auto& kp : prev.keypoints) prevPts.push_back(kp.pt);
std::vector<Point2f> prevPts(prev.undistKpts.begin(), prev.undistKpts.end());
std::vector<Point2f> curPts;
std::vector<uchar> status;
std::vector<float> err;
@@ -229,6 +233,13 @@ bool VisualOdometryImpl::trackWithOpticalFlow(Frame& cur)
status, err, Size(21, 21), 3,
TermCriteria(TermCriteria::COUNT | TermCriteria::EPS, 30, 0.01));
// PnP uses K with no distortion
std::vector<Point2f> curUndist;
if (!dist.empty())
undistortPoints(curPts, curUndist, K, dist, noArray(), K);
else
curUndist = curPts;
std::vector<Point3f> obj; std::vector<Point2f> img;
obj.reserve(prevPts.size()); img.reserve(prevPts.size());
@@ -239,7 +250,7 @@ bool VisualOdometryImpl::trackWithOpticalFlow(Frame& cur)
MapPoint* mp = prev.mapPoints[i];
if (!mp || mp->bad) continue;
obj.push_back(Point3f((float)mp->pos.x,(float)mp->pos.y,(float)mp->pos.z));
img.push_back(curPts[i]);
img.push_back(curUndist[i]);
}
if ((int)obj.size() < params.opticalFlowMinInliers)
modules/ptcloud/src/slam/precomp.hpp
-4
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@@ -10,12 +10,8 @@
#include "opencv2/ptcloud/slam.hpp"
#include "opencv2/core.hpp"
#include "opencv2/core/utility.hpp"
#include "opencv2/core/utils/filesystem.hpp"
#include "opencv2/core/utils/logger.hpp"
#include "opencv2/core/private.hpp"
#include "opencv2/imgproc.hpp"
#include "opencv2/imgcodecs.hpp"
#include "opencv2/features.hpp"
#include "opencv2/geometry.hpp"
#include "opencv2/video/tracking.hpp"
samples/slam/CMakeLists.txt
+1
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@@ -4,6 +4,7 @@ set(OPENCV_SLAM_SAMPLES_REQUIRED_DEPS
opencv_core
opencv_dnn
opencv_features
opencv_imgcodecs
opencv_ptcloud)
ocv_check_dependencies(${OPENCV_SLAM_SAMPLES_REQUIRED_DEPS})
samples/slam/visual_odometry.cpp
+25 -16
View File
@@ -5,7 +5,6 @@
#include <opencv2/ptcloud.hpp>
#include <opencv2/features.hpp>
#include <opencv2/dnn.hpp>
#include <opencv2/core.hpp>
#include <opencv2/core/quaternion.hpp>
#include <opencv2/imgcodecs.hpp>
@@ -13,6 +12,7 @@
#include <fstream>
#include <iomanip>
#include <iostream>
#include <sstream>
#include "../dnn/common.hpp"
@@ -21,15 +21,6 @@ using namespace std;
namespace {
// path helper: joins a directory and filename, tolerating a dir with/without a trailing slash
String joinPath(const String& dir, const String& name)
{
if (dir.empty()) return name;
char last = dir.back();
if (last == '/' || last == '\\') return dir + name;
return dir + "/" + name;
}
// path helper: strips the directory part off a path
String basenameOf(const String& path)
{
@@ -93,7 +84,7 @@ void writeColmapFiles(const slam::VisualOdometry& vo, const Mat& K,
cv::utils::fs::createDirectories(outputFolder);
{
std::ofstream f(joinPath(outputFolder, "camera.txt").c_str());
std::ofstream f(cv::utils::fs::join(outputFolder, "camera.txt").c_str());
int width = 0, height = 0;
if (!vo.getMap().keyframes().empty())
{
@@ -111,7 +102,7 @@ void writeColmapFiles(const slam::VisualOdometry& vo, const Mat& K,
}
{
std::ofstream f(joinPath(outputFolder, "point3d.txt").c_str());
std::ofstream f(cv::utils::fs::join(outputFolder, "point3d.txt").c_str());
f << "# Map points in world coordinates.\n# Columns: id X Y Z n_observations\n";
f.setf(std::ios::scientific); f.precision(9);
for (slam::MapPoint* mp : vo.getMap().mapPoints())
@@ -124,7 +115,7 @@ void writeColmapFiles(const slam::VisualOdometry& vo, const Mat& K,
}
{
std::ofstream f(joinPath(outputFolder, "images.txt").c_str());
std::ofstream f(cv::utils::fs::join(outputFolder, "images.txt").c_str());
const auto& traj = vo.getTrajectory();
f << "# Image list with two lines of data per image:\n"
<< "# IMAGE_ID, QW, QX, QY, QZ, TX, TY, TZ, CAMERA_ID, NAME\n"
@@ -170,7 +161,8 @@ const string param_keys =
"{ fx | 718.856 | Camera focal length X }"
"{ fy | 718.856 | Camera focal length Y }"
"{ cx | 607.1928 | Camera principal point X }"
"{ cy | 185.2157 | Camera principal point Y }";
"{ cy | 185.2157 | Camera principal point Y }"
"{ dist | | Lens distortion coeffs, comma-separated k1,k2,p1,p2[,k3,...] (default: none) }";
const string backend_keys = format(
"{ backend | default | Choose one of computation backends: "
@@ -223,6 +215,23 @@ int main(int argc, char** argv)
0., parser.get<double>("fy"), parser.get<double>("cy"),
0., 0., 1.);
// Optional lens distortion (k1,k2,p1,p2[,k3,...]); empty means no distortion.
Mat distCoeffs;
{
std::stringstream ss(parser.get<String>("dist"));
std::vector<double> coeffs;
String tok;
while (std::getline(ss, tok, ','))
{
const size_t b = tok.find_first_not_of(" \t");
const size_t e = tok.find_last_not_of(" \t");
if (b == String::npos) continue;
coeffs.push_back(std::stod(tok.substr(b, e - b + 1)));
}
if (!coeffs.empty())
distCoeffs = Mat(coeffs, true).reshape(1, 1);
}
ALIKED::Params detParams;
detParams.inputSize = Size(640, 640);
detParams.engine = dnn::ENGINE_NEW;
@@ -234,7 +243,7 @@ int main(int argc, char** argv)
backendId, targetId);
slam::OdometryParams voParams;
voParams.minInitParallaxDeg = 1.5;
voParams.minInitPoints = 50;
voParams.pnpReprojThresh = 4.0;
@@ -242,7 +251,7 @@ int main(int argc, char** argv)
voParams.localMapTopK = 10;
auto vo = slam::VisualOdometry::create(
detector, matcher, Mat(K), Mat(), voParams);
detector, matcher, Mat(K), distCoeffs, voParams);
const std::vector<String> imgFiles = listImageFiles(imagesDir);