working on project

ch13/CMakeLists.txt

@@ -1,8 +1,7 @@
 cmake_minimum_required(VERSION 2.8)
 project(myslam)
 
-set(CMAKE_BUILD_TYPE "Release")
-set(CMAKE_CXX_FLAGS "-std=c++11 -march=native -O3")
+set(CMAKE_CXX_FLAGS "-std=c++11 -march=native -Wall")
 
 list(APPEND CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake_modules)
 set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)

ch13/config/default.yaml

@@ -10,4 +10,7 @@ camera.fy: 516.5
 camera.cx: 325.1
 camera.cy: 249.7
 
-camera.depth_scale: 5000
+camera.depth_scale: 5000
+
+num_features: 200
+num_features_init: 100

ch13/include/myslam/backend.h

@@ -0,0 +1,21 @@
+//
+// Created by gaoxiang on 19-5-2.
+//
+
+#ifndef MYSLAM_BACKEND_H
+#define MYSLAM_BACKEND_H
+
+#include "myslam/common_include.h"
+
+namespace myslam {
+class Backend {
+public:
+    typedef std::shared_ptr<Backend> Ptr;
+
+private:
+
+};
+
+}
+
+#endif //MYSLAM_BACKEND_H

ch13/include/myslam/camera.h

@@ -1,21 +1,4 @@
-/*
- * <one line to give the program's name and a brief idea of what it does.>
- * Copyright (C) 2016  <copyright holder> <email>
- *
- * This program is free software: you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation, either version 3 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program.  If not, see <http://www.gnu.org/licenses/>.
- *
- */
+#pragma once
 
 #ifndef MYSLAM_CAMERA_H
 #define MYSLAM_CAMERA_H

ch13/include/myslam/common_include.h

@@ -1,8 +1,20 @@
+#pragma once
 #ifndef MYSLAM_COMMON_INCLUDE_H
 #define MYSLAM_COMMON_INCLUDE_H
 
+// std
+#include <vector>
+#include <typeinfo>
+#include <list>
+#include <memory>
+#include <string>
+#include <iostream>
+#include <set>
+#include <unordered_map>
+#include <map>
+
+
 // define the commonly included file to avoid a long include list
-// for Eigen
 #include <Eigen/Core>
 #include <Eigen/Geometry>
 
@@ -94,16 +106,6 @@ typedef Sophus::SO3d SO3;
 
 using cv::Mat;
 
-// std 
-#include <vector>
-#include <list>
-#include <memory>
-#include <string>
-#include <iostream>
-#include <set>
-#include <unordered_map>
-#include <map>
-
 // glog
 #include <glog/logging.h>
 

ch13/include/myslam/config.h

@@ -1,3 +1,4 @@
+#pragma once
 #ifndef MYSLAM_CONFIG_H
 #define MYSLAM_CONFIG_H
 

ch13/include/myslam/feature.h

@@ -1,6 +1,7 @@
 //
 // Created by gaoxiang on 19-5-2.
 //
+#pragma once
 
 #ifndef MYSLAM_FEATURE_H
 #define MYSLAM_FEATURE_H
@@ -17,9 +18,13 @@ struct Feature {
 public:
     std::weak_ptr<Frame> frame_;
     cv::KeyPoint position_;
-    std::weak_ptr<MapPoint> map_point;
+    std::weak_ptr<MapPoint> map_point_;
+    bool is_outlier_ = false;
+
 public:
     Feature() {}
+
+    Feature(const cv::KeyPoint &kp) : position_(kp) {}
 };
 }
 

ch13/include/myslam/frame.h

@@ -1,32 +1,16 @@
-/*
- * <one line to give the program's name and a brief idea of what it does.>
- * Copyright (C) 2016  <copyright holder> <email>
- *
- * This program is free software: you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation, either version 3 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program.  If not, see <http://www.gnu.org/licenses/>.
- *
- */
-
-#ifndef FRAME_H
-#define FRAME_H
+#pragma once
+
+#ifndef MYSLAM_FRAME_H
+#define MYSLAM_FRAME_H
 
 #include "myslam/common_include.h"
 #include "myslam/camera.h"
 
 namespace myslam {
 
 // forward declare 
-class MapPoint;
+struct MapPoint;
+struct Feature;
 
 struct Frame {
 public:
@@ -39,10 +23,16 @@ struct Frame {
     SE3 pose_;                  // Tcw, transform from world to camera
     Mat left_img_, right_img_; // stereo images
 
+    // extracted features in left image
+    std::vector<std::shared_ptr<Feature>> features_left_;
+
+    // corresponding features in right image, set to nullptr if no corresponding feature is found
+    std::vector<std::shared_ptr<Feature>> features_right_;
+
 public: // data members 
     Frame() {}
 
-    Frame(long id, double time_stamp, const SE3& pose, const Mat& left, const Mat& right);
+    Frame(long id, double time_stamp, const SE3 &pose, const Mat &left, const Mat &right);
 
     ~Frame();
 
@@ -52,4 +42,4 @@ struct Frame {
 
 }
 
-#endif // FRAME_H
+#endif // MYSLAM_FRAME_H

ch13/include/myslam/frontend.h

@@ -0,0 +1,78 @@
+#pragma once
+#ifndef MYSLAM_FRONTEND_H
+#define MYSLAM_FRONTEND_H
+
+#include "myslam/common_include.h"
+#include "myslam/frame.h"
+#include "myslam/map.h"
+
+namespace myslam {
+
+class Backend;
+
+class Frontend {
+public:
+    typedef std::shared_ptr<Frontend> Ptr;
+    enum FrontendStatus {
+        INITING,
+        TRACKING_GOOD,
+        TRACKING_BAD,
+        LOST
+    };
+
+    Frontend();
+
+    bool AddFrame(Frame::Ptr frame);
+
+    void SetMap(Map::Ptr map) { map_ = map; }
+
+    void SetBackend(std::shared_ptr<Backend> backend) { backend_ = backend; }
+
+    FrontendStatus GetStatus() const { return status_; }
+
+private:
+    /**
+     * Try init the frontend with stereo images saved in current_frame_
+     * @return true if success
+     */
+    bool StereoInit();
+
+    /**
+     * Detect features in left image in current_frame_
+     * keypoints will be saved in current_frame_
+     * @return
+     */
+    int DetectFeatures();
+
+    /**
+     * Find the corresponding features in right image of current_frame_
+     * @return num of features found
+     */
+    int FindFeaturesInRight();
+
+    /**
+     * Build the initial map with single image
+     * @return true if succeed
+     */
+    bool BuildInitMap();
+
+    // data
+    FrontendStatus status_ = INITING;
+
+    Frame::Ptr current_frame_ = nullptr;
+    Frame::Ptr ref_frame_ = nullptr;
+    Camera::Ptr camera_ = nullptr;
+
+    Map::Ptr map_ = nullptr;
+    std::shared_ptr<Backend> backend_ = nullptr;
+
+    // params
+    int num_features_init_ = 100;
+
+    // utilities
+    cv::Ptr<cv::GFTTDetector> gftt_;    // feature detector in opencv
+};
+
+}
+
+#endif //MYSLAM_FRONTEND_H

ch13/include/myslam/map.h

@@ -1,22 +1,4 @@
-/*
- * <one line to give the program's name and a brief idea of what it does.>
- * Copyright (C) 2016  <copyright holder> <email>
- *
- * This program is free software: you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation, either version 3 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program.  If not, see <http://www.gnu.org/licenses/>.
- *
- */
-
+#pragma once
 #ifndef MAP_H
 #define MAP_H
 

ch13/include/myslam/mappoint.h

@@ -1,22 +1,4 @@
-/*
- * <one line to give the program's name and a brief idea of what it does.>
- * Copyright (C) 2016  <copyright holder> <email>
- *
- * This program is free software: you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation, either version 3 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program.  If not, see <http://www.gnu.org/licenses/>.
- *
- */
-
+#pragma once
 #ifndef MYSLAM_MAPPOINT_H
 #define MYSLAM_MAPPOINT_H
 

ch13/src/CMakeLists.txt

@@ -4,8 +4,10 @@ add_library(myslam SHARED
         map.cpp
         camera.cpp
         config.cpp
-        feature.cpp)
+        feature.cpp
+        frontend.cpp
+       # backend.cpp
+        )
 
 target_link_libraries(myslam
-        ${THIRD_PARTY_LIBS}
-        )
+        ${THIRD_PARTY_LIBS})

ch13/src/backend.cpp

@@ -0,0 +1,9 @@
+//
+// Created by gaoxiang on 19-5-2.
+//
+
+#include "myslam/backend.h"
+
+namespace myslam {
+
+}