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LoopClosing.cc
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/**
* This file is part of ORB-SLAM3
*
* Copyright (C) 2017-2021 Carlos Campos, Richard Elvira, Juan J. Gómez Rodríguez, José M.M. Montiel and Juan D. Tardós, University of Zaragoza.
* Copyright (C) 2014-2016 Raúl Mur-Artal, José M.M. Montiel and Juan D. Tardós, University of Zaragoza.
*
* ORB-SLAM3 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.
*
* ORB-SLAM3 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 ORB-SLAM3.
* If not, see <http://www.gnu.org/licenses/>.
*/
#include "LoopClosing.h"
#include "Sim3Solver.h"
#include "Converter.h"
#include "Optimizer.h"
#include "ORBmatcher.h"
#include "G2oTypes.h"
#include<mutex>
#include<thread>
namespace ORB_SLAM3
{
LoopClosing::LoopClosing(Atlas *pAtlas, KeyFrameDatabase *pDB, ORBVocabulary *pVoc, const bool bFixScale, const bool bActiveLC):
mbResetRequested(false), mbResetActiveMapRequested(false), mbFinishRequested(false), mbFinished(true), mpAtlas(pAtlas),
mpKeyFrameDB(pDB), mpORBVocabulary(pVoc), mpMatchedKF(NULL), mLastLoopKFid(0), mbRunningGBA(false), mbFinishedGBA(true),
mbStopGBA(false), mpThreadGBA(NULL), mbFixScale(bFixScale), mnFullBAIdx(0), mnLoopNumCoincidences(0), mnMergeNumCoincidences(0),
mbLoopDetected(false), mbMergeDetected(false), mnLoopNumNotFound(0), mnMergeNumNotFound(0), mbActiveLC(bActiveLC)
{
mnCovisibilityConsistencyTh = 3;
mpLastCurrentKF = static_cast<KeyFrame*>(NULL);
#ifdef REGISTER_TIMES
vdDataQuery_ms.clear();
vdEstSim3_ms.clear();
vdPRTotal_ms.clear();
vdMergeMaps_ms.clear();
vdWeldingBA_ms.clear();
vdMergeOptEss_ms.clear();
vdMergeTotal_ms.clear();
vnMergeKFs.clear();
vnMergeMPs.clear();
nMerges = 0;
vdLoopFusion_ms.clear();
vdLoopOptEss_ms.clear();
vdLoopTotal_ms.clear();
vnLoopKFs.clear();
nLoop = 0;
vdGBA_ms.clear();
vdUpdateMap_ms.clear();
vdFGBATotal_ms.clear();
vnGBAKFs.clear();
vnGBAMPs.clear();
nFGBA_exec = 0;
nFGBA_abort = 0;
#endif
mstrFolderSubTraj = "SubTrajectories/";
mnNumCorrection = 0;
mnCorrectionGBA = 0;
}
void LoopClosing::SetTracker(Tracking *pTracker)
{
mpTracker=pTracker;
}
void LoopClosing::SetLocalMapper(LocalMapping *pLocalMapper)
{
mpLocalMapper=pLocalMapper;
}
void LoopClosing::Run()
{
mbFinished =false;
while(1)
{
//NEW LOOP AND MERGE DETECTION ALGORITHM
//----------------------------
if(CheckNewKeyFrames())
{
if(mpLastCurrentKF)
{
mpLastCurrentKF->mvpLoopCandKFs.clear();
mpLastCurrentKF->mvpMergeCandKFs.clear();
}
#ifdef REGISTER_TIMES
std::chrono::steady_clock::time_point time_StartPR = std::chrono::steady_clock::now();
#endif
bool bFindedRegion = NewDetectCommonRegions();
#ifdef REGISTER_TIMES
std::chrono::steady_clock::time_point time_EndPR = std::chrono::steady_clock::now();
double timePRTotal = std::chrono::duration_cast<std::chrono::duration<double,std::milli> >(time_EndPR - time_StartPR).count();
vdPRTotal_ms.push_back(timePRTotal);
#endif
if(bFindedRegion)
{
if(mbMergeDetected)
{
if ((mpTracker->mSensor==System::IMU_MONOCULAR || mpTracker->mSensor==System::IMU_STEREO || mpTracker->mSensor==System::IMU_RGBD) &&
(!mpCurrentKF->GetMap()->isImuInitialized()))
{
cout << "IMU is not initilized, merge is aborted" << endl;
}
else
{
Sophus::SE3d mTmw = mpMergeMatchedKF->GetPose().cast<double>();
g2o::Sim3 gSmw2(mTmw.unit_quaternion(), mTmw.translation(), 1.0);
Sophus::SE3d mTcw = mpCurrentKF->GetPose().cast<double>();
g2o::Sim3 gScw1(mTcw.unit_quaternion(), mTcw.translation(), 1.0);
g2o::Sim3 gSw2c = mg2oMergeSlw.inverse();
g2o::Sim3 gSw1m = mg2oMergeSlw;
mSold_new = (gSw2c * gScw1);
if(mpCurrentKF->GetMap()->IsInertial() && mpMergeMatchedKF->GetMap()->IsInertial())
{
cout << "Merge check transformation with IMU" << endl;
if(mSold_new.scale()<0.90||mSold_new.scale()>1.1){
mpMergeLastCurrentKF->SetErase();
mpMergeMatchedKF->SetErase();
mnMergeNumCoincidences = 0;
mvpMergeMatchedMPs.clear();
mvpMergeMPs.clear();
mnMergeNumNotFound = 0;
mbMergeDetected = false;
Verbose::PrintMess("scale bad estimated. Abort merging", Verbose::VERBOSITY_NORMAL);
continue;
}
// If inertial, force only yaw
if ((mpTracker->mSensor==System::IMU_MONOCULAR || mpTracker->mSensor==System::IMU_STEREO || mpTracker->mSensor==System::IMU_RGBD) &&
mpCurrentKF->GetMap()->GetIniertialBA1())
{
Eigen::Vector3d phi = LogSO3(mSold_new.rotation().toRotationMatrix());
phi(0)=0;
phi(1)=0;
mSold_new = g2o::Sim3(ExpSO3(phi),mSold_new.translation(),1.0);
}
}
mg2oMergeSmw = gSmw2 * gSw2c * gScw1;
mg2oMergeScw = mg2oMergeSlw;
//mpTracker->SetStepByStep(true);
Verbose::PrintMess("*Merge detected", Verbose::VERBOSITY_QUIET);
#ifdef REGISTER_TIMES
std::chrono::steady_clock::time_point time_StartMerge = std::chrono::steady_clock::now();
nMerges += 1;
#endif
// TODO UNCOMMENT
if (mpTracker->mSensor==System::IMU_MONOCULAR ||mpTracker->mSensor==System::IMU_STEREO || mpTracker->mSensor==System::IMU_RGBD)
MergeLocal2();
else
MergeLocal();
#ifdef REGISTER_TIMES
std::chrono::steady_clock::time_point time_EndMerge = std::chrono::steady_clock::now();
double timeMergeTotal = std::chrono::duration_cast<std::chrono::duration<double,std::milli> >(time_EndMerge - time_StartMerge).count();
vdMergeTotal_ms.push_back(timeMergeTotal);
#endif
Verbose::PrintMess("Merge finished!", Verbose::VERBOSITY_QUIET);
}
vdPR_CurrentTime.push_back(mpCurrentKF->mTimeStamp);
vdPR_MatchedTime.push_back(mpMergeMatchedKF->mTimeStamp);
vnPR_TypeRecogn.push_back(1);
// Reset all variables
mpMergeLastCurrentKF->SetErase();
mpMergeMatchedKF->SetErase();
mnMergeNumCoincidences = 0;
mvpMergeMatchedMPs.clear();
mvpMergeMPs.clear();
mnMergeNumNotFound = 0;
mbMergeDetected = false;
if(mbLoopDetected)
{
// Reset Loop variables
mpLoopLastCurrentKF->SetErase();
mpLoopMatchedKF->SetErase();
mnLoopNumCoincidences = 0;
mvpLoopMatchedMPs.clear();
mvpLoopMPs.clear();
mnLoopNumNotFound = 0;
mbLoopDetected = false;
}
}
if(mbLoopDetected)
{
bool bGoodLoop = true;
vdPR_CurrentTime.push_back(mpCurrentKF->mTimeStamp);
vdPR_MatchedTime.push_back(mpLoopMatchedKF->mTimeStamp);
vnPR_TypeRecogn.push_back(0);
Verbose::PrintMess("*Loop detected", Verbose::VERBOSITY_QUIET);
mg2oLoopScw = mg2oLoopSlw; //*mvg2oSim3LoopTcw[nCurrentIndex];
if(mpCurrentKF->GetMap()->IsInertial())
{
Sophus::SE3d Twc = mpCurrentKF->GetPoseInverse().cast<double>();
g2o::Sim3 g2oTwc(Twc.unit_quaternion(),Twc.translation(),1.0);
g2o::Sim3 g2oSww_new = g2oTwc*mg2oLoopScw;
Eigen::Vector3d phi = LogSO3(g2oSww_new.rotation().toRotationMatrix());
cout << "phi = " << phi.transpose() << endl;
if (fabs(phi(0))<0.008f && fabs(phi(1))<0.008f && fabs(phi(2))<0.349f)
{
if(mpCurrentKF->GetMap()->IsInertial())
{
// If inertial, force only yaw
if ((mpTracker->mSensor==System::IMU_MONOCULAR ||mpTracker->mSensor==System::IMU_STEREO || mpTracker->mSensor==System::IMU_RGBD) &&
mpCurrentKF->GetMap()->GetIniertialBA2())
{
phi(0)=0;
phi(1)=0;
g2oSww_new = g2o::Sim3(ExpSO3(phi),g2oSww_new.translation(),1.0);
mg2oLoopScw = g2oTwc.inverse()*g2oSww_new;
}
}
}
else
{
cout << "BAD LOOP!!!" << endl;
bGoodLoop = false;
}
}
if (bGoodLoop) {
mvpLoopMapPoints = mvpLoopMPs;
#ifdef REGISTER_TIMES
std::chrono::steady_clock::time_point time_StartLoop = std::chrono::steady_clock::now();
nLoop += 1;
#endif
CorrectLoop();
#ifdef REGISTER_TIMES
std::chrono::steady_clock::time_point time_EndLoop = std::chrono::steady_clock::now();
double timeLoopTotal = std::chrono::duration_cast<std::chrono::duration<double,std::milli> >(time_EndLoop - time_StartLoop).count();
vdLoopTotal_ms.push_back(timeLoopTotal);
#endif
mnNumCorrection += 1;
}
// Reset all variables
mpLoopLastCurrentKF->SetErase();
mpLoopMatchedKF->SetErase();
mnLoopNumCoincidences = 0;
mvpLoopMatchedMPs.clear();
mvpLoopMPs.clear();
mnLoopNumNotFound = 0;
mbLoopDetected = false;
}
}
mpLastCurrentKF = mpCurrentKF;
}
ResetIfRequested();
if(CheckFinish()){
break;
}
usleep(5000);
}
SetFinish();
}
void LoopClosing::InsertKeyFrame(KeyFrame *pKF)
{
unique_lock<mutex> lock(mMutexLoopQueue);
if(pKF->mnId!=0)
mlpLoopKeyFrameQueue.push_back(pKF);
}
bool LoopClosing::CheckNewKeyFrames()
{
unique_lock<mutex> lock(mMutexLoopQueue);
return(!mlpLoopKeyFrameQueue.empty());
}
bool LoopClosing::NewDetectCommonRegions()
{
// To deactivate placerecognition. No loopclosing nor merging will be performed
if(!mbActiveLC)
return false;
{
unique_lock<mutex> lock(mMutexLoopQueue);
mpCurrentKF = mlpLoopKeyFrameQueue.front();
mlpLoopKeyFrameQueue.pop_front();
// Avoid that a keyframe can be erased while it is being process by this thread
mpCurrentKF->SetNotErase();
mpCurrentKF->mbCurrentPlaceRecognition = true;
mpLastMap = mpCurrentKF->GetMap();
}
if(mpLastMap->IsInertial() && !mpLastMap->GetIniertialBA2())
{
mpKeyFrameDB->add(mpCurrentKF);
mpCurrentKF->SetErase();
return false;
}
if(mpTracker->mSensor == System::STEREO && mpLastMap->GetAllKeyFrames().size() < 5) //12
{
// cout << "LoopClousure: Stereo KF inserted without check: " << mpCurrentKF->mnId << endl;
mpKeyFrameDB->add(mpCurrentKF);
mpCurrentKF->SetErase();
return false;
}
if(mpLastMap->GetAllKeyFrames().size() < 12)
{
// cout << "LoopClousure: Stereo KF inserted without check, map is small: " << mpCurrentKF->mnId << endl;
mpKeyFrameDB->add(mpCurrentKF);
mpCurrentKF->SetErase();
return false;
}
//cout << "LoopClousure: Checking KF: " << mpCurrentKF->mnId << endl;
//Check the last candidates with geometric validation
// Loop candidates
bool bLoopDetectedInKF = false;
bool bCheckSpatial = false;
#ifdef REGISTER_TIMES
std::chrono::steady_clock::time_point time_StartEstSim3_1 = std::chrono::steady_clock::now();
#endif
if(mnLoopNumCoincidences > 0)
{
bCheckSpatial = true;
// Find from the last KF candidates
Sophus::SE3d mTcl = (mpCurrentKF->GetPose() * mpLoopLastCurrentKF->GetPoseInverse()).cast<double>();
g2o::Sim3 gScl(mTcl.unit_quaternion(),mTcl.translation(),1.0);
g2o::Sim3 gScw = gScl * mg2oLoopSlw;
int numProjMatches = 0;
vector<MapPoint*> vpMatchedMPs;
bool bCommonRegion = DetectAndReffineSim3FromLastKF(mpCurrentKF, mpLoopMatchedKF, gScw, numProjMatches, mvpLoopMPs, vpMatchedMPs);
if(bCommonRegion)
{
bLoopDetectedInKF = true;
mnLoopNumCoincidences++;
mpLoopLastCurrentKF->SetErase();
mpLoopLastCurrentKF = mpCurrentKF;
mg2oLoopSlw = gScw;
mvpLoopMatchedMPs = vpMatchedMPs;
mbLoopDetected = mnLoopNumCoincidences >= 3;
mnLoopNumNotFound = 0;
if(!mbLoopDetected)
{
cout << "PR: Loop detected with Reffine Sim3" << endl;
}
}
else
{
bLoopDetectedInKF = false;
mnLoopNumNotFound++;
if(mnLoopNumNotFound >= 2)
{
mpLoopLastCurrentKF->SetErase();
mpLoopMatchedKF->SetErase();
mnLoopNumCoincidences = 0;
mvpLoopMatchedMPs.clear();
mvpLoopMPs.clear();
mnLoopNumNotFound = 0;
}
}
}
//Merge candidates
bool bMergeDetectedInKF = false;
if(mnMergeNumCoincidences > 0)
{
// Find from the last KF candidates
Sophus::SE3d mTcl = (mpCurrentKF->GetPose() * mpMergeLastCurrentKF->GetPoseInverse()).cast<double>();
g2o::Sim3 gScl(mTcl.unit_quaternion(), mTcl.translation(), 1.0);
g2o::Sim3 gScw = gScl * mg2oMergeSlw;
int numProjMatches = 0;
vector<MapPoint*> vpMatchedMPs;
bool bCommonRegion = DetectAndReffineSim3FromLastKF(mpCurrentKF, mpMergeMatchedKF, gScw, numProjMatches, mvpMergeMPs, vpMatchedMPs);
if(bCommonRegion)
{
bMergeDetectedInKF = true;
mnMergeNumCoincidences++;
mpMergeLastCurrentKF->SetErase();
mpMergeLastCurrentKF = mpCurrentKF;
mg2oMergeSlw = gScw;
mvpMergeMatchedMPs = vpMatchedMPs;
mbMergeDetected = mnMergeNumCoincidences >= 3;
}
else
{
mbMergeDetected = false;
bMergeDetectedInKF = false;
mnMergeNumNotFound++;
if(mnMergeNumNotFound >= 2)
{
mpMergeLastCurrentKF->SetErase();
mpMergeMatchedKF->SetErase();
mnMergeNumCoincidences = 0;
mvpMergeMatchedMPs.clear();
mvpMergeMPs.clear();
mnMergeNumNotFound = 0;
}
}
}
#ifdef REGISTER_TIMES
std::chrono::steady_clock::time_point time_EndEstSim3_1 = std::chrono::steady_clock::now();
double timeEstSim3 = std::chrono::duration_cast<std::chrono::duration<double,std::milli> >(time_EndEstSim3_1 - time_StartEstSim3_1).count();
#endif
if(mbMergeDetected || mbLoopDetected)
{
#ifdef REGISTER_TIMES
vdEstSim3_ms.push_back(timeEstSim3);
#endif
mpKeyFrameDB->add(mpCurrentKF);
return true;
}
//TODO: This is only necessary if we use a minimun score for pick the best candidates
const vector<KeyFrame*> vpConnectedKeyFrames = mpCurrentKF->GetVectorCovisibleKeyFrames();
// Extract candidates from the bag of words
vector<KeyFrame*> vpMergeBowCand, vpLoopBowCand;
if(!bMergeDetectedInKF || !bLoopDetectedInKF)
{
// Search in BoW
#ifdef REGISTER_TIMES
std::chrono::steady_clock::time_point time_StartQuery = std::chrono::steady_clock::now();
#endif
mpKeyFrameDB->DetectNBestCandidates(mpCurrentKF, vpLoopBowCand, vpMergeBowCand,3);
#ifdef REGISTER_TIMES
std::chrono::steady_clock::time_point time_EndQuery = std::chrono::steady_clock::now();
double timeDataQuery = std::chrono::duration_cast<std::chrono::duration<double,std::milli> >(time_EndQuery - time_StartQuery).count();
vdDataQuery_ms.push_back(timeDataQuery);
#endif
}
#ifdef REGISTER_TIMES
std::chrono::steady_clock::time_point time_StartEstSim3_2 = std::chrono::steady_clock::now();
#endif
// Check the BoW candidates if the geometric candidate list is empty
//Loop candidates
if(!bLoopDetectedInKF && !vpLoopBowCand.empty())
{
mbLoopDetected = DetectCommonRegionsFromBoW(vpLoopBowCand, mpLoopMatchedKF, mpLoopLastCurrentKF, mg2oLoopSlw, mnLoopNumCoincidences, mvpLoopMPs, mvpLoopMatchedMPs);
}
// Merge candidates
if(!bMergeDetectedInKF && !vpMergeBowCand.empty())
{
mbMergeDetected = DetectCommonRegionsFromBoW(vpMergeBowCand, mpMergeMatchedKF, mpMergeLastCurrentKF, mg2oMergeSlw, mnMergeNumCoincidences, mvpMergeMPs, mvpMergeMatchedMPs);
}
#ifdef REGISTER_TIMES
std::chrono::steady_clock::time_point time_EndEstSim3_2 = std::chrono::steady_clock::now();
timeEstSim3 += std::chrono::duration_cast<std::chrono::duration<double,std::milli> >(time_EndEstSim3_2 - time_StartEstSim3_2).count();
vdEstSim3_ms.push_back(timeEstSim3);
#endif
mpKeyFrameDB->add(mpCurrentKF);
if(mbMergeDetected || mbLoopDetected)
{
return true;
}
mpCurrentKF->SetErase();
mpCurrentKF->mbCurrentPlaceRecognition = false;
return false;
}
bool LoopClosing::DetectAndReffineSim3FromLastKF(KeyFrame* pCurrentKF, KeyFrame* pMatchedKF, g2o::Sim3 &gScw, int &nNumProjMatches,
std::vector<MapPoint*> &vpMPs, std::vector<MapPoint*> &vpMatchedMPs)
{
set<MapPoint*> spAlreadyMatchedMPs;
nNumProjMatches = FindMatchesByProjection(pCurrentKF, pMatchedKF, gScw, spAlreadyMatchedMPs, vpMPs, vpMatchedMPs);
int nProjMatches = 30;
int nProjOptMatches = 50;
int nProjMatchesRep = 100;
if(nNumProjMatches >= nProjMatches)
{
//Verbose::PrintMess("Sim3 reffine: There are " + to_string(nNumProjMatches) + " initial matches ", Verbose::VERBOSITY_DEBUG);
Sophus::SE3d mTwm = pMatchedKF->GetPoseInverse().cast<double>();
g2o::Sim3 gSwm(mTwm.unit_quaternion(),mTwm.translation(),1.0);
g2o::Sim3 gScm = gScw * gSwm;
Eigen::Matrix<double, 7, 7> mHessian7x7;
bool bFixedScale = mbFixScale; // TODO CHECK; Solo para el monocular inertial
if(mpTracker->mSensor==System::IMU_MONOCULAR && !pCurrentKF->GetMap()->GetIniertialBA2())
bFixedScale=false;
int numOptMatches = Optimizer::OptimizeSim3(mpCurrentKF, pMatchedKF, vpMatchedMPs, gScm, 10, bFixedScale, mHessian7x7, true);
//Verbose::PrintMess("Sim3 reffine: There are " + to_string(numOptMatches) + " matches after of the optimization ", Verbose::VERBOSITY_DEBUG);
if(numOptMatches > nProjOptMatches)
{
g2o::Sim3 gScw_estimation(gScw.rotation(), gScw.translation(),1.0);
vector<MapPoint*> vpMatchedMP;
vpMatchedMP.resize(mpCurrentKF->GetMapPointMatches().size(), static_cast<MapPoint*>(NULL));
nNumProjMatches = FindMatchesByProjection(pCurrentKF, pMatchedKF, gScw_estimation, spAlreadyMatchedMPs, vpMPs, vpMatchedMPs);
if(nNumProjMatches >= nProjMatchesRep)
{
gScw = gScw_estimation;
return true;
}
}
}
return false;
}
bool LoopClosing::DetectCommonRegionsFromBoW(std::vector<KeyFrame*> &vpBowCand, KeyFrame* &pMatchedKF2, KeyFrame* &pLastCurrentKF, g2o::Sim3 &g2oScw,
int &nNumCoincidences, std::vector<MapPoint*> &vpMPs, std::vector<MapPoint*> &vpMatchedMPs)
{
int nBoWMatches = 20;
int nBoWInliers = 15;
int nSim3Inliers = 20;
int nProjMatches = 50;
int nProjOptMatches = 80;
set<KeyFrame*> spConnectedKeyFrames = mpCurrentKF->GetConnectedKeyFrames();
int nNumCovisibles = 10;
ORBmatcher matcherBoW(0.9, true);
ORBmatcher matcher(0.75, true);
// Varibles to select the best numbe
KeyFrame* pBestMatchedKF;
int nBestMatchesReproj = 0;
int nBestNumCoindicendes = 0;
g2o::Sim3 g2oBestScw;
std::vector<MapPoint*> vpBestMapPoints;
std::vector<MapPoint*> vpBestMatchedMapPoints;
int numCandidates = vpBowCand.size();
vector<int> vnStage(numCandidates, 0);
vector<int> vnMatchesStage(numCandidates, 0);
int index = 0;
//Verbose::PrintMess("BoW candidates: There are " + to_string(vpBowCand.size()) + " possible candidates ", Verbose::VERBOSITY_DEBUG);
for(KeyFrame* pKFi : vpBowCand)
{
if(!pKFi || pKFi->isBad())
continue;
// std::cout << "KF candidate: " << pKFi->mnId << std::endl;
// Current KF against KF with covisibles version
std::vector<KeyFrame*> vpCovKFi = pKFi->GetBestCovisibilityKeyFrames(nNumCovisibles);
if(vpCovKFi.empty())
{
std::cout << "Covisible list empty" << std::endl;
vpCovKFi.push_back(pKFi);
}
else
{
vpCovKFi.push_back(vpCovKFi[0]);
vpCovKFi[0] = pKFi;
}
bool bAbortByNearKF = false;
for(int j=0; j<vpCovKFi.size(); ++j)
{
if(spConnectedKeyFrames.find(vpCovKFi[j]) != spConnectedKeyFrames.end())
{
bAbortByNearKF = true;
break;
}
}
if(bAbortByNearKF)
{
//std::cout << "Check BoW aborted because is close to the matched one " << std::endl;
continue;
}
//std::cout << "Check BoW continue because is far to the matched one " << std::endl;
std::vector<std::vector<MapPoint*> > vvpMatchedMPs;
vvpMatchedMPs.resize(vpCovKFi.size());
std::set<MapPoint*> spMatchedMPi;
int numBoWMatches = 0;
KeyFrame* pMostBoWMatchesKF = pKFi;
int nMostBoWNumMatches = 0;
std::vector<MapPoint*> vpMatchedPoints = std::vector<MapPoint*>(mpCurrentKF->GetMapPointMatches().size(), static_cast<MapPoint*>(NULL));
std::vector<KeyFrame*> vpKeyFrameMatchedMP = std::vector<KeyFrame*>(mpCurrentKF->GetMapPointMatches().size(), static_cast<KeyFrame*>(NULL));
int nIndexMostBoWMatchesKF=0;
for(int j=0; j<vpCovKFi.size(); ++j)
{
if(!vpCovKFi[j] || vpCovKFi[j]->isBad())
continue;
int num = matcherBoW.SearchByBoW(mpCurrentKF, vpCovKFi[j], vvpMatchedMPs[j]);
if (num > nMostBoWNumMatches)
{
nMostBoWNumMatches = num;
nIndexMostBoWMatchesKF = j;
}
}
for(int j=0; j<vpCovKFi.size(); ++j)
{
for(int k=0; k < vvpMatchedMPs[j].size(); ++k)
{
MapPoint* pMPi_j = vvpMatchedMPs[j][k];
if(!pMPi_j || pMPi_j->isBad())
continue;
if(spMatchedMPi.find(pMPi_j) == spMatchedMPi.end())
{
spMatchedMPi.insert(pMPi_j);
numBoWMatches++;
vpMatchedPoints[k]= pMPi_j;
vpKeyFrameMatchedMP[k] = vpCovKFi[j];
}
}
}
//pMostBoWMatchesKF = vpCovKFi[pMostBoWMatchesKF];
if(numBoWMatches >= nBoWMatches) // TODO pick a good threshold
{
// Geometric validation
bool bFixedScale = mbFixScale;
if(mpTracker->mSensor==System::IMU_MONOCULAR && !mpCurrentKF->GetMap()->GetIniertialBA2())
bFixedScale=false;
Sim3Solver solver = Sim3Solver(mpCurrentKF, pMostBoWMatchesKF, vpMatchedPoints, bFixedScale, vpKeyFrameMatchedMP);
solver.SetRansacParameters(0.99, nBoWInliers, 300); // at least 15 inliers
bool bNoMore = false;
vector<bool> vbInliers;
int nInliers;
bool bConverge = false;
Eigen::Matrix4f mTcm;
while(!bConverge && !bNoMore)
{
mTcm = solver.iterate(20,bNoMore, vbInliers, nInliers, bConverge);
//Verbose::PrintMess("BoW guess: Solver achieve " + to_string(nInliers) + " geometrical inliers among " + to_string(nBoWInliers) + " BoW matches", Verbose::VERBOSITY_DEBUG);
}
if(bConverge)
{
//std::cout << "Check BoW: SolverSim3 converged" << std::endl;
//Verbose::PrintMess("BoW guess: Convergende with " + to_string(nInliers) + " geometrical inliers among " + to_string(nBoWInliers) + " BoW matches", Verbose::VERBOSITY_DEBUG);
// Match by reprojection
vpCovKFi.clear();
vpCovKFi = pMostBoWMatchesKF->GetBestCovisibilityKeyFrames(nNumCovisibles);
vpCovKFi.push_back(pMostBoWMatchesKF);
set<KeyFrame*> spCheckKFs(vpCovKFi.begin(), vpCovKFi.end());
//std::cout << "There are " << vpCovKFi.size() <<" near KFs" << std::endl;
set<MapPoint*> spMapPoints;
vector<MapPoint*> vpMapPoints;
vector<KeyFrame*> vpKeyFrames;
for(KeyFrame* pCovKFi : vpCovKFi)
{
for(MapPoint* pCovMPij : pCovKFi->GetMapPointMatches())
{
if(!pCovMPij || pCovMPij->isBad())
continue;
if(spMapPoints.find(pCovMPij) == spMapPoints.end())
{
spMapPoints.insert(pCovMPij);
vpMapPoints.push_back(pCovMPij);
vpKeyFrames.push_back(pCovKFi);
}
}
}
//std::cout << "There are " << vpKeyFrames.size() <<" KFs which view all the mappoints" << std::endl;
g2o::Sim3 gScm(solver.GetEstimatedRotation().cast<double>(),solver.GetEstimatedTranslation().cast<double>(), (double) solver.GetEstimatedScale());
g2o::Sim3 gSmw(pMostBoWMatchesKF->GetRotation().cast<double>(),pMostBoWMatchesKF->GetTranslation().cast<double>(),1.0);
g2o::Sim3 gScw = gScm*gSmw; // Similarity matrix of current from the world position
Sophus::Sim3f mScw = Converter::toSophus(gScw);
vector<MapPoint*> vpMatchedMP;
vpMatchedMP.resize(mpCurrentKF->GetMapPointMatches().size(), static_cast<MapPoint*>(NULL));
vector<KeyFrame*> vpMatchedKF;
vpMatchedKF.resize(mpCurrentKF->GetMapPointMatches().size(), static_cast<KeyFrame*>(NULL));
int numProjMatches = matcher.SearchByProjection(mpCurrentKF, mScw, vpMapPoints, vpKeyFrames, vpMatchedMP, vpMatchedKF, 8, 1.5);
//cout <<"BoW: " << numProjMatches << " matches between " << vpMapPoints.size() << " points with coarse Sim3" << endl;
if(numProjMatches >= nProjMatches)
{
// Optimize Sim3 transformation with every matches
Eigen::Matrix<double, 7, 7> mHessian7x7;
bool bFixedScale = mbFixScale;
if(mpTracker->mSensor==System::IMU_MONOCULAR && !mpCurrentKF->GetMap()->GetIniertialBA2())
bFixedScale=false;
int numOptMatches = Optimizer::OptimizeSim3(mpCurrentKF, pKFi, vpMatchedMP, gScm, 10, mbFixScale, mHessian7x7, true);
if(numOptMatches >= nSim3Inliers)
{
g2o::Sim3 gSmw(pMostBoWMatchesKF->GetRotation().cast<double>(),pMostBoWMatchesKF->GetTranslation().cast<double>(),1.0);
g2o::Sim3 gScw = gScm*gSmw; // Similarity matrix of current from the world position
Sophus::Sim3f mScw = Converter::toSophus(gScw);
vector<MapPoint*> vpMatchedMP;
vpMatchedMP.resize(mpCurrentKF->GetMapPointMatches().size(), static_cast<MapPoint*>(NULL));
int numProjOptMatches = matcher.SearchByProjection(mpCurrentKF, mScw, vpMapPoints, vpMatchedMP, 5, 1.0);
if(numProjOptMatches >= nProjOptMatches)
{
int max_x = -1, min_x = 1000000;
int max_y = -1, min_y = 1000000;
for(MapPoint* pMPi : vpMatchedMP)
{
if(!pMPi || pMPi->isBad())
{
continue;
}
tuple<size_t,size_t> indexes = pMPi->GetIndexInKeyFrame(pKFi);
int index = get<0>(indexes);
if(index >= 0)
{
int coord_x = pKFi->mvKeysUn[index].pt.x;
if(coord_x < min_x)
{
min_x = coord_x;
}
if(coord_x > max_x)
{
max_x = coord_x;
}
int coord_y = pKFi->mvKeysUn[index].pt.y;
if(coord_y < min_y)
{
min_y = coord_y;
}
if(coord_y > max_y)
{
max_y = coord_y;
}
}
}
int nNumKFs = 0;
//vpMatchedMPs = vpMatchedMP;
//vpMPs = vpMapPoints;
// Check the Sim3 transformation with the current KeyFrame covisibles
vector<KeyFrame*> vpCurrentCovKFs = mpCurrentKF->GetBestCovisibilityKeyFrames(nNumCovisibles);
int j = 0;
while(nNumKFs < 3 && j<vpCurrentCovKFs.size())
{
KeyFrame* pKFj = vpCurrentCovKFs[j];
Sophus::SE3d mTjc = (pKFj->GetPose() * mpCurrentKF->GetPoseInverse()).cast<double>();
g2o::Sim3 gSjc(mTjc.unit_quaternion(),mTjc.translation(),1.0);
g2o::Sim3 gSjw = gSjc * gScw;
int numProjMatches_j = 0;
vector<MapPoint*> vpMatchedMPs_j;
bool bValid = DetectCommonRegionsFromLastKF(pKFj,pMostBoWMatchesKF, gSjw,numProjMatches_j, vpMapPoints, vpMatchedMPs_j);
if(bValid)
{
Sophus::SE3f Tc_w = mpCurrentKF->GetPose();
Sophus::SE3f Tw_cj = pKFj->GetPoseInverse();
Sophus::SE3f Tc_cj = Tc_w * Tw_cj;
Eigen::Vector3f vector_dist = Tc_cj.translation();
nNumKFs++;
}
j++;
}
if(nNumKFs < 3)
{
vnStage[index] = 8;
vnMatchesStage[index] = nNumKFs;
}
if(nBestMatchesReproj < numProjOptMatches)
{
nBestMatchesReproj = numProjOptMatches;
nBestNumCoindicendes = nNumKFs;
pBestMatchedKF = pMostBoWMatchesKF;
g2oBestScw = gScw;
vpBestMapPoints = vpMapPoints;
vpBestMatchedMapPoints = vpMatchedMP;
}
}
}
}
}
/*else
{
Verbose::PrintMess("BoW candidate: it don't match with the current one", Verbose::VERBOSITY_DEBUG);
}*/
}
index++;
}
if(nBestMatchesReproj > 0)
{
pLastCurrentKF = mpCurrentKF;
nNumCoincidences = nBestNumCoindicendes;
pMatchedKF2 = pBestMatchedKF;
pMatchedKF2->SetNotErase();
g2oScw = g2oBestScw;
vpMPs = vpBestMapPoints;
vpMatchedMPs = vpBestMatchedMapPoints;
return nNumCoincidences >= 3;
}
else
{
int maxStage = -1;
int maxMatched;
for(int i=0; i<vnStage.size(); ++i)
{
if(vnStage[i] > maxStage)
{
maxStage = vnStage[i];
maxMatched = vnMatchesStage[i];
}
}
}
return false;
}
bool LoopClosing::DetectCommonRegionsFromLastKF(KeyFrame* pCurrentKF, KeyFrame* pMatchedKF, g2o::Sim3 &gScw, int &nNumProjMatches,
std::vector<MapPoint*> &vpMPs, std::vector<MapPoint*> &vpMatchedMPs)
{
set<MapPoint*> spAlreadyMatchedMPs(vpMatchedMPs.begin(), vpMatchedMPs.end());
nNumProjMatches = FindMatchesByProjection(pCurrentKF, pMatchedKF, gScw, spAlreadyMatchedMPs, vpMPs, vpMatchedMPs);
int nProjMatches = 30;
if(nNumProjMatches >= nProjMatches)
{
return true;
}
return false;
}
int LoopClosing::FindMatchesByProjection(KeyFrame* pCurrentKF, KeyFrame* pMatchedKFw, g2o::Sim3 &g2oScw,
set<MapPoint*> &spMatchedMPinOrigin, vector<MapPoint*> &vpMapPoints,
vector<MapPoint*> &vpMatchedMapPoints)
{
int nNumCovisibles = 10;
vector<KeyFrame*> vpCovKFm = pMatchedKFw->GetBestCovisibilityKeyFrames(nNumCovisibles);
int nInitialCov = vpCovKFm.size();
vpCovKFm.push_back(pMatchedKFw);
set<KeyFrame*> spCheckKFs(vpCovKFm.begin(), vpCovKFm.end());
set<KeyFrame*> spCurrentCovisbles = pCurrentKF->GetConnectedKeyFrames();
if(nInitialCov < nNumCovisibles)
{
for(int i=0; i<nInitialCov; ++i)
{
vector<KeyFrame*> vpKFs = vpCovKFm[i]->GetBestCovisibilityKeyFrames(nNumCovisibles);
int nInserted = 0;
int j = 0;
while(j < vpKFs.size() && nInserted < nNumCovisibles)
{
if(spCheckKFs.find(vpKFs[j]) == spCheckKFs.end() && spCurrentCovisbles.find(vpKFs[j]) == spCurrentCovisbles.end())
{
spCheckKFs.insert(vpKFs[j]);
++nInserted;
}
++j;
}
vpCovKFm.insert(vpCovKFm.end(), vpKFs.begin(), vpKFs.end());
}
}
set<MapPoint*> spMapPoints;
vpMapPoints.clear();
vpMatchedMapPoints.clear();
for(KeyFrame* pKFi : vpCovKFm)
{
for(MapPoint* pMPij : pKFi->GetMapPointMatches())
{
if(!pMPij || pMPij->isBad())
continue;
if(spMapPoints.find(pMPij) == spMapPoints.end())
{
spMapPoints.insert(pMPij);
vpMapPoints.push_back(pMPij);
}
}
}
Sophus::Sim3f mScw = Converter::toSophus(g2oScw);
ORBmatcher matcher(0.9, true);
vpMatchedMapPoints.resize(pCurrentKF->GetMapPointMatches().size(), static_cast<MapPoint*>(NULL));
int num_matches = matcher.SearchByProjection(pCurrentKF, mScw, vpMapPoints, vpMatchedMapPoints, 3, 1.5);
return num_matches;
}
void LoopClosing::CorrectLoop()
{
//cout << "Loop detected!" << endl;
// Send a stop signal to Local Mapping
// Avoid new keyframes are inserted while correcting the loop
mpLocalMapper->RequestStop();
mpLocalMapper->EmptyQueue(); // Proccess keyframes in the queue
// If a Global Bundle Adjustment is running, abort it
if(isRunningGBA())
{
cout << "Stoping Global Bundle Adjustment...";
unique_lock<mutex> lock(mMutexGBA);
mbStopGBA = true;
mnFullBAIdx++;
if(mpThreadGBA)
{
mpThreadGBA->detach();
delete mpThreadGBA;
}
cout << " Done!!" << endl;
}
// Wait until Local Mapping has effectively stopped
while(!mpLocalMapper->isStopped())
{
usleep(1000);
}