fixed recording toomany and toofew ratios during mapping

marinagmoreira · Jul 2, 2024 · 07e874a · 07e874a
1 parent ccbc4bc
commit 07e874a
Show file tree

Hide file tree

Showing 3 changed files with 17 additions and 14 deletions.
diff --git a/localization/interest_point/include/interest_point/matching.h b/localization/interest_point/include/interest_point/matching.h
@@ -44,8 +44,8 @@ namespace interest_point {
                             cv::Mat* keypoints_description) = 0;
     virtual void TooFew(void) = 0;
     virtual void TooMany(void) = 0;
-    void GetDetectorParams(int & min_features, int & max_features, int & max_retries,
-                           double & min_thresh, double & default_thresh, double & max_thresh);
+    void GetDetectorParams(int& min_features, int& max_features, int& max_retries, double& min_thresh,
+                           double& default_thresh, double& max_thresh, double& too_many_ratio, double& too_few_ratio);
 
     int last_keypoint_count(void) { return last_keypoint_count_; }
 
@@ -80,8 +80,8 @@ namespace interest_point {
 
     std::string GetDetectorName() const {return detector_name_;}
 
-    void GetDetectorParams(int & min_features, int & max_features, int & max_retries,
-                           double & min_thresh, double & default_thresh, double & max_thresh);
+    void GetDetectorParams(int& min_features, int& max_features, int& max_retries, double& min_thresh,
+                           double& default_thresh, double& max_thresh, double& too_many_ratio, double& too_few_ratio);
 
     friend bool operator== (FeatureDetector const& A, FeatureDetector const& B) {
       return (A.detector_name_ == B.detector_name_);

diff --git a/localization/interest_point/src/matching.cc b/localization/interest_point/src/matching.cc
@@ -67,7 +67,7 @@ DEFINE_int32(max_brisk_features, 5000,
              "Maximum number of features to be computed using ORGBRISK.");
 DEFINE_double(min_brisk_threshold, 10,
               "Minimum threshold for feature detection using ORGBRISK.");
-DEFINE_double(default_brisk_threshold, 20,
+DEFINE_double(default_brisk_threshold, 90,
               "Default threshold for feature detection using ORGBRISK.");
 DEFINE_double(max_brisk_threshold, 110,
               "Maximum threshold for feature detection using ORGBRISK.");
@@ -94,14 +94,17 @@ DynamicDetector::DynamicDetector(int min_features, int max_features, int max_ret
       last_keypoint_count_(0) {}
 
 void DynamicDetector::GetDetectorParams(int& min_features, int& max_features, int& max_retries, double& min_thresh,
-                                        double& default_thresh, double& max_thresh) {
+                                        double& default_thresh, double& max_thresh, double& too_many_ratio,
+                                        double& too_few_ratio) {
   min_features = min_features_;
   max_features = max_features_;
   max_retries = max_retries_;
   min_thresh = min_thresh_;
   default_thresh = default_thresh_;
   max_thresh = max_thresh_;
-  }
+  too_many_ratio = too_many_ratio_;
+  too_few_ratio = too_few_ratio_;
+}
 
   void DynamicDetector::Detect(const cv::Mat& image,
                                std::vector<cv::KeyPoint>* keypoints,
@@ -268,11 +271,11 @@ void DynamicDetector::GetDetectorParams(int& min_features, int& max_features, in
 
   void FeatureDetector::GetDetectorParams(int & min_features, int & max_features, int & max_retries,
                                           double & min_thresh, double & default_thresh,
-                                          double & max_thresh) {
+                                          double & max_thresh, double & too_many_ratio, double & too_few_ratio) {
     if (detector_ == NULL)
       LOG(FATAL) << "The detector was not set.";
     detector_->GetDetectorParams(min_features, max_features, max_retries,
-                                 min_thresh, default_thresh, max_thresh);
+                                 min_thresh, default_thresh, max_thresh, too_many_ratio, too_few_ratio);
   }
 
   FeatureDetector::~FeatureDetector(void) {

diff --git a/localization/sparse_mapping/src/sparse_map.cc b/localization/sparse_mapping/src/sparse_map.cc
@@ -711,12 +711,12 @@ void SparseMap::DetectFeatures(const cv::Mat& image,
     // map-building, rather than in localization which is more
     // performance-sensitive.
     int min_features, max_features, max_retries;
-    double min_thresh, default_thresh, max_thresh;
+    double min_thresh, default_thresh, max_thresh, too_many_ratio, too_few_ratio;
     detector_.GetDetectorParams(min_features, max_features, max_retries,
-                                min_thresh, default_thresh, max_thresh);
-    interest_point::FeatureDetector local_detector(detector_.GetDetectorName(),
-                                                   min_features, max_features, max_retries,
-                                                   min_thresh, default_thresh, max_thresh);
+                                min_thresh, default_thresh, max_thresh, too_many_ratio, too_few_ratio);
+    interest_point::FeatureDetector local_detector(detector_.GetDetectorName(), min_features, max_features, max_retries,
+                                                   min_thresh, default_thresh, max_thresh, too_many_ratio,
+                                                   too_few_ratio);
     local_detector.Detect(*image_ptr, &storage, descriptors);
   }
   mutex_detector_.unlock();