[GSoC] Loop closure detection. #3002
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modules/rgbd/src/submap.hpp
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| template<typename MatType> | ||
| void Submap<MatType>::addEdgeToSubmap(const int tarSubmapID, const Affine3f& tarPose ) | ||
| { | ||
| // duplicate check. | ||
| auto& iter = constraints.find(tarSubmapID); | ||
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| // if there is NO edge of currSubmap to tarSubmap. | ||
| if(iter == constraints.end()) | ||
| { | ||
| // Frome pose to tarPose transformation | ||
| Affine3f estimatePose = tarPose * pose.inv(); | ||
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| // Create new Edge. | ||
| PoseConstraint& preConstrain = getConstraint(tarSubmapID); | ||
| preConstrain->accumulatePose(estimatePose, 1); | ||
| } | ||
| } |
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Hi, @savuor. When the LOOP is detected, I need to add new edges and constraints. Is this implementation right?
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modules/rgbd/src/large_kinfu.cpp
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| @@ -136,6 +143,10 @@ class LargeKinfuImpl : public LargeKinfu | |||
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| int frameCounter; | |||
| Affine3f pose; | |||
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| // Loop Closure | |||
| bool useLCD; | |||
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Do we need useLCD field? We can check lcd pointer instead
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Thanks for code reviewing. it will be updated in the next version.
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The compilation error is the use of an unimplemented function, which has been implemented at the PR 20608 for opencv/opencv. |
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@zihaomu Builds still fail with both PRs. |
@alalek Hi, Thanks for your reply. From the compiled information, it seems that there is something wrong with CN CI System.: https://build.opencv.org.cn/job/precommit/job/windows10/3115/execution/node/9/log/ |
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Use this link: http://pullrequest.opencv.org/#/summary/contrib |
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Hi @alalek. Thank you, the code has been updated, but it still fails on CI on ARM platform. I don't know how to deal with that. https://pullrequest.opencv.org/buildbot/builders/precommit-contrib_android/builds/14815/steps/compile%20release/logs/stdio |
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@zihaomu Required builds are green now. |
Merge with: opencv/opencv#20608
[GSoC] Loop closure detection.
Hi, this is a draft PR and only contains some implementation ideas.
DNN model (HF-Net) is used as a feature extractor in my project. I try to make the model support all platforms, but unfortunately, only the OpenVINO backend is currently supported. And more backend models will be supported in the future.
The
submap.cppwas moved toopencv/opencv/modules/3d/include/opencv2/3d/detail/submap.hpp.So I made a new PR 20608 for
opencv/opencv.Pull Request Readiness Checklist
See details at https://github.com/opencv/opencv/wiki/How_to_contribute#making-a-good-pull-request
Patch to opencv_extra has the same branch name.