Increased number of buckets per frame

ZhenghaoFei · Mar 7, 2020 · ae8dfb3 · ae8dfb3
1 parent 7740ad9
commit ae8dfb3
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Showing 3 changed files with 9 additions and 9 deletions.
diff --git a/calibration/rgbd.yaml b/calibration/rgbd.yaml
@@ -5,13 +5,13 @@
 #--------------------------------------------------------------------------------------------
 
 # Camera calibration and distortion parameters (OpenCV) 
-Camera.fx: 342.367919921875
-Camera.fy: 342.367919921875
+Camera.fx: 581.367919921875
+Camera.fy: 581.367919921875
 Camera.cx: 343.889404296875
 Camera.cy: 203.87420654296875
 
-Camera.width: 480
-Camera.height: 640
+Camera.width: 640
+Camera.height: 480
 
 # Camera frames per second 
 Camera.fps: 10.0

diff --git a/src/main.cpp b/src/main.cpp
@@ -168,9 +168,9 @@ int main(int argc, char **argv)
         cv::triangulatePoints( projMatrl,  projMatrr,  pointsLeft_t0,  pointsRight_t0,  points4D_t0);
         cv::convertPointsFromHomogeneous(points4D_t0.t(), points3D_t0);
 
-        cv::Mat points3D_t1, points4D_t1;
+/*        cv::Mat points3D_t1, points4D_t1;
         cv::triangulatePoints( projMatrl,  projMatrr,  pointsLeft_t1,  pointsRight_t1,  points4D_t1);
-        cv::convertPointsFromHomogeneous(points4D_t1.t(), points3D_t1);
+        cv::convertPointsFromHomogeneous(points4D_t1.t(), points3D_t1);*/
 
         // ---------------------
         // Tracking transfomation
@@ -182,10 +182,10 @@ int main(int argc, char **argv)
         displayTracking(imageLeft_t1, pointsLeft_t0, pointsLeft_t1);
 
 
-        points4D = points4D_t0;
+/*        points4D = points4D_t0;
         frame_pose.convertTo(frame_pose32, CV_32F);
         points4D = frame_pose32 * points4D;
-        cv::convertPointsFromHomogeneous(points4D.t(), points3D);
+        cv::convertPointsFromHomogeneous(points4D.t(), points3D);*/
 
         // ------------------------------------------------
         // Intergrating and display

diff --git a/src/visualOdometry.cpp b/src/visualOdometry.cpp
@@ -103,7 +103,7 @@ void matchingFeatures(cv::Mat& imageLeft_t0, cv::Mat& imageRight_t0,
     // --------------------------------------------------------
     // Feature tracking using KLT tracker, bucketing and circular matching
     // --------------------------------------------------------
-    int bucket_size = 50;
+    int bucket_size = imageLeft_t0.rows/10;
     int features_per_bucket = 1;
     bucketingFeatures(imageLeft_t0, currentVOFeatures, bucket_size, features_per_bucket);