saihv / coloc Goto Github PK

Hi, and thanks for making this code available! I am using it as reference to build a simpler application, stereo camera slam using KORAL and CUDA2KNN.

I am matching points, creating a local map, then matching each incoming frame to the local map.

If you have a minute, could you help me out with a couple of things?

I see that you add mapData with:

void setMapData(int kpNum, void* desc)
		{
			cudaMemsetAsync(d_descM, 0, 64 * (kpNum + 8), m_stream1);
			cudaMemcpyAsync(d_descM, desc, 64 * (kpNum + 8), cudaMemcpyHostToDevice, m_stream1);
			cudaStreamSynchronize(m_stream1);

			this->kpMap = kpNum;
		}

that makes sense. My issue is, if I have keypoints and descriptors from my current frame, and I want to add a subset of these to the local map, how do I do that with the descriptors?

Say that i have:

	std::vector <cv::KeyPoint> kpsR;
	std::vector<uint64_t> desc2;

And I only want to add the first 10 keypoints and descriptors to my local map.

I can just get the first 10 keypoints from the kpsL vector, but how do I do this with the descriptors, and add them to the map data as you do?

I am trying:

std::vector<cv::KeyPoint> localMap_kp;
std::vector<uint64_t> localMap_desc;


int ii = 0;
for (int i = 0; i < 10; i++)
{
	for (int j = 0; j < 8; j++)
	{
		localMap_desc.push_back(desc2[ii + j]);
	}

	ii += 8;
	localMap_kp.push_back(kpsR[i]);

}

matcher.setMapData(localMap_kp.size(), localMap_desc);


 //match to this map
detector.extractFeatures(img1);
kpsL = detector.converted_kps;
matcher.matchSceneWithMap(detector.kps, detector.desc);

But this is clearly wrong. What is the right way to do this?
Thank you very much for your time!