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[Issue #626] - Frame publisher function to get landmarks and keypoints with lock held #628

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merged 2 commits into from
Jan 6, 2025
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[Issue #626] - Frame publisher function to get landmarks and keypoints with lock held #628

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Keypoints & Landmark sizes do not match #626 - Add function to fetch …
Skwangles Jan 6, 2025
7423347
[#626] Refactor - Change order of function name to intuitively match …
Skwangles Jan 6, 2025
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7 changes: 7 additions & 0 deletions src/stella_vslam/publish/frame_publisher.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -94,6 +94,12 @@ std::string frame_publisher::get_tracking_state() {
return state_str;
}

std::pair<std::vector<cv::KeyPoint>, std::vector<std::shared_ptr<data::landmark>>> frame_publisher::get_keypoints_and_landmarks() {
std::lock_guard<std::mutex> lock(mtx_);

return std::make_pair(curr_keypts_, curr_lms_);
}

std::vector<cv::KeyPoint> frame_publisher::get_keypoints() {
std::lock_guard<std::mutex> lock(mtx_);
return curr_keypts_;
Expand Down Expand Up @@ -194,6 +200,7 @@ void frame_publisher::update(const std::vector<std::shared_ptr<data::landmark>>&

img.copyTo(img_);

assert(keypts.size() == curr_lms.size());
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@Skwangles Skwangles Jan 6, 2025 •
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I haven't seen anywhere in the frame_publisher that asserts this assumption, and it is not clear to me as a reader the relationship between keypts and curr_lms, so I thought i'd add one.

With the issue with iridescence viewer having these two mismatched, it just feels right to assert the assumption here to make clear their relationship and track any issues further up the chain.

curr_keypts_ = keypts;
tracking_time_elapsed_ms_ = tracking_time_elapsed_ms;
extraction_time_elapsed_ms_ = extraction_time_elapsed_ms;
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3 changes: 3 additions & 0 deletions src/stella_vslam/publish/frame_publisher.h
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Expand Up @@ -7,6 +7,7 @@
#include <mutex>
#include <vector>
#include <memory>
#include <utility>

#include <opencv2/core/mat.hpp>
#include <opencv2/core/types.hpp>
Expand Down Expand Up @@ -61,6 +62,8 @@ class frame_publisher {

std::vector<std::shared_ptr<data::landmark>> get_landmarks();

std::pair<std::vector<cv::KeyPoint>, std::vector<std::shared_ptr<data::landmark>>> get_keypoints_and_landmarks();

cv::Mat get_image();

double get_tracking_time_elapsed_ms();
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