Method Relocalization

src/Tracking.cc:3609–3777

}

bool Tracking::Relocalization()
{
    Verbose::PrintMess("Starting relocalization", Verbose::VERBOSITY_NORMAL);
    // Compute Bag of Words Vector
    mCurrentFrame.ComputeBoW();

    // Relocalization is performed when tracking is lost
    // Track Lost: Query KeyFrame Database for keyframe candidates for relocalisation
    vector<KeyFrame*> vpCandidateKFs = mpKeyFrameDB->DetectRelocalizationCandidates(&mCurrentFrame, mpAtlas->GetCurrentMap());

    if(vpCandidateKFs.empty()) {
        Verbose::PrintMess("There are not candidates", Verbose::VERBOSITY_NORMAL);
        return false;
    }

    const int nKFs = vpCandidateKFs.size();

    // We perform first an ORB matching with each candidate
    // If enough matches are found we setup a PnP solver
    ORBmatcher matcher(0.75,true);

    vector<MLPnPsolver*> vpMLPnPsolvers;
    vpMLPnPsolvers.resize(nKFs);

    vector<vector<MapPoint*> > vvpMapPointMatches;
    vvpMapPointMatches.resize(nKFs);

    vector<bool> vbDiscarded;
    vbDiscarded.resize(nKFs);

    int nCandidates=0;

    for(int i=0; i<nKFs; i++)
    {
        KeyFrame* pKF = vpCandidateKFs[i];
        if(pKF->isBad())
            vbDiscarded[i] = true;
        else
        {
            int nmatches = matcher.SearchByBoW(pKF,mCurrentFrame,vvpMapPointMatches[i]);
            if(nmatches<15)
            {
                vbDiscarded[i] = true;
                continue;
            }
            else
            {
                MLPnPsolver* pSolver = new MLPnPsolver(mCurrentFrame,vvpMapPointMatches[i]);
                pSolver->SetRansacParameters(0.99,10,300,6,0.5,5.991);  //This solver needs at least 6 points
                vpMLPnPsolvers[i] = pSolver;
                nCandidates++;
            }
        }
    }

    // Alternatively perform some iterations of P4P RANSAC
    // Until we found a camera pose supported by enough inliers
    bool bMatch = false;