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solve segemtation crash

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This commit is contained in:
gfuse
2021-09-15 18:33:36 +02:00
parent d02b1b2c0b
commit 0203ab4af7
11 changed files with 22 additions and 15 deletions
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GPU_version/vio/depth_filter_log.txt
Executable
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GPU_version/vio/frame_handler_log.txt
Executable
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GPU_version/vio/include/vio/cl_class.h
+5
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@@ -25,6 +25,7 @@ public:
};
template<typename T>
int32_t write(size_t id/*buffer ID*/,T* buf,cl::CommandQueue* queue,cl::Context* context,size_t buf_size){
assert(buf);
cl_int error;
_buffers.push_back(std::pair<std::pair<cl::Buffer,size_t>,size_t>(std::pair<cl::Buffer,size_t>(cl::Buffer(*context, CL_MEM_READ_WRITE | CL_MEM_USE_HOST_PTR
, sizeof(T) * buf_size,buf,&error),
@@ -36,6 +37,7 @@ public:
};
int32_t write(size_t id/*buffer ID*/,cv::Mat& buf,cl::Context* context){
assert(!buf.empty());
cl_int error;
_images.push_back(std::pair<cl::Image2D,size_t>(cl::Image2D(*context, CL_MEM_READ_ONLY | CL_MEM_USE_HOST_PTR,
cl::ImageFormat(CL_R, CL_UNSIGNED_INT8),
@@ -51,6 +53,7 @@ public:
template<typename T>
int32_t reload(size_t id,T* buf,cl::CommandQueue* queue){
assert(buf);
cl_int error;
for(auto&& i:_buffers)if(i.second==id){
cl::Event event;
@@ -65,6 +68,7 @@ public:
return error;
};
int32_t reload(size_t id,cv::Mat& buf,cl::Context* context){
assert(!buf.empty());
cl_int error;
try{
for(auto&& i:_images)if(i.second==id){
@@ -161,6 +165,7 @@ public:
}
template<typename T>
void read(size_t id1/*kernal ID*/,size_t id2/*buffer ID*/,size_t size/*size*/, T* out){
assert(out);
cl_int error;
cl::Event event;
T* Map_buf=(T*)queue->enqueueMapBuffer(_kernels.at(id1).read(id2).first,CL_NON_BLOCKING,CL_MAP_READ,0,sizeof(T) * size,NULL,&event,&error);
GPU_version/vio/include/vio/global.h
+4 -5
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@@ -36,11 +36,8 @@ EIGEN_DEFINE_STL_VECTOR_SPECIALIZATION(Eigen::Vector3d)
EIGEN_DEFINE_STL_VECTOR_SPECIALIZATION(Eigen::Vector2d)
#endif
#include <ros/console.h>
#define SVO_DEBUG_STREAM(x) ROS_DEBUG_STREAM(x)
#define SVO_INFO_STREAM(x) ROS_INFO_STREAM(x)
#define SVO_WARN_STREAM(x) ROS_WARN_STREAM(x)
#define SVO_WARN_STREAM_THROTTLE(rate, x) ROS_WARN_STREAM_THROTTLE(rate, x)
#define SVO_ERROR_STREAM(x) ROS_ERROR_STREAM(x)
#include <boost/thread.hpp>
#include <boost/function.hpp>
namespace vio
@@ -51,6 +48,8 @@ namespace vio
const double EPS = 0.0000000001;
const double PI = 3.14159265;
static boost::mutex feature_detection_mut_;
static std::string time_in_HH_MM_SS_MMM()
{
using namespace std::chrono;
GPU_version/vio/src/depth_filter.cpp
+2
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@@ -148,9 +148,11 @@ namespace vio {
fprintf(log_,"[%s] init seeds\n",vio::time_in_HH_MM_SS_MMM().c_str());
#endif
feature_detector_->setExistingFeatures(frame->fts_);
feature_detection_mut_.lock();
feature_detector_->detect(frame, frame->img_pyr_,
Config::triangMinCornerScore(), new_features);
feature_detection_mut_.unlock();
// initialize a seed for every new feature
seeds_updating_halt_ = true;
seeds_mut_.lock();
GPU_version/vio/src/feature_detection.cpp
+1 -1
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@@ -89,7 +89,7 @@ void FastDetector::detect(
gpu_fast_->run(0,img.cols,img.rows);
int count[1]={0};
gpu_fast_->read(0,2,1,count);
cl_int2 fast_corners[350000];
cl_int2 fast_corners[350000]={0};
gpu_fast_->read(0,1,count[0],fast_corners);
for(uint i=0;i<count[0];++i)
{
GPU_version/vio/src/frame.cpp
+1 -1
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@@ -187,7 +187,7 @@ bool getSceneDepth(const Frame& frame, double& depth_mean, double& depth_min)
}
if(depth_vec.empty())
{
SVO_WARN_STREAM("Cannot set scene depth. Frame has no point-observations!");
//SVO_WARN_STREAM("Cannot set scene depth. Frame has no point-observations!");
return false;
}
depth_mean = vk::getMedian(depth_vec);
GPU_version/vio/src/frame_handler_base.cpp
+2 -7
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@@ -38,13 +38,10 @@ FrameHandlerBase::FrameHandlerBase() :
num_obs_last_(0),
tracking_quality_(TRACKING_INSUFFICIENT)
{
SVO_INFO_STREAM("SVO initialized");
}
FrameHandlerBase::~FrameHandlerBase()
{
SVO_INFO_STREAM("SVO destructor invoked");
}
bool FrameHandlerBase::startFrameProcessingCommon(const double timestamp)
@@ -58,7 +55,6 @@ bool FrameHandlerBase::startFrameProcessingCommon(const double timestamp)
if(stage_ == STAGE_PAUSED)
return false;
SVO_DEBUG_STREAM("New Frame");
// some cleanup from last iteration, can't do before because of visualization
map_.emptyTrash();
@@ -94,7 +90,6 @@ void FrameHandlerBase::resetCommon()
set_start_ = false;
tracking_quality_ = TRACKING_INSUFFICIENT;
num_obs_last_ = 0;
SVO_INFO_STREAM("RESET");
}
void FrameHandlerBase::setTrackingQuality(const size_t num_observations)
@@ -102,13 +97,13 @@ void FrameHandlerBase::setTrackingQuality(const size_t num_observations)
tracking_quality_ = TRACKING_GOOD;
if(num_observations < Config::qualityMinFts())
{
SVO_WARN_STREAM_THROTTLE(0.5, "Tracking less than "<< Config::qualityMinFts() <<" features!");
//SVO_WARN_STREAM_THROTTLE(0.5, "Tracking less than "<< Config::qualityMinFts() <<" features!");
tracking_quality_ = TRACKING_INSUFFICIENT;
}
const int feature_drop = static_cast<int>(std::min(num_obs_last_, Config::maxFts())) - num_observations;
if(feature_drop > Config::qualityMaxFtsDrop())
{
SVO_WARN_STREAM("Lost "<< feature_drop <<" features!");
//SVO_WARN_STREAM("Lost "<< feature_drop <<" features!");
tracking_quality_ = TRACKING_INSUFFICIENT;
}
}
GPU_version/vio/src/frame_handler_mono.cpp
+2
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@@ -181,7 +181,9 @@ FrameHandlerBase::UpdateResult FrameHandlerMono::processFrame()
new_frame_->Cov_ = init_f.first;
// sparse image align
SparseImgAlignGpu img_align(Config::kltMaxLevel(), Config::kltMinLevel(),30, SparseImgAlignGpu::GaussNewton, false,gpu_fast_);
feature_detection_mut_.lock();
size_t err=img_align.run(last_frame_, new_frame_, log_);
feature_detection_mut_.unlock();
if(err==-1){
#if VIO_DEBUG
fprintf(log_,"[%s] Image Alignment failed -1\n",vio::time_in_HH_MM_SS_MMM().c_str());
GPU_version/vio/src/initialization.cpp
+3 -1
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@@ -31,7 +31,7 @@ InitResult KltHomographyInit::addFirstFrame(FramePtr frame_ref)
detectFeatures(frame_ref, px_ref_, px_level, f_ref_, gpu_fast_);
if(px_ref_.size() < 100)
{
SVO_WARN_STREAM_THROTTLE(2.0, "First image has less than 100 features. Retry in more textured environment.");
// SVO_WARN_STREAM_THROTTLE(2.0, "First image has less than 100 features. Retry in more textured environment.");
return FAILURE;
}
#if VIO_DEBUG
@@ -126,9 +126,11 @@ void detectFeatures(
opencl* gpu_fast)
{
Features new_features;
feature_detection_mut_.lock();
feature_detection::FastDetector detector(
frame->img().cols, frame->img().rows, Config::gridSize(), gpu_fast,Config::nPyrLevels());
detector.detect(frame, frame->img_pyr_, Config::triangMinCornerScore(), new_features);
feature_detection_mut_.unlock();
// now for all maximum corners, initialize a new seed
px_vec.clear();
f_vec.clear();
GPU_version/vio/src/reprojector.cpp
+2
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@@ -76,9 +76,11 @@ namespace vio {
Features keypoints_cur;
cv::Ptr<cv::xfeatures2d::FREAK> extractor = cv::xfeatures2d::FREAK::create(true, true, 22.0f, 4);
cv::Ptr<cv::BFMatcher> matcher = cv::BFMatcher::create(cv::NORM_HAMMING, true);
feature_detection_mut_.lock();
feature_detection::FastDetector detector(
frame->img().cols, frame->img().rows, Config::gridSize(), gpu_fast_,Config::nPyrLevels());
detector.detect(frame, frame->img_pyr_, Config::triangMinCornerScore(), keypoints_cur,&descriptors_cur);
feature_detection_mut_.unlock();
list<pair<FramePtr, double> > close_kfs;
map_.getCloseKeyframes(frame, close_kfs);
if (!last_frame->fts_.empty())