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debug depth mines

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This commit is contained in:
gfuse
2021-10-13 19:55:36 +02:00
parent cd4418eda9
commit 08a0bbe124
3 changed files with 825 additions and 481 deletions
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GPU_version/vio/depth_filter_log.txt
+28
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@@ -0,0 +1,28 @@
[19:53:47.528] New key frame
[19:53:47.528] BA loop run
[19:53:47.529] init error: 16.678827
[19:53:47.530] end error: 0.000156
[19:53:47.626] New key frame
[19:53:47.626] BA loop run
[19:53:47.626] init error: 5.578004
[19:53:47.629] end error: 0.135229
[19:53:47.760] New key frame
[19:53:47.760] BA loop run
[19:53:47.760] init error: 11.645444
[19:53:47.761] end error: 0.000002
[19:53:47.877] New key frame
[19:53:47.877] BA loop run
[19:53:47.877] init error: 23.621901
[19:53:47.878] end error: 0.000000
[19:53:47.967] New key frame
[19:53:47.967] BA loop run
[19:53:47.968] init error: 2.238685
[19:53:47.968] end error: 0.000000
[19:53:48.433] New key frame
[19:53:48.433] BA loop run
[19:53:48.434] init error: 3.916923
[19:53:48.434] end error: 0.000339
[19:53:48.549] New key frame
[19:53:48.549] BA loop run
[19:53:48.549] init error: 28.908982
[19:53:48.550] end error: 0.000015
GPU_version/vio/frame_handler_log.txt
+789 -469
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File diff suppressed because it is too large Load Diff
GPU_version/vio/src/frame.cpp
+8 -12
View File
@@ -171,18 +171,14 @@ bool Frame::getSceneDepth(vio::Map& map,double& depth_mean, double& depth_min)
vector<double> depth_vec; vector<double> depth_vec;
for(auto it=fts_.begin(); it!=fts_.end();) for(auto it=fts_.begin(); it!=fts_.end();)
{ {
if((*it)->point != NULL) double z=w2f((*it)->point->pos_).z();
{ if((*it)->point->pos_.hasNaN() || (*it)->point->pos_.norm()==0. || z<0.05 || z > 20.0){
double z=w2f((*it)->point->pos_).z(); map.safeDeletePoint((*it)->point);
if((*it)->point->pos_.hasNaN() || (*it)->point->pos_.norm()==0. || z<0.05 || z > 20.0){ it = fts_.erase(it);
map.safeDeletePoint((*it)->point); continue;
it = fts_.erase(it); }
continue; depth_vec.push_back(z);
} ++it;
depth_vec.push_back(z);
++it;
}
++it;
} }
if(depth_vec.empty()) if(depth_vec.empty())
{ {