public/vio
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

correct conflict

Browse Source
This commit is contained in:
gfuse
2021-10-04 21:24:49 +02:00
parent 354e112898 060d58536b
commit 259e91352a
6 changed files with 7 additions and 291 deletions
Download Patch File Download Diff File Expand all files Collapse all files
GPU_version/vio/depth_filter_log.txt
View File
GPU_version/vio/frame_handler_log.txt
-273
View File
@@ -1,273 +0,0 @@
[19:00:44.606] Init: frame zero: 0.000000, 0.000000 0.000000
[19:00:44.606] Init: Selected first frame.
[19:00:44.606] frame process finished the id is: 0 the obs is:0
[19:00:44.616] Init: px average disparity is:0.473971 ,While minimum is: 10.000000 KLT tracked : 83
[19:00:44.616] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[19:00:44.616] frame process finished the id is: 1 the obs is:0
[19:00:44.669] Init: px average disparity is:0.799725 ,While minimum is: 10.000000 KLT tracked : 83
[19:00:44.669] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[19:00:44.669] frame process finished the id is: 2 the obs is:0
[19:00:44.767] Init: px average disparity is:0.714416 ,While minimum is: 10.000000 KLT tracked : 83
[19:00:44.767] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[19:00:44.767] frame process finished the id is: 3 the obs is:0
[19:00:44.868] Init: px average disparity is:0.971124 ,While minimum is: 10.000000 KLT tracked : 83
[19:00:44.868] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[19:00:44.868] frame process finished the id is: 4 the obs is:0
[19:00:44.971] Init: px average disparity is:0.879417 ,While minimum is: 10.000000 KLT tracked : 83
[19:00:44.971] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[19:00:44.971] frame process finished the id is: 5 the obs is:0
[19:00:45.071] Init: px average disparity is:0.889379 ,While minimum is: 10.000000 KLT tracked : 83
[19:00:45.071] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[19:00:45.071] frame process finished the id is: 6 the obs is:0
[19:00:45.171] Init: px average disparity is:0.874557 ,While minimum is: 10.000000 KLT tracked : 83
[19:00:45.171] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[19:00:45.171] frame process finished the id is: 7 the obs is:0
[19:00:45.269] Init: px average disparity is:0.815383 ,While minimum is: 10.000000 KLT tracked : 83
[19:00:45.269] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[19:00:45.269] frame process finished the id is: 8 the obs is:0
[19:00:45.369] Init: px average disparity is:0.940910 ,While minimum is: 10.000000 KLT tracked : 83
[19:00:45.369] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[19:00:45.369] frame process finished the id is: 9 the obs is:0
[19:00:45.464] Odometry x=0.000000, y=0.000000, theta=-0.000000
[19:00:45.477] Init: px average disparity is:0.848222 ,While minimum is: 10.000000 KLT tracked : 83
[19:00:45.477] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[19:00:45.477] frame process finished the id is: 10 the obs is:0
[19:00:45.557] Odometry x=0.000001, y=0.000003, theta=-0.032076
[19:00:45.571] Init: px average disparity is:1.059612 ,While minimum is: 10.000000 KLT tracked : 83
[19:00:45.571] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[19:00:45.571] frame process finished the id is: 11 the obs is:0
[19:00:45.655] Odometry x=0.000002, y=0.000008, theta=-0.056003
[19:00:45.670] Init: px average disparity is:0.932428 ,While minimum is: 10.000000 KLT tracked : 83
[19:00:45.670] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[19:00:45.670] frame process finished the id is: 12 the obs is:0
[19:00:45.757] Odometry x=0.000002, y=0.000017, theta=-0.020362
[19:00:45.768] Init: px average disparity is:5.262729 ,While minimum is: 10.000000 KLT tracked : 83
[19:00:45.768] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[19:00:45.769] frame process finished the id is: 13 the obs is:0
[19:00:45.856] Odometry x=0.000002, y=0.000026, theta=-0.044279
[19:00:45.938] Init: Homography RANSAC (inlier) is:3 ,While 50 inliers minimum required. px average disparity is:12.408803 ,While minimum is: 10.000000 KLT tracked: 83
[19:00:45.938] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[19:00:45.938] frame process finished the id is: 14 the obs is:0
[19:00:45.958] Odometry x=0.000008, y=0.000031, theta=-0.064631
[19:00:46.040] Init: Homography RANSAC (inlier) is:3 ,While 50 inliers minimum required. px average disparity is:19.518357 ,While minimum is: 10.000000 KLT tracked: 83
[19:00:46.040] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[19:00:46.040] frame process finished the id is: 15 the obs is:0
[19:00:46.056] Odometry x=0.000014, y=0.000030, theta=-0.094272
[19:00:46.135] Init: Homography RANSAC (inlier) is:3 ,While 50 inliers minimum required. px average disparity is:30.053924 ,While minimum is: 10.000000 KLT tracked: 83
[19:00:46.135] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[19:00:46.135] frame process finished the id is: 16 the obs is:0
[19:00:46.159] Odometry x=0.000011, y=0.000035, theta=-0.127582
[19:00:46.245] Init: Homography RANSAC (inlier) is:7 ,While 50 inliers minimum required. px average disparity is:42.428978 ,While minimum is: 10.000000 KLT tracked: 83
[19:00:46.245] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[19:00:46.245] frame process finished the id is: 17 the obs is:0
[19:00:46.261] Odometry x=0.000010, y=0.000041, theta=-0.157710
[19:00:46.352] Init: Homography RANSAC (inlier) is:10 ,While 50 inliers minimum required. px average disparity is:52.700594 ,While minimum is: 10.000000 KLT tracked: 83
[19:00:46.352] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[19:00:46.352] frame process finished the id is: 18 the obs is:0
[19:00:46.359] Odometry x=0.000015, y=0.000060, theta=-0.185663
[19:00:46.433] Init: Homography RANSAC (inlier) is:17 ,While 50 inliers minimum required. px average disparity is:60.617139 ,While minimum is: 10.000000 KLT tracked: 83
[19:00:46.433] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[19:00:46.434] frame process finished the id is: 19 the obs is:0
[19:00:46.457] Odometry x=0.000005, y=0.000053, theta=-0.209954
[19:00:46.534] Init: Homography RANSAC (inlier) is:28 ,While 50 inliers minimum required. px average disparity is:73.339014 ,While minimum is: 10.000000 KLT tracked: 83
[19:00:46.534] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[19:00:46.534] frame process finished the id is: 20 the obs is:0
[19:00:46.558] Odometry x=0.000006, y=0.000054, theta=-0.242321
[19:00:46.632] Init: Homography RANSAC (inlier) is:34 ,While 50 inliers minimum required. px average disparity is:83.594415 ,While minimum is: 10.000000 KLT tracked: 83
[19:00:46.632] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[19:00:46.632] frame process finished the id is: 21 the obs is:0
[19:00:46.657] Odometry x=0.000014, y=0.000061, theta=-0.273941
[19:00:46.734] Init: Homography RANSAC (inlier) is:44 ,While 50 inliers minimum required. px average disparity is:90.121913 ,While minimum is: 10.000000 KLT tracked: 79
[19:00:46.734] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[19:00:46.734] frame process finished the id is: 22 the obs is:0
[19:00:46.755] Odometry x=0.000008, y=0.000070, theta=-0.302972
[19:00:46.843] Init: Homography RANSAC (inlier) is:49 ,While 50 inliers minimum required. px average disparity is:101.655556 ,While minimum is: 10.000000 KLT tracked: 78
[19:00:46.843] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[19:00:46.843] frame process finished the id is: 23 the obs is:0
[19:00:46.870] Odometry x=-0.000001, y=0.000085, theta=-0.331944
[19:00:46.934] Init: Homography RANSAC (inlier) is:49 ,While 50 inliers minimum required. px average disparity is:112.383410 ,While minimum is: 10.000000 KLT tracked: 76
[19:00:46.934] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[19:00:46.934] frame process finished the id is: 24 the obs is:0
[19:00:46.954] Odometry x=0.000009, y=0.000090, theta=-0.360283
[19:00:47.032] Init: Homography RANSAC (inlier) is:47 ,While 50 inliers minimum required. px average disparity is:127.603326 ,While minimum is: 10.000000 KLT tracked: 75
[19:00:47.032] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[19:00:47.032] frame process finished the id is: 25 the obs is:0
[19:00:47.055] Odometry x=0.000021, y=0.000094, theta=-0.388027
[19:00:47.133] Init: Homography RANSAC (inlier) is:47 ,While 50 inliers minimum required. px average disparity is:132.293300 ,While minimum is: 10.000000 KLT tracked: 74
[19:00:47.133] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[19:00:47.133] frame process finished the id is: 26 the obs is:0
[19:00:47.156] Odometry x=0.000021, y=0.000105, theta=-0.416193
[19:00:47.232] Init: Homography RANSAC (inlier) is:45 ,While 50 inliers minimum required. px average disparity is:141.620341 ,While minimum is: 10.000000 KLT tracked: 74
[19:00:47.232] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[19:00:47.232] frame process finished the id is: 27 the obs is:0
[19:00:47.256] Odometry x=0.000029, y=0.000107, theta=-0.443198
[19:00:47.342] Init: Homography RANSAC (inlier) is:45 ,While 50 inliers minimum required. px average disparity is:147.389189 ,While minimum is: 10.000000 KLT tracked: 73
[19:00:47.342] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[19:00:47.342] frame process finished the id is: 28 the obs is:0
[19:00:47.356] Odometry x=0.000032, y=0.000123, theta=-0.470818
[19:00:47.433] Init: Homography RANSAC (inlier) is:42 ,While 50 inliers minimum required. px average disparity is:157.488062 ,While minimum is: 10.000000 KLT tracked: 73
[19:00:47.433] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[19:00:47.433] frame process finished the id is: 29 the obs is:0
[19:00:47.456] Odometry x=0.000036, y=0.000133, theta=-0.499043
[19:00:47.533] Init: Homography RANSAC (inlier) is:44 ,While 50 inliers minimum required. px average disparity is:167.104507 ,While minimum is: 10.000000 KLT tracked: 72
[19:00:47.533] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[19:00:47.533] frame process finished the id is: 30 the obs is:0
[19:00:47.556] Odometry x=0.000045, y=0.000135, theta=-0.527744
[19:00:47.634] Init: Homography RANSAC (inlier) is:42 ,While 50 inliers minimum required. px average disparity is:174.971463 ,While minimum is: 10.000000 KLT tracked: 72
[19:00:47.634] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[19:00:47.634] frame process finished the id is: 31 the obs is:0
[19:00:47.656] Odometry x=0.000046, y=0.000157, theta=-0.554848
[19:00:47.732] Init: Homography RANSAC (inlier) is:40 ,While 50 inliers minimum required. px average disparity is:183.676455 ,While minimum is: 10.000000 KLT tracked: 72
[19:00:47.732] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[19:00:47.732] frame process finished the id is: 32 the obs is:0
[19:00:47.756] Odometry x=0.000052, y=0.000160, theta=-0.582837
[19:00:47.833] Init: Homography RANSAC (inlier) is:35 ,While 50 inliers minimum required. px average disparity is:192.877858 ,While minimum is: 10.000000 KLT tracked: 72
[19:00:47.833] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[19:00:47.833] frame process finished the id is: 33 the obs is:0
[19:00:47.856] Odometry x=0.000058, y=0.000173, theta=-0.612653
[19:00:47.933] Init: Homography RANSAC (inlier) is:33 ,While 50 inliers minimum required. px average disparity is:200.975313 ,While minimum is: 10.000000 KLT tracked: 72
[19:00:47.933] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[19:00:47.933] frame process finished the id is: 34 the obs is:0
[19:00:47.956] Odometry x=0.000063, y=0.000184, theta=-0.640015
[19:00:48.033] Init: Homography RANSAC (inlier) is:33 ,While 50 inliers minimum required. px average disparity is:218.061818 ,While minimum is: 10.000000 KLT tracked: 68
[19:00:48.033] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[19:00:48.033] frame process finished the id is: 35 the obs is:0
[19:00:48.056] Odometry x=0.000072, y=0.000193, theta=-0.666514
[19:00:48.133] Init: Homography RANSAC (inlier) is:35 ,While 50 inliers minimum required. px average disparity is:227.576310 ,While minimum is: 10.000000 KLT tracked: 68
[19:00:48.133] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[19:00:48.133] frame process finished the id is: 36 the obs is:0
[19:00:48.156] Odometry x=0.000084, y=0.000194, theta=-0.692234
[19:00:48.233] Init: Homography RANSAC (inlier) is:35 ,While 50 inliers minimum required. px average disparity is:237.847084 ,While minimum is: 10.000000 KLT tracked: 68
[19:00:48.233] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[19:00:48.233] frame process finished the id is: 37 the obs is:0
[19:00:48.260] Odometry x=0.000088, y=0.000203, theta=-0.716222
[19:00:48.333] Init: Homography RANSAC (inlier) is:40 ,While 50 inliers minimum required. px average disparity is:240.005752 ,While minimum is: 10.000000 KLT tracked: 67
[19:00:48.333] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[19:00:48.333] frame process finished the id is: 38 the obs is:0
[19:00:48.358] Odometry x=0.000101, y=0.000201, theta=-0.739915
[19:00:48.433] Init: Homography RANSAC (inlier) is:41 ,While 50 inliers minimum required. px average disparity is:250.076907 ,While minimum is: 10.000000 KLT tracked: 66
[19:00:48.433] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[19:00:48.433] frame process finished the id is: 39 the obs is:0
[19:00:48.457] Odometry x=0.000109, y=0.000201, theta=-0.764789
[19:00:48.533] Init: Homography RANSAC (inlier) is:40 ,While 50 inliers minimum required. px average disparity is:254.907180 ,While minimum is: 10.000000 KLT tracked: 65
[19:00:48.533] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[19:00:48.533] frame process finished the id is: 40 the obs is:0
[19:00:48.556] Odometry x=0.000107, y=0.000215, theta=-0.789204
[19:00:48.635] Init: Homography RANSAC (inlier) is:41 ,While 50 inliers minimum required. px average disparity is:260.793378 ,While minimum is: 10.000000 KLT tracked: 65
[19:00:48.635] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[19:00:48.635] frame process finished the id is: 41 the obs is:0
[19:00:48.657] Odometry x=0.000114, y=0.000218, theta=-0.814621
[19:00:48.733] Init: Homography RANSAC (inlier) is:42 ,While 50 inliers minimum required. px average disparity is:267.518219 ,While minimum is: 10.000000 KLT tracked: 65
[19:00:48.733] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[19:00:48.733] frame process finished the id is: 42 the obs is:0
[19:00:48.756] Odometry x=0.000129, y=0.000211, theta=-0.838907
[19:00:48.840] Init: Homography RANSAC (inlier) is:41 ,While 50 inliers minimum required. px average disparity is:271.233263 ,While minimum is: 10.000000 KLT tracked: 65
[19:00:48.840] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[19:00:48.840] frame process finished the id is: 43 the obs is:0
[19:00:48.856] Odometry x=0.000128, y=0.000217, theta=-0.859705
[19:00:48.933] Init: Homography RANSAC (inlier) is:39 ,While 50 inliers minimum required. px average disparity is:275.420367 ,While minimum is: 10.000000 KLT tracked: 65
[19:00:48.933] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[19:00:48.933] frame process finished the id is: 44 the obs is:0
[19:00:48.959] Odometry x=0.000134, y=0.000220, theta=-0.884868
[19:00:49.033] Init: Homography RANSAC (inlier) is:38 ,While 50 inliers minimum required. px average disparity is:284.566041 ,While minimum is: 10.000000 KLT tracked: 63
[19:00:49.033] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[19:00:49.033] frame process finished the id is: 45 the obs is:0
[19:00:49.052] Odometry x=0.000141, y=0.000223, theta=-0.911048
[19:00:49.132] Init: Homography RANSAC (inlier) is:35 ,While 50 inliers minimum required. px average disparity is:291.995306 ,While minimum is: 10.000000 KLT tracked: 61
[19:00:49.132] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[19:00:49.132] frame process finished the id is: 46 the obs is:0
[19:00:49.148] Odometry x=0.000149, y=0.000231, theta=-0.939505
[19:00:49.232] Init: Homography RANSAC (inlier) is:35 ,While 50 inliers minimum required. px average disparity is:303.980714 ,While minimum is: 10.000000 KLT tracked: 60
[19:00:49.232] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[19:00:49.232] frame process finished the id is: 47 the obs is:0
[19:00:49.251] Odometry x=0.000167, y=0.000243, theta=-0.963619
[19:00:49.332] Init: Homography RANSAC (inlier) is:35 ,While 50 inliers minimum required. px average disparity is:307.498332 ,While minimum is: 10.000000 KLT tracked: 60
[19:00:49.332] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[19:00:49.332] frame process finished the id is: 48 the obs is:0
[19:00:49.350] Odometry x=0.000174, y=0.000245, theta=-0.986702
[19:00:49.433] Init: Homography RANSAC (inlier) is:34 ,While 50 inliers minimum required. px average disparity is:316.473181 ,While minimum is: 10.000000 KLT tracked: 58
[19:00:49.433] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[19:00:49.433] frame process finished the id is: 49 the obs is:0
[19:00:49.459] Odometry x=0.000183, y=0.000257, theta=-1.017360
[19:00:49.534] Init: Homography RANSAC (inlier) is:35 ,While 50 inliers minimum required. px average disparity is:325.768615 ,While minimum is: 10.000000 KLT tracked: 57
[19:00:49.534] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[19:00:49.534] frame process finished the id is: 50 the obs is:0
[19:00:49.551] Odometry x=0.000202, y=0.000247, theta=-1.046171
[19:00:49.633] Init: Homography RANSAC (inlier) is:35 ,While 50 inliers minimum required. px average disparity is:332.044408 ,While minimum is: 10.000000 KLT tracked: 57
[19:00:49.633] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[19:00:49.633] frame process finished the id is: 51 the obs is:0
[19:00:49.649] Odometry x=0.000218, y=0.000236, theta=-1.072559
[19:00:49.733] Init: Homography RANSAC (inlier) is:35 ,While 50 inliers minimum required. px average disparity is:332.460232 ,While minimum is: 10.000000 KLT tracked: 57
[19:00:49.733] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[19:00:49.733] frame process finished the id is: 52 the obs is:0
[19:00:49.752] Odometry x=0.000221, y=0.000238, theta=-1.100897
[19:00:49.833] Init: Homography RANSAC (inlier) is:34 ,While 50 inliers minimum required. px average disparity is:333.207718 ,While minimum is: 10.000000 KLT tracked: 54
[19:00:49.833] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[19:00:49.833] frame process finished the id is: 53 the obs is:0
[19:00:49.858] Odometry x=0.000236, y=0.000239, theta=-1.132927
[19:00:49.931] Init: Homography RANSAC (inlier) is:31 ,While 50 inliers minimum required. px average disparity is:351.981230 ,While minimum is: 10.000000 KLT tracked: 45
[19:00:49.931] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[19:00:49.931] frame process finished the id is: 54 the obs is:0
[19:00:49.956] Odometry x=0.000243, y=0.000234, theta=-1.163311
[19:00:50.031] Init: Homography RANSAC (inlier) is:26 ,While 50 inliers minimum required. px average disparity is:371.991880 ,While minimum is: 10.000000 KLT tracked: 40
[19:00:50.031] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[19:00:50.031] frame process finished the id is: 55 the obs is:0
[19:00:50.049] Odometry x=0.000243, y=0.000226, theta=-1.189955
[19:00:50.130] Init: Homography RANSAC (inlier) is:17 ,While 50 inliers minimum required. px average disparity is:382.732262 ,While minimum is: 10.000000 KLT tracked: 39
[19:00:50.130] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[19:00:50.131] frame process finished the id is: 56 the obs is:0
[19:00:50.152] Odometry x=0.000251, y=0.000229, theta=-1.217019
[19:00:50.231] Init: Homography RANSAC (inlier) is:14 ,While 50 inliers minimum required. px average disparity is:390.563643 ,While minimum is: 10.000000 KLT tracked: 36
[19:00:50.231] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[19:00:50.231] frame process finished the id is: 57 the obs is:0
[19:00:50.249] Odometry x=0.000251, y=0.000217, theta=-1.241489
[19:00:50.341] Init: Homography RANSAC (inlier) is:14 ,While 50 inliers minimum required. px average disparity is:399.795167 ,While minimum is: 10.000000 KLT tracked: 35
[19:00:50.341] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[19:00:50.341] frame process finished the id is: 58 the obs is:0
[19:00:50.352] Odometry x=0.000253, y=0.000213, theta=-1.269540
[19:00:50.431] Init: Homography RANSAC (inlier) is:13 ,While 50 inliers minimum required. px average disparity is:412.235442 ,While minimum is: 10.000000 KLT tracked: 34
[19:00:50.431] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[19:00:50.431] frame process finished the id is: 59 the obs is:0
[19:00:50.450] Odometry x=0.000270, y=0.000216, theta=-1.294399
[19:00:50.531] Init: Homography RANSAC (inlier) is:13 ,While 50 inliers minimum required. px average disparity is:417.374925 ,While minimum is: 10.000000 KLT tracked: 34
[19:00:50.531] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[19:00:50.531] frame process finished the id is: 60 the obs is:0
[19:00:50.548] Odometry x=0.000278, y=0.000211, theta=-1.315688
[19:00:50.633] Init: Homography RANSAC (inlier) is:13 ,While 50 inliers minimum required. px average disparity is:421.917540 ,While minimum is: 10.000000 KLT tracked: 34
[19:00:50.633] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[19:00:50.633] frame process finished the id is: 61 the obs is:0
[19:00:50.651] Odometry x=0.000289, y=0.000214, theta=-1.339349
[19:00:50.731] Init: Homography RANSAC (inlier) is:13 ,While 50 inliers minimum required. px average disparity is:429.667852 ,While minimum is: 10.000000 KLT tracked: 33
[19:00:50.731] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[19:00:50.731] frame process finished the id is: 62 the obs is:0
[19:00:50.749] Odometry x=0.000308, y=0.000212, theta=-1.365769
[19:00:50.831] Init: Homography RANSAC (inlier) is:12 ,While 50 inliers minimum required. px average disparity is:436.227970 ,While minimum is: 10.000000 KLT tracked: 33
[19:00:50.831] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[19:00:50.831] frame process finished the id is: 63 the obs is:0
[19:00:50.852] Odometry x=0.000318, y=0.000217, theta=-1.394214
[19:00:50.931] Init: Homography RANSAC (inlier) is:6 ,While 50 inliers minimum required. px average disparity is:443.378560 ,While minimum is: 10.000000 KLT tracked: 33
[19:00:50.931] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[19:00:50.931] frame process finished the id is: 64 the obs is:0
[19:00:50.951] Odometry x=0.000320, y=0.000218, theta=-1.424681
[19:00:51.031] Init: Homography RANSAC (inlier) is:6 ,While 50 inliers minimum required. px average disparity is:448.605855 ,While minimum is: 10.000000 KLT tracked: 32
[19:00:51.031] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[19:00:51.031] frame process finished the id is: 65 the obs is:0
[19:00:51.049] Odometry x=0.000333, y=0.000215, theta=-1.449791
[19:00:51.135] Init: Homography RANSAC (inlier) is:6 ,While 50 inliers minimum required. px average disparity is:453.192396 ,While minimum is: 10.000000 KLT tracked: 30
[19:00:51.135] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[19:00:51.135] frame process finished the id is: 66 the obs is:0
[19:00:51.152] Odometry x=0.000324, y=0.000210, theta=-1.481215
[19:00:51.227] Init: Homography RANSAC (inlier) is:6 ,While 50 inliers minimum required. px average disparity is:470.768732 ,While minimum is: 10.000000 KLT tracked: 26
[19:00:51.227] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[19:00:51.227] frame process finished the id is: 67 the obs is:0
[19:00:51.252] Odometry x=0.000321, y=0.000209, theta=-1.510540
[19:00:51.326] Init: Homography RANSAC (inlier) is:4 ,While 50 inliers minimum required. px average disparity is:469.431223 ,While minimum is: 10.000000 KLT tracked: 26
[19:00:51.326] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[19:00:51.326] frame process finished the id is: 68 the obs is:0
[19:00:51.351] Odometry x=0.000327, y=0.000195, theta=-1.542459
[19:00:51.411] Init: Homography RANSAC (inlier) is:4 ,While 50 inliers minimum required. px average disparity is:485.334317 ,While minimum is: 10.000000 KLT tracked: 24
[19:00:51.411] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[19:00:51.411] frame process finished the id is: 69 the obs is:0
[19:00:51.454] Odometry x=0.000333, y=0.000191, theta=-1.568416
[19:00:51.524] Init: Homography RANSAC (inlier) is:4 ,While 50 inliers minimum required. px average disparity is:487.253639 ,While minimum is: 10.000000 KLT tracked: 24
[19:00:51.524] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000
GPU_version/vio/include/vio/cl_class.h
+2 -6
View File
@@ -34,12 +34,6 @@ public:
cl_int error;
_buffers.push_back(std::pair<std::shared_ptr<cl::Buffer>,size_t>(std::make_shared<cl::Buffer>(*context, CL_MEM_READ_WRITE | CL_MEM_USE_HOST_PTR, sizeof(T) * buf_size,buf,&error),id));
assert(error == CL_SUCCESS);
cl::Event event;
T* Map_buf=(T*)queue->enqueueMapBuffer(*_buffers.back().first,CL_NON_BLOCKING,CL_MAP_WRITE,0,sizeof(T) * buf_size,NULL,&event,&error);
event.wait();
memcpy(Map_buf,buf,sizeof(T) * buf_size);
assert(queue->enqueueUnmapMemObject(*_buffers.back().first,Map_buf,NULL,&event)==CL_SUCCESS);
event.wait();
cl_int err=_kernel->setArg(id,*_buffers.back().first);
assert(err == CL_SUCCESS);
@@ -60,6 +54,7 @@ public:
void release(size_t id/*buffer ID*/){
for(auto it=_buffers.begin();it!=_buffers.end();++it){
if((*it).second==id){
(*it).first->setDestructorCallback((void (*)(_cl_mem *, void *))notify, NULL);
(*it).first.reset();
_buffers.erase(it);
return;
@@ -67,6 +62,7 @@ public:
}
for(auto it=_images.begin();it!=_images.end();++it){
if((*it).second==id){
(*it).first->setDestructorCallback((void (*)(_cl_mem *, void *))notify, NULL);
(*it).first.reset();
_images.erase(it);
return;
GPU_version/vio/launch/Px30.launch
+1 -1
View File
@@ -1,6 +1,6 @@
<launch>
<node pkg="vio" type="vio" name="vio" clear_params="true" output="screen" />
<!-- node pkg="vio" type="vio" name="vio" clear_params="true" output="screen" / -->
<!-- Camera topic to subscribe to -->
<param name="vio/cam_topic" value="/CoreNode/grey_img" type="str" />
GPU_version/vio/src/feature_detection.cpp
+4 -11
View File
@@ -80,12 +80,12 @@ void FastDetector::detect(
int scale = (1<<L);
cv::Mat img=img_pyr.at(L);
gpu_fast_->load(0,0,img);
cl_int2 fast_corner[1000];
cl_int2 fast_corner[1000]={0};
gpu_fast_->load(0,1,1000,fast_corner);
cl_int icorner[1];
cl_int icorner[1]={0};
gpu_fast_->load(0,2,1,icorner);
gpu_fast_->run(0,img.cols,img.rows);
cl_int count[1]={0};
cl_int count[1];
gpu_fast_->read(0,2,1,count);
if(count[0]<1 ){
ROS_ERROR("Can not communicate with GPU");
@@ -93,11 +93,10 @@ void FastDetector::detect(
}
int size=count[0];
cl_int2 fast_corners[size];
std::cerr<<size<<"\n";
gpu_fast_->read(0,1,size,fast_corners);
for(uint i=0;i<size;++i)
{
if(fast_corners[i].x<5 || fast_corners[i].x>img_pyr[L].cols || fast_corners[i].y>img_pyr[L].rows || fast_corners[i].y<5){
if(fast_corners[i].x<5 || fast_corners[i].x>img_pyr[L].cols-5 || fast_corners[i].y>img_pyr[L].rows-5 || fast_corners[i].y<5){
continue;
}
float score = vk::shiTomasiScore(img_pyr[L], fast_corners[i].x, fast_corners[i].y);
@@ -116,15 +115,9 @@ void FastDetector::detect(
cv::Mat descriptor;
extractor->compute(frame->img(), keypoints, descriptor);
fts.clear();
cv::Mat debug1,debug;
debug1=frame->img().clone();
cv::cvtColor(debug1,debug,cv::COLOR_GRAY2RGB);
for(auto&& p:_for(keypoints)){
cv::circle(debug, cv::Point(p.item.pt.x, p.item.pt.y ), 2, cv::Scalar(0, 255,0),2);
fts.push_back(make_shared<Feature>(frame, Vector2d(p.item.pt.x, p.item.pt.y), p.item.response ,0,descriptor.data+(p.index*64)));
}
cv::imwrite(std::string(PROJECT_DIR)+"/test.png",debug);
//cv::waitKey();
resetGrid();
}
GPU_version/vio/test.png
BIN
View File
Binary file not shown.
Side by Side

Before

Width:  |  Height:  |  Size: 170 KiB