From 348f55ef449aa8e24e589694984e7dd76ca4aa02 Mon Sep 17 00:00:00 2001 From: VahdPourAmin Date: Sat, 24 Jul 2021 08:03:06 +0200 Subject: [PATCH] opencl kernel --- .idea/misc.xml | 2 +- GPU_version/vio/kernel/compute-residual.cl | 163 ++++++++++++++++++++- 2 files changed, 159 insertions(+), 6 deletions(-) diff --git a/.idea/misc.xml b/.idea/misc.xml index 339cee9..1dee752 100644 --- a/.idea/misc.xml +++ b/.idea/misc.xml @@ -1,6 +1,6 @@ - + \ No newline at end of file diff --git a/GPU_version/vio/kernel/compute-residual.cl b/GPU_version/vio/kernel/compute-residual.cl index 81d81d1..ee59d25 100644 --- a/GPU_version/vio/kernel/compute-residual.cl +++ b/GPU_version/vio/kernel/compute-residual.cl @@ -24,6 +24,50 @@ double3 xyz_cur(double cur_x,double cur_z,double cur_pitch,double ref_x,double r -1.0*sc_cs*ref_feature.x())+cc_ss*ref_feature.z()+cur_z+ref_x*sin(cur_pitch)-ref_z*cos(cur_pitch)); } +double3 xyz_ref(double fts_pos_x,double fts_pos_y,double fts_pos_z,double ref_x,double ref_y,double ref_z) +{ + double x = sqrt(pow((fts_pos_x - ref_x), 2)); + double y = sqrt(pow((fts_pos_y - ref_y), 2)); + double z = sqrt(pow((fts_pos_z - ref_z), 2)); + return double3(x, y, z); +} + +void jacobian_xyz2uv(double3& xyz_in_f, double6& J) +{ + double x = xyz_in_f[0]; + double y = xyz_in_f[1]; + double z_inv = 1. / xyz_in_f[2]; + double z_inv_2 = z_inv * z_inv; + + J[0] = -z_inv; // -1/z + J[1] = x * z_inv_2; // x/z^2 + J[2] = -(1.0 + pow(x,2) / z_inv_2); // -(1.0 + x^2/z^2) + + J[3] = 1e-19; // 0 + J[4] = y * z_inv_2; // y/z^2 + J[5] = -x * y / z_inv_2; // -x*y/z^2 +} + +void compute_hessain(double3& j, double9& H, double w) +{ + H[0] += j[0] * j[0] * w; + H[1] += j[0] * j[1] * w; + H[2] += j[0] * j[2] * w; + H[3] += j[1] * j[0] * w; + H[4] += j[1] * j[1] * w; + H[5] += j[1] * j[2] * w; + H[6] += j[2] * j[0] * w; + H[7] += j[2] * j[1] * w; + H[8] += j[2] * j[2] * w; +} + +void compute_Jacobian(double3& j, double& Jacobian, double r, double w) +{ + Jacobian[0] -= j[0] * r * w; + Jacobian[1] -= j[1] * r * w; + Jacobian[2] -= j[2] * r * w; +} + __kernel void compute-residual( __read_only image2d_t image_cur, // current frame __read_only image2d_t image_ref, // reference frame @@ -37,14 +81,123 @@ __kernel void compute-residual( double * Jacobian, double * chi ) { + static const int PATCH_SIZE = 4; + static const int PATCH_HALFSIZE = 2; + static const int PATCH_AREA_ = PATCH_SIZE * PATCH_SIZE; + int border = PATCH_HALFSIZE + 1; + int stride = get_image_dim(image_cur)[0]; //width, height + double scale = pow(2, (-1.0 * level)); + double focal_length = camera_model[0]; + size_t feature_counter = 0; + double chi2 = 0.0; + int n_meas_ = 0; // Prepare a suitable OpenCL image sampler. sampler_t const sampler = CLK_ADDRESS_CLAMP | CLK_FILTER_NEAREST; // Use global work feature. - int const f = get_global_id(0); - ref_feature[f].x; - ref_feature[f].y; - ref_feature[f].z; - PATCH_SIZE; + int const f = get_global_id(0); + //ref_feature[f].x; + //ref_feature[f].y; + //ref_feature[f].z; + + double u_ref = ref_feature[f].x * scale; //?????? ref_feature[f].x + double v_ref = ref_feature[f].y * scale; //?????? ref_feature[f].y + int u_ref_i = floor(u_ref); + int v_ref_i = floor(v_ref); + + // if(ref_feature[f]->point == NULL || u_ref_i - border < 0 || v_ref_i - border < 0 || //??????? ref_feature[f]->point + if(u_ref_i - border < 0 || v_ref_i - border < 0 || + u_ref_i + border >= get_image_dim(image_ref)[0] || v_ref_i + border >= get_image_dim(image_ref)[1]) + return; + + xyz_reference = xyz_ref(ref_feature[f][0], ref_feature[f][1], ref_feature[f][2], ref_pose.x, ref_pose.y, ref_pose.z); // ref_pose.y ???? + // evaluate projection jacobian + double6 frame_jac; //2X3 + jacobian_xyz2uv(xyz_reference, frame_jac); + double subpix_u_ref = u_ref - u_ref_i; + double subpix_v_ref = v_ref - v_ref_i; + double w_ref_tl = (1.0 - subpix_u_ref) * (1.0 - subpix_v_ref); + double w_ref_tr = subpix_u_ref * (1.0 - subpix_v_ref); + double w_ref_bl = (1.0 - subpix_u_ref) * subpix_v_ref; + double w_ref_br = subpix_u_ref * subpix_v_ref; + size_t pixel_counter = 0; + /// compute residual ... + double3 xyz_current = xyz_cur(cur_pose.x, cur_pose.z, cur_pose.pitch, ref_pose.x ,ref_pose.z ,ref_pose.pitch, ref_feature[f]); + double2 uv_cur_pyr = world2cam(camera_model[0], camera_model[1], camera_model[2], camera_model[3], camera_model[4], + xyz_current[0], xyz_current[1], xyz_current[2]) * scale; + double u_cur = uv_cur_pyr[0]; + double v_cur = uv_cur_pyr[1]; + int u_cur_i = floor(u_cur); + int v_cur_i = floor(v_cur); + + // check if projection is within the image + if(u_cur_i < 0 || v_cur_i < 0 || u_cur_i - border < 0 || v_cur_i - border < 0 || + u_cur_i + border >= get_image_dim(image_cur)[0] || v_cur_i + border >= get_image_dim(image_cur)[0]) + return; + // compute bilateral interpolation weights for the current image + double subpix_u_cur = u_cur - u_cur_i; + double subpix_v_cur = v_cur - v_cur_i; + double w_cur_tl = (1.0 - subpix_u_cur) * (1.0 - subpix_v_cur); + double w_cur_tr = subpix_u_cur * (1.0 - subpix_v_cur); + double w_cur_bl = (1.0 - subpix_u_cur) * subpix_v_cur; + double w_cur_br = subpix_u_cur * subpix_v_cur; + + /// TODO - check & implementation + // float* ref_patch_cache_ptr = reinterpret_cast(ref_patch_cache_.data) + patch_area_*feature_counter; + /// ... compute residual + + // float* cache_ptr = reinterpret_cast(ref_patch_cache_.data) + patch_area_*feature_counter; + for(int y = 0; y < PATCH_SIZE; ++y) + { + /// TODO - check & implementation + // uint8_t* ref_img_ptr = (uint8_t*) ref_img.data + (v_ref_i+y-patch_halfsize_)*stride + (u_ref_i-patch_halfsize_); + // uint8_t* cur_img_ptr = (uint8_t*) image_cur.data + (v_cur_i + y - patch_halfsize_) * stride + (u_cur_i - patch_halfsize_); + + // for(int x = 0; x < PATCH_SIZE; ++x, ++pixel_counter, ++ref_img_ptr, ++cache_ptr) + // for(int x = 0; x < PATCH_SIZE; ++x, ++pixel_counter, ++cur_img_ptr, ++ref_patch_cache_ptr) + for(int x = 0; x < PATCH_SIZE; ++x, ++pixel_counter, ++ref_img_ptr, ++cur_img_ptr) + { + /// TODO - check & implementation + // precompute interpolated reference patch color + // *cache_ptr = w_ref_tl*ref_img_ptr[0] + w_ref_tr*ref_img_ptr[1] + w_ref_bl*ref_img_ptr[stride] + w_ref_br*ref_img_ptr[stride+1]; + + // we use the inverse compositional: thereby we can take the gradient always at the same position + // get gradient of warped image (~gradient at warped position) + double dx = 0.5f * ((w_ref_tl * ref_img_ptr[1] + w_ref_tr * ref_img_ptr[2] + w_ref_bl * ref_img_ptr[stride+1] + w_ref_br * ref_img_ptr[stride+2]) + -(w_ref_tl * ref_img_ptr[-1] + w_ref_tr * ref_img_ptr[0] + w_ref_bl * ref_img_ptr[stride-1] + w_ref_br * ref_img_ptr[stride])); + double dy = 0.5f * ((w_ref_tl * ref_img_ptr[stride] + w_ref_tr * ref_img_ptr[1+stride] + w_ref_bl * ref_img_ptr[stride*2] + w_ref_br * ref_img_ptr[stride*2+1]) + -(w_ref_tl * ref_img_ptr[-stride] + w_ref_tr * ref_img_ptr[1-stride] + w_ref_bl * ref_img_ptr[0] + w_ref_br * ref_img_ptr[1])); + + // compute residual + /// TODO - check & implementation + // double intensity_cur = w_cur_tl * cur_img_ptr[0] + w_cur_tr * cur_img_ptr[1] + w_cur_bl * cur_img_ptr[stride] + w_cur_br * cur_img_ptr[stride+1]; + double res = intensity_cur - (ref_patch_cache_ptr[x]); + + // used to compute scale for robust cost + if(compute_weight_scale) + errors[(y * PATCH_SIZE) + x] = fabs(res) + + // robustification + double weight = 2.0; + // if(use_weights_) { // use_weights_ dafault value is false + // weight = weight_function_->value(res/scale_); + // } + + chi2 += res * res * weight; + n_meas_++; + + // if(linearize_system) + // { + // compute Jacobian, weighted Hessian and weighted "steepest descend images" (times error) + double3 j_row0 = double3(dx * frame_jac[0], dx * frame_jac[1], dx * frame_jac[2]) + double3 j_row1 = double3(dy * frame_jac[3], dy * frame_jac[4], dy * frame_jac[5]) + double3 J(j_row0 + j_row1) * (focal_length / scale); + compute_hessain(j, Hessian, weight); // H_.noalias() += J * J.transpose() * weight; + compute_Jacobian(j, Jacobian, res, weight) // Jres_.noalias() -= J * res * weight; + // } + chi = chi2 / n_meas_; + feature_counter++; + } + } }