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change the feature extracing

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This commit is contained in:
gfuse
2021-09-15 23:32:14 +02:00
parent 0203ab4af7
commit 76d5c7b926
6 changed files with 38181 additions and 54 deletions
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GPU_version/vio/depth_filter_log.txt
+37554
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GPU_version/vio/frame_handler_log.txt
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[23:28:48.392] Init: frame zero: 0.000000, 0.000000 0.000000
[23:28:48.392] Init: Selected first frame.
[23:28:48.490] Init: px average disparity is:0.052448 ,While minimum is: 40.000000 KLT tracked : 102
[23:28:48.490] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[23:28:48.583] Init: px average disparity is:0.052964 ,While minimum is: 40.000000 KLT tracked : 102
[23:28:48.584] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[23:28:48.681] Init: px average disparity is:0.062911 ,While minimum is: 40.000000 KLT tracked : 102
[23:28:48.681] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[23:28:48.781] Init: px average disparity is:0.073476 ,While minimum is: 40.000000 KLT tracked : 102
[23:28:48.781] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[23:28:48.881] Init: px average disparity is:0.050089 ,While minimum is: 40.000000 KLT tracked : 102
[23:28:48.882] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[23:28:48.982] Init: px average disparity is:0.054406 ,While minimum is: 40.000000 KLT tracked : 102
[23:28:48.982] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[23:28:49.082] Init: px average disparity is:0.066711 ,While minimum is: 40.000000 KLT tracked : 102
[23:28:49.082] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[23:28:49.182] Init: px average disparity is:0.057097 ,While minimum is: 40.000000 KLT tracked : 102
[23:28:49.182] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[23:28:49.284] Init: px average disparity is:0.065082 ,While minimum is: 40.000000 KLT tracked : 102
[23:28:49.284] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[23:28:49.385] Init: px average disparity is:0.057168 ,While minimum is: 40.000000 KLT tracked : 102
[23:28:49.385] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[23:28:49.483] Init: px average disparity is:0.054595 ,While minimum is: 40.000000 KLT tracked : 102
[23:28:49.483] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[23:28:49.585] Init: px average disparity is:0.063017 ,While minimum is: 40.000000 KLT tracked : 102
[23:28:49.585] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[23:28:49.685] Init: px average disparity is:0.058424 ,While minimum is: 40.000000 KLT tracked : 102
[23:28:49.685] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[23:28:49.782] Init: px average disparity is:0.061003 ,While minimum is: 40.000000 KLT tracked : 102
[23:28:49.782] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[23:28:49.883] Init: px average disparity is:0.071313 ,While minimum is: 40.000000 KLT tracked : 102
[23:28:49.883] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[23:28:49.983] Init: px average disparity is:0.066659 ,While minimum is: 40.000000 KLT tracked : 102
[23:28:49.983] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[23:28:50.084] Init: px average disparity is:0.171636 ,While minimum is: 40.000000 KLT tracked : 102
[23:28:50.084] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[23:28:50.185] Init: px average disparity is:1.501136 ,While minimum is: 40.000000 KLT tracked : 102
[23:28:50.185] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[23:28:50.283] Init: px average disparity is:6.279638 ,While minimum is: 40.000000 KLT tracked : 100
[23:28:50.283] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[23:28:50.381] Init: px average disparity is:4.617553 ,While minimum is: 40.000000 KLT tracked : 100
[23:28:50.381] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[23:28:50.485] Init: px average disparity is:8.337765 ,While minimum is: 40.000000 KLT tracked : 100
[23:28:50.485] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[23:28:50.582] Init: px average disparity is:12.103597 ,While minimum is: 40.000000 KLT tracked : 100
[23:28:50.582] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[23:28:50.684] Init: px average disparity is:18.030606 ,While minimum is: 40.000000 KLT tracked : 100
[23:28:50.684] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[23:28:50.882] Init: px average disparity is:14.376476 ,While minimum is: 40.000000 KLT tracked : 100
[23:28:50.882] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[23:28:51.183] Init: px average disparity is:15.264566 ,While minimum is: 40.000000 KLT tracked : 100
[23:28:51.183] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[23:28:51.282] Init: px average disparity is:16.358370 ,While minimum is: 40.000000 KLT tracked : 100
[23:28:51.282] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[23:28:51.383] Init: px average disparity is:18.518117 ,While minimum is: 40.000000 KLT tracked : 100
[23:28:51.383] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[23:28:51.483] Init: px average disparity is:24.564097 ,While minimum is: 40.000000 KLT tracked : 100
[23:28:51.483] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[23:28:51.583] Init: px average disparity is:24.891076 ,While minimum is: 40.000000 KLT tracked : 100
[23:28:51.583] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[23:28:51.685] Init: px average disparity is:26.365676 ,While minimum is: 40.000000 KLT tracked : 100
[23:28:51.685] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[23:28:51.785] Init: px average disparity is:28.877948 ,While minimum is: 40.000000 KLT tracked : 98
[23:28:51.785] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[23:28:51.884] Init: px average disparity is:37.186773 ,While minimum is: 40.000000 KLT tracked : 98
[23:28:51.884] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[23:28:51.986] Init: px average disparity is:32.462930 ,While minimum is: 40.000000 KLT tracked : 97
[23:28:51.986] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[23:28:52.086] Init: px average disparity is:36.784616 ,While minimum is: 40.000000 KLT tracked : 96
[23:28:52.086] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[23:28:52.256] homography: x=65.288064 y=144.462449 z=1.161827 roll=-0.000000 pitch=0.001778 yaw=-0.000000 ekf: x=-0.004020 z=0.131734 pitch=-0.044629
[23:28:52.256] homography after fuse: x=-0.004020 y=0.000000 z=0.131734 pitch=-0.044629 number of outlier: 60
[23:28:52.256] Init finished: Homography RANSAC (inlier) is:36 ,While 30 inliers minimum required. px average disparity is:40.183489 ,While minimum is: 40.000000 KLT tracked: 96
[23:28:52.256] Init: distance between the first and current frame is x:-0.004020 ,z=0.131734,angle between two frames: -0.044629
[23:28:52.256] Init: Selected Second frame. The number of features: 36
[23:28:52.455] After Reprojection Map nPoint:25 ,nCell:23 ,nMatches:3 ,distance between two frames x:-0.000439 ,z=0.000731,angle between two frames:0.002829
[23:28:52.455] n deleted obs = 2 n obs felt =1 error init =0.770177 error end=0.625259
[23:28:52.455] After pose optimization, distance between two frames x:-0.069135 ,z=-0.021359,angle between two frames:0.086475
[23:28:52.455] Update EKF and 3D points, distance between two frames x:-0.064695 ,z=-0.019273,angle between two frames:0.082508
[23:28:52.637] After Reprojection Map nPoint:23 ,nCell:19 ,nMatches:5 ,distance between two frames x:0.026266 ,z=0.012348,angle between two frames:0.023073
[23:28:52.637] n deleted obs = 2 n obs felt =5 error init =0.363924 error end=0.363924
[23:28:52.637] After pose optimization, distance between two frames x:0.026266 ,z=0.012348,angle between two frames:0.023073
[23:28:52.637] Update EKF and 3D points, distance between two frames x:0.026265 ,z=0.012681,angle between two frames:0.022762
[23:28:52.834] After Reprojection Map nPoint:26 ,nCell:25 ,nMatches:3 ,distance between two frames x:0.000722 ,z=-0.000230,angle between two frames:0.000002
[23:28:52.834] n deleted obs = 1 n obs felt =3 error init =0.390199 error end=0.390199
[23:28:52.834] After pose optimization, distance between two frames x:0.000722 ,z=-0.000230,angle between two frames:0.000002
[23:28:52.834] Update EKF and 3D points, distance between two frames x:0.000688 ,z=0.000528,angle between two frames:0.001481
[23:28:53.042] After Reprojection Map nPoint:26 ,nCell:24 ,nMatches:6 ,distance between two frames x:-0.004413 ,z=0.007409,angle between two frames:0.022250
[23:28:53.042] n deleted obs = 3 n obs felt =3 error init =0.901694 error end=0.799827
[23:28:53.042] After pose optimization, distance between two frames x:0.081945 ,z=-0.793097,angle between two frames:0.070590
[23:28:53.219] After Reprojection Map nPoint:27 ,nCell:26 ,nMatches:6 ,distance between two frames x:-0.003225 ,z=0.000458,angle between two frames:0.004876
[23:28:53.219] n deleted obs = 4 n obs felt =4 error init =0.567107 error end=0.567107
[23:28:53.219] After pose optimization, distance between two frames x:-0.003225 ,z=0.000458,angle between two frames:0.004876
[23:28:53.219] Update EKF and 3D points, distance between two frames x:-0.003059 ,z=0.001071,angle between two frames:0.005323
[23:28:53.402] After Reprojection Map nPoint:31 ,nCell:29 ,nMatches:6 ,distance between two frames x:-0.000154 ,z=0.005229,angle between two frames:0.003224
[23:28:53.402] n deleted obs = 5 n obs felt =4 error init =0.570168 error end=0.570168
[23:28:53.402] After pose optimization, distance between two frames x:-0.000154 ,z=0.005229,angle between two frames:0.003224
[23:28:53.402] Update EKF and 3D points, distance between two frames x:-0.000117 ,z=0.005778,angle between two frames:0.002577
[23:28:53.574] After Reprojection Map nPoint:28 ,nCell:27 ,nMatches:4 ,distance between two frames x:-0.034416 ,z=0.013918,angle between two frames:0.043302
[23:28:53.574] n deleted obs = 1 n obs felt =5 error init =0.302259 error end=0.302122
[23:28:53.574] After pose optimization, distance between two frames x:-0.032888 ,z=0.013710,angle between two frames:0.043762
[23:28:53.574] Update EKF and 3D points, distance between two frames x:-0.030983 ,z=0.013748,angle between two frames:0.039457
[23:28:53.739] After Reprojection Map nPoint:30 ,nCell:29 ,nMatches:4 ,distance between two frames x:0.011690 ,z=0.000196,angle between two frames:0.026551
[23:28:53.739] n deleted obs = 4 n obs felt =0 error init =1.195659 error end=0.829664
[23:28:53.739] After pose optimization, distance between two frames x:-0.111117 ,z=-0.084241,angle between two frames:0.196858
[23:28:53.739] Update EKF and 3D points, distance between two frames x:-0.103989 ,z=-0.079005,angle between two frames:0.187226
[23:28:53.743] Image Alignment failed 0
[23:28:53.901] After Reprojection Map nPoint:33 ,nCell:30 ,nMatches:6 ,distance between two frames x:0.044062 ,z=0.032358,angle between two frames:0.059083
[23:28:53.901] n deleted obs = 4 n obs felt =6 error init =0.381333 error end=0.378152
[23:28:53.901] After pose optimization, distance between two frames x:0.078291 ,z=0.010106,angle between two frames:0.016814
[23:28:53.901] Update EKF and 3D points, distance between two frames x:0.076323 ,z=0.012031,angle between two frames:0.018664
[23:28:54.070] After Reprojection Map nPoint:29 ,nCell:26 ,nMatches:3 ,distance between two frames x:-0.012294 ,z=0.011885,angle between two frames:0.010443
[23:28:54.071] n deleted obs = 0 n obs felt =4 error init =0.153017 error end=0.150507
[23:28:54.071] After pose optimization, distance between two frames x:0.019803 ,z=-0.024315,angle between two frames:0.010411
[23:28:54.071] Update EKF and 3D points, distance between two frames x:0.017994 ,z=-0.021554,angle between two frames:0.010098
[23:28:54.225] After Reprojection Map nPoint:28 ,nCell:28 ,nMatches:1 ,distance between two frames x:-0.000000 ,z=-0.000000,angle between two frames:0.000000
[23:28:54.225] n deleted obs = 0 n obs felt =1 error init =0.431426 error end=0.431426
[23:28:54.225] After pose optimization, distance between two frames x:-0.000000 ,z=-0.000000,angle between two frames:0.000000
[23:28:54.225] Update EKF and 3D points, distance between two frames x:-0.000632 ,z=0.001311,angle between two frames:0.000784
[23:28:54.401] After Reprojection Map nPoint:25 ,nCell:20 ,nMatches:5 ,distance between two frames x:0.211226 ,z=0.343212,angle between two frames:0.289470
[23:28:54.401] n deleted obs = 4 n obs felt =1 error init =1.284545 error end=0.775370
[23:28:54.401] After pose optimization, distance between two frames x:0.655516 ,z=-0.262363,angle between two frames:0.685041
[23:28:54.554] After Reprojection Map nPoint:30 ,nCell:29 ,nMatches:11 ,distance between two frames x:-0.012279 ,z=0.416349,angle between two frames:0.458438
[23:28:54.554] n deleted obs = 9 n obs felt =5 error init =1.432272 error end=0.650388
[23:28:54.554] After pose optimization, distance between two frames x:-0.431236 ,z=0.963954,angle between two frames:0.457018
[23:28:54.734] After Reprojection Map nPoint:36 ,nCell:30 ,nMatches:10 ,distance between two frames x:0.001004 ,z=-0.000483,angle between two frames:0.002874
[23:28:54.734] n deleted obs = 5 n obs felt =12 error init =0.355844 error end=0.355844
[23:28:54.734] After pose optimization, distance between two frames x:0.001004 ,z=-0.000483,angle between two frames:0.002874
[23:28:54.734] Update EKF and 3D points, distance between two frames x:0.000938 ,z=-0.000118,angle between two frames:0.004462
[23:28:54.734] Choose frame as a key frame Scene Depth mean:0.990862 ,depth min:-30560826053.032436
[23:28:54.914] After Reprojection Map nPoint:40 ,nCell:34 ,nMatches:4 ,distance between two frames x:-0.000412 ,z=0.002254,angle between two frames:0.010025
[23:28:54.914] n deleted obs = 3 n obs felt =5 error init =0.390029 error end=0.388387
[23:28:54.914] After pose optimization, distance between two frames x:-0.002105 ,z=-0.004119,angle between two frames:0.017489
[23:28:54.914] Update EKF and 3D points, distance between two frames x:-0.002005 ,z=-0.003116,angle between two frames:0.016173
[23:28:55.093] After Reprojection Map nPoint:36 ,nCell:28 ,nMatches:6 ,distance between two frames x:0.018979 ,z=0.008538,angle between two frames:0.026241
[23:28:55.093] n deleted obs = 4 n obs felt =5 error init =0.550343 error end=0.550343
[23:28:55.093] After pose optimization, distance between two frames x:0.018979 ,z=0.008538,angle between two frames:0.026241
[23:28:55.093] Update EKF and 3D points, distance between two frames x:0.017908 ,z=0.009047,angle between two frames:0.025481
[23:28:55.252] After Reprojection Map nPoint:41 ,nCell:32 ,nMatches:8 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000000
[23:28:55.252] n deleted obs = 5 n obs felt =8 error init =0.366556 error end=0.366556
[23:28:55.252] After pose optimization, distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000000
[23:28:55.252] Update EKF and 3D points, distance between two frames x:-0.000415 ,z=0.000903,angle between two frames:0.000879
[23:28:55.412] After Reprojection Map nPoint:43 ,nCell:38 ,nMatches:8 ,distance between two frames x:-0.002451 ,z=0.005346,angle between two frames:0.005410
[23:28:55.412] n deleted obs = 4 n obs felt =10 error init =0.419843 error end=0.419843
[23:28:55.412] After pose optimization, distance between two frames x:-0.002451 ,z=0.005346,angle between two frames:0.005410
[23:28:55.412] Update EKF and 3D points, distance between two frames x:-0.002446 ,z=0.005662,angle between two frames:0.005039
[23:28:55.583] After Reprojection Map nPoint:18 ,nCell:17 ,nMatches:5 ,distance between two frames x:-0.000105 ,z=0.001967,angle between two frames:0.002329
[23:28:55.583] n deleted obs = 3 n obs felt =7 error init =0.428872 error end=0.427972
[23:28:55.583] After pose optimization, distance between two frames x:0.003312 ,z=0.001195,angle between two frames:0.001612
[23:28:55.583] Update EKF and 3D points, distance between two frames x:0.003135 ,z=0.001892,angle between two frames:0.001241
[23:28:55.747] After Reprojection Map nPoint:14 ,nCell:14 ,nMatches:4 ,distance between two frames x:-0.000330 ,z=0.004101,angle between two frames:0.002599
[23:28:55.747] n deleted obs = 3 n obs felt =3 error init =0.598680 error end=0.598680
[23:28:55.747] After pose optimization, distance between two frames x:-0.000330 ,z=0.004101,angle between two frames:0.002599
[23:28:55.747] Update EKF and 3D points, distance between two frames x:-0.000366 ,z=0.005754,angle between two frames:0.005163
[23:28:55.908] After Reprojection Map nPoint:11 ,nCell:11 ,nMatches:3 ,distance between two frames x:0.000711 ,z=0.007966,angle between two frames:0.012624
[23:28:55.908] n deleted obs = 1 n obs felt =3 error init =0.498137 error end=0.498137
[23:28:55.908] After pose optimization, distance between two frames x:0.000711 ,z=0.007966,angle between two frames:0.012624
[23:28:55.908] Update EKF and 3D points, distance between two frames x:0.000668 ,z=0.008269,angle between two frames:0.011724
[23:28:56.066] After Reprojection Map nPoint:12 ,nCell:10 ,nMatches:3 ,distance between two frames x:0.000711 ,z=0.001530,angle between two frames:0.003700
[23:28:56.066] n deleted obs = 1 n obs felt =5 error init =0.252631 error end=0.222777
[23:28:56.066] After pose optimization, distance between two frames x:-0.019813 ,z=-0.034707,angle between two frames:0.048864
[23:28:56.066] Update EKF and 3D points, distance between two frames x:-0.018641 ,z=-0.031906,angle between two frames:0.047876
[23:28:56.255] After Reprojection Map nPoint:14 ,nCell:14 ,nMatches:3 ,distance between two frames x:0.007811 ,z=0.017122,angle between two frames:0.006526
[23:28:56.255] n deleted obs = 3 n obs felt =3 error init =0.503022 error end=0.503022
[23:28:56.255] After pose optimization, distance between two frames x:0.007811 ,z=0.017122,angle between two frames:0.006526
[23:28:56.255] Update EKF and 3D points, distance between two frames x:0.007759 ,z=0.017822,angle between two frames:0.003135
[23:28:56.427] After Reprojection Map nPoint:13 ,nCell:13 ,nMatches:4 ,distance between two frames x:-0.001809 ,z=0.005087,angle between two frames:0.023712
[23:28:56.427] n deleted obs = 3 n obs felt =4 error init =0.542365 error end=0.513899
[23:28:56.427] After pose optimization, distance between two frames x:0.009469 ,z=0.030532,angle between two frames:0.007988
[23:28:56.427] Update EKF and 3D points, distance between two frames x:0.008885 ,z=0.029311,angle between two frames:0.006338
[23:28:56.593] After Reprojection Map nPoint:14 ,nCell:14 ,nMatches:4 ,distance between two frames x:-0.002535 ,z=-0.001881,angle between two frames:0.004555
[23:28:56.593] n deleted obs = 1 n obs felt =7 error init =0.308253 error end=0.304027
[23:28:56.593] After pose optimization, distance between two frames x:0.031367 ,z=0.002447,angle between two frames:0.019920
[23:28:56.593] Update EKF and 3D points, distance between two frames x:0.029326 ,z=0.002504,angle between two frames:0.017575
[23:28:56.783] After Reprojection Map nPoint:14 ,nCell:14 ,nMatches:4 ,distance between two frames x:-0.013941 ,z=-0.000761,angle between two frames:0.016643
[23:28:56.783] n deleted obs = 3 n obs felt =4 error init =0.557868 error end=0.557868
[23:28:56.783] After pose optimization, distance between two frames x:-0.013941 ,z=-0.000761,angle between two frames:0.016643
[23:28:56.783] Update EKF and 3D points, distance between two frames x:-0.013868 ,z=-0.000065,angle between two frames:0.017176
[23:28:56.938] After Reprojection Map nPoint:13 ,nCell:13 ,nMatches:5 ,distance between two frames x:0.005922 ,z=0.006887,angle between two frames:0.004682
[23:28:56.938] n deleted obs = 4 n obs felt =4 error init =0.612204 error end=0.612204
[23:28:56.938] After pose optimization, distance between two frames x:0.005922 ,z=0.006887,angle between two frames:0.004682
[23:28:56.938] Update EKF and 3D points, distance between two frames x:0.005600 ,z=0.007054,angle between two frames:0.004021
[23:28:57.116] After Reprojection Map nPoint:13 ,nCell:12 ,nMatches:5 ,distance between two frames x:-0.002227 ,z=0.000952,angle between two frames:0.003897
[23:28:57.116] n deleted obs = 2 n obs felt =6 error init =0.355414 error end=0.347863
[23:28:57.116] After pose optimization, distance between two frames x:0.035562 ,z=0.004415,angle between two frames:0.027957
[23:28:57.116] Update EKF and 3D points, distance between two frames x:0.033384 ,z=0.004856,angle between two frames:0.027000
[23:28:57.291] After Reprojection Map nPoint:14 ,nCell:13 ,nMatches:5 ,distance between two frames x:-0.013480 ,z=0.002722,angle between two frames:0.005342
[23:28:57.291] n deleted obs = 0 n obs felt =9 error init =0.148353 error end=0.145329
[23:28:57.291] After pose optimization, distance between two frames x:-0.015883 ,z=-0.017338,angle between two frames:0.023253
[23:28:57.291] Update EKF and 3D points, distance between two frames x:-0.015721 ,z=-0.015542,angle between two frames:0.021350
[23:28:57.452] After Reprojection Map nPoint:13 ,nCell:12 ,nMatches:3 ,distance between two frames x:-0.000980 ,z=-0.000097,angle between two frames:0.001127
[23:28:57.452] n deleted obs = 1 n obs felt =4 error init =0.372032 error end=0.372032
[23:28:57.452] After pose optimization, distance between two frames x:-0.000980 ,z=-0.000097,angle between two frames:0.001127
[23:28:57.452] Update EKF and 3D points, distance between two frames x:-0.000834 ,z=0.001337,angle between two frames:0.001330
[23:28:57.613] After Reprojection Map nPoint:13 ,nCell:13 ,nMatches:6 ,distance between two frames x:0.002024 ,z=0.000689,angle between two frames:0.002381
[23:28:57.613] n deleted obs = 2 n obs felt =9 error init =0.332501 error end=0.332501
[23:28:57.613] After pose optimization, distance between two frames x:0.002024 ,z=0.000689,angle between two frames:0.002381
[23:28:57.613] Update EKF and 3D points, distance between two frames x:0.001971 ,z=0.001460,angle between two frames:0.003924
[23:28:57.777] After Reprojection Map nPoint:16 ,nCell:14 ,nMatches:6 ,distance between two frames x:-0.000478 ,z=0.004731,angle between two frames:0.009059
[23:28:57.777] n deleted obs = 1 n obs felt =11 error init =0.178945 error end=0.178945
[23:28:57.777] After pose optimization, distance between two frames x:-0.000478 ,z=0.004731,angle between two frames:0.009059
[23:28:57.777] Update EKF and 3D points, distance between two frames x:-0.000456 ,z=0.005367,angle between two frames:0.008405
[23:28:57.934] After Reprojection Map nPoint:13 ,nCell:12 ,nMatches:7 ,distance between two frames x:-0.000249 ,z=0.003925,angle between two frames:0.005023
[23:28:57.934] n deleted obs = 3 n obs felt =10 error init =0.235831 error end=0.235831
[23:28:57.935] After pose optimization, distance between two frames x:-0.000249 ,z=0.003925,angle between two frames:0.005023
[23:28:57.935] Update EKF and 3D points, distance between two frames x:-0.000227 ,z=0.004251,angle between two frames:0.006676
[23:28:58.102] After Reprojection Map nPoint:16 ,nCell:16 ,nMatches:9 ,distance between two frames x:0.000076 ,z=0.001957,angle between two frames:0.011616
[23:28:58.102] n deleted obs = 3 n obs felt =13 error init =0.244355 error end=0.244355
[23:28:58.102] After pose optimization, distance between two frames x:0.000076 ,z=0.001957,angle between two frames:0.011616
[23:28:58.102] Update EKF and 3D points, distance between two frames x:0.000080 ,z=0.002597,angle between two frames:0.013025
[23:28:58.278] After Reprojection Map nPoint:16 ,nCell:14 ,nMatches:8 ,distance between two frames x:0.000280 ,z=0.003419,angle between two frames:0.008606
[23:28:58.278] n deleted obs = 1 n obs felt =14 error init =0.147026 error end=0.144153
[23:28:58.278] After pose optimization, distance between two frames x:0.020836 ,z=0.014515,angle between two frames:0.015734
[23:28:58.278] Update EKF and 3D points, distance between two frames x:0.019613 ,z=0.014522,angle between two frames:0.012408
[23:28:58.453] After Reprojection Map nPoint:17 ,nCell:17 ,nMatches:7 ,distance between two frames x:-0.007576 ,z=-0.000034,angle between two frames:0.021040
[23:28:58.453] n deleted obs = 0 n obs felt =14 error init =0.173155 error end=0.173155
[23:28:58.453] After pose optimization, distance between two frames x:-0.007576 ,z=-0.000034,angle between two frames:0.021040
[23:28:58.453] Update EKF and 3D points, distance between two frames x:-0.007578 ,z=0.001723,angle between two frames:0.021031
[23:28:58.613] After Reprojection Map nPoint:6 ,nCell:6 ,nMatches:0 ,distance between two frames x:-0.000207 ,z=0.007847,angle between two frames:0.000593
[23:28:58.616] Image Alignment failed 0
[23:28:58.695] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000001 ,z=-0.000003,angle between two frames:0.001595
[23:28:58.698] Image Alignment failed 0
[23:28:58.775] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[23:28:58.778] Image Alignment failed 0
[23:28:58.857] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=-0.000002,angle between two frames:0.000266
[23:28:58.885] Image Alignment failed 0
[23:28:58.965] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000002 ,z=-0.000015,angle between two frames:0.000183
[23:28:58.978] Image Alignment failed 0
[23:28:59.073] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=-0.000000,angle between two frames:0.002277
[23:28:59.079] Image Alignment failed 0
[23:28:59.167] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=-0.000000,angle between two frames:0.001139
[23:28:59.178] Image Alignment failed 0
[23:28:59.260] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000001 ,z=-0.000000,angle between two frames:0.003849
[23:28:59.279] Image Alignment failed 0
[23:28:59.362] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.003673
[23:28:59.379] Image Alignment failed 0
[23:28:59.458] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000006 ,z=-0.000028,angle between two frames:0.002141
[23:28:59.479] Image Alignment failed 0
[23:28:59.554] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000007 ,z=-0.000011,angle between two frames:0.006714
[23:28:59.578] Image Alignment failed 0
[23:28:59.662] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000027 ,z=-0.000000,angle between two frames:0.000765
[23:28:59.678] Image Alignment failed 0
[23:28:59.762] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=-0.000004,angle between two frames:0.005574
[23:28:59.778] Image Alignment failed 0
[23:28:59.863] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000004 ,z=-0.000005,angle between two frames:0.001821
[23:28:59.878] Image Alignment failed 0
[23:28:59.954] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=-0.000004,angle between two frames:0.001155
[23:28:59.979] Image Alignment failed 0
[23:29:00.071] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000001 ,z=-0.000001,angle between two frames:0.009021
[23:29:00.078] Image Alignment failed 0
[23:29:00.162] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000004 ,z=0.000000,angle between two frames:0.000702
[23:29:00.179] Image Alignment failed 0
[23:29:00.278] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000005 ,z=-0.000001,angle between two frames:0.001397
[23:29:00.283] Image Alignment failed 0
[23:29:00.373] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=-0.000002,angle between two frames:0.000909
[23:29:00.378] Image Alignment failed 0
[23:29:00.472] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000001 ,z=-0.000003,angle between two frames:0.002125
[23:29:00.479] Image Alignment failed 0
[23:29:00.559] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000011 ,z=-0.000001,angle between two frames:0.002214
[23:29:00.579] Image Alignment failed 0
[23:29:00.665] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000001 ,z=-0.000028,angle between two frames:0.003191
[23:29:00.678] Image Alignment failed 0
[23:29:00.757] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000650
[23:29:00.779] Image Alignment failed 0
[23:29:00.861] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000002 ,z=-0.000001,angle between two frames:0.003009
[23:29:00.878] Image Alignment failed 0
[23:29:00.964] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=-0.000012,angle between two frames:0.004945
[23:29:00.978] Image Alignment failed 0
[23:29:01.053] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000002 ,z=0.000016,angle between two frames:0.000862
[23:29:01.079] Image Alignment failed 0
[23:29:01.162] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000005 ,z=-0.000079,angle between two frames:0.002528
[23:29:01.178] Image Alignment failed 0
[23:29:01.254] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000001,angle between two frames:0.003534
[23:29:01.278] Image Alignment failed 0
[23:29:01.354] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000001 ,z=-0.000013,angle between two frames:0.005135
[23:29:01.378] Image Alignment failed 0
[23:29:01.464] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000006 ,z=-0.000001,angle between two frames:0.011615
[23:29:01.478] Image Alignment failed 0
[23:29:01.553] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000001,angle between two frames:0.001356
[23:29:01.579] Image Alignment failed 0
[23:29:01.657] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000021 ,z=-0.000049,angle between two frames:0.004430
[23:29:01.678] Image Alignment failed 0
[23:29:01.757] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000001 ,z=-0.000001,angle between two frames:0.000348
[23:29:01.778] Image Alignment failed 0
[23:29:01.862] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000002 ,z=-0.000002,angle between two frames:0.000356
[23:29:01.879] Image Alignment failed 0
[23:29:01.953] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000001 ,z=-0.000013,angle between two frames:0.000967
[23:29:01.979] Image Alignment failed 0
[23:29:02.055] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000009 ,z=-0.000001,angle between two frames:0.001042
[23:29:02.080] Image Alignment failed 0
[23:29:02.177] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000005 ,z=-0.000015,angle between two frames:0.002842
[23:29:02.181] Image Alignment failed 0
[23:29:02.271] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.001978
[23:29:02.280] Image Alignment failed 0
[23:29:02.378] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=-0.000000,angle between two frames:0.000160
[23:29:02.381] Image Alignment failed 0
[23:29:02.462] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000001 ,z=-0.000001,angle between two frames:0.001333
[23:29:02.479] Image Alignment failed 0
[23:29:02.554] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.001890
[23:29:02.581] Image Alignment failed 0
[23:29:02.660] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000002 ,z=-0.000007,angle between two frames:0.003588
[23:29:02.679] Image Alignment failed 0
[23:29:02.754] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.001448
[23:29:02.778] Image Alignment failed 0
[23:29:02.862] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000002 ,z=-0.000009,angle between two frames:0.001657
[23:29:02.879] Image Alignment failed 0
[23:29:02.974] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000002 ,z=0.000001,angle between two frames:0.002895
[23:29:02.979] Image Alignment failed 0
[23:29:03.060] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=-0.000002,angle between two frames:0.001171
[23:29:03.080] Image Alignment failed 0
[23:29:03.167] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=0.000002,angle between two frames:0.000586
[23:29:03.178] Image Alignment failed 0
[23:29:03.254] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000006 ,z=-0.000005,angle between two frames:0.000085
[23:29:03.280] Image Alignment failed 0
[23:29:03.381] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000001 ,z=0.000000,angle between two frames:0.006289
[23:29:03.386] Image Alignment failed 0
[23:29:03.470] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000001 ,z=-0.000003,angle between two frames:0.000604
[23:29:03.479] Image Alignment failed 0
[23:29:03.565] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=-0.000000,angle between two frames:0.002804
[23:29:03.579] Image Alignment failed 0
[23:29:03.660] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000003 ,z=-0.000006,angle between two frames:0.003033
[23:29:03.680] Image Alignment failed 0
[23:29:03.755] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000003 ,z=-0.000002,angle between two frames:0.006288
[23:29:03.778] Image Alignment failed 0
[23:29:03.860] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000002 ,z=-0.000001,angle between two frames:0.001817
[23:29:03.880] Image Alignment failed 0
[23:29:03.979] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000001 ,z=-0.000011,angle between two frames:0.004072
[23:29:03.983] Image Alignment failed 0
[23:29:04.078] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=-0.000003,angle between two frames:0.001580
[23:29:04.082] Image Alignment failed 0
[23:29:04.171] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000004 ,z=0.000001,angle between two frames:0.001521
[23:29:04.179] Image Alignment failed 0
[23:29:04.263] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000002 ,z=-0.000000,angle between two frames:0.000192
[23:29:04.278] Image Alignment failed 0
[23:29:04.368] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=-0.000003,angle between two frames:0.005540
[23:29:04.378] Image Alignment failed 0
[23:29:04.455] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.004120
[23:29:04.481] Image Alignment failed 0
[23:29:04.560] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000001 ,z=-0.000014,angle between two frames:0.006185
[23:29:04.580] Image Alignment failed 0
[23:29:04.670] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=0.000001,angle between two frames:0.006516
[23:29:04.679] Image Alignment failed 0
[23:29:04.758] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000011 ,z=-0.000018,angle between two frames:0.006370
[23:29:04.779] Image Alignment failed 0
[23:29:04.867] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000002,angle between two frames:0.002790
[23:29:04.879] Image Alignment failed 0
[23:29:04.957] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000001 ,z=-0.000007,angle between two frames:0.003467
[23:29:04.979] Image Alignment failed 0
[23:29:05.053] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000004 ,z=-0.000004,angle between two frames:0.002862
[23:29:05.087] Image Alignment failed 0
[23:29:05.175] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000002 ,z=-0.000013,angle between two frames:0.008363
[23:29:05.178] Image Alignment failed 0
[23:29:05.272] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=-0.000003,angle between two frames:0.000094
[23:29:05.279] Image Alignment failed 0
[23:29:05.364] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000002 ,z=-0.000001,angle between two frames:0.000848
[23:29:05.379] Image Alignment failed 0
[23:29:05.455] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000002 ,z=-0.000012,angle between two frames:0.000201
[23:29:05.479] Image Alignment failed 0
[23:29:05.560] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000033 ,z=-0.000277,angle between two frames:0.015319
[23:29:05.580] Image Alignment failed 0
[23:29:05.666] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000006 ,z=0.000003,angle between two frames:0.003063
[23:29:05.680] Image Alignment failed 0
[23:29:05.755] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000010 ,z=0.000052,angle between two frames:0.000383
[23:29:05.779] Image Alignment failed 0
[23:29:05.858] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000031 ,z=0.000157,angle between two frames:0.003662
[23:29:05.880] Image Alignment failed 0
[23:29:05.962] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000011 ,z=0.000040,angle between two frames:0.005746
[23:29:05.988] Image Alignment failed 0
[23:29:06.073] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000019 ,z=0.000178,angle between two frames:0.005697
[23:29:06.081] Image Alignment failed 0
[23:29:06.168] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000002 ,z=0.000021,angle between two frames:0.000566
[23:29:06.180] Image Alignment failed 0
[23:29:06.277] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000001 ,z=0.000008,angle between two frames:0.003977
[23:29:06.282] Image Alignment failed 0
[23:29:06.365] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000014 ,z=0.000022,angle between two frames:0.001798
[23:29:06.378] Image Alignment failed 0
[23:29:06.457] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000022 ,z=0.000073,angle between two frames:0.000641
[23:29:06.479] Image Alignment failed 0
[23:29:06.553] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000008 ,z=0.000014,angle between two frames:0.001200
[23:29:06.582] Image Alignment failed 0
[23:29:06.663] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=-0.000001,angle between two frames:0.001784
[23:29:06.678] Image Alignment failed 0
[23:29:06.754] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=-0.000001,angle between two frames:0.001688
[23:29:06.778] Image Alignment failed 0
[23:29:06.862] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000001 ,z=-0.000000,angle between two frames:0.001384
[23:29:06.879] Image Alignment failed 0
[23:29:06.953] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000001 ,z=-0.000000,angle between two frames:0.000646
[23:29:06.979] Image Alignment failed 0
[23:29:07.055] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=-0.000003,angle between two frames:0.001687
[23:29:07.080] Image Alignment failed 0
[23:29:07.162] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000923 ,z=0.005775,angle between two frames:0.000648
[23:29:07.182] Image Alignment failed 0
[23:29:07.268] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000001 ,z=-0.000002,angle between two frames:0.001043
[23:29:07.280] Image Alignment failed 0
[23:29:07.368] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=-0.000000,angle between two frames:0.000555
[23:29:07.379] Image Alignment failed 0
[23:29:07.468] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=-0.000001,angle between two frames:0.002671
[23:29:07.479] Image Alignment failed 0
[23:29:07.561] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=-0.000002,angle between two frames:0.000949
[23:29:07.581] Image Alignment failed 0
[23:29:07.664] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=-0.000000,angle between two frames:0.000429
[23:29:07.679] Image Alignment failed 0
[23:29:07.760] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=-0.000000,angle between two frames:0.000656
[23:29:07.780] Image Alignment failed 0
[23:29:07.875] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=-0.000003,angle between two frames:0.000773
[23:29:07.879] Image Alignment failed 0
[23:29:07.954] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=-0.000000,angle between two frames:0.000425
[23:29:07.979] Image Alignment failed 0
[23:29:08.056] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=-0.000000,angle between two frames:0.000571
[23:29:08.081] Image Alignment failed 0
[23:29:08.172] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=-0.000003,angle between two frames:0.005275
[23:29:08.180] Image Alignment failed 0
[23:29:08.257] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=-0.000000,angle between two frames:0.000080
[23:29:08.279] Image Alignment failed 0
[23:29:08.355] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=-0.000003,angle between two frames:0.000467
[23:29:08.381] Image Alignment failed 0
[23:29:08.475] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=-0.000001,angle between two frames:0.001412
[23:29:08.479] Image Alignment failed 0
[23:29:08.573] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=-0.000000,angle between two frames:0.000017
[23:29:08.579] Image Alignment failed 0
[23:29:08.660] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000535
[23:29:08.681] Image Alignment failed 0
[23:29:08.756] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=-0.000000,angle between two frames:0.004902
[23:29:08.779] Image Alignment failed 0
[23:29:08.855] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000002 ,z=-0.000015,angle between two frames:0.005742
[23:29:08.881] Image Alignment failed 0
[23:29:09.032] After Reprojection Map nPoint:23 ,nCell:19 ,nMatches:8 ,distance between two frames x:0.000000 ,z=-0.000004,angle between two frames:0.009097
[23:29:09.032] n deleted obs = 5 n obs felt =9 error init =0.534858 error end=0.534858
[23:29:09.032] After pose optimization, distance between two frames x:0.000000 ,z=-0.000004,angle between two frames:0.009097
[23:29:09.032] Update EKF and 3D points, distance between two frames x:-0.000069 ,z=0.000301,angle between two frames:0.010521
[23:29:09.218] After Reprojection Map nPoint:33 ,nCell:26 ,nMatches:13 ,distance between two frames x:-0.000308 ,z=0.002586,angle between two frames:0.008645
[23:29:09.218] n deleted obs = 6 n obs felt =18 error init =0.451846 error end=0.451846
[23:29:09.218] After pose optimization, distance between two frames x:-0.000308 ,z=0.002586,angle between two frames:0.008645
[23:29:09.218] Update EKF and 3D points, distance between two frames x:-0.000457 ,z=0.003171,angle between two frames:0.009853
[23:29:09.218] Choose frame as a key frame Scene Depth mean:1.678131 ,depth min:1.019774
[23:29:09.397] After Reprojection Map nPoint:40 ,nCell:29 ,nMatches:9 ,distance between two frames x:-0.000827 ,z=0.004190,angle between two frames:0.006934
[23:29:09.397] n deleted obs = 5 n obs felt =16 error init =0.389560 error end=0.389560
[23:29:09.397] After pose optimization, distance between two frames x:-0.000827 ,z=0.004190,angle between two frames:0.006934
[23:29:09.397] Update EKF and 3D points, distance between two frames x:-0.000972 ,z=0.004780,angle between two frames:0.006648
[23:29:09.574] After Reprojection Map nPoint:45 ,nCell:39 ,nMatches:17 ,distance between two frames x:-0.000869 ,z=0.003708,angle between two frames:0.001811
[23:29:09.574] n deleted obs = 7 n obs felt =21 error init =0.496947 error end=0.496947
[23:29:09.574] After pose optimization, distance between two frames x:-0.000869 ,z=0.003708,angle between two frames:0.001811
[23:29:09.574] Update EKF and 3D points, distance between two frames x:-0.001017 ,z=0.004343,angle between two frames:0.001614
[23:29:09.575] Choose frame as a key frame Scene Depth mean:1.697311 ,depth min:1.499279
[23:29:09.731] After Reprojection Map nPoint:54 ,nCell:42 ,nMatches:20 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000000
[23:29:09.731] n deleted obs = 10 n obs felt =29 error init =0.400902 error end=0.380052
[23:29:09.732] After pose optimization, distance between two frames x:-0.060954 ,z=0.100393,angle between two frames:0.102755
[23:29:09.732] Update EKF and 3D points, distance between two frames x:-0.057525 ,z=0.095072,angle between two frames:0.096236
[23:29:09.732] Choose frame as a key frame Scene Depth mean:1.849946 ,depth min:1.540070
[23:29:09.916] After Reprojection Map nPoint:68 ,nCell:55 ,nMatches:22 ,distance between two frames x:0.000189 ,z=0.000214,angle between two frames:0.000104
[23:29:09.917] n deleted obs = 6 n obs felt =37 error init =0.313786 error end=0.313786
[23:29:09.917] After pose optimization, distance between two frames x:0.000189 ,z=0.000214,angle between two frames:0.000104
[23:29:09.917] Update EKF and 3D points, distance between two frames x:0.001236 ,z=-0.001099,angle between two frames:0.002883
[23:29:09.917] Choose frame as a key frame Scene Depth mean:1.849026 ,depth min:1.500502
[23:29:10.074] After Reprojection Map nPoint:78 ,nCell:50 ,nMatches:23 ,distance between two frames x:0.006474 ,z=-0.008115,angle between two frames:0.018827
[23:29:10.074] n deleted obs = 5 n obs felt =37 error init =0.263016 error end=0.263016
[23:29:10.074] After pose optimization, distance between two frames x:0.006474 ,z=-0.008115,angle between two frames:0.018827
[23:29:10.074] Update EKF and 3D points, distance between two frames x:0.006285 ,z=-0.007490,angle between two frames:0.019398
[23:29:10.075] Choose frame as a key frame Scene Depth mean:1.760066 ,depth min:1.506603
[23:29:10.237] After Reprojection Map nPoint:89 ,nCell:68 ,nMatches:19 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000000
[23:29:10.237] n deleted obs = 7 n obs felt =32 error init =0.357712 error end=0.357712
[23:29:10.237] After pose optimization, distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000000
[23:29:10.237] Update EKF and 3D points, distance between two frames x:-0.000156 ,z=0.000524,angle between two frames:0.000364
[23:29:10.237] Choose frame as a key frame Scene Depth mean:1.857608 ,depth min:-46185644.151969
[23:29:10.410] After Reprojection Map nPoint:112 ,nCell:83 ,nMatches:27 ,distance between two frames x:-0.000967 ,z=0.003236,angle between two frames:0.002109
[23:29:10.411] n deleted obs = 6 n obs felt =43 error init =0.292441 error end=0.292441
[23:29:10.411] After pose optimization, distance between two frames x:-0.000967 ,z=0.003236,angle between two frames:0.002109
[23:29:10.411] Update EKF and 3D points, distance between two frames x:-0.001154 ,z=0.003849,angle between two frames:0.001365
[23:29:10.411] Choose frame as a key frame Scene Depth mean:1.846962 ,depth min:1.512242
[23:29:10.583] After Reprojection Map nPoint:151 ,nCell:82 ,nMatches:29 ,distance between two frames x:-0.001157 ,z=0.003787,angle between two frames:0.004874
[23:29:10.583] n deleted obs = 4 n obs felt =66 error init =0.254239 error end=0.254239
[23:29:10.583] After pose optimization, distance between two frames x:-0.001157 ,z=0.003787,angle between two frames:0.004874
[23:29:10.583] Update EKF and 3D points, distance between two frames x:-0.001345 ,z=0.004394,angle between two frames:0.005155
[23:29:10.583] Choose frame as a key frame Scene Depth mean:1.767613 ,depth min:1.127503
[23:29:10.778] After Reprojection Map nPoint:184 ,nCell:76 ,nMatches:30 ,distance between two frames x:-0.001161 ,z=0.003751,angle between two frames:0.002425
[23:29:10.779] n deleted obs = 8 n obs felt =65 error init =0.273602 error end=0.273602
[23:29:10.779] After pose optimization, distance between two frames x:-0.001161 ,z=0.003751,angle between two frames:0.002425
[23:29:10.779] Update EKF and 3D points, distance between two frames x:-0.001363 ,z=0.004356,angle between two frames:0.004953
[23:29:10.779] Choose frame as a key frame Scene Depth mean:1.765282 ,depth min:1.127343
[23:29:10.965] After Reprojection Map nPoint:218 ,nCell:96 ,nMatches:32 ,distance between two frames x:-0.001253 ,z=0.003736,angle between two frames:0.017074
[23:29:10.965] n deleted obs = 8 n obs felt =68 error init =0.252259 error end=0.252259
[23:29:10.965] After pose optimization, distance between two frames x:-0.001253 ,z=0.003736,angle between two frames:0.017074
[23:29:10.965] Update EKF and 3D points, distance between two frames x:-0.001461 ,z=0.004341,angle between two frames:0.017867
[23:29:10.966] Choose frame as a key frame Scene Depth mean:1.766837 ,depth min:1.115342
[23:29:11.137] After Reprojection Map nPoint:248 ,nCell:104 ,nMatches:37 ,distance between two frames x:-0.000000 ,z=-0.000000,angle between two frames:0.000000
[23:29:11.138] n deleted obs = 5 n obs felt =80 error init =0.233255 error end=0.233255
[23:29:11.138] After pose optimization, distance between two frames x:-0.000000 ,z=-0.000000,angle between two frames:0.000000
[23:29:11.138] Update EKF and 3D points, distance between two frames x:-0.000177 ,z=0.000520,angle between two frames:0.000373
[23:29:11.138] Choose frame as a key frame Scene Depth mean:1.768489 ,depth min:-529618052242964.375000
[23:29:11.317] After Reprojection Map nPoint:284 ,nCell:126 ,nMatches:38 ,distance between two frames x:-0.001095 ,z=0.003211,angle between two frames:0.002271
[23:29:11.317] n deleted obs = 10 n obs felt =74 error init =0.253849 error end=0.253849
[23:29:11.317] After pose optimization, distance between two frames x:-0.001095 ,z=0.003211,angle between two frames:0.002271
[23:29:11.317] Update EKF and 3D points, distance between two frames x:-0.001300 ,z=0.003817,angle between two frames:0.002388
[23:29:11.317] Choose frame as a key frame Scene Depth mean:1.771199 ,depth min:1.117148
[23:29:11.523] After Reprojection Map nPoint:321 ,nCell:130 ,nMatches:36 ,distance between two frames x:-0.001269 ,z=0.003743,angle between two frames:0.000763
[23:29:11.523] n deleted obs = 10 n obs felt =76 error init =0.289075 error end=0.289075
[23:29:11.523] After pose optimization, distance between two frames x:-0.001269 ,z=0.003743,angle between two frames:0.000763
[23:29:11.523] Update EKF and 3D points, distance between two frames x:-0.001473 ,z=0.004350,angle between two frames:0.000451
[23:29:11.524] Choose frame as a key frame Scene Depth mean:1.784076 ,depth min:-1592045551378936.750000
[23:29:11.728] After Reprojection Map nPoint:358 ,nCell:169 ,nMatches:36 ,distance between two frames x:-0.001261 ,z=0.003748,angle between two frames:0.001835
[23:29:11.728] n deleted obs = 8 n obs felt =81 error init =0.238115 error end=0.238115
[23:29:11.728] After pose optimization, distance between two frames x:-0.001261 ,z=0.003748,angle between two frames:0.001835
[23:29:11.728] Update EKF and 3D points, distance between two frames x:-0.001465 ,z=0.004354,angle between two frames:0.001926
[23:29:11.728] Choose frame as a key frame Scene Depth mean:1.779384 ,depth min:-58244264521442.484375
[23:29:11.930] After Reprojection Map nPoint:410 ,nCell:143 ,nMatches:44 ,distance between two frames x:-0.001262 ,z=0.003744,angle between two frames:0.000584
[23:29:11.930] n deleted obs = 4 n obs felt =104 error init =0.241758 error end=0.241758
[23:29:11.930] After pose optimization, distance between two frames x:-0.001262 ,z=0.003744,angle between two frames:0.000584
[23:29:11.930] Update EKF and 3D points, distance between two frames x:-0.001465 ,z=0.004355,angle between two frames:0.001273
[23:29:11.931] Choose frame as a key frame Scene Depth mean:1.784227 ,depth min:1.132727
[23:29:12.121] After Reprojection Map nPoint:418 ,nCell:121 ,nMatches:36 ,distance between two frames x:0.000000 ,z=-0.000000,angle between two frames:0.000000
[23:29:12.121] n deleted obs = 5 n obs felt =83 error init =0.246062 error end=0.246062
[23:29:12.121] After pose optimization, distance between two frames x:0.000000 ,z=-0.000000,angle between two frames:0.000000
[23:29:12.121] Update EKF and 3D points, distance between two frames x:-0.000274 ,z=0.000830,angle between two frames:0.000450
[23:29:12.121] Choose frame as a key frame Scene Depth mean:1.785230 ,depth min:1.133969
[23:29:12.344] After Reprojection Map nPoint:475 ,nCell:116 ,nMatches:38 ,distance between two frames x:-0.001665 ,z=0.005269,angle between two frames:0.002755
[23:29:12.345] n deleted obs = 5 n obs felt =97 error init =0.220975 error end=0.220975
[23:29:12.345] After pose optimization, distance between two frames x:-0.001665 ,z=0.005269,angle between two frames:0.002755
[23:29:12.345] Update EKF and 3D points, distance between two frames x:-0.001860 ,z=0.005844,angle between two frames:0.002364
[23:29:12.345] Choose frame as a key frame Scene Depth mean:1.791977 ,depth min:1.141980
[23:29:12.564] After Reprojection Map nPoint:501 ,nCell:125 ,nMatches:43 ,distance between two frames x:-0.002597 ,z=0.007823,angle between two frames:0.000290
[23:29:12.564] n deleted obs = 9 n obs felt =99 error init =0.236110 error end=0.236110
[23:29:12.564] After pose optimization, distance between two frames x:-0.002597 ,z=0.007823,angle between two frames:0.000290
[23:29:12.564] Update EKF and 3D points, distance between two frames x:-0.002804 ,z=0.008425,angle between two frames:0.001088
[23:29:12.564] Choose frame as a key frame Scene Depth mean:1.809401 ,depth min:-1287611427599.850586
[23:29:12.764] After Reprojection Map nPoint:538 ,nCell:139 ,nMatches:35 ,distance between two frames x:-0.001275 ,z=0.003719,angle between two frames:0.005005
[23:29:12.764] n deleted obs = 5 n obs felt =76 error init =0.266486 error end=0.266486
[23:29:12.764] After pose optimization, distance between two frames x:-0.001275 ,z=0.003719,angle between two frames:0.005005
[23:29:12.764] Update EKF and 3D points, distance between two frames x:-0.001484 ,z=0.004329,angle between two frames:0.005374
[23:29:12.765] Choose frame as a key frame Scene Depth mean:1.889534 ,depth min:-94884668267499.109375
[23:29:12.966] After Reprojection Map nPoint:500 ,nCell:113 ,nMatches:36 ,distance between two frames x:-0.001291 ,z=0.003766,angle between two frames:0.002507
[23:29:12.966] n deleted obs = 8 n obs felt =58 error init =0.316418 error end=0.316418
[23:29:12.966] After pose optimization, distance between two frames x:-0.001291 ,z=0.003766,angle between two frames:0.002507
[23:29:12.966] Update EKF and 3D points, distance between two frames x:-0.001499 ,z=0.004367,angle between two frames:0.002956
[23:29:12.966] Choose frame as a key frame Scene Depth mean:1.895534 ,depth min:1.509130
[23:29:13.167] After Reprojection Map nPoint:551 ,nCell:113 ,nMatches:34 ,distance between two frames x:-0.001300 ,z=0.003711,angle between two frames:0.003007
[23:29:13.167] n deleted obs = 7 n obs felt =66 error init =0.270446 error end=0.270446
[23:29:13.167] After pose optimization, distance between two frames x:-0.001300 ,z=0.003711,angle between two frames:0.003007
[23:29:13.167] Update EKF and 3D points, distance between two frames x:-0.001510 ,z=0.004319,angle between two frames:0.003159
[23:29:13.167] Choose frame as a key frame Scene Depth mean:1.903957 ,depth min:1.086618
[23:29:13.370] After Reprojection Map nPoint:600 ,nCell:106 ,nMatches:42 ,distance between two frames x:-0.001299 ,z=0.003758,angle between two frames:0.001093
[23:29:13.370] n deleted obs = 5 n obs felt =86 error init =0.277978 error end=0.277978
[23:29:13.370] After pose optimization, distance between two frames x:-0.001299 ,z=0.003758,angle between two frames:0.001093
[23:29:13.370] Update EKF and 3D points, distance between two frames x:-0.001506 ,z=0.004364,angle between two frames:0.000885
[23:29:13.371] Choose frame as a key frame Scene Depth mean:1.902599 ,depth min:-5744358801166.052734
[23:29:13.580] After Reprojection Map nPoint:566 ,nCell:96 ,nMatches:36 ,distance between two frames x:-0.001282 ,z=0.003740,angle between two frames:0.001118
[23:29:13.580] n deleted obs = 8 n obs felt =66 error init =0.277368 error end=0.277368
[23:29:13.580] After pose optimization, distance between two frames x:-0.001282 ,z=0.003740,angle between two frames:0.001118
[23:29:13.580] Update EKF and 3D points, distance between two frames x:-0.001490 ,z=0.004343,angle between two frames:0.001375
[23:29:13.800] After Reprojection Map nPoint:597 ,nCell:112 ,nMatches:40 ,distance between two frames x:-0.001283 ,z=0.003731,angle between two frames:0.001650
[23:29:13.800] n deleted obs = 3 n obs felt =81 error init =0.241880 error end=0.241880
[23:29:13.800] After pose optimization, distance between two frames x:-0.001283 ,z=0.003731,angle between two frames:0.001650
[23:29:13.800] Update EKF and 3D points, distance between two frames x:-0.001484 ,z=0.004341,angle between two frames:0.002580
[23:29:14.000] After Reprojection Map nPoint:598 ,nCell:143 ,nMatches:39 ,distance between two frames x:-0.001246 ,z=0.003768,angle between two frames:0.005550
[23:29:14.000] n deleted obs = 4 n obs felt =75 error init =0.247460 error end=0.247460
[23:29:14.000] After pose optimization, distance between two frames x:-0.001246 ,z=0.003768,angle between two frames:0.005550
[23:29:14.000] Update EKF and 3D points, distance between two frames x:-0.001456 ,z=0.004373,angle between two frames:0.004398
[23:29:14.212] After Reprojection Map nPoint:543 ,nCell:141 ,nMatches:30 ,distance between two frames x:-0.001300 ,z=0.003740,angle between two frames:0.007448
[23:29:14.212] n deleted obs = 3 n obs felt =59 error init =0.254816 error end=0.254816
[23:29:14.212] After pose optimization, distance between two frames x:-0.001300 ,z=0.003740,angle between two frames:0.007448
[23:29:14.212] Update EKF and 3D points, distance between two frames x:-0.001509 ,z=0.004327,angle between two frames:0.009459
[23:29:14.409] After Reprojection Map nPoint:550 ,nCell:141 ,nMatches:35 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[23:29:14.409] n deleted obs = 5 n obs felt =65 error init =0.242604 error end=0.242604
[23:29:14.409] After pose optimization, distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[23:29:14.409] Update EKF and 3D points, distance between two frames x:-0.000299 ,z=0.000811,angle between two frames:0.001972
[23:29:14.606] After Reprojection Map nPoint:591 ,nCell:109 ,nMatches:38 ,distance between two frames x:0.000000 ,z=-0.000000,angle between two frames:0.000000
[23:29:14.607] n deleted obs = 2 n obs felt =82 error init =0.237176 error end=0.178917
[23:29:14.607] After pose optimization, distance between two frames x:-0.079609 ,z=0.015470,angle between two frames:0.614097
[23:29:14.607] Update EKF and 3D points, distance between two frames x:-0.075304 ,z=0.015464,angle between two frames:0.577169
[23:29:14.607] Choose frame as a key frame Scene Depth mean:1.825381 ,depth min:-929495308094.948853
[23:29:14.815] After Reprojection Map nPoint:592 ,nCell:139 ,nMatches:39 ,distance between two frames x:0.026601 ,z=-0.000034,angle between two frames:0.228563
[23:29:14.818] n deleted obs = 4 n obs felt =79 error init =0.198527 error end=0.198516
[23:29:14.818] After pose optimization, distance between two frames x:0.026985 ,z=0.000319,angle between two frames:0.228563
[23:29:14.818] Update EKF and 3D points, distance between two frames x:0.026970 ,z=0.000936,angle between two frames:0.229494
[23:29:14.818] Choose frame as a key frame Scene Depth mean:1.873911 ,depth min:1.359509
[23:29:15.017] After Reprojection Map nPoint:568 ,nCell:138 ,nMatches:36 ,distance between two frames x:-0.000095 ,z=0.003812,angle between two frames:0.005855
[23:29:15.017] n deleted obs = 7 n obs felt =61 error init =0.239016 error end=0.239016
[23:29:15.017] After pose optimization, distance between two frames x:-0.000095 ,z=0.003812,angle between two frames:0.005855
[23:29:15.017] Update EKF and 3D points, distance between two frames x:-0.000091 ,z=0.004466,angle between two frames:0.005688
[23:29:15.017] Choose frame as a key frame Scene Depth mean:1.891410 ,depth min:1.219028
[23:29:15.217] After Reprojection Map nPoint:590 ,nCell:156 ,nMatches:35 ,distance between two frames x:0.000027 ,z=0.004040,angle between two frames:0.001048
[23:29:15.217] n deleted obs = 6 n obs felt =67 error init =0.246598 error end=0.246598
[23:29:
GPU_version/vio/include/vio/initialization.h
+19 -16
View File
@@ -21,6 +21,8 @@
#include <vio/cl_class.h>
#include <vio/ukf.h>
#include <vio/homography.h>
#include <vio/for_it.hpp>
#include <vio/feature.h>
namespace vio {
@@ -46,10 +48,9 @@ public:
protected:
vector<cv::Point2f> px_ref_; //!< keypoints to be tracked in reference frame.
vector<int> px_level;
list<std::shared_ptr<Feature>> features_ref_;
vector<cv::Point2f> px_cur_; //!< tracked keypoints in current frame.
vector<Vector3d> f_ref_; //!< bearing vectors corresponding to the keypoints in the reference image.
vector<Vector3d> f_cur_; //!< bearing vectors corresponding to the keypoints in the current image.
//vector<Vector3d> f_cur_; //!< bearing vectors corresponding to the keypoints in the current image.
vector<double> disparities_; //!< disparity between first and second frame.
vector<int> inliers_; //!< inliers after the geometric check (e.g., Homography).
vector<Vector3d> xyz_in_cur_; //!< 3D points computed during the geometric check.
@@ -59,20 +60,24 @@ protected:
UKF* ukf_= nullptr;
void computeHomography(
const vector<Vector3d>& f_ref,
const vector<Vector3d>& f_cur,
FramePtr frame,
list<std::shared_ptr<Feature>>& features_ref,
const vector<cv::Point2f>& px_cur_,
double focal_length,
double reprojection_threshold,
vector<int>& inliers,
vector<Vector3d>& xyz_in_cur,
SE2_5& T_cur_from_ref)
{
vector<Vector2d > uv_ref(f_ref.size());
vector<Vector2d > uv_cur(f_cur.size());
for(size_t i=0, i_max=f_ref.size(); i<i_max; ++i)
{
uv_ref[i] = vk::project2d(f_ref[i]);
uv_cur[i] = vk::project2d(f_cur[i]);
vector<Vector2d> uv_ref(features_ref.size());
vector<Vector2d> uv_cur(features_ref.size());
vector<Vector3d> f_ref(features_ref.size());
vector<Vector3d> f_cur(features_ref.size());
for(auto&& ftr:_for(features_ref)){
uv_ref.at(ftr.index) = ftr.item->px;
uv_cur.at(ftr.index) = Vector2d(px_cur_.at(ftr.index).x,px_cur_.at(ftr.index).y);
f_cur.at(ftr.index) = frame->c2f(px_cur_.at(ftr.index).x,px_cur_.at(ftr.index).y);
f_ref.at(ftr.index) = ftr.item->f;
}
vk::Homography Homography(uv_ref, uv_cur, focal_length, reprojection_threshold);
Homography.computeSE3fromMatches();
@@ -89,7 +94,7 @@ protected:
euler(0),euler(1),euler(2)
,res.second.se2().translation().x(),res.second.se2().translation().y(),res.second.pitch());
#endif
if(in>10)
if(in>20)
res=ukf_->UpdateSvo(Homography.T_c2_from_c1.translation().x(),Homography.T_c2_from_c1.translation().z(),euler(1));
vk::computeInliers(f_cur, f_ref,
res.second.se3().rotation_matrix(), res.second.se3().translation(),
@@ -108,16 +113,14 @@ protected:
void detectFeatures(
FramePtr frame,
vector<cv::Point2f>& px_vec,
vector<int>& px_lvl,
vector<Vector3d>& f_vec,
list<std::shared_ptr<Feature>>& new_features,
opencl* gpu_fast);
void trackKlt(
FramePtr frame_ref,
FramePtr frame_cur,
vector<cv::Point2f>& px_ref,
vector<cv::Point2f>& px_cur,
vector<Vector3d>& f_ref,
vector<Vector3d>& f_cur,
Features& features_ref,
vector<double>& disparities);
} // namespace initialization
} // namespace vio
GPU_version/vio/src/feature_detection.cpp
+1 -1
View File
@@ -108,7 +108,7 @@ void FastDetector::detect(
corners.at(k) = Corner(fast_corners[i].x, fast_corners[i].y, score, L, 0.0f);
// Create feature for every corner that has high enough corner score
if(corners.at(k).score > detection_threshold){
fts.push_back(make_shared<Feature>(frame, Vector2d(corners.at(k).x, corners.at(k).y), corners.at(k).level));
fts.push_back(make_shared<Feature>(frame, Vector2d(corners.at(k).x, corners.at(k).y)*scale, corners.at(k).level));
if(descriptors)keypoints.push_back(cv::KeyPoint(fast_corners[i].x*scale, fast_corners[i].y*scale, 1));
}
}
GPU_version/vio/src/initialization.cpp
+24 -36
View File
@@ -28,10 +28,9 @@ namespace initialization {
InitResult KltHomographyInit::addFirstFrame(FramePtr frame_ref)
{
reset();
detectFeatures(frame_ref, px_ref_, px_level, f_ref_, gpu_fast_);
detectFeatures(frame_ref, px_ref_, features_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.");
return FAILURE;
}
#if VIO_DEBUG
@@ -47,7 +46,7 @@ InitResult KltHomographyInit::addFirstFrame(FramePtr frame_ref)
InitResult KltHomographyInit::addSecondFrame(FramePtr frame_cur)
{
trackKlt(frame_ref_, frame_cur, px_ref_, px_cur_, f_ref_, f_cur_, disparities_);
trackKlt(frame_ref_, frame_cur, px_ref_, px_cur_, features_ref_, disparities_);
if(disparities_.size() < 1){
ukf_->UpdateSvo(0.0,0.0,0.0);
return NO_KEYFRAME;
@@ -64,8 +63,8 @@ InitResult KltHomographyInit::addSecondFrame(FramePtr frame_cur)
#endif
return NO_KEYFRAME;
}
computeHomography(
f_ref_, f_cur_,
computeHomography(frame_cur,
features_ref_, px_cur_,
frame_ref_->cam_->errorMultiplier2(), Config::poseOptimThresh(),
inliers_, xyz_in_cur_, T_cur_from_ref_);
if(inliers_.size() < Config::initMinInliers()){
@@ -82,24 +81,23 @@ InitResult KltHomographyInit::addSecondFrame(FramePtr frame_cur)
}
frame_cur->T_f_w_ = T_cur_from_ref_;
// For each inlier create 3D point and add feature in both frames
for(vector<int>::iterator it=inliers_.begin(); it!=inliers_.end(); ++it)
{
Vector2d px_cur(px_cur_[*it].x, px_cur_[*it].y);
Vector2d px_ref(px_ref_[*it].x, px_ref_[*it].y);
if(frame_cur->cam_->isInFrame(px_cur.cast<int>()*(1<<px_level[*it]), 10) && frame_ref_->cam_->isInFrame(px_ref.cast<int>()*(1<<px_level[*it]), 10))
{
Vector3d pos = frame_cur->getSE3Inv() * (xyz_in_cur_[*it]/* *scale */);
std::shared_ptr<Point> new_point = std::make_shared<Point>(pos);
for(auto&& id:inliers_){
Features::iterator first=features_ref_.begin();
std::advance(first,id);
if(frame_cur->cam_->isInFrame(Vector2d(px_cur_.at(id).x,px_cur_.at(id).y).cast<int>(), 10) &&
frame_ref_->cam_->isInFrame((*first)->px.cast<int>(), 10)){
Vector3d pos = frame_cur->getSE3Inv() * (xyz_in_cur_.at(id)/* *scale */);
std::shared_ptr<Point> new_point = std::make_shared<Point>(pos);
std::shared_ptr<Feature> ftr_cur=std::make_shared<Feature>(frame_cur, new_point, Vector2d(px_cur_.at(id).x,px_cur_.at(id).y),
frame_cur->c2f(px_cur_.at(id).x,px_cur_.at(id).y), (*first)->level);
frame_cur->addFeature(ftr_cur);
new_point->addFrameRef(ftr_cur);
std::shared_ptr<Feature> ftr_cur=std::make_shared<Feature>(frame_cur, new_point, px_cur, f_cur_[*it], px_level[*it]);
frame_cur->addFeature(ftr_cur);
new_point->addFrameRef(ftr_cur);
std::shared_ptr<Feature> ftr_ref=std::make_shared<Feature>(frame_ref_, new_point, px_ref, f_ref_[*it], px_level[*it]);
frame_ref_->addFeature(ftr_ref);
new_point->addFrameRef(ftr_ref);
}
}
std::shared_ptr<Feature> ftr_ref=std::make_shared<Feature>(frame_ref_, new_point, (*first)->px, (*first)->f, (*first)->level);
frame_ref_->addFeature(ftr_ref);
new_point->addFrameRef(ftr_ref);
}
}
#if VIO_DEBUG
fprintf(log_,"[%s] Init finished: Homography RANSAC (inlier) is:%d ,While %d inliers minimum required. px average disparity is:%f ,While minimum is: %f KLT tracked: %d\n",
vio::time_in_HH_MM_SS_MMM().c_str(),
@@ -121,11 +119,9 @@ void KltHomographyInit::reset()
void detectFeatures(
FramePtr frame,
vector<cv::Point2f>& px_vec,
vector<int>& px_lvl,
vector<Vector3d>& f_vec,
Features& new_features,
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());
@@ -133,12 +129,8 @@ void detectFeatures(
feature_detection_mut_.unlock();
// now for all maximum corners, initialize a new seed
px_vec.clear();
f_vec.clear();
for(auto&& ftr:new_features){
px_vec.push_back(cv::Point2f(ftr->px[0], ftr->px[1]));
px_lvl.push_back(ftr->level);
f_vec.push_back(ftr->f);
ftr.reset();
}
}
void trackKlt(
@@ -146,8 +138,7 @@ void trackKlt(
FramePtr frame_cur,
vector<cv::Point2f>& px_ref,
vector<cv::Point2f>& px_cur,
vector<Vector3d>& f_ref,
vector<Vector3d>& f_cur,
Features& features_ref,
vector<double>& disparities)
{
disparities.clear();
@@ -166,19 +157,16 @@ void trackKlt(
4, termcrit, cv::OPTFLOW_USE_INITIAL_FLOW);
vector<cv::Point2f>::iterator px_ref_it = px_ref.begin();
vector<cv::Point2f>::iterator px_cur_it = px_cur.begin();
vector<Vector3d>::iterator f_ref_it = f_ref.begin();
f_cur.clear(); //f_cur.reserve(px_cur.size());
//disparities.reserve(px_cur.size());
Features::iterator f_ref_it = features_ref.begin();
for(size_t i=0; px_ref_it != px_ref.end(); ++i)
{
if(!status[i])
{
px_ref_it = px_ref.erase(px_ref_it);
px_cur_it = px_cur.erase(px_cur_it);
f_ref_it = f_ref.erase(f_ref_it);
f_ref_it = features_ref.erase(f_ref_it);
continue;
}
f_cur.push_back(frame_cur->c2f(px_cur_it->x, px_cur_it->y));
disparities.push_back(Vector2d(px_ref_it->x - px_cur_it->x, px_ref_it->y - px_cur_it->y).norm());
++px_ref_it;
++px_cur_it;
GPU_version/vio/src/sparse_img_align_gpu.cpp
+1 -1
View File
@@ -54,7 +54,7 @@ size_t SparseImgAlignGpu::run(FramePtr ref_frame, FramePtr cur_frame, FILE* log)
featue_px[feature_counter_].y=(*it)->px(1);
++feature_counter_;
}
if(feature_counter_<10) // more than 10
if(!feature_counter_) // more than 10
{
return 0;
}