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gfuse
2021-08-18 08:11:35 +02:00
parent 941577314c
commit 7dc930d13e
5 changed files with 112 additions and 98 deletions
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GPU_version/vio/kernel/compute-residual.cl
+97 -83
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@@ -35,6 +35,17 @@ void jacobian_xyz2uv(double3 xyz_in_f, double* J)
*(J + 4) = (xyz_in_f[1]) * ((1. / xyz_in_f[2]) * (1. / xyz_in_f[2])); // y/z^2
*(J + 5) = -(xyz_in_f[0]) * (xyz_in_f[1]) / ((1. / xyz_in_f[2]) * (1. / xyz_in_f[2])); // -x*y/z^2
}
void jacobian_xyz2uv_2(double3 xyz_in_f, double3 ref_pose, double3 cur_pose, double* J)
{
double3 txtytetha = cur_pose - ref_pose;
double2 uv = world2cam(xyz_in_f);
*(J + 0) = 1.0;
*(J + 1) = 0.0;
*(J + 2) = ((-1 * sin(txtytetha[2]) * cos(ref_pose[2])) - (cos(txtytetha[2]) * sin(ref_pose[2]))) * uv[0] + ((cos(txtytetha[2]) * cos(ref_pose[2])) - (sin(txtytetha[2]) * sin(ref_pose[2]))) * uv[1];
*(J + 3) = 0.0;
*(J + 4) = 1.0;
*(J + 5) = ((-1 * cos(txtytetha[2]) * cos(ref_pose[2])) + (sin(txtytetha[2]) * sin(ref_pose[2]))) * uv[0] - ((sin(txtytetha[2]) * cos(ref_pose[2])) + (cos(txtytetha[2]) * sin(ref_pose[2]))) * uv[1];
}
void compute_hessain(double3 j, __global double* H, double w)
{
*(H + 0) += j[0] * j[0] * w;
@@ -52,102 +63,105 @@ __kernel void compute_residual(
__read_only image2d_t image_cur, // current frame
__read_only image2d_t image_ref, // reference frame
__global double3 * cur_pose,//[reference frame pose{x,z,pitch}]
__global double3 * ref_pose,//[current frame pose{x,z,pitch}]
__global double3 * ref_feature, // feature on the reference frame, when we applied the distance calculation: xyz_ref((*it)->f*((*it)->point->pos_ - Eigen::Vector3d(ref_pos[0],0.0,ref_pos[1])).norm());
__global double2 * featue_px,
int level,
__global double3 * ref_pose,//[current frame pose{x,z,pitch}]
__global double3 * ref_feature, // feature on the reference frame, when we applied the distance calculation: xyz_ref((*it)->f*((*it)->point->pos_ - Eigen::Vector3d(ref_pos[0],0.0,ref_pos[1])).norm());
__global double2 * featue_px,
int level,
__global float * errors,
__global double * Hessian,
__global double3 * Jacobian,
__global double * chi,
double scale_
double scale_
)
{
double scale = pow(2.0, -level);
// Prepare a suitable OpenCL image sampler.
sampler_t const sampler = CLK_ADDRESS_CLAMP | CLK_FILTER_NEAREST;
// Use global work feature.
int f = get_global_id(0);
// check if reference with patch size is within image
double2 uv_ref = featue_px[f] * scale;
double2 uv_ref_i = floor(uv_ref);
if(uv_ref_i.x - (PATCH_HALFSIZE + 1) < 0 || uv_ref_i.y - (PATCH_HALFSIZE + 1) < 0 || uv_ref_i.x + (PATCH_HALFSIZE + 1) >= get_image_dim(image_ref)[0] || uv_ref_i.y + (PATCH_HALFSIZE + 1) >= get_image_dim(image_ref)[1])return;
// evaluate projection jacobian
double frame_jac[6]={0.0}; // 2X3
jacobian_xyz2uv(sqrt(pow(ref_feature[f] - (double3)(ref_pose[0].x,0.0,ref_pose[0].y), 2.0)), &frame_jac);
double scale = pow(2.0, -level);
// Prepare a suitable OpenCL image sampler.
sampler_t const sampler = CLK_ADDRESS_CLAMP | CLK_FILTER_NEAREST;
// Use global work feature.
int f = get_global_id(0);
// check if reference with patch size is within image
double2 uv_ref = featue_px[f] * scale;
double2 uv_ref_i = floor(uv_ref);
if(uv_ref_i.x - (PATCH_HALFSIZE + 1) < 0 || uv_ref_i.y - (PATCH_HALFSIZE + 1) < 0 || uv_ref_i.x + (PATCH_HALFSIZE + 1) >= get_image_dim(image_ref)[0] || uv_ref_i.y + (PATCH_HALFSIZE + 1) >= get_image_dim(image_ref)[1])return;
// evaluate projection jacobian
//if(f==0)
// printf("ref_feature[f]: %f %f %f\n", ref_feature[f].x, ref_feature[f].y, ref_feature[f].z);
double frame_jac[6]={0.0}; // 2X3
jacobian_xyz2uv(sqrt(pow(ref_feature[f] - (double3)(ref_pose[0].x,0.0,ref_pose[0].y), 2.0)), &frame_jac);
//jacobian_xyz2uv_2(ref_feature[f], ref_pose[0], cur_pose[0], &frame_jac);
// compute bilateral interpolation weights for reference image
double2 subpix= uv_ref - uv_ref_i;
double w_ref_tl = (1.0 - subpix.x) * (1.0 - subpix.y);
double w_ref_tr = subpix.x * (1.0 - subpix.y);
double w_ref_bl = (1.0 - subpix.x) * subpix.y;
double w_ref_br = subpix.x * subpix.y;
// compute bilateral interpolation weights for reference image
double2 subpix= uv_ref - uv_ref_i;
double w_ref_tl = (1.0 - subpix.x) * (1.0 - subpix.y);
double w_ref_tr = subpix.x * (1.0 - subpix.y);
double w_ref_bl = (1.0 - subpix.x) * subpix.y;
double w_ref_br = subpix.x * subpix.y;
// compute bilateral interpolation weights for the current image
double2 uv_cur_pyr = world2cam(xyz_cur(cur_pose[0], ref_pose[0] ,ref_feature[f])) * scale;
double2 uv_cur_i = floor(uv_cur_pyr);
double2 subpix_uv_cur = uv_cur_pyr - uv_cur_i;
double w_cur_tl = (1.0 - subpix_uv_cur.x) * (1.0 - subpix_uv_cur.y);
double w_cur_tr = subpix_uv_cur.x * (1.0 - subpix_uv_cur.y);
double w_cur_bl = (1.0 - subpix_uv_cur.x) * subpix_uv_cur.y;
double w_cur_br = subpix_uv_cur.x * subpix_uv_cur.y;
float e = 0.0;
double chi_=0.0;
for(int y = 0; y < PATCH_SIZE; ++y)
{
int ref_element_addr = (int)(uv_ref_i.y + y - PATCH_HALFSIZE) * get_image_dim(image_ref)[0] + (uv_ref_i.x - PATCH_HALFSIZE);
int cur_element_addr = (int)(uv_cur_i.y + y - PATCH_HALFSIZE) * get_image_dim(image_cur)[0] + (uv_cur_i.x - PATCH_HALFSIZE);
// compute bilateral interpolation weights for the current image
double2 uv_cur_pyr = world2cam(xyz_cur(cur_pose[0], ref_pose[0] ,ref_feature[f])) * scale;
double2 uv_cur_i = floor(uv_cur_pyr);
double2 subpix_uv_cur = uv_cur_pyr - uv_cur_i;
double w_cur_tl = (1.0 - subpix_uv_cur.x) * (1.0 - subpix_uv_cur.y);
double w_cur_tr = subpix_uv_cur.x * (1.0 - subpix_uv_cur.y);
double w_cur_bl = (1.0 - subpix_uv_cur.x) * subpix_uv_cur.y;
double w_cur_br = subpix_uv_cur.x * subpix_uv_cur.y;
float e = 0.0;
double chi_=0.0;
for(int y = 0; y < PATCH_SIZE; ++y)
{
int ref_element_addr = (int)(uv_ref_i.y + y - PATCH_HALFSIZE) * get_image_dim(image_ref)[0] + (uv_ref_i.x - PATCH_HALFSIZE);
int cur_element_addr = (int)(uv_cur_i.y + y - PATCH_HALFSIZE) * get_image_dim(image_cur)[0] + (uv_cur_i.x - PATCH_HALFSIZE);
for(int x = 0; x < PATCH_SIZE; ++x, ++ref_element_addr, ++cur_element_addr)
{
// precompute interpolated reference patch color
int2 px_reftl = (int2)( ref_element_addr % get_image_dim(image_ref)[0], ref_element_addr / get_image_dim(image_ref)[0]);
int2 px_reftr = (int2)((ref_element_addr + 1) % get_image_dim(image_ref)[0], (ref_element_addr + 1) / get_image_dim(image_ref)[0]);
int2 px_refbl = (int2)((ref_element_addr + get_image_dim(image_ref)[0]) % get_image_dim(image_ref)[0], (ref_element_addr + get_image_dim(image_ref)[0]) / get_image_dim(image_ref)[0]);
int2 px_refbr = (int2)((ref_element_addr + get_image_dim(image_ref)[0] + 1) % get_image_dim(image_ref)[0], (ref_element_addr + get_image_dim(image_ref)[0] + 1) / get_image_dim(image_ref)[0]);
double value = w_ref_tl * read_imageui(image_ref, sampler, px_reftl).x + w_ref_tr * read_imageui(image_ref, sampler, px_reftr).x +
w_ref_bl * read_imageui(image_ref, sampler, px_refbl).x + w_ref_br * read_imageui(image_ref, sampler, px_refbr).x;
for(int x = 0; x < PATCH_SIZE; ++x, ++ref_element_addr, ++cur_element_addr)
{
// precompute interpolated reference patch color
int2 px_reftl = (int2)( ref_element_addr % get_image_dim(image_ref)[0], ref_element_addr / get_image_dim(image_ref)[0]);
int2 px_reftr = (int2)((ref_element_addr + 1) % get_image_dim(image_ref)[0], (ref_element_addr + 1) / get_image_dim(image_ref)[0]);
int2 px_refbl = (int2)((ref_element_addr + get_image_dim(image_ref)[0]) % get_image_dim(image_ref)[0], (ref_element_addr + get_image_dim(image_ref)[0]) / get_image_dim(image_ref)[0]);
int2 px_refbr = (int2)((ref_element_addr + get_image_dim(image_ref)[0] + 1) % get_image_dim(image_ref)[0], (ref_element_addr + get_image_dim(image_ref)[0] + 1) / get_image_dim(image_ref)[0]);
double value = w_ref_tl * read_imageui(image_ref, sampler, px_reftl).x + w_ref_tr * read_imageui(image_ref, sampler, px_reftr).x +
w_ref_bl * read_imageui(image_ref, sampler, px_refbl).x + w_ref_br * read_imageui(image_ref, sampler, px_refbr).x;
double dx = 0.5f * ((w_ref_tl * read_imageui(image_ref, sampler, (int2) ((ref_element_addr + 1) % get_image_dim(image_ref)[0], ((ref_element_addr + 1) / get_image_dim(image_ref)[0]))).x +
w_ref_tr * read_imageui(image_ref, sampler, (int2) ((ref_element_addr + 2) % get_image_dim(image_ref)[0], ((ref_element_addr + 2) / get_image_dim(image_ref)[0]))).x +
w_ref_bl * read_imageui(image_ref, sampler, (int2) ((ref_element_addr + (get_image_dim(image_ref)[0]) + 1) % get_image_dim(image_ref)[0], ((ref_element_addr + (get_image_dim(image_ref)[0]) + 1) / get_image_dim(image_ref)[0]))).x +
w_ref_br * read_imageui(image_ref, sampler, (int2) ((ref_element_addr + (get_image_dim(image_ref)[0]) + 2) % get_image_dim(image_ref)[0], ((ref_element_addr + (get_image_dim(image_ref)[0]) + 2) / get_image_dim(image_ref)[0]))).x)
-(w_ref_tl * read_imageui(image_ref, sampler, (int2) ((ref_element_addr - 1) % get_image_dim(image_ref)[0], ((ref_element_addr - 1) / get_image_dim(image_ref)[0]))).x +
w_ref_tr * read_imageui(image_ref, sampler, (int2) ((ref_element_addr + 0) % get_image_dim(image_ref)[0], ((ref_element_addr + 0) / get_image_dim(image_ref)[0]))).x +
w_ref_bl * read_imageui(image_ref, sampler, (int2) ((ref_element_addr + (get_image_dim(image_ref)[0]) - 1) % get_image_dim(image_ref)[0], ((ref_element_addr + (get_image_dim(image_ref)[0]) - 1) / get_image_dim(image_ref)[0]))).x +
w_ref_br * read_imageui(image_ref, sampler, (int2) ((ref_element_addr + (get_image_dim(image_ref)[0])) % get_image_dim(image_ref)[0], ((ref_element_addr + (get_image_dim(image_ref)[0])) / get_image_dim(image_ref)[0]))).x));
double dx = 0.5f * ((w_ref_tl * read_imageui(image_ref, sampler, (int2) ((ref_element_addr + 1) % get_image_dim(image_ref)[0], ((ref_element_addr + 1) / get_image_dim(image_ref)[0]))).x +
w_ref_tr * read_imageui(image_ref, sampler, (int2) ((ref_element_addr + 2) % get_image_dim(image_ref)[0], ((ref_element_addr + 2) / get_image_dim(image_ref)[0]))).x +
w_ref_bl * read_imageui(image_ref, sampler, (int2) ((ref_element_addr + (get_image_dim(image_ref)[0]) + 1) % get_image_dim(image_ref)[0], ((ref_element_addr + (get_image_dim(image_ref)[0]) + 1) / get_image_dim(image_ref)[0]))).x +
w_ref_br * read_imageui(image_ref, sampler, (int2) ((ref_element_addr + (get_image_dim(image_ref)[0]) + 2) % get_image_dim(image_ref)[0], ((ref_element_addr + (get_image_dim(image_ref)[0]) + 2) / get_image_dim(image_ref)[0]))).x)
-(w_ref_tl * read_imageui(image_ref, sampler, (int2) ((ref_element_addr - 1) % get_image_dim(image_ref)[0], ((ref_element_addr - 1) / get_image_dim(image_ref)[0]))).x +
w_ref_tr * read_imageui(image_ref, sampler, (int2) ((ref_element_addr + 0) % get_image_dim(image_ref)[0], ((ref_element_addr + 0) / get_image_dim(image_ref)[0]))).x +
w_ref_bl * read_imageui(image_ref, sampler, (int2) ((ref_element_addr + (get_image_dim(image_ref)[0]) - 1) % get_image_dim(image_ref)[0], ((ref_element_addr + (get_image_dim(image_ref)[0]) - 1) / get_image_dim(image_ref)[0]))).x +
w_ref_br * read_imageui(image_ref, sampler, (int2) ((ref_element_addr + (get_image_dim(image_ref)[0])) % get_image_dim(image_ref)[0], ((ref_element_addr + (get_image_dim(image_ref)[0])) / get_image_dim(image_ref)[0]))).x));
double dy = 0.5f * ((w_ref_tl * read_imageui(image_ref, sampler, (int2) ((ref_element_addr + (get_image_dim(image_ref)[0])) % get_image_dim(image_ref)[0], ((ref_element_addr + (get_image_dim(image_ref)[0])) / get_image_dim(image_ref)[0]))).x +
w_ref_tr * read_imageui(image_ref, sampler, (int2) ((ref_element_addr + (get_image_dim(image_ref)[0]) + 1) % get_image_dim(image_ref)[0], ((ref_element_addr + (get_image_dim(image_ref)[0]) + 1) / get_image_dim(image_ref)[0]))).x +
w_ref_bl * read_imageui(image_ref, sampler, (int2) ((ref_element_addr + (get_image_dim(image_ref)[0]) * 2) % get_image_dim(image_ref)[0], ((ref_element_addr + (get_image_dim(image_ref)[0]) * 2) / get_image_dim(image_ref)[0]))).x +
w_ref_br * read_imageui(image_ref, sampler, (int2) ((ref_element_addr + (get_image_dim(image_ref)[0]) * 2 + 1) % get_image_dim(image_ref)[0], ((ref_element_addr + (get_image_dim(image_ref)[0]) * 2 + 1) / get_image_dim(image_ref)[0]))).x)
-(w_ref_tl * read_imageui(image_ref, sampler, (int2) ((ref_element_addr + (-get_image_dim(image_ref)[0])) % get_image_dim(image_ref)[0], ((ref_element_addr + (-get_image_dim(image_ref)[0])) / get_image_dim(image_ref)[0]))).x +
w_ref_tr * read_imageui(image_ref, sampler, (int2) ((ref_element_addr + (1 - get_image_dim(image_ref)[0])) % get_image_dim(image_ref)[0], ((ref_element_addr + (1 - get_image_dim(image_ref)[0])) / get_image_dim(image_ref)[0]))).x +
w_ref_bl * read_imageui(image_ref, sampler, (int2) ((ref_element_addr + 0) % get_image_dim(image_ref)[0], ((ref_element_addr + 0) / get_image_dim(image_ref)[0]))).x +
w_ref_br * read_imageui(image_ref, sampler, (int2) ((ref_element_addr + 1) % get_image_dim(image_ref)[0], ((ref_element_addr + 1) / get_image_dim(image_ref)[0]))).x));
double dy = 0.5f * ((w_ref_tl * read_imageui(image_ref, sampler, (int2) ((ref_element_addr + (get_image_dim(image_ref)[0])) % get_image_dim(image_ref)[0], ((ref_element_addr + (get_image_dim(image_ref)[0])) / get_image_dim(image_ref)[0]))).x +
w_ref_tr * read_imageui(image_ref, sampler, (int2) ((ref_element_addr + (get_image_dim(image_ref)[0]) + 1) % get_image_dim(image_ref)[0], ((ref_element_addr + (get_image_dim(image_ref)[0]) + 1) / get_image_dim(image_ref)[0]))).x +
w_ref_bl * read_imageui(image_ref, sampler, (int2) ((ref_element_addr + (get_image_dim(image_ref)[0]) * 2) % get_image_dim(image_ref)[0], ((ref_element_addr + (get_image_dim(image_ref)[0]) * 2) / get_image_dim(image_ref)[0]))).x +
w_ref_br * read_imageui(image_ref, sampler, (int2) ((ref_element_addr + (get_image_dim(image_ref)[0]) * 2 + 1) % get_image_dim(image_ref)[0], ((ref_element_addr + (get_image_dim(image_ref)[0]) * 2 + 1) / get_image_dim(image_ref)[0]))).x)
-(w_ref_tl * read_imageui(image_ref, sampler, (int2) ((ref_element_addr + (-get_image_dim(image_ref)[0])) % get_image_dim(image_ref)[0], ((ref_element_addr + (-get_image_dim(image_ref)[0])) / get_image_dim(image_ref)[0]))).x +
w_ref_tr * read_imageui(image_ref, sampler, (int2) ((ref_element_addr + (1 - get_image_dim(image_ref)[0])) % get_image_dim(image_ref)[0], ((ref_element_addr + (1 - get_image_dim(image_ref)[0])) / get_image_dim(image_ref)[0]))).x +
w_ref_bl * read_imageui(image_ref, sampler, (int2) ((ref_element_addr + 0) % get_image_dim(image_ref)[0], ((ref_element_addr + 0) / get_image_dim(image_ref)[0]))).x +
w_ref_br * read_imageui(image_ref, sampler, (int2) ((ref_element_addr + 1) % get_image_dim(image_ref)[0], ((ref_element_addr + 1) / get_image_dim(image_ref)[0]))).x));
// compute residual
int2 px_curtl = (int2)( cur_element_addr % get_image_dim(image_cur)[0], cur_element_addr / get_image_dim(image_cur)[0]);
int2 px_curtr = (int2)((cur_element_addr + 1) % get_image_dim(image_cur)[0], (cur_element_addr + 1) / get_image_dim(image_cur)[0]);
int2 px_curbl = (int2)((cur_element_addr + (get_image_dim(image_cur)[0])) % get_image_dim(image_cur)[0], (cur_element_addr + (get_image_dim(image_cur)[0])) / get_image_dim(image_cur)[0]);
int2 px_curbr = (int2)((cur_element_addr + (get_image_dim(image_cur)[0]) + 1) % get_image_dim(image_cur)[0], (cur_element_addr + (get_image_dim(image_cur)[0]) + 1) / get_image_dim(image_cur)[0]);
// compute residual
int2 px_curtl = (int2)( cur_element_addr % get_image_dim(image_cur)[0], cur_element_addr / get_image_dim(image_cur)[0]);
int2 px_curtr = (int2)((cur_element_addr + 1) % get_image_dim(image_cur)[0], (cur_element_addr + 1) / get_image_dim(image_cur)[0]);
int2 px_curbl = (int2)((cur_element_addr + (get_image_dim(image_cur)[0])) % get_image_dim(image_cur)[0], (cur_element_addr + (get_image_dim(image_cur)[0])) / get_image_dim(image_cur)[0]);
int2 px_curbr = (int2)((cur_element_addr + (get_image_dim(image_cur)[0]) + 1) % get_image_dim(image_cur)[0], (cur_element_addr + (get_image_dim(image_cur)[0]) + 1) / get_image_dim(image_cur)[0]);
double res = value - w_cur_tl * read_imageui(image_cur, sampler, px_curtl).x + w_cur_tr * read_imageui(image_cur, sampler, px_curtr).x +
w_cur_bl * read_imageui(image_cur, sampler, px_curbl).x + w_cur_br * read_imageui(image_cur, sampler, px_curbr).x;
// used to compute scale for robust cost
e += fabs(res);
// robustification
double weight = res/scale_; //1.48f * vk::getMedian(errors)
chi_ += pow(res,2) * weight;
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) * (F_X / scale);
compute_hessain(J, &Hessian[f*9], weight);
Jacobian[f] -= J * res * weight;
double res = value - w_cur_tl * read_imageui(image_cur, sampler, px_curtl).x + w_cur_tr * read_imageui(image_cur, sampler, px_curtr).x +
w_cur_bl * read_imageui(image_cur, sampler, px_curbl).x + w_cur_br * read_imageui(image_cur, sampler, px_curbr).x;
// used to compute scale for robust cost
e += fabs(res);
// robustification
double weight = res/scale_; //1.48f * vk::getMedian(errors)
chi_ += pow(res,2) * weight;
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) * (F_X / scale);
compute_hessain(J, &Hessian[f*9], weight);
Jacobian[f] -= J * res * weight;
}
}
errors[f] = e / pow(PATCH_SIZE,2.0);
chi[f]=chi_;
}
}
errors[f] = e / pow(PATCH_SIZE,2.0);
chi[f]=chi_;
}
GPU_version/vio/src/frame_handler_mono.cpp
+9 -9
View File
@@ -48,20 +48,20 @@ FrameHandlerMono::FrameHandlerMono(vk::AbstractCamera* cam,Eigen::Matrix<double,
gpu_fast_->make_kernel("compute_residual");
gpu_fast_->write_buf(1,0,img);
gpu_fast_->write_buf(1,1,img);
cl_double3 pose[1]={0.0};
cl_float3 pose[1]={0.0};
gpu_fast_->write_buf(1,2,3,pose);
gpu_fast_->write_buf(1,3,3,pose);
cl_double3 f[300]={0};
cl_float3 f[300]={0};
gpu_fast_->write_buf(1,4,300,f);
cl_double2 px[300]={0};
cl_float2 px[300]={0};
gpu_fast_->write_buf(1,5,300,px);
double e[300]={0};
float e[300]={0};
gpu_fast_->write_buf(1,7,300,e);
double H[9*300]={0};
float H[9*300]={0};
gpu_fast_->write_buf(1,8,9*300,H);
cl_double3 J[300];
cl_float3 J[300];
gpu_fast_->write_buf(1,9,300,J);
double chi2[1]={0.01};
float chi2[1]={0.01};
gpu_fast_->write_buf(1,10,1,chi2);
klt_homography_init_=new initialization::KltHomographyInit(gpu_fast_);
initialize();
@@ -164,12 +164,12 @@ FrameHandlerBase::UpdateResult FrameHandlerMono::processFrame()
if(img_align.run(last_frame_, new_frame_)==0)return RESULT_FAILURE;
//assert (false);
reprojector_.reprojectMap(new_frame_, overlap_kfs_);
/*
std::cout<<"Reprojection Map nPoint: "<<overlap_kfs_.back().second
<<"\tnCell: "<<reprojector_.n_trials_<<"\t nMatches: "<<reprojector_.n_matches_
<<"\t distance between two frames: "<<
(last_frame_->T_f_w_.se2().translation()-new_frame_->T_f_w_.se2().translation()).norm()<<'\n';
*/
size_t sfba_n_edges_final=0;
double sfba_thresh, sfba_error_init, sfba_error_final;
pose_optimizer::optimizeGaussNewton(
GPU_version/vio/src/reprojector.cpp
+1 -1
View File
@@ -206,7 +206,7 @@ bool Reprojector::reprojectCell(Cell& cell, FramePtr frame)
bool Reprojector::reprojectPoint(FramePtr frame, Point* point)
{
Vector2d px(frame->w2c(point->pos_));
if(frame->cam_->isInFrame(px.cast<int>(), 8)) // 8px is the patch size in the matcher
if(frame->cam_->isInFrame(px.cast<int>(), 3)) // 8px is the patch size in the matcher
{
const int k = static_cast<int>(px[1]/grid_.cell_size)*grid_.grid_n_cols
+ static_cast<int>(px[0]/grid_.cell_size);
GPU_version/vio/src/sparse_img_align_gpu.cpp
+4 -4
View File
@@ -40,12 +40,12 @@ size_t SparseImgAlignGpu::run(FramePtr ref_frame, FramePtr cur_frame)
{
return 0;
}
cl_double3 ref_pos[1]={ref_frame->pos()(0),ref_frame->pos()(1),ref_frame->T_f_w_.pitch()};
cl_double3 cur_pos[1]={cur_frame->pos()(0),cur_frame->pos()(1),cur_frame->T_f_w_.pitch()};
cl_float3 ref_pos[1]={ref_frame->pos()(0),ref_frame->pos()(1),ref_frame->T_f_w_.pitch()};
cl_float3 cur_pos[1]={cur_frame->pos()(0),cur_frame->pos()(1),cur_frame->T_f_w_.pitch()};
residual_->reload_buf(1,2,cur_pos);
residual_->reload_buf(1,3,ref_pos);
cl_double3 features[ref_frame->fts_.size()];
cl_double2 featue_px[ref_frame->fts_.size()];
cl_float3 features[ref_frame->fts_.size()];
cl_float2 featue_px[ref_frame->fts_.size()];
// fprintf(data, "ref_frame:\n %f,%f,%f\n",ref_pos[0],ref_pos[1],ref_pos[2]);
// fprintf(data, "cur_frame:\n %f,%f,%f\n",cur_pos[0],cur_pos[1],cur_pos[2]);
// fprintf(data, "camera:\n %f,%f,%f,%f,%f\n features:\n",camera[0],camera[1],camera[2],camera[3],camera[4]);
GPU_version/vio/src/vo_node.cpp
+1 -1
View File
@@ -13,7 +13,7 @@
//
// You should have received a copy of the GNU General Public License
// along with this program. If not, see <http://www.gnu.org/licenses/>.
#define VIO_DEBUG false
#define VIO_DEBUG true
#include <ros/ros.h>
#include <string>
#include <chrono>