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change the reprojection debugged

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This commit is contained in:
gfuse
2021-10-20 17:27:50 +02:00
parent 11c230af3f
commit 841c1b9465
3 changed files with 8 additions and 4 deletions
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GPU_version/vio/param/vo_fast.yaml
+1 -1
View File
@@ -8,7 +8,7 @@ vio:
init_min_disparity: 10 init_min_disparity: 10
structureoptim_max_pts: 50 structureoptim_max_pts: 50
kfselect_mindist: 0.01 kfselect_mindist: 0.01
poseoptim_thresh: 2.0 poseoptim_thresh: 3.5
ACC_ekf: 0.2 #acc white noise in continuous in EKF ACC_ekf: 0.2 #acc white noise in continuous in EKF
GYO_ekf: 0.1 #gyro white noise in continuous in EKF GYO_ekf: 0.1 #gyro white noise in continuous in EKF
VO_ekf_translation: 1.0 #VO noise in EKF VO_ekf_translation: 1.0 #VO noise in EKF
GPU_version/vio/src/frame.cpp
+4
View File
@@ -171,6 +171,10 @@ bool Frame::getSceneDepth(vio::Map& map,double& depth_mean, double& depth_min)
vector<double> depth_vec; vector<double> depth_vec;
for(auto it=fts_.begin(); it!=fts_.end();) for(auto it=fts_.begin(); it!=fts_.end();)
{ {
if((*it)->point==NULL){
++it;
continue;
}
double z=w2f((*it)->point->pos_).z(); double z=w2f((*it)->point->pos_).z();
if((*it)->point->pos_.hasNaN() || (*it)->point->pos_.norm()==0. || z<0.05 || z > 20.0){ if((*it)->point->pos_.hasNaN() || (*it)->point->pos_.norm()==0. || z<0.05 || z > 20.0){
map.safeDeletePoint((*it)->point); map.safeDeletePoint((*it)->point);
GPU_version/vio/src/global_optimizer.cpp
+3 -3
View File
@@ -130,7 +130,7 @@ namespace vio {
if (v->dimension() == 3 && v->edges().size()>2) points.push_back(v); if (v->dimension() == 3 && v->edges().size()>2) points.push_back(v);
} }
// Optimization // Optimization
if(points.empty() || optimizer_->vertices().empty()){ if(points.empty()){
optimizer_->clear(); optimizer_->clear();
ba_mux_.unlock(); ba_mux_.unlock();
continue; continue;
@@ -157,8 +157,8 @@ namespace vio {
for(list<FramePtr>::iterator it_kf = map_.keyframes_.begin(); for(list<FramePtr>::iterator it_kf = map_.keyframes_.begin();
it_kf != map_.keyframes_.end();++it_kf) it_kf != map_.keyframes_.end();++it_kf)
{ {
/* (*it_kf)->T_f_w_ = SE2_5(SE3((*it_kf)->v_kf_->estimate().rotation().toRotationMatrix(), (*it_kf)->T_f_w_ = SE2_5(SE3((*it_kf)->v_kf_->estimate().rotation().toRotationMatrix(),
(*it_kf)->v_kf_->estimate().translation()));*/ (*it_kf)->v_kf_->estimate().translation()));
for(Features::iterator it_ftr=(*it_kf)->fts_.begin(); it_ftr!=(*it_kf)->fts_.end(); ++it_ftr) for(Features::iterator it_ftr=(*it_kf)->fts_.begin(); it_ftr!=(*it_kf)->fts_.end(); ++it_ftr)
{ {
if((*it_ftr)->point == NULL) if((*it_ftr)->point == NULL)