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best calibration without ba

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This commit is contained in:
gfuse
2021-10-14 19:17:09 +02:00
parent a4e5c86932
commit 86ab38e13f
7 changed files with 9 additions and 2471 deletions
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GPU_version/vio/CMakeLists.txt
+1 -1
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@@ -41,7 +41,7 @@ add_service_files(FILES
generate_messages(DEPENDENCIES std_msgs) generate_messages(DEPENDENCIES std_msgs)
catkin_package( catkin_package(
DEPENDS Eigen OpenCV Boost DEPENDS Eigen OpenCV Boost
CATKIN_DEPENDS roscpp roslib image_transport cv_bridge tf geometry_msgs message_runtime CATKIN_DEPENDS roscpp roslib image_transport cv_bridge tf geometry_msgs message_runtime getOdom stop start
INCLUDE_DIRS include INCLUDE_DIRS include
) )
# Include dirs # Include dirs
GPU_version/vio/depth_filter_log.txt
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GPU_version/vio/frame_handler_log.txt
-2465
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File diff suppressed because it is too large Load Diff
GPU_version/vio/package.xml
+3
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@@ -31,4 +31,7 @@
<run_depend>tf</run_depend> <run_depend>tf</run_depend>
<run_depend>geometry_msgs</run_depend> <run_depend>geometry_msgs</run_depend>
<run_depend>message_runtime</run_depend> <run_depend>message_runtime</run_depend>
<run_depend>getOdom</run_depend>
<run_depend>start</run_depend>
<run_depend>stop</run_depend>
</package> </package>
GPU_version/vio/param/vo_fast.yaml
+2 -2
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@@ -8,9 +8,9 @@ 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: 4.0 poseoptim_thresh: 1.5
ACC_ekf: 0.2 #acc white noise in continuous in EKF ACC_ekf: 0.2 #acc white noise in continuous in EKF
GYO_ekf: 0.5 #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
VO_ekf_orientation: 1.0 #VO noise in EKF VO_ekf_orientation: 1.0 #VO noise in EKF
CMD_ekf_translation: 0.1 #control vector noise in EKF CMD_ekf_translation: 0.1 #control vector noise in EKF
GPU_version/vio/src/initialization.cpp
+1 -1
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@@ -75,7 +75,7 @@ InitResult KltHomographyInit::addSecondFrame(FramePtr frame_cur)
} }
computeHomography(frame_cur, computeHomography(frame_cur,
features_ref_, px_cur_, features_ref_, px_cur_,
frame_ref_->cam_->errorMultiplier2(), Config::poseOptimThresh(), frame_ref_->cam_->errorMultiplier2(), 3.0*Config::poseOptimThresh(),
inliers_, xyz_in_cur_, T_cur_from_ref_); inliers_, xyz_in_cur_, T_cur_from_ref_);
if(inliers_.size() < Config::initMinInliers()){ if(inliers_.size() < Config::initMinInliers()){
#if VIO_DEBUG #if VIO_DEBUG
GPU_version/vio/src/point.cpp
+2 -2
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@@ -165,11 +165,11 @@ void Point::optimize(const size_t n_iter)
if(vk::norm_max(dp) <= EPS) if(vk::norm_max(dp) <= EPS)
break; break;
} }
n_failed_reproj_=0;
for(auto it=obs_.begin(); it!=obs_.end(); ++it) { for(auto it=obs_.begin(); it!=obs_.end(); ++it) {
Vector2d e = vk::project2d((*it)->f) - vk::project2d((*it)->frame->w2f(pos_)); Vector2d e = vk::project2d((*it)->f) - vk::project2d((*it)->frame->w2f(pos_));
e /= (1<<(*it)->level); e /= (1<<(*it)->level);
if (e.squaredNorm() > 8.0*vio::Config::poseOptimThresh()/ (*it)->frame->cam_->errorMultiplier2()) if (e.squaredNorm() > 2.0*vio::Config::poseOptimThresh()/ (*it)->frame->cam_->errorMultiplier2())
n_failed_reproj_++; n_failed_reproj_++;
} }
if(n_failed_reproj_<0.50*obs_.size()) if(n_failed_reproj_<0.50*obs_.size())