diff --git a/GPU_version/vio/include/vio/nlls_solver_impl.hpp b/GPU_version/vio/include/vio/nlls_solver_impl.hpp index ce1a4f3..55d8ac7 100644 --- a/GPU_version/vio/include/vio/nlls_solver_impl.hpp +++ b/GPU_version/vio/include/vio/nlls_solver_impl.hpp @@ -37,7 +37,7 @@ void vk::NLLSSolver::optimizeGaussNewton() if(!solve()) { // matrix was singular and could not be computed - std::cout << "Matrix is close to singular! Stop Optimizing." << std::endl; + if(verbose_)std::cout << "Matrix is close to singular! Stop Optimizing." << std::endl; stop_ = true; } // check if error increased since last optimization diff --git a/GPU_version/vio/kernel/compute-residual.cl b/GPU_version/vio/kernel/compute-residual.cl index 97b2394..ce641a9 100644 --- a/GPU_version/vio/kernel/compute-residual.cl +++ b/GPU_version/vio/kernel/compute-residual.cl @@ -8,9 +8,9 @@ float2 world2cam(float3 feature) { float r = sqrt(pow(feature.x/feature.z, 2) + pow(feature.y/feature.z, 2)); float factor = 1.0; - if(S != 0 || r > 0.001) - factor = (atan(r * 2.0 * tan(0.5 * S)) / (r * S)); - return (float2)(C_X + F_X * factor * feature.x/feature.z, C_Y + F_Y * factor * feature.y/feature.z); + if((float)S != 0 || r > 0.001) + factor = (atan(r * 2.0 * tan(0.5 * (float)S)) / (r * (float)S)); + return (float2)((float)C_X + (float)F_X * factor * feature.x/feature.z, (float)C_Y + (float)F_Y * factor * feature.y/feature.z); } float3 xyz_cur(float3 cur, float3 ref, float3 ref_feature) @@ -22,8 +22,8 @@ float3 xyz_cur(float3 cur, float3 ref, float3 ref_feature) float cc_ss = cos(cur.z) * cos(ref.z) - sin(cur.z) * sin(ref.z); float sc_cs = cos(cur.z) * sin(ref.z) + cos(ref.z) * sin(cur.z); return (float3)(cc_ss * ref_feature.x + sc_cs * ref_feature.z + cur.x - ref.x * cos(cur.z) - ref.z * sin(cur.z), - ref_feature.y, - -1.0 * sc_cs * ref_feature.x + cc_ss * ref_feature.z + cur.z + ref.x * sin(cur.z) - ref.z * cos(cur.z)); + ref_feature.y, + -1.0 * sc_cs * ref_feature.x + cc_ss * ref_feature.z + cur.z + ref.x * sin(cur.z) - ref.z * cos(cur.z)); } void jacobian_xyz2uv(float3 xyz_in_f, float* J) @@ -53,102 +53,101 @@ __kernel void compute_residual( __read_only image2d_t image_cur, // current frame __read_only image2d_t image_ref, // reference frame __global float3 * cur_pose,//[reference frame pose{x,z,pitch}] - __global float3 * ref_pose,//[current frame pose{x,z,pitch}] - __global float3 * 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 float2 * featue_px, - int level, +__global float3 * ref_pose,//[current frame pose{x,z,pitch}] +__global float3 * 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 float2 * featue_px, +int level, __global float * errors, __global float * Hessian, __global float3 * Jacobian, __global float * chi, - float scale_ +float scale_ ) { - float 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 - float2 uv_ref = featue_px[f] * scale; - float2 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 - float frame_jac[6]={0.0}; // 2X3 - jacobian_xyz2uv(sqrt(pow(ref_feature[f] - (float3)(ref_pose[0].x,0.0,ref_pose[0].y), 2.0)), &frame_jac); +float 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 +float2 uv_ref = featue_px[f] * scale; +float2 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 +float frame_jac[6]={0.0}; // 2X3 +jacobian_xyz2uv(sqrt(pow(ref_feature[f] - (float3)(ref_pose[0].x,0.0,ref_pose[0].y), 2.0)), &frame_jac); - // compute bilateral interpolation weights for reference image - float2 subpix= uv_ref - uv_ref_i; - float w_ref_tl = (1.0 - subpix.x) * (1.0 - subpix.y); - float w_ref_tr = subpix.x * (1.0 - subpix.y); - float w_ref_bl = (1.0 - subpix.x) * subpix.y; - float w_ref_br = subpix.x * subpix.y; +// compute bilateral interpolation weights for reference image +float2 subpix= uv_ref - uv_ref_i; +float w_ref_tl = (1.0 - subpix.x) * (1.0 - subpix.y); +float w_ref_tr = subpix.x * (1.0 - subpix.y); +float w_ref_bl = (1.0 - subpix.x) * subpix.y; +float w_ref_br = subpix.x * subpix.y; - // compute bilateral interpolation weights for the current image - float2 uv_cur_pyr = world2cam(xyz_cur(cur_pose[0], ref_pose[0] ,ref_feature[f])) * scale; - float2 uv_cur_i = floor(uv_cur_pyr); - float2 subpix_uv_cur = uv_cur_pyr - uv_cur_i; - float w_cur_tl = (1.0 - subpix_uv_cur.x) * (1.0 - subpix_uv_cur.y); - float w_cur_tr = subpix_uv_cur.x * (1.0 - subpix_uv_cur.y); - float w_cur_bl = (1.0 - subpix_uv_cur.x) * subpix_uv_cur.y; - float w_cur_br = subpix_uv_cur.x * subpix_uv_cur.y; - float e = 0.0; - float 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 +float2 uv_cur_pyr = world2cam(xyz_cur(cur_pose[0], ref_pose[0] ,ref_feature[f])) * scale; +float2 uv_cur_i = floor(uv_cur_pyr); +float2 subpix_uv_cur = uv_cur_pyr - uv_cur_i; +float w_cur_tl = (1.0 - subpix_uv_cur.x) * (1.0 - subpix_uv_cur.y); +float w_cur_tr = subpix_uv_cur.x * (1.0 - subpix_uv_cur.y); +float w_cur_bl = (1.0 - subpix_uv_cur.x) * subpix_uv_cur.y; +float w_cur_br = subpix_uv_cur.x * subpix_uv_cur.y; +float e = 0.0; +float 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]); - float 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]); +float 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; - float 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)); +float 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)); - float 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)); +float 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]); - float 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 - float weight = res/scale_; //1.48f * vk::getMedian(errors) - chi_ += pow(res,2) * weight; - float3 j_row0 = (float3)((dx * frame_jac[0]), (dx * frame_jac[1]), (dx * frame_jac[2])); - float3 j_row1 = (float3)((dy * frame_jac[3]), (dy * frame_jac[4]), (dy * frame_jac[5])); - float3 J = (j_row0 + j_row1) * (F_X / scale); - compute_hessain(J, &Hessian[f*9], weight); - Jacobian[f] -= J * res * weight; +float 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 +float weight = res/scale_; //1.48f * vk::getMedian(errors) +chi_ += pow(res,2) * weight; +float3 j_row0 = (float3)((dx * frame_jac[0]), (dx * frame_jac[1]), (dx * frame_jac[2])); +float3 j_row1 = (float3)((dy * frame_jac[3]), (dy * frame_jac[4]), (dy * frame_jac[5])); +float3 J = (j_row0 + j_row1) * ((float)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_; } - diff --git a/GPU_version/vio/launch/Px30.launch b/GPU_version/vio/launch/Px30.launch index b66a344..36114e8 100644 --- a/GPU_version/vio/launch/Px30.launch +++ b/GPU_version/vio/launch/Px30.launch @@ -1,6 +1,6 @@ - + diff --git a/GPU_version/vio/param/vo_fast.yaml b/GPU_version/vio/param/vo_fast.yaml index fe018f0..9e34071 100644 --- a/GPU_version/vio/param/vo_fast.yaml +++ b/GPU_version/vio/param/vo_fast.yaml @@ -5,7 +5,7 @@ svo: quality_min_fts: 10 #If the number of tracked features drops below this threshold. Tracking quality is bad. quality_max_drop_fts: 90 #If within one frame, this amount of features are dropped. Tracking quality is bad. init_min_tracked: 100 - init_min_disparity: 60 + init_min_disparity: 40 structureoptim_max_pts: 50 kfselect_mindist: 0.01 poseoptim_thresh: 4.0 diff --git a/GPU_version/vio/src/frame_handler_mono.cpp b/GPU_version/vio/src/frame_handler_mono.cpp index 7cc4edf..01074b8 100644 --- a/GPU_version/vio/src/frame_handler_mono.cpp +++ b/GPU_version/vio/src/frame_handler_mono.cpp @@ -148,7 +148,7 @@ FrameHandlerBase::UpdateResult FrameHandlerMono::processSecondFrame() map_.addKeyframe(new_frame_); stage_ = STAGE_DEFAULT_FRAME; klt_homography_init_->reset(); - SVO_INFO_STREAM("Init: Selected second frame, triangulated initial map."); + SVO_INFO_STREAM("Init: triangulated initial map. Vio is starting ..."); return RESULT_IS_KEYFRAME; } @@ -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: "<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( diff --git a/GPU_version/vio/src/sparse_img_align_gpu.cpp b/GPU_version/vio/src/sparse_img_align_gpu.cpp index dd4b8f6..f21c4e3 100644 --- a/GPU_version/vio/src/sparse_img_align_gpu.cpp +++ b/GPU_version/vio/src/sparse_img_align_gpu.cpp @@ -128,8 +128,10 @@ int SparseImgAlignGpu::solve() J[0].y -= J[i].y; J[0].z -= J[i].z; } - double Hd[9]={}; - double Jd[3]={}; + double Hd[9]={(double)H[0],(double)H[1],(double)H[2], + (double)H[3],(double)H[4],(double)H[5], + (double)H[6],(double)H[7],(double)H[8]}; + double Jd[3]={(double)J[0].x,(double)J[0].y,(double)J[0].z}; x_ = Eigen::Matrix(Hd).ldlt().solve(Eigen::Vector3d(Jd[0],Jd[1],Jd[2])); if((bool) std::isnan((double) x_[0])) return 0; @@ -140,7 +142,7 @@ void SparseImgAlignGpu::update() /// TODO the update situation may have a smarter solution cl_float3 pos[1]={0.0,0.0,0.0}; residual_->read(1,2,pos); - Sophus::SE2 update = Sophus::SE2(pos[0].z,Eigen::Vector2d(pos[0].x,pos[0].y)) * Sophus::SE2::exp(-0.5*x_); + Sophus::SE2 update = Sophus::SE2(pos[0].z,Eigen::Vector2d(pos[0].x,pos[0].y)) * Sophus::SE2::exp(-1.0*x_); pos[0].x=(float)update.translation()(0); pos[0].y=(float)update.translation()(1); pos[0].z=(float)atan(update.so2().unit_complex().imag()/update.so2().unit_complex().real());