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Edit EKF and VO pipline to publish the odometry as soon as algorithm initialized. And VO will not save those frames that do not have features.

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This commit is contained in:
gfuse
2021-07-10 13:35:58 +02:00
parent 3b110b299b
commit 99fa000ad5
20 changed files with 134 additions and 166 deletions
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GPU_version/vio/include/gpu_svo/frame.h
+5 -22
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@@ -93,11 +93,7 @@ public:
/// Transforms point coordinates in world-frame (w) to camera pixel coordinates (c).
inline Vector2d w2c(const Vector3d& xyz_w) const {
Eigen::Matrix<double,3,3> R;
R<<T_f_w_.T2_.rotation_matrix()(0,0),1e-19,T_f_w_.T2_.rotation_matrix()(0,1),
1e-19,1.0,1e-19,
T_f_w_.T2_.rotation_matrix()(1,0),1e-19,T_f_w_.T2_.rotation_matrix()(1,1);
return cam_->world2cam( SE3(R,Vector3d(T_f_w_.T2_.translation()(0),1e-19,T_f_w_.T2_.translation()(1)))*xyz_w);
return cam_->world2cam( T_f_w_.se3()*xyz_w);
}
/// Transforms point coordinates in world-frame (w) to camera pixel coordinates (c).
inline Vector2d w2px(const Vector3d& xyz_w) const { return cam_->world2cam( xyz_w ); }
@@ -110,35 +106,22 @@ public:
/// Transforms point coordinates in world-frame (w) to camera-frams (f).
inline Vector3d w2f(const Vector3d& xyz_w) const {
Eigen::Matrix<double,3,3> R;
R<<T_f_w_.T2_.rotation_matrix()(0,0),1e-19,T_f_w_.T2_.rotation_matrix()(0,1),
1e-19,1.0,1e-19,
T_f_w_.T2_.rotation_matrix()(1,0),1e-19,T_f_w_.T2_.rotation_matrix()(1,1);
return Vector3d(SE3(R,Vector3d(T_f_w_.T2_.translation()(0),1e-19,T_f_w_.T2_.translation()(1)))*xyz_w);
return Vector3d(T_f_w_.se3()*xyz_w);
}
/// Transforms point from frame unit sphere (f) frame to world coordinate frame (w).
inline Vector3d f2w(const Vector3d& f) const {
Eigen::Matrix<double,3,3> R;
R<<T_f_w_.T2_.rotation_matrix()(0,0),1e-19,T_f_w_.T2_.rotation_matrix()(0,1),
1e-19,1.0,1e-19,
T_f_w_.T2_.rotation_matrix()(1,0),1e-19,T_f_w_.T2_.rotation_matrix()(1,1);
return SE3(R,Vector3d(T_f_w_.T2_.translation()(0),1e-19,T_f_w_.T2_.translation()(1))).inverse() * f;
return getSE3Inv() * f;
}
/// Projects Point from unit sphere (f) in camera pixels (c).
inline Vector2d f2c(const Vector3d& f) const { return cam_->world2cam( f ); }
/// Return the pose of the frame in the (w)orld coordinate frame.
inline Vector2d pos() const { return T_f_w_.T2_.translation(); }
inline Vector2d pos() const { return T_f_w_.se2().translation(); }
inline SE3 se3() const{
Eigen::Matrix<double,3,3> R;
R<<T_f_w_.getSE2().rotation_matrix()(0,0),1e-19,T_f_w_.getSE2().rotation_matrix()(0,1),
1e-19,1.0,1e-19,
T_f_w_.getSE2().rotation_matrix()(1,0),1e-19,T_f_w_.getSE2().rotation_matrix()(1,1);
SE3 out(R,Vector3d(T_f_w_.getSE2().translation()(0),1e-19,T_f_w_.getSE2().translation()(1)));
return out;
return T_f_w_.se3();
}
inline SE3 getSE3Inv() const{
GPU_version/vio/include/gpu_svo/frame_handler_mono.h
+1 -1
View File
@@ -64,6 +64,7 @@ public:
//std::shared_ptr<Imu_Integration> imu_integPtr_; //Integration of IMU
void UpdateIMU(double* value,const ros::Time& time);
void UpdateCmd(double* value,const ros::Time& time);
UKF ukfPtr_;
protected:
vk::AbstractCamera* cam_; //!< Camera model, can be ATAN, Pinhole or Ocam (see vikit).
@@ -76,7 +77,6 @@ protected:
DepthFilter* depth_filter_; //!< Depth estimation algorithm runs in a parallel thread and is used to initialize new 3D points.
opencl* gpu_fast_;
ros::Time time_;
UKF ukfPtr_;
/// Initialize the visual odometry algorithm.
virtual void initialize();
GPU_version/vio/include/gpu_svo/global.h
+16 -3
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@@ -52,7 +52,6 @@ namespace svo
const double PI = 3.14159265;
class SE2_5: public SE2{
public:
SE2 T2_;
SE2_5(SE2&& se2):T2_(se2){
}
SE2_5(SE2& se2):T2_(se2){
@@ -87,17 +86,31 @@ namespace svo
-sin(pitch),cos(pitch);
T2_=SE2(R,Vector2d(x,z));
};
SE2 getSE2() const{
SE2 se2() const{
return T2_;
}
SE2 inverse() const{
double yaw=atan(T2_.rotation_matrix()(0,1)/T2_.rotation_matrix()(0,0));
return SE2(yaw+PI,T2_.translation());
if(yaw<0.0)
yaw=M_PI-yaw;
else
yaw=yaw-M_PI;
return SE2(yaw,-1.0*T2_.translation());
}
double pitch()const{
return atan(T2_.rotation_matrix()(0,1)/T2_.rotation_matrix()(0,0));
}
SE3 se3() const{
Eigen::Matrix<double,3,3> R;
R<<T2_.rotation_matrix()(0,0),0.0,T2_.rotation_matrix()(0,1),
0.0,1.0,0.0,
T2_.rotation_matrix()(1,0),0.0,T2_.rotation_matrix()(1,1);
return SE3(R,Vector3d(T2_.translation()(0),1e-19,T2_.translation()(1)));
}
~SE2_5(){}
private:
SE2 T2_;
};
class Frame;
GPU_version/vio/include/gpu_svo/matcher.h
+1 -1
View File
@@ -49,7 +49,7 @@ int getBestSearchLevel(
const Matrix2d& A_cur_ref,
const int max_level);
void warpAffine(
bool warpAffine(
const Matrix2d& A_cur_ref,
const cv::Mat& img_ref,
const Vector2d& px_ref,
GPU_version/vio/include/gpu_svo/ukf.h
+19 -6
View File
@@ -56,8 +56,6 @@ public:
E(2)=state_(2)+dt*dpitch-state_h_(2);
k=cov_h_*H.transpose()*(H*cov_h_*H.transpose()+Q).inverse();
state_=state_h_+k*E;
if(fabs(state_(2)-yaw_t_1_)>M_PI_4)state_(2)-=M_PI;
if(fabs(state_(2))>2*M_PI)state_(2)-=2.0*int(0.5*state_(2)/M_PI)*M_PI;
cov_=(Eigen::MatrixXd::Identity(3,3)-k*H)*cov_h_;
state_h_(2)=state_(2)+dt*dpitch;
state_h_(1)=state_(1)+0.5*pow(dt,2)*(ddz*cos(state_(2))-ddx*sin(state_(2)));
@@ -90,8 +88,6 @@ public:
E<<x-state_h_(0),z-state_h_(1),pitch-state_h_(2);
k=cov_h_*H.transpose()*(H*cov_h_*H.transpose()+Q).inverse();
state_=state_h_+(k*E);
if(fabs(state_(2)-yaw_t_1_)>M_PI_4)state_(2)-=M_PI;
if(fabs(state_(2))>2*M_PI)state_(2)-=2.0*int(0.5*state_(2)/M_PI)*M_PI;
cov_=(Eigen::MatrixXd::Identity(3,3)-k*H)*cov_h_;
yaw_t_1_=state_(2);
predict_up=false;
@@ -131,10 +127,27 @@ public:
std::pair<Eigen::Matrix<double,3,3>,svo::SE2_5> UpdateSvo(double x,double z,double pitch,size_t match,ros::Time& time) {
while(lock)usleep(5);
lock=true;
if(filter_->predict_up)filter_->correct(x,z,pitch,match,1e-9*time.toNSec());
if(pitch<0.0)
pitch=M_PI-pitch;
else
pitch=pitch-M_PI;
if(filter_->predict_up)filter_->correct(-x,-z,pitch,match,1e-9*time.toNSec());
lock=false;
return std::pair<Eigen::Matrix<double,3,3>,svo::SE2_5>(filter_->cov_,svo::SE2_5(filter_->state_(0),filter_->state_(1),filter_->state_(2)));
double pitch_f;
if(filter_->state_(0)<0.0)
pitch_f=M_PI-filter_->state_(2);
else
pitch_f=filter_->state_(2)-M_PI;
return std::pair<Eigen::Matrix<double,3,3>,svo::SE2_5>(filter_->cov_,svo::SE2_5(-filter_->state_(0),-filter_->state_(1),pitch_f));
};
std::pair<Eigen::Matrix<double,3,3>,svo::SE2_5> get_location(){
double pitch_f;
if(filter_->state_(0)<0.0)
pitch_f=M_PI-filter_->state_(2);
else
pitch_f=filter_->state_(2)-M_PI;
return std::pair<Eigen::Matrix<double,3,3>,svo::SE2_5>(filter_->cov_,svo::SE2_5(-filter_->state_(0),-filter_->state_(1),pitch_f));
}
private:
Base* filter_= nullptr;
bool lock=false;
GPU_version/vio/include/gpu_svo/vision.h
+4 -1
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@@ -42,7 +42,8 @@ interpolateMat_32f(const cv::Mat& mat, float u, float v)
inline float
interpolateMat_8u(const cv::Mat& mat, float u, float v)
{
assert(mat.type()==CV_8U);
if(mat.empty())return 0.0;
if(mat.type()!=CV_8U)return 0.0;
int x = floor(u);
int y = floor(v);
float subpix_x = u-x;
@@ -55,6 +56,8 @@ interpolateMat_8u(const cv::Mat& mat, float u, float v)
const int stride = mat.step.p[0];
unsigned char* ptr = mat.data + y*stride + x;
if(isnan(w00) || isnan(w01 )||isnan( w10) || isnan(w11) || isinf(w00) || isinf(w01)|| isinf(w10)|| isinf(w11))return 0.0;
if(ptr[0] == NULL || ptr[1]== NULL || ptr[stride]==NULL ||ptr[stride+1]==NULL)return 0.0;
return w00*ptr[0] + w01*ptr[stride] + w10*ptr[1] + w11*ptr[stride+1];
}
GPU_version/vio/include/gpu_svo/visualizer.h
+2 -10
View File
@@ -26,6 +26,7 @@
#include <image_transport/image_transport.h>
#include <boost/thread.hpp>
#include <boost/shared_ptr.hpp>
#include <gpu_svo/ukf.h>
namespace svo {
@@ -54,18 +55,9 @@ public:
~Visualizer() {};
void publishMinimal(
const cv::Mat& img,
const FramePtr& frame,
const FrameHandlerMono& slam,
UKF& ukf,
const double timestamp);
void visualizeMarkers(
const FramePtr& frame,
const set<FramePtr>& core_kfs,
const Map& map);
void removeDeletedPts(const Map& map);
};
} // end namespace svo
GPU_version/vio/param/vo_fast.yaml
+4 -4
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@@ -7,9 +7,9 @@ svo:
init_min_tracked: 100
init_min_disparity: 30
structureoptim_max_pts: 50
kfselect_mindist: 0.001
kfselect_mindist: 0.01
poseoptim_thresh: 4.0
ACC_noise: 0.001 #acc white noise in continuous in EKF
ACC_noise: 0.5 #acc white noise in continuous in EKF
GYO_noise: 0.001 #gyro white noise in continuous in EKF
svo_ekf: 100 #Svo noise that will be devided by number of Reprojected points after opmization in EKF
Cmd_Cov: 0.001 #control vector noise in EKF
svo_ekf: 1.5 #Svo noise that will be devided by number of Reprojected points after opmization in EKF
Cmd_Cov: 1.0 #control vector noise in EKF
GPU_version/vio/src/depth_filter.cpp
+1 -1
View File
@@ -233,7 +233,7 @@ void DepthFilter::updateSeeds(FramePtr frame)
continue;
}
// check if point is visible in the current image
SE2 T(it->ftr->frame->T_f_w_.getSE2() * frame->T_f_w_.inverse());
SE2 T(it->ftr->frame->T_f_w_.se2() * frame->T_f_w_.inverse());
Eigen::Matrix<double,3,3> R;
R<<T.rotation_matrix()(0,0),0.0,T.rotation_matrix()(0,1),
0.0,1.0,0.0,
GPU_version/vio/src/feature_alignment.cpp
-1
View File
@@ -78,7 +78,6 @@ bool align1D(
int u_r = floor(u);
int v_r = floor(v);
if(u_r < halfpatch_size_ || v_r < halfpatch_size_ || u_r >= cur_img.cols-halfpatch_size_ || v_r >= cur_img.rows-halfpatch_size_){
std::cout<<"not in bach size\n";
break;
}
GPU_version/vio/src/frame_handler_mono.cpp
+17 -12
View File
@@ -89,7 +89,7 @@ void FrameHandlerMono::addImage(const cv::Mat& img, const double timestamp,const
map_.getClosestKeyframe(last_frame_));
// set last frame
last_frame_ = new_frame_;
if(!new_frame_->fts_.empty() || stage_ != STAGE_DEFAULT_FRAME)last_frame_ = new_frame_;
new_frame_.reset();
// finish processing
finishFrameProcessingCommon(last_frame_->id_, res, last_frame_->nObs());
@@ -103,16 +103,18 @@ FrameHandlerMono::UpdateResult FrameHandlerMono::processFirstFrame()
new_frame_->setKeyframe();
map_.addKeyframe(new_frame_);
stage_ = STAGE_SECOND_FRAME;
ukfPtr_.UpdateSvo(new_frame_->T_f_w_.getSE2().translation()(0),new_frame_->T_f_w_.getSE2().translation()(1),new_frame_->T_f_w_.pitch(),1000,time_);
ukfPtr_.UpdateSvo(new_frame_->T_f_w_.se2().translation()(0),new_frame_->T_f_w_.se2().translation()(1),new_frame_->T_f_w_.pitch(),1000,time_);
SVO_INFO_STREAM("Init: Selected first frame.");
return RESULT_IS_KEYFRAME;
}
FrameHandlerBase::UpdateResult FrameHandlerMono::processSecondFrame()
{
new_frame_->T_f_w_ = last_frame_->T_f_w_;
auto init_f= ukfPtr_.get_location();
new_frame_->T_f_w_=init_f.second;
new_frame_->Cov_ = init_f.first;
initialization::InitResult res = klt_homography_init_->addSecondFrame(new_frame_);
auto result=ukfPtr_.UpdateSvo(new_frame_->T_f_w_.getSE2().translation()(0),new_frame_->T_f_w_.getSE2().translation()(1),new_frame_->T_f_w_.pitch(),1000,time_);
auto result=ukfPtr_.UpdateSvo(new_frame_->T_f_w_.se2().translation()(0),new_frame_->T_f_w_.se2().translation()(1),new_frame_->T_f_w_.pitch(),1000,time_);
new_frame_->T_f_w_ = result.second;
new_frame_->Cov_ = result.first;
if(res == initialization::NO_KEYFRAME)
@@ -133,28 +135,31 @@ FrameHandlerBase::UpdateResult FrameHandlerMono::processSecondFrame()
FrameHandlerBase::UpdateResult FrameHandlerMono::processFrame()
{
new_frame_->T_f_w_ = last_frame_->T_f_w_;
auto init_f= ukfPtr_.get_location();
new_frame_->T_f_w_=init_f.second;
new_frame_->Cov_ = init_f.first;
// sparse image align
SparseImgAlign img_align(Config::kltMaxLevel(), Config::kltMinLevel(),
30, SparseImgAlign::LevenbergMarquardt, false, false);
img_align.run(last_frame_, new_frame_);
if(img_align.run(last_frame_, new_frame_)==0)return RESULT_FAILURE;
reprojector_.reprojectMap(new_frame_, overlap_kfs_);
size_t sfba_n_edges_final=0;
double sfba_thresh, sfba_error_init, sfba_error_final;
pose_optimizer::optimizeGaussNewton(
Config::poseOptimThresh(), Config::poseOptimNumIter(), false,
new_frame_, sfba_thresh, sfba_error_init, sfba_error_final, sfba_n_edges_final);
if((last_frame_->T_f_w_.getSE2().translation()-new_frame_->T_f_w_.getSE2().translation()).norm()>0.1){
new_frame_->T_f_w_ = last_frame_->T_f_w_;
if((last_frame_->T_f_w_.se2().translation()-new_frame_->T_f_w_.se2().translation()).norm()>2.0 || fabs(last_frame_->T_f_w_.pitch()-new_frame_->T_f_w_.pitch())>M_PI){
new_frame_=last_frame_;
return RESULT_NO_KEYFRAME;
}
auto result=ukfPtr_.UpdateSvo(new_frame_->T_f_w_.getSE2().translation()(0),
new_frame_->T_f_w_.getSE2().translation()(1),new_frame_->T_f_w_.pitch(),sfba_n_edges_final,time_);
auto result=ukfPtr_.UpdateSvo(new_frame_->T_f_w_.se2().translation()(0),
new_frame_->T_f_w_.se2().translation()(1),new_frame_->T_f_w_.pitch(),sfba_n_edges_final,time_);
new_frame_->T_f_w_ =result.second;
new_frame_->Cov_ = result.first;
std::cout<<"Reprojection Map nPoint: "<<overlap_kfs_.back().second
<<"\tnCell: "<<reprojector_.n_trials_<<"\t nMatches: "<<reprojector_.n_matches_
<<"\tReprojected points after opmization: "<<sfba_n_edges_final<<"\t distance between two frames: "<<
(last_frame_->T_f_w_.getSE2().translation()-new_frame_->T_f_w_.getSE2().translation()).norm()<<'\n';
(last_frame_->T_f_w_.se2().translation()-new_frame_->T_f_w_.se2().translation()).norm()<<'\n';
if(sfba_n_edges_final < Config::qualityMinFts() || reprojector_.n_matches_ < Config::qualityMinFts()){
return RESULT_NO_KEYFRAME;
}
@@ -165,7 +170,7 @@ FrameHandlerBase::UpdateResult FrameHandlerMono::processFrame()
setTrackingQuality(sfba_n_edges_final);
if(tracking_quality_ == TRACKING_INSUFFICIENT)
{
return RESULT_FAILURE;
return RESULT_FAILURE;
}
double depth_mean, depth_min;
GPU_version/vio/src/initialization.cpp
+3 -3
View File
@@ -69,9 +69,9 @@ InitResult KltHomographyInit::addSecondFrame(FramePtr frame_cur)
depth_vec.push_back((xyz_in_cur_[i]).z());
double scene_depth_median = vk::getMedian(depth_vec);
double scale = Config::mapScale()/scene_depth_median;
frame_cur->T_f_w_ = SE2_5(T_cur_from_ref_.getSE2() * frame_ref_->T_f_w_.getSE2());
frame_cur->T_f_w_.T2_.translation() = -frame_cur->T_f_w_.getSE2().rotation_matrix()*(frame_ref_->pos() + scale*(frame_cur->pos() - frame_ref_->pos()));
//frame_cur->T_f_w_.T2_.translation() = frame_cur->T_f_w_.getSE2().rotation_matrix()*(frame_ref_->pos() + scale*(frame_cur->pos() - frame_ref_->pos()));
frame_cur->T_f_w_ = SE2_5(T_cur_from_ref_.se2() * frame_ref_->T_f_w_.se2());
frame_cur->T_f_w_ = SE2_5(SE2(frame_cur->T_f_w_.se2().rotation_matrix(),
-frame_cur->T_f_w_.se2().rotation_matrix()*(frame_ref_->pos() + scale*(frame_cur->pos() - frame_ref_->pos()))));
// For each inlier create 3D point and add feature in both frames
SE3 T_world_cur = frame_cur->getSE3Inv();
for(vector<int>::iterator it=inliers_.begin(); it!=inliers_.end(); ++it)
GPU_version/vio/src/map.cpp
+1 -1
View File
@@ -118,7 +118,7 @@ void Map::getCloseKeyframes(
{
close_kfs.push_back(
std::make_pair(
kf, (frame->T_f_w_.getSE2().translation()-kf->T_f_w_.getSE2().translation()).norm()));
kf, (frame->T_f_w_.se2().translation()-kf->T_f_w_.se2().translation()).norm()));
break; // this keyframe has an overlapping field of view -> add to close_kfs
}
}
GPU_version/vio/src/matcher.cpp
+37 -39
View File
@@ -69,7 +69,7 @@ int getBestSearchLevel(
return search_level;
}
void warpAffine(
bool warpAffine(
const Matrix2d& A_cur_ref,
const cv::Mat& img_ref,
const Vector2d& px_ref,
@@ -78,14 +78,14 @@ void warpAffine(
const int halfpatch_size,
uint8_t* patch)
{
if(patch==NULL || img_ref.empty())return false;
const int patch_size = halfpatch_size*2 ;
const Matrix2f A_ref_cur = A_cur_ref.inverse().cast<float>();
if(isnan(A_ref_cur(0,0)))
{
printf("Affine warp is NaN, probably camera has no translation\n"); // TODO
return;
return false;
}
// Perform the warp on a larger patch.
uint8_t* patch_ptr = patch;
const Vector2f px_ref_pyr = px_ref.cast<float>() / (1<<level_ref);
@@ -96,12 +96,15 @@ void warpAffine(
Vector2f px_patch(x-halfpatch_size, y-halfpatch_size);
px_patch *= (1<<search_level);
const Vector2f px(A_ref_cur*px_patch + px_ref_pyr);
if (px[0]<0 || px[1]<0 || px[0]>=img_ref.cols-1 || px[1]>=img_ref.rows-1)
*patch_ptr = 0;
else
*patch_ptr = (uint8_t) vk::interpolateMat_8u(img_ref, px[0], px[1]);
if(patch_ptr == nullptr)continue;
if (px[0]<1 || px[1]<1 || px[0]>=img_ref.cols-1 || px[1]>=img_ref.rows-1){
*patch_ptr = 0;
}else{
*patch_ptr = (uint8_t) vk::interpolateMat_8u(img_ref, px[0], px[1]);
}
}
}
return true;
}
} // namespace warp
@@ -117,7 +120,7 @@ bool depthFromTriangulation(
if(AtA.determinant() < 0.000001)
return false;
const Vector2d depth2 = - AtA.inverse()*A.transpose()*T_search_ref.translation();
depth = fabs(depth2[0]);
depth = fabs(depth2[0]/depth2[1]);
return true;
}
@@ -142,35 +145,36 @@ bool Matcher::findMatchDirect(
if(!ref_ftr_->frame->cam_->isInFrame(
ref_ftr_->px.cast<int>()/(1<<ref_ftr_->level), halfpatch_size_+2, ref_ftr_->level))
return false;
if(ref_ftr_->frame->img_pyr_.empty())return false;
if(ref_ftr_->frame->img_pyr_[ref_ftr_->level].empty())return false;
// warp affine
warp::getWarpMatrixAffine(
*ref_ftr_->frame->cam_, *cur_frame.cam_, ref_ftr_->px, ref_ftr_->f,
(Vector3d(ref_ftr_->frame->pos()(0),0.0,ref_ftr_->frame->pos()(1)) - pt.pos_).norm(),
cur_frame.se3() * ref_ftr_->frame->getSE3Inv(), ref_ftr_->level, A_cur_ref_);
search_level_ = warp::getBestSearchLevel(A_cur_ref_, Config::nPyrLevels()-1);
warp::warpAffine(A_cur_ref_, ref_ftr_->frame->img_pyr_[ref_ftr_->level], ref_ftr_->px,
ref_ftr_->level, search_level_, halfpatch_size_+1, patch_with_border_);
if(!warp::warpAffine(A_cur_ref_, ref_ftr_->frame->img_pyr_[ref_ftr_->level], ref_ftr_->px,
ref_ftr_->level, search_level_, halfpatch_size_+1, patch_with_border_))return false;
createPatchFromPatchWithBorder();
// px_cur should be set
Vector2d px_scaled(px_cur/(1<<search_level_));
bool success = false;
if(ref_ftr_->type == Feature::EDGELET)
{
Vector2d dir_cur(A_cur_ref_*ref_ftr_->grad);
dir_cur.normalize();
success = feature_alignment::align1D(
cur_frame.img_pyr_[search_level_], dir_cur.cast<float>(),
patch_with_border_, patch_, options_.align_max_iter, px_scaled, h_inv_);
}
else
{
// if(ref_ftr_->type == Feature::EDGELET)
//{
// Vector2d dir_cur(A_cur_ref_*ref_ftr_->grad);
// dir_cur.normalize();
// success = feature_alignment::align1D(
// cur_frame.img_pyr_[search_level_], dir_cur.cast<float>(),
// patch_with_border_, patch_, options_.align_max_iter, px_scaled, h_inv_);
//}
//else
//{
success = feature_alignment::align2D(
cur_frame.img_pyr_[search_level_], patch_with_border_, patch_,
options_.align_max_iter, px_scaled);
}
// }
px_cur = px_scaled * (1<<search_level_);
return success;
}
@@ -185,24 +189,19 @@ bool Matcher::findEpipolarMatchDirect(
double& depth)
{
if(isnan(d_min) || isnan(d_max))return false;
SE2 T(cur_frame.T_f_w_.getSE2() * ref_frame.T_f_w_.inverse());
Eigen::Matrix<double,3,3> R;
R<<T.rotation_matrix()(0,0),0.0,T.rotation_matrix()(0,1),
0.0,1.0,0.0,
T.rotation_matrix()(1,0),0.0,T.rotation_matrix()(1,1);
SE3 T_cur_ref(R,Vector3d(T.translation()(0),0.0,T.translation()(1)));
SE2_5 T_cur_ref(cur_frame.T_f_w_.se2() * ref_frame.T_f_w_.inverse());
int zmssd_best = PatchScore::threshold();
Vector2d uv_best;
// Compute start and end of epipolar line in old_kf for match search, on unit plane!
Vector2d A = vk::project2d(T_cur_ref * (ref_ftr.f*d_min));
Vector2d B = vk::project2d(T_cur_ref * (ref_ftr.f*d_max));
Vector2d A = vk::project2d(T_cur_ref.se3() * (ref_ftr.f*d_min));
Vector2d B = vk::project2d(T_cur_ref.se3() * (ref_ftr.f*d_max));
epi_dir_ = A - B;
// Compute affine warp matrix
warp::getWarpMatrixAffine(
*ref_frame.cam_, *cur_frame.cam_, ref_ftr.px, ref_ftr.f,
d_estimate, T_cur_ref, ref_ftr.level, A_cur_ref_);
d_estimate, T_cur_ref.se3(), ref_ftr.level, A_cur_ref_);
// feature pre-selection
reject_ = false;
@@ -225,13 +224,12 @@ bool Matcher::findEpipolarMatchDirect(
// Warp reference patch at ref_level
warp::warpAffine(A_cur_ref_, ref_frame.img_pyr_[ref_ftr.level], ref_ftr.px,
ref_ftr.level, search_level_, halfpatch_size_+1, patch_with_border_);
if(!warp::warpAffine(A_cur_ref_, ref_frame.img_pyr_[ref_ftr.level], ref_ftr.px,
ref_ftr.level, search_level_, halfpatch_size_+1, patch_with_border_))return false;
createPatchFromPatchWithBorder();
if(epi_length_ < 2.0)
if(epi_length_ < 5.0)
{
px_cur_ = (px_A+px_B)/2.0;
px_cur_ = (px_A+px_B)/5.0;
Vector2d px_scaled(px_cur_/(1<<search_level_));
bool res;
if(options_.align_1d)
@@ -245,7 +243,7 @@ bool Matcher::findEpipolarMatchDirect(
if(res)
{
px_cur_ = px_scaled*(1<<search_level_);
if(depthFromTriangulation(T_cur_ref, ref_ftr.f, cur_frame.cam_->cam2world(px_cur_), depth))
if(depthFromTriangulation(T_cur_ref.se3(), ref_ftr.f, cur_frame.cam_->cam2world(px_cur_), depth))
return true;
}
return false;
@@ -314,13 +312,13 @@ bool Matcher::findEpipolarMatchDirect(
if(res)
{
px_cur_ = px_scaled*(1<<search_level_);
if(depthFromTriangulation(T_cur_ref, ref_ftr.f, cur_frame.cam_->cam2world(px_cur_), depth))
if(depthFromTriangulation(T_cur_ref.se3(), ref_ftr.f, cur_frame.cam_->cam2world(px_cur_), depth))
return true;
}
return false;
}
px_cur_ = cur_frame.cam_->world2cam(uv_best);
if(depthFromTriangulation(T_cur_ref, ref_ftr.f, vk::unproject2d(uv_best).normalized(), depth))
if(depthFromTriangulation(T_cur_ref.se3(), ref_ftr.f, vk::unproject2d(uv_best).normalized(), depth))
return true;
}
return false;
GPU_version/vio/src/point.cpp
+6 -8
View File
@@ -99,21 +99,19 @@ bool Point::getCloseViewObs(const Vector2d& framepos, Feature*& ftr) const
{
// TODO: get frame with same point of view AND same pyramid level!
Vector3d obs_dir(Vector3d(framepos(0),0.0,framepos(1)) - pos_); obs_dir.normalize();
auto min_it=obs_.begin();
double min_cos_angle = 0;
auto max_it=obs_.begin();
double max_cos_angle = 1;
for(auto it=obs_.begin(), ite=obs_.end(); it!=ite; ++it)
{
Vector3d dir(Vector3d((*it)->frame->pos()(0),0.0,(*it)->frame->pos()(1)) - pos_); dir.normalize();
double cos_angle = obs_dir.dot(dir);
if(cos_angle > min_cos_angle)
if(cos_angle < max_cos_angle)
{
min_cos_angle = cos_angle;
min_it = it;
max_cos_angle = cos_angle;
max_it = it;
}
}
ftr = *min_it;
if(min_cos_angle < 0.5) // assume that observations larger than 60° are useless
return false;
ftr = *max_it;
return true;
}
GPU_version/vio/src/pose_optimizer.cpp
+2 -2
View File
@@ -121,9 +121,9 @@ void optimizeGaussNewton(
// update the model
T_old = frame->T_f_w_;
if(direction){
frame->T_f_w_=SE2_5(SE2::exp(dT)*(T_old.getSE2()));
frame->T_f_w_=SE2_5(SE2::exp(dT)*(T_old.se2()));
}else{
frame->T_f_w_=SE2_5(SE2::exp(-1.0*dT)*(T_old.getSE2()));
frame->T_f_w_=SE2_5(SE2::exp(-1.0*dT)*(T_old.se2()));
}
chi2 = new_chi2;
if(verbose)
GPU_version/vio/src/reprojector.cpp
-1
View File
@@ -72,7 +72,6 @@ void Reprojector::reprojectMap(
list< pair<FramePtr,double> > close_kfs;
map_.getCloseKeyframes(frame, close_kfs);
std::cout<<"The number of closed frames: "<<std::to_string(close_kfs.size())<<'\n';
// Sort KFs with overlap according to their closeness
close_kfs.sort(boost::bind(&std::pair<FramePtr, double>::second, _1) <
boost::bind(&std::pair<FramePtr, double>::second, _2));
GPU_version/vio/src/sparse_img_align.cpp
+3 -5
View File
@@ -46,7 +46,6 @@ size_t SparseImgAlign::run(FramePtr ref_frame, FramePtr cur_frame)
if(ref_frame->fts_.empty())
{
SVO_WARN_STREAM("SparseImgAlign: no features to track!");
return 0;
}
@@ -54,8 +53,7 @@ size_t SparseImgAlign::run(FramePtr ref_frame, FramePtr cur_frame)
cur_frame_ = cur_frame;
ref_patch_cache_ = cv::Mat(ref_frame_->fts_.size(), patch_area_, CV_32F);
jacobian_cache_.resize(Eigen::NoChange, ref_patch_cache_.rows*patch_area_);
//visible_fts_.resize(ref_patch_cache_.rows, false); // TODO: should it be reset at each level?
SE2 T_cur_from_ref(cur_frame_->T_f_w_.getSE2() * ref_frame_->T_f_w_.inverse());
SE2 T_cur_from_ref(cur_frame_->T_f_w_.se2() * ref_frame_->T_f_w_.inverse());
for(level_=max_level_; level_>=min_level_; --level_)
{
visible_fts_.resize(ref_patch_cache_.rows, false); // TODO: should it be reset at each level?
@@ -66,7 +64,7 @@ size_t SparseImgAlign::run(FramePtr ref_frame, FramePtr cur_frame)
printf("\nPYRAMID LEVEL %i\n---------------\n", level_);
optimize(T_cur_from_ref);
}
cur_frame_->T_f_w_ = SE2_5(T_cur_from_ref * ref_frame_->T_f_w_.getSE2());
cur_frame_->T_f_w_ = SE2_5(T_cur_from_ref * ref_frame_->T_f_w_.se2());
return n_meas_/patch_area_;
}
@@ -251,7 +249,7 @@ void SparseImgAlign::update(
const ModelType& T_curold_from_ref,
ModelType& T_curnew_from_ref)
{
T_curnew_from_ref = T_curold_from_ref * SE2::exp(-1.0*x_);
T_curnew_from_ref = T_curold_from_ref * SE2::exp(-0.25*x_);
}
void SparseImgAlign::startIteration()
GPU_version/vio/src/visualizer.cpp
+11 -42
View File
@@ -24,6 +24,7 @@
#include <gpu_svo/timer.h>
#include <gpu_svo/output_helper.h>
#include <deque>
#include <gpu_svo/ukf.h>
namespace svo {
@@ -40,9 +41,7 @@ Visualizer() :
}
void Visualizer::publishMinimal(
const cv::Mat& img,
const FramePtr& frame,
const FrameHandlerMono& slam,
UKF& ukf,
const double timestamp)
{
++trace_id_;
@@ -50,63 +49,33 @@ void Visualizer::publishMinimal(
header_msg.frame_id = "/world";
header_msg.seq = trace_id_;
header_msg.stamp = ros::Time(timestamp);
if(pub_pose_with_cov_.getNumSubscribers() > 0 && slam.stage() == FrameHandlerBase::STAGE_DEFAULT_FRAME)
if(pub_pose_with_cov_.getNumSubscribers() > 0)
{
// publish cam in world frame (Estimated odometry in the worls frame)
Quaterniond q(AngleAxisd(frame->T_f_w_.pitch(), Vector3d::UnitZ()));
auto odom=ukf.get_location();
Quaterniond q(AngleAxisd(odom.second.pitch()+M_PI_2, Vector3d::UnitZ()));
geometry_msgs::PoseWithCovarianceStampedPtr msg_pose_with_cov(new geometry_msgs::PoseWithCovarianceStamped);
msg_pose_with_cov->header = header_msg;
msg_pose_with_cov->pose.pose.position.x = frame->se3().translation().x();
msg_pose_with_cov->pose.pose.position.y = frame->se3().translation().z();
msg_pose_with_cov->pose.pose.position.x = -odom.second.se2().translation()(0);
msg_pose_with_cov->pose.pose.position.y = -odom.second.se2().translation()(1);
msg_pose_with_cov->pose.pose.position.z = 0.0;
msg_pose_with_cov->pose.pose.orientation.x = q.x();
msg_pose_with_cov->pose.pose.orientation.y = q.y();
msg_pose_with_cov->pose.pose.orientation.z = q.z();
msg_pose_with_cov->pose.pose.orientation.w = q.w();
msg_pose_with_cov->pose.covariance = {frame->Cov_(0,0),frame->Cov_(0,1),0.0,0.0,frame->Cov_(0,2),0.0,
frame->Cov_(1,0),frame->Cov_(1,1),0.0,0.0,frame->Cov_(1,2),0.0,
msg_pose_with_cov->pose.covariance = {odom.first(0,0),odom.first(0,1),0.0,0.0,odom.first(0,2),0.0,
odom.first(1,0),odom.first(1,1),0.0,0.0,odom.first(1,2),0.0,
0.0,0.0,0.0000001,0.0,0.0,0.0,
0.0,0.0,0.0,0.0000001,0.0,0.0,
frame->Cov_(2,0),frame->Cov_(2,1),0.0,0.0,frame->Cov_(2,2),0.0,
odom.first(2,0),odom.first(2,1),0.0,0.0,odom.first(2,2),0.0,
0.0,0.0,0.0,0.0,0.0,0.0000001};
pub_pose_with_cov_.publish(msg_pose_with_cov);
if(pub_frames_.getNumSubscribers() > 0 || pub_points_.getNumSubscribers() > 0){
publishPointMarker(
pub_points_, Eigen::Vector3d(frame->se3().translation().x(),frame->se3().translation().z(),0.0), "trajectory",
pub_points_, Eigen::Vector3d(-odom.second.se2().translation()(0),-odom.second.se2().translation()(1),0.0), "trajectory",
ros::Time::now(), trace_id_, 0, 0.01, Vector3d(0.,0.,0.5));
}
}
}
void Visualizer::visualizeMarkers(
const FramePtr& frame,
const set<FramePtr>& core_kfs,
const Map& map)
{
if(frame == NULL)
return;
publishTfTransform(
frame->se3()*T_world_from_vision_.inverse(),
ros::Time(frame->timestamp_), "cam_pos", "world", br_);
if(pub_frames_.getNumSubscribers() > 0 || pub_points_.getNumSubscribers() > 0)
{
publishPointMarker(
pub_points_, T_world_from_vision_*Vector3d(frame->pos()(0),0.0,frame->pos()(1)), "trajectory",
ros::Time::now(), trace_id_, 0, 0.006, Vector3d(0.,0.,0.5));
removeDeletedPts(map);
}
}
void Visualizer::removeDeletedPts(const Map& map)
{
if(pub_points_.getNumSubscribers() > 0)
{
for(list<Point*>::const_iterator it=map.trash_points_.begin(); it!=map.trash_points_.end(); ++it)
publishPointMarker(pub_points_, Vector3d(), "pts", ros::Time::now(), (*it)->id_, 2, 0.006, Vector3d());
}
}
} // end namespace gpu_svo
GPU_version/vio/src/vo_node.cpp
+1 -3
View File
@@ -108,9 +108,6 @@ void VoNode::imgCb(const sensor_msgs::ImageConstPtr& msg)
auto start=std::chrono::steady_clock::now();
cv::Mat img=cv_bridge::toCvShare(msg, "mono8")->image;
vo_->addImage(img, msg->header.stamp.toSec(),msg->header.stamp);
visualizer_.publishMinimal(img, vo_->lastFrame(), *vo_, msg->header.stamp.toSec());
if(vo_->stage() == svo::FrameHandlerMono::STAGE_PAUSED)
usleep(100000);
#if VIO_DEBUG
fprintf(log_, ",,,,,,,%s,%f,%f,%f\n",std::to_string(std::chrono::duration<double>(std::chrono::steady_clock::now()-start).count()).c_str(),vo_->lastFrame()->T_f_w_.translation()(0),
vo_->lastFrame()->T_f_w_.translation()(1),
@@ -158,6 +155,7 @@ void VoNode::imuCb(const sensor_msgs::ImuPtr &imu) {
#endif
vo_->UpdateIMU(imu_in,imu->header.stamp);
imu_time_=imu->header.stamp;
visualizer_.publishMinimal(vo_->ukfPtr_, imu->header.stamp.toSec());
}
void VoNode::cmdCb(const geometry_msgs::TwistPtr &cmd) {
double _cmd[3]={cmd->linear.x,cmd->linear.y,cmd->angular.z};