debug
This commit is contained in:
gfuse
@@ -1,312 +0,0 @@
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Before Width: | Height: | Size: 27 KiB After Width: | Height: | Size: 30 KiB |
+1026
-1423
File diff suppressed because it is too large
Load Diff
@@ -49,7 +49,6 @@ namespace vio
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||||
const double EPS = 0.0000000001;
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||||
const double PI = 3.14159265;
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||||
|
||||
static boost::mutex feature_detection_mut_;
|
||||
static std::string time_in_HH_MM_SS_MMM()
|
||||
{
|
||||
using namespace std::chrono;
|
||||
|
||||
@@ -45,10 +45,6 @@ public:
|
||||
void stopThread();
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||||
|
||||
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||||
/// If the map is reset, call this function such that we don't have pointers
|
||||
/// to old frames.
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||||
void reset();
|
||||
|
||||
protected:
|
||||
bool seeds_updating_halt_; //!< Set this value to true when seeds updating should be interrupted.
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||||
boost::thread* thread_;
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||||
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||||
@@ -179,9 +179,7 @@ FrameHandlerBase::UpdateResult FrameHandlerMono::processFrame()
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||||
new_frame_->Cov_ = init_f.first;
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||||
// sparse image align
|
||||
SparseImgAlignGpu img_align(Config::kltMaxLevel(), Config::kltMinLevel(),30, SparseImgAlignGpu::GaussNewton, false,gpu_fast_);
|
||||
feature_detection_mut_.lock();
|
||||
size_t err=img_align.run(last_frame_, new_frame_, log_);
|
||||
feature_detection_mut_.unlock();
|
||||
if(err==-1){
|
||||
#if VIO_DEBUG
|
||||
fprintf(log_,"[%s] Image Alignment failed -1\n",vio::time_in_HH_MM_SS_MMM().c_str());
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||||
@@ -211,6 +209,7 @@ FrameHandlerBase::UpdateResult FrameHandlerMono::processFrame()
|
||||
pose_optimizer::optimizeGaussNewton(
|
||||
Config::poseOptimThresh(), 70, false,
|
||||
new_frame_, sfba_thresh, sfba_error_init, sfba_error_final, sfba_n_edges_final,log_);
|
||||
optimizeStructure(new_frame_, Config::structureOptimMaxPts(), Config::structureOptimNumIter());
|
||||
#if VIO_DEBUG
|
||||
fprintf(log_,"[%s] After pose optimization, distance between ekf and vo x:%f ,z=%f,angle between two frames:%f\n",vio::time_in_HH_MM_SS_MMM().c_str(),
|
||||
new_frame_->T_f_w_.se2().translation().x()-init_f.second.se2().translation().x(),
|
||||
@@ -218,7 +217,7 @@ FrameHandlerBase::UpdateResult FrameHandlerMono::processFrame()
|
||||
fabs(new_frame_->T_f_w_.pitch()-init_f.second.pitch()));
|
||||
#endif
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||||
if((init_f.second.se2().translation()-new_frame_->T_f_w_.se2().translation()).norm()>0.5 ||
|
||||
fabs(new_frame_->T_f_w_.pitch()-init_f.second.pitch())>0.25*M_PI_2 || sfba_n_edges_final<5){
|
||||
fabs(new_frame_->T_f_w_.pitch()-init_f.second.pitch())>0.25*M_PI_2 || sfba_n_edges_final<10){
|
||||
new_frame_=last_frame_;
|
||||
return RESULT_FAILURE;
|
||||
}
|
||||
@@ -236,7 +235,6 @@ FrameHandlerBase::UpdateResult FrameHandlerMono::processFrame()
|
||||
return RESULT_NO_KEYFRAME;
|
||||
}
|
||||
|
||||
optimizeStructure(new_frame_, Config::structureOptimMaxPts(), Config::structureOptimNumIter());
|
||||
double depth_mean=0.0, depth_min=0.0;
|
||||
frame_utils::getSceneDepth(new_frame_, depth_mean, depth_min);
|
||||
new_frame_->setKeyframe();
|
||||
@@ -268,7 +266,6 @@ void FrameHandlerMono::resetAll()
|
||||
last_frame_.reset();
|
||||
new_frame_.reset();
|
||||
overlap_kfs_.clear();
|
||||
ba_glob_->reset();
|
||||
}
|
||||
bool FrameHandlerMono::needNewKf()
|
||||
{
|
||||
|
||||
@@ -66,19 +66,6 @@ namespace vio {
|
||||
#endif
|
||||
}
|
||||
|
||||
|
||||
void BA_Glob::reset()
|
||||
{
|
||||
seeds_updating_halt_ = true;
|
||||
{
|
||||
}
|
||||
seeds_updating_halt_ = false;
|
||||
|
||||
#if VIO_DEBUG
|
||||
fprintf(log_,"[%s] DepthFilter: RESET.\n",vio::time_in_HH_MM_SS_MMM().c_str());
|
||||
#endif
|
||||
}
|
||||
|
||||
void BA_Glob::updateLoop()
|
||||
{
|
||||
while(!boost::this_thread::interruption_requested())
|
||||
|
||||
@@ -132,11 +132,11 @@ void detectFeatures(
|
||||
Features& new_features,
|
||||
opencl* gpu_fast)
|
||||
{
|
||||
feature_detection_mut_.lock();
|
||||
|
||||
feature_detection::FastDetector detector(
|
||||
frame->img().cols, frame->img().rows, Config::gridSize(), gpu_fast,Config::nPyrLevels());
|
||||
detector.detect(frame, frame->img_pyr_, Config::triangMinCornerScore(), new_features);
|
||||
feature_detection_mut_.unlock();
|
||||
|
||||
// now for all maximum corners, initialize a new seed
|
||||
px_vec.clear();
|
||||
for(auto&& ftr:new_features){
|
||||
|
||||
@@ -59,7 +59,7 @@ Point::~Point()
|
||||
|
||||
void Point::addFrameRef(std::shared_ptr<Feature> ftr)
|
||||
{
|
||||
|
||||
boost::unique_lock<boost::mutex> lock(point_mut_);
|
||||
obs_.push_front(ftr);
|
||||
++n_obs_;
|
||||
}
|
||||
@@ -138,6 +138,7 @@ bool Point::getCloseViewObs(const Vector2d& framepos, std::shared_ptr<Feature>&
|
||||
|
||||
void Point::optimize(const size_t n_iter)
|
||||
{
|
||||
boost::unique_lock<boost::mutex> lock(point_mut_);
|
||||
Vector3d old_point = pos_;
|
||||
double chi2 = 0.0;
|
||||
Matrix3d A;
|
||||
@@ -167,33 +168,21 @@ void Point::optimize(const size_t n_iter)
|
||||
// check if error increased
|
||||
if((i > 0 && new_chi2 > chi2) || (bool) std::isnan((double)dp[0]))
|
||||
{
|
||||
#ifdef POINT_OPTIMIZER_DEBUG
|
||||
cout << "it " << i
|
||||
<< "\t FAILURE \t new_chi2 = " << new_chi2 << endl;
|
||||
#endif
|
||||
|
||||
pos_ = old_point; // roll-back
|
||||
break;
|
||||
}
|
||||
|
||||
// update the model
|
||||
Vector3d new_point = pos_ + dp;
|
||||
old_point = pos_;
|
||||
pos_ = new_point;
|
||||
chi2 = new_chi2;
|
||||
#ifdef POINT_OPTIMIZER_DEBUG
|
||||
cout << "it " << i
|
||||
<< "\t Success \t new_chi2 = " << new_chi2
|
||||
<< "\t norm(b) = " << vk::norm_max(b)
|
||||
<< endl;
|
||||
#endif
|
||||
|
||||
// stop when converged
|
||||
if(vk::norm_max(dp) <= EPS)
|
||||
break;
|
||||
}
|
||||
#ifdef POINT_OPTIMIZER_DEBUG
|
||||
cout << endl;
|
||||
#endif
|
||||
|
||||
}
|
||||
|
||||
} // namespace vio
|
||||
|
||||
@@ -76,11 +76,9 @@ namespace vio {
|
||||
Features keypoints_cur;
|
||||
cv::Ptr<cv::xfeatures2d::FREAK> extractor = cv::xfeatures2d::FREAK::create(true, true, 22.0f, 4);
|
||||
cv::Ptr<cv::BFMatcher> matcher = cv::BFMatcher::create(cv::NORM_HAMMING, true);
|
||||
feature_detection_mut_.lock();
|
||||
feature_detection::FastDetector detector(
|
||||
frame->img().cols, frame->img().rows, Config::gridSize(), gpu_fast_,Config::nPyrLevels());
|
||||
detector.detect(frame, frame->img_pyr_, Config::triangMinCornerScore(), keypoints_cur,&descriptors_cur);
|
||||
feature_detection_mut_.unlock();
|
||||
list<pair<FramePtr, double> > close_kfs;
|
||||
map_.getCloseKeyframes(frame, close_kfs);
|
||||
if (!last_frame->fts_.empty())
|
||||
|
||||
Reference in New Issue
Block a user