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gfuse
2021-09-25 11:00:41 +02:00
parent 8f4ddb9c72
commit 9d3ecd8f18
11 changed files with 1034 additions and 1777 deletions
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GPU_version/vio/doc/notation.ipe
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GPU_version/vio/doc/notation.pdf
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GPU_version/vio/frame_handler_log.txt
+1026 -1423
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GPU_version/vio/include/vio/global.h
-1
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@@ -49,7 +49,6 @@ namespace vio
const double EPS = 0.0000000001; const double EPS = 0.0000000001;
const double PI = 3.14159265; const double PI = 3.14159265;
static boost::mutex feature_detection_mut_;
static std::string time_in_HH_MM_SS_MMM() static std::string time_in_HH_MM_SS_MMM()
{ {
using namespace std::chrono; using namespace std::chrono;
GPU_version/vio/include/vio/global_optimizer.h
-4
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@@ -45,10 +45,6 @@ public:
void stopThread(); void stopThread();
/// If the map is reset, call this function such that we don't have pointers
/// to old frames.
void reset();
protected: protected:
bool seeds_updating_halt_; //!< Set this value to true when seeds updating should be interrupted. bool seeds_updating_halt_; //!< Set this value to true when seeds updating should be interrupted.
boost::thread* thread_; boost::thread* thread_;
GPU_version/vio/src/frame_handler_mono.cpp
+2 -5
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@@ -179,9 +179,7 @@ FrameHandlerBase::UpdateResult FrameHandlerMono::processFrame()
new_frame_->Cov_ = init_f.first; new_frame_->Cov_ = init_f.first;
// sparse image align // sparse image align
SparseImgAlignGpu img_align(Config::kltMaxLevel(), Config::kltMinLevel(),30, SparseImgAlignGpu::GaussNewton, false,gpu_fast_); 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_); size_t err=img_align.run(last_frame_, new_frame_, log_);
feature_detection_mut_.unlock();
if(err==-1){ if(err==-1){
#if VIO_DEBUG #if VIO_DEBUG
fprintf(log_,"[%s] Image Alignment failed -1\n",vio::time_in_HH_MM_SS_MMM().c_str()); fprintf(log_,"[%s] Image Alignment failed -1\n",vio::time_in_HH_MM_SS_MMM().c_str());
@@ -211,6 +209,7 @@ FrameHandlerBase::UpdateResult FrameHandlerMono::processFrame()
pose_optimizer::optimizeGaussNewton( pose_optimizer::optimizeGaussNewton(
Config::poseOptimThresh(), 70, false, Config::poseOptimThresh(), 70, false,
new_frame_, sfba_thresh, sfba_error_init, sfba_error_final, sfba_n_edges_final,log_); 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 #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(), 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(), 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())); fabs(new_frame_->T_f_w_.pitch()-init_f.second.pitch()));
#endif #endif
if((init_f.second.se2().translation()-new_frame_->T_f_w_.se2().translation()).norm()>0.5 || 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_; new_frame_=last_frame_;
return RESULT_FAILURE; return RESULT_FAILURE;
} }
@@ -236,7 +235,6 @@ FrameHandlerBase::UpdateResult FrameHandlerMono::processFrame()
return RESULT_NO_KEYFRAME; return RESULT_NO_KEYFRAME;
} }
optimizeStructure(new_frame_, Config::structureOptimMaxPts(), Config::structureOptimNumIter());
double depth_mean=0.0, depth_min=0.0; double depth_mean=0.0, depth_min=0.0;
frame_utils::getSceneDepth(new_frame_, depth_mean, depth_min); frame_utils::getSceneDepth(new_frame_, depth_mean, depth_min);
new_frame_->setKeyframe(); new_frame_->setKeyframe();
@@ -268,7 +266,6 @@ void FrameHandlerMono::resetAll()
last_frame_.reset(); last_frame_.reset();
new_frame_.reset(); new_frame_.reset();
overlap_kfs_.clear(); overlap_kfs_.clear();
ba_glob_->reset();
} }
bool FrameHandlerMono::needNewKf() bool FrameHandlerMono::needNewKf()
{ {
GPU_version/vio/src/global_optimizer.cpp
-13
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@@ -66,19 +66,6 @@ namespace vio {
#endif #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() void BA_Glob::updateLoop()
{ {
while(!boost::this_thread::interruption_requested()) while(!boost::this_thread::interruption_requested())
GPU_version/vio/src/initialization.cpp
+2 -2
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@@ -132,11 +132,11 @@ void detectFeatures(
Features& new_features, Features& new_features,
opencl* gpu_fast) opencl* gpu_fast)
{ {
feature_detection_mut_.lock();
feature_detection::FastDetector detector( feature_detection::FastDetector detector(
frame->img().cols, frame->img().rows, Config::gridSize(), gpu_fast,Config::nPyrLevels()); frame->img().cols, frame->img().rows, Config::gridSize(), gpu_fast,Config::nPyrLevels());
detector.detect(frame, frame->img_pyr_, Config::triangMinCornerScore(), new_features); detector.detect(frame, frame->img_pyr_, Config::triangMinCornerScore(), new_features);
feature_detection_mut_.unlock();
// now for all maximum corners, initialize a new seed // now for all maximum corners, initialize a new seed
px_vec.clear(); px_vec.clear();
for(auto&& ftr:new_features){ for(auto&& ftr:new_features){
GPU_version/vio/src/point.cpp
+4 -15
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@@ -59,7 +59,7 @@ Point::~Point()
void Point::addFrameRef(std::shared_ptr<Feature> ftr) void Point::addFrameRef(std::shared_ptr<Feature> ftr)
{ {
boost::unique_lock<boost::mutex> lock(point_mut_);
obs_.push_front(ftr); obs_.push_front(ftr);
++n_obs_; ++n_obs_;
} }
@@ -138,6 +138,7 @@ bool Point::getCloseViewObs(const Vector2d& framepos, std::shared_ptr<Feature>&
void Point::optimize(const size_t n_iter) void Point::optimize(const size_t n_iter)
{ {
boost::unique_lock<boost::mutex> lock(point_mut_);
Vector3d old_point = pos_; Vector3d old_point = pos_;
double chi2 = 0.0; double chi2 = 0.0;
Matrix3d A; Matrix3d A;
@@ -167,33 +168,21 @@ void Point::optimize(const size_t n_iter)
// check if error increased // check if error increased
if((i > 0 && new_chi2 > chi2) || (bool) std::isnan((double)dp[0])) 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 pos_ = old_point; // roll-back
break; break;
} }
// update the model // update the model
Vector3d new_point = pos_ + dp; Vector3d new_point = pos_ + dp;
old_point = pos_; old_point = pos_;
pos_ = new_point; pos_ = new_point;
chi2 = new_chi2; 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 // stop when converged
if(vk::norm_max(dp) <= EPS) if(vk::norm_max(dp) <= EPS)
break; break;
} }
#ifdef POINT_OPTIMIZER_DEBUG
cout << endl;
#endif
} }
} // namespace vio } // namespace vio
GPU_version/vio/src/reprojector.cpp
-2
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@@ -76,11 +76,9 @@ namespace vio {
Features keypoints_cur; Features keypoints_cur;
cv::Ptr<cv::xfeatures2d::FREAK> extractor = cv::xfeatures2d::FREAK::create(true, true, 22.0f, 4); 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); cv::Ptr<cv::BFMatcher> matcher = cv::BFMatcher::create(cv::NORM_HAMMING, true);
feature_detection_mut_.lock();
feature_detection::FastDetector detector( feature_detection::FastDetector detector(
frame->img().cols, frame->img().rows, Config::gridSize(), gpu_fast_,Config::nPyrLevels()); frame->img().cols, frame->img().rows, Config::gridSize(), gpu_fast_,Config::nPyrLevels());
detector.detect(frame, frame->img_pyr_, Config::triangMinCornerScore(), keypoints_cur,&descriptors_cur); detector.detect(frame, frame->img_pyr_, Config::triangMinCornerScore(), keypoints_cur,&descriptors_cur);
feature_detection_mut_.unlock();
list<pair<FramePtr, double> > close_kfs; list<pair<FramePtr, double> > close_kfs;
map_.getCloseKeyframes(frame, close_kfs); map_.getCloseKeyframes(frame, close_kfs);
if (!last_frame->fts_.empty()) if (!last_frame->fts_.empty())