debug gpu version done

2021-05-08 11:53:15 +02:00
parent 5a693259d6
commit 9dbc540a5d
60 changed files with 1249 additions and 141 deletions
@@ -0,0 +1,70 @@
+//
+// Created by root on 4/13/21.
+//
+
+#ifndef SVO_SVOVISIONFACTOR_H
+#define SVO_SVOVISIONFACTOR_H
+#pragma once
+
+#include <gtsam/nonlinear/NonlinearFactor.h>
+#include <gtsam/base/Matrix.h>
+#include <gtsam/base/Vector.h>
+#include <gtsam/geometry/Pose3.h>
+#include <vikit/robust_cost.h>
+#include <vikit/math_utils.h>
+#include <gpu_svo/frame.h>
+
+namespace svo {
+
+    class VisionFactor: public gtsam::NoiseModelFactor1<gtsam::Pose3> {
+
+    private:
+        // measurement information
+        gtsam::Point3 feature;   ///<Unit-bearing vector of the feature.
+        gtsam::Point3 landmark;   ///<Unit-bearing vector of the feature.
+        boost::optional<gtsam::Point3> body_P_sensor_; ///< TODO The pose of the sensor in the body frame
+        int level;            ///< Image pyramid level where feature was extracted.
+
+    public:
+        /// shorthand for a smart pointer to a factor
+        typedef boost::shared_ptr<VisionFactor> shared_ptr;
+
+        /**
+        * Constructor
+        * @param feature Unit-bearing vector of the feature.
+        * @param model is the standard deviation
+        * @param pointKey is the index of the landmark
+        * @param poseKey is the index of the camera pose
+        * @param landmark 3D position of the landmark
+        * @param body_P_sensor is the transform from body to sensor frame (default identity)
+        * @param level Image pyramid level where feature was extracted.
+        */
+        VisionFactor(const gtsam::Point3& feature, const gtsam::Point3& landmark,const int level, const gtsam::SharedNoiseModel& Hp,
+                      gtsam::Key poseKey,boost::optional<gtsam::Point3> body_P_sensor = boost::none) :
+                gtsam::NoiseModelFactor1<gtsam::Pose3>(Hp, poseKey), feature(feature), landmark(landmark),body_P_sensor_(body_P_sensor),level(level){}
+        virtual ~VisionFactor(){}
+
+        /// error function
+        /// @param p    the Estimated pose in Pose3
+        /// @param H    the optional Jacobian matrix, which use boost optional and has default null pointer
+        gtsam::Vector evaluateError(const gtsam::Pose3& p, boost::optional<gtsam::Matrix&> Hp = boost::none) const {
+            // note that use boost optional like a pointer
+            // only calculate jacobian matrix when non-null pointer exists
+            gtsam::Matrix26 J;
+            gtsam::Point3 point(p*landmark);
+            svo::Frame::jacobian_xyz2uv(point, J);
+            Vector2d e = (vk::project2d(feature) - vk::project2d(point))*1.0 / (1<<level);
+            if(Hp)(*Hp) = (gtsam::Matrix(2,6)<< J * 1.0 / (1<<level)).finished();
+            return e;
+        }
+        // The second is a 'clone' function that allows the factor to be copied. Under most
+        // circumstances, the following code that employs the default copy constructor should
+        // work fine.
+        virtual gtsam::NonlinearFactor::shared_ptr clone() const {
+            return boost::static_pointer_cast<gtsam::NonlinearFactor>(
+                    gtsam::NonlinearFactor::shared_ptr(new VisionFactor(*this))); }
+
+    };
+
+} // namespace gtsamexamples
+#endif //SVO_SVOVISIONFACTOR_H