From 76801f72ac1dbe24a2a8bc76a878fd4a7261c00a Mon Sep 17 00:00:00 2001 From: Christian Forster Date: Wed, 12 Mar 2014 16:39:58 +0100 Subject: [PATCH 001/215] first commit --- README.md | 137 ++ rqt_svo/CMakeLists.txt | 22 + rqt_svo/README.md | 10 + rqt_svo/package.xml | 25 + rqt_svo/plugin.xml | 12 + rqt_svo/resource/widget.ui | 101 + rqt_svo/scripts/rqt_svo | 10 + rqt_svo/setup.py | 12 + rqt_svo/src/rqt_svo/.gitignore | 1 + rqt_svo/src/rqt_svo/__init__.py | 0 rqt_svo/src/rqt_svo/svo.py | 66 + rqt_svo/src/rqt_svo/svo_widget.py | 126 ++ svo/CMakeLists.txt | 156 ++ svo/CMakeModules/FindG2O.cmake | 113 ++ svo/Doxyfile | 1782 +++++++++++++++++ svo/doc/.gitignore | 2 + svo/include/svo/bundle_adjustment.h | 103 + svo/include/svo/config.h | 159 ++ svo/include/svo/depth_filter.h | 163 ++ svo/include/svo/feature.h | 62 + svo/include/svo/feature_alignment.h | 63 + svo/include/svo/feature_detection.h | 76 + svo/include/svo/frame.h | 130 ++ svo/include/svo/frame_handler_base.h | 116 ++ svo/include/svo/frame_handler_mono.h | 75 + svo/include/svo/global.h | 95 + svo/include/svo/initialization.h | 83 + svo/include/svo/map.h | 134 ++ svo/include/svo/matcher.h | 105 + svo/include/svo/point.h | 83 + svo/include/svo/pose_optimizer.h | 77 + svo/include/svo/reprojection.h | 98 + svo/include/svo/sparse_img_align.h | 78 + svo/package.xml | 24 + svo/src/bundle_adjustment.cpp | 435 ++++ svo/src/config.cpp | 95 + svo/src/depth_filter.cpp | 362 ++++ svo/src/feature_alignment.cpp | 601 ++++++ svo/src/feature_detection.cpp | 77 + svo/src/frame.cpp | 197 ++ svo/src/frame_handler_base.cpp | 200 ++ svo/src/frame_handler_mono.cpp | 254 +++ svo/src/initialization.cpp | 205 ++ svo/src/map.cpp | 357 ++++ svo/src/matcher.cpp | 343 ++++ svo/src/point.cpp | 170 ++ svo/src/pose_optimizer.cpp | 164 ++ svo/src/reprojection.cpp | 214 ++ svo/src/sparse_img_align.cpp | 296 +++ svo/test/README.md | 11 + svo/test/benchmark.csv | 307 +++ svo/test/data/.gitignore | 2 + svo/test/results/.gitignore | 2 + svo/test/test_depth_filter.cpp | 200 ++ svo/test/test_feature_alignment.cpp | 122 ++ svo/test/test_feature_detection.cpp | 80 + svo/test/test_matcher.cpp | 195 ++ svo/test/test_pipeline.cpp | 94 + svo/test/test_pose_optimizer.cpp | 119 ++ svo/test/test_sparse_img_align.cpp | 165 ++ svo_analysis/benchmark.py | 67 + svo_analysis/evaluate.py | 47 + svo_analysis/experiments/asl2_acc.yaml | 2 + svo_analysis/experiments/asl2_fast.yaml | 2 + svo_analysis/results/.gitignore | 2 + svo_analysis/scripts/__init__.py | 2 + svo_analysis/scripts/analyse_dataset.py | 42 + svo_analysis/scripts/analyse_logs.py | 132 ++ svo_analysis/scripts/analyse_timing.py | 97 + svo_analysis/scripts/analyse_trajectory.py | 187 ++ svo_analysis/scripts/associate.py | 67 + svo_analysis/scripts/evaluate_rpe.py | 355 ++++ .../scripts/filter_groundtruth_smooth.py | 60 + svo_analysis/scripts/hand_eye_calib.py | 287 +++ svo_analysis/scripts/rotation_utils.py | 143 ++ svo_analysis/scripts/trajectory_comparison.py | 166 ++ svo_analysis/scripts/transformations.py | 1705 ++++++++++++++++ svo_msgs/CMakeLists.txt | 35 + svo_msgs/msg/DenseInput.msg | 6 + svo_msgs/msg/Feature.msg | 5 + svo_msgs/msg/Info.msg | 6 + svo_msgs/msg/NbvTrajectory.msg | 2 + svo_msgs/package.xml | 19 + svo_ros/CMakeLists.txt | 62 + svo_ros/include/svo_ros/dataset_img.h | 62 + svo_ros/include/svo_ros/dataset_imu.h | 70 + svo_ros/include/svo_ros/visualizer.h | 75 + svo_ros/launch/live.launch | 25 + svo_ros/launch/test_rig3.launch | 16 + svo_ros/package.xml | 42 + svo_ros/param/vo_accurate.yaml | 4 + svo_ros/param/vo_fast.yaml | 3 + svo_ros/rqt.perspective | 293 +++ svo_ros/rviz_config.rviz | 153 ++ svo_ros/src/benchmark_node.cpp | 155 ++ svo_ros/src/remote_node.cpp | 169 ++ svo_ros/src/visualizer.cpp | 268 +++ svo_ros/src/vo_node.cpp | 181 ++ 98 files changed, 14580 insertions(+) create mode 100644 README.md create mode 100644 rqt_svo/CMakeLists.txt create mode 100644 rqt_svo/README.md create mode 100644 rqt_svo/package.xml create mode 100644 rqt_svo/plugin.xml create mode 100644 rqt_svo/resource/widget.ui create mode 100755 rqt_svo/scripts/rqt_svo create mode 100644 rqt_svo/setup.py create mode 100644 rqt_svo/src/rqt_svo/.gitignore create mode 100644 rqt_svo/src/rqt_svo/__init__.py create mode 100644 rqt_svo/src/rqt_svo/svo.py create mode 100644 rqt_svo/src/rqt_svo/svo_widget.py create mode 100644 svo/CMakeLists.txt create mode 100644 svo/CMakeModules/FindG2O.cmake create mode 100644 svo/Doxyfile create mode 100644 svo/doc/.gitignore create mode 100644 svo/include/svo/bundle_adjustment.h create mode 100644 svo/include/svo/config.h create mode 100644 svo/include/svo/depth_filter.h create mode 100644 svo/include/svo/feature.h create mode 100644 svo/include/svo/feature_alignment.h create mode 100644 svo/include/svo/feature_detection.h create mode 100644 svo/include/svo/frame.h create mode 100644 svo/include/svo/frame_handler_base.h create mode 100644 svo/include/svo/frame_handler_mono.h create mode 100644 svo/include/svo/global.h create mode 100644 svo/include/svo/initialization.h create mode 100644 svo/include/svo/map.h create mode 100644 svo/include/svo/matcher.h create mode 100644 svo/include/svo/point.h create mode 100644 svo/include/svo/pose_optimizer.h create mode 100644 svo/include/svo/reprojection.h create mode 100644 svo/include/svo/sparse_img_align.h create mode 100644 svo/package.xml create mode 100644 svo/src/bundle_adjustment.cpp create mode 100644 svo/src/config.cpp create mode 100644 svo/src/depth_filter.cpp create mode 100644 svo/src/feature_alignment.cpp create mode 100644 svo/src/feature_detection.cpp create mode 100644 svo/src/frame.cpp create mode 100644 svo/src/frame_handler_base.cpp create mode 100644 svo/src/frame_handler_mono.cpp create mode 100644 svo/src/initialization.cpp create mode 100644 svo/src/map.cpp create mode 100644 svo/src/matcher.cpp create mode 100644 svo/src/point.cpp create mode 100644 svo/src/pose_optimizer.cpp create mode 100644 svo/src/reprojection.cpp create mode 100644 svo/src/sparse_img_align.cpp create mode 100644 svo/test/README.md create mode 100644 svo/test/benchmark.csv create mode 100644 svo/test/data/.gitignore create mode 100644 svo/test/results/.gitignore create mode 100644 svo/test/test_depth_filter.cpp create mode 100644 svo/test/test_feature_alignment.cpp create mode 100644 svo/test/test_feature_detection.cpp create mode 100644 svo/test/test_matcher.cpp create mode 100644 svo/test/test_pipeline.cpp create mode 100644 svo/test/test_pose_optimizer.cpp create mode 100644 svo/test/test_sparse_img_align.cpp create mode 100755 svo_analysis/benchmark.py create mode 100755 svo_analysis/evaluate.py create mode 100644 svo_analysis/experiments/asl2_acc.yaml create mode 100644 svo_analysis/experiments/asl2_fast.yaml create mode 100644 svo_analysis/results/.gitignore create mode 100644 svo_analysis/scripts/__init__.py create mode 100644 svo_analysis/scripts/analyse_dataset.py create mode 100755 svo_analysis/scripts/analyse_logs.py create mode 100755 svo_analysis/scripts/analyse_timing.py create mode 100644 svo_analysis/scripts/analyse_trajectory.py create mode 100644 svo_analysis/scripts/associate.py create mode 100755 svo_analysis/scripts/evaluate_rpe.py create mode 100644 svo_analysis/scripts/filter_groundtruth_smooth.py create mode 100644 svo_analysis/scripts/hand_eye_calib.py create mode 100644 svo_analysis/scripts/rotation_utils.py create mode 100644 svo_analysis/scripts/trajectory_comparison.py create mode 100644 svo_analysis/scripts/transformations.py create mode 100644 svo_msgs/CMakeLists.txt create mode 100644 svo_msgs/msg/DenseInput.msg create mode 100644 svo_msgs/msg/Feature.msg create mode 100644 svo_msgs/msg/Info.msg create mode 100644 svo_msgs/msg/NbvTrajectory.msg create mode 100644 svo_msgs/package.xml create mode 100644 svo_ros/CMakeLists.txt create mode 100644 svo_ros/include/svo_ros/dataset_img.h create mode 100644 svo_ros/include/svo_ros/dataset_imu.h create mode 100644 svo_ros/include/svo_ros/visualizer.h create mode 100644 svo_ros/launch/live.launch create mode 100644 svo_ros/launch/test_rig3.launch create mode 100644 svo_ros/package.xml create mode 100644 svo_ros/param/vo_accurate.yaml create mode 100644 svo_ros/param/vo_fast.yaml create mode 100644 svo_ros/rqt.perspective create mode 100644 svo_ros/rviz_config.rviz create mode 100644 svo_ros/src/benchmark_node.cpp create mode 100644 svo_ros/src/remote_node.cpp create mode 100644 svo_ros/src/visualizer.cpp create mode 100644 svo_ros/src/vo_node.cpp diff --git a/README.md b/README.md new file mode 100644 index 0000000..c3bc469 --- /dev/null +++ b/README.md @@ -0,0 +1,137 @@ +SVO +=== + +Disclaimer +---------- + +SVO has been tested under ROS Groovy and Hydro and Ubuntu 12.04 and 13.04. This is research code, expect that it changes often and any fitness for a particular purpose is disclaimed. + +Installation Instructions +------------------------- + +#### OPTIONAL: g2o - General Graph Optimization + +Only required if you want to run bundle adjustment. It is not necessary for visual odometry. +g2o requires the following system dependencies: `cmake, libeigen3-dev, libsuitesparse-dev, libqt4-dev, qt4-qmake, libqglviewer-qt4-dev`, install them with `apt-get` + +I suggest an out-of-source build of g2o: + + cd workspace + git clone https://github.com/RainerKuemmerle/g2o.git + cd g2o + mkdir build + cd build + cmake .. + make + sudo make install + +If you don't want to make a system install, then you can replace the cmake command with `cmake .. -DCMAKE_INSTALL_PREFIX:PATH=$HOME/installdir` + +#### Sophus - Lie groups + +Sophus by Hauke Strasdat implements Lie groups that we need to describe rigid body transformations. + + cd workspace + git clone https://github.com/strasdat/Sophus.git + cd Sophus + git checkout a621ff + mkdir build + cd build + cmake .. + make + +You don't need to install the library since `cmake ..` writes the package location to `~.cmake/packages/` where CMake can later find it. + +#### Fast Detector + +The Fast detector by Edward Rosten is used to detect corners. +To simplify installation we provide a CMake package that contains the fast detector from the libCVD library (http://www.edwardrosten.com/cvd/). + + cd workspace + git clone https://github.com/uzh-rpg/fast.git + cd fast + mkdir build + cd build + cmake .. + make + +#### ViKit - Some useful tools that we need + +ViKit for instance contains camera models, some math and interpolation functions that SVO needs. +ViKit is a catkin project, therefore, download it into your catkin workspace source folder. + + cd catkin_ws/src + git clone https://github.com/uzh-rpg/rpg_vikit.git + +#### SVO + +Now we are ready to build SVO. +Clone it into your catkin workspace + + cd catkin_ws/src + git clone https://github.com/uzh-rpg/rpg_slam.git + +If you installed g2o then set `HAVE_G2O` in `svo/CMakeLists.txt` to TRUE. +Then build + + catkin_make + + +Run SVO on a Dataset +------------------------- + +Download this example dataset: [rpg.ifi.uzh.ch/datasets/airground_rig_s3_2013-03-18_21-38-48.bag](http://rpg.ifi.uzh.ch/datasets/airground_rig_s3_2013-03-18_21-38-48.bag) + +Open a new console and start SVO with the prepared launchfile: + + roslaunch svo_ros test_rig3.launch + +Open a new console and start RViz + + rosrun rviz rviz + +In RViz, load the configuration file (File > Open Config) which is stored in `svo_ros/rviz_config.rviz`. + +Now you are ready to start the rosbag. Open a new console and change to the directory where you have downloaded the example dataset. Then type: + + rosbag play airground_rig_s3_2013-03-18_21-38-48.bag + +Now you should see the video with tracked features (green) and in RViz how the camera moves. + +SVO GUI +------- + +Type `rosrun rqt_svo rqt_svo` to run the SVO widget that displays the number of tracked features, the frame rate and provides some interface buttons. + +Keyboard Shortcuts +------------------ + +Make sure to active the console window when pressing the keys. + +* `s` Start/Restart +* `q` Quit +* `r` Reset + +Parameter Settings +------------------ + +A description of all parameters which can be set via the launchfile is provided in `svo/include/config.h`. The default parameters can be viewed in `svo/src/config.cpp`. Moreover, some additional parameters (mainly rostopic names etc.) are read from the ros parameter server in `svo_ros/slam_node.cpp`. + +Generating Code Documentation +----------------------------- + +You can generate a Doxygen documentation as follows + + cd svo + doxygen Doxyfile + +Contributing +------------ + +You are very welcome to contribute by opening a pull request via Github. +I try to follow the ROS C++ style guide. + +Licence +------- + +The source code is released under GPLv3 licence. A professional edition license for closed-source projects is also available. Please contact `forster at ifi dot uzh dot ch` for further information. diff --git a/rqt_svo/CMakeLists.txt b/rqt_svo/CMakeLists.txt new file mode 100644 index 0000000..b199493 --- /dev/null +++ b/rqt_svo/CMakeLists.txt @@ -0,0 +1,22 @@ +cmake_minimum_required(VERSION 2.8.3) +project(rqt_svo) + +find_package(catkin REQUIRED COMPONENTS + rospy + rqt_gui + rqt_gui_py +) +catkin_package() +catkin_python_setup() + +install(FILES plugin.xml + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +) + +install(DIRECTORY resource + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +) + +install(PROGRAMS scripts/rqt_svo + DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +) \ No newline at end of file diff --git a/rqt_svo/README.md b/rqt_svo/README.md new file mode 100644 index 0000000..574a497 --- /dev/null +++ b/rqt_svo/README.md @@ -0,0 +1,10 @@ +run with: + + rosrun rqt_svo rqt_svo + +or start `rqt` and display the widget. + +If it does not work, try this: + + rm ~/.config/ros.org/rqt_gui.ini + rqt \ No newline at end of file diff --git a/rqt_svo/package.xml b/rqt_svo/package.xml new file mode 100644 index 0000000..862112a --- /dev/null +++ b/rqt_svo/package.xml @@ -0,0 +1,25 @@ + + + rqt_svo + 0.0.0 + The rqt_svo package + + cforster + + + TODO + + catkin + rospy + rqt_gui + rqt_gui_py + rospy + rqt_gui + rqt_gui_py + + + + + + + \ No newline at end of file diff --git a/rqt_svo/plugin.xml b/rqt_svo/plugin.xml new file mode 100644 index 0000000..fd6b605 --- /dev/null +++ b/rqt_svo/plugin.xml @@ -0,0 +1,12 @@ + + + + Plugin for SVO - Semi-Direct Visual Odometry + + + + system-help + Great user interface to provide real value. + + + \ No newline at end of file diff --git a/rqt_svo/resource/widget.ui b/rqt_svo/resource/widget.ui new file mode 100644 index 0000000..7808e37 --- /dev/null +++ b/rqt_svo/resource/widget.ui @@ -0,0 +1,101 @@ + + + SvoWidget + + + + 0 + 0 + 467 + 140 + + + + SVO + + + + + + + + SVO Namespace: + + + + + + + Topic to send Twist message to + + + + + + + + + + + + + + Current angular velocity + + + Status Message + + + + + + + + + + + 100 + + + 100 + + + %p% + + + + + + + + + + + Start + + + + + + + Reset velocities to zero + + + Reset + + + + + + + Quit + + + + + + + + + + diff --git a/rqt_svo/scripts/rqt_svo b/rqt_svo/scripts/rqt_svo new file mode 100755 index 0000000..753dcb5 --- /dev/null +++ b/rqt_svo/scripts/rqt_svo @@ -0,0 +1,10 @@ +#!/usr/bin/env python + +import sys + +from rqt_svo.svo import Svo +from rqt_gui.main import Main + +plugin = 'rqt_svo' +main = Main(filename=plugin) +sys.exit(main.main(sys.argv, standalone=plugin)) # , plugin_argument_provider=Svo.add_arguments \ No newline at end of file diff --git a/rqt_svo/setup.py b/rqt_svo/setup.py new file mode 100644 index 0000000..e07a5df --- /dev/null +++ b/rqt_svo/setup.py @@ -0,0 +1,12 @@ +#!/usr/bin/env python + +from distutils.core import setup +from catkin_pkg.python_setup import generate_distutils_setup + +d = generate_distutils_setup( + packages=['rqt_svo'], + package_dir={'': 'src'}, + scripts=['scripts/rqt_svo'] +) + +setup(**d) \ No newline at end of file diff --git a/rqt_svo/src/rqt_svo/.gitignore b/rqt_svo/src/rqt_svo/.gitignore new file mode 100644 index 0000000..7e99e36 --- /dev/null +++ b/rqt_svo/src/rqt_svo/.gitignore @@ -0,0 +1 @@ +*.pyc \ No newline at end of file diff --git a/rqt_svo/src/rqt_svo/__init__.py b/rqt_svo/src/rqt_svo/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/rqt_svo/src/rqt_svo/svo.py b/rqt_svo/src/rqt_svo/svo.py new file mode 100644 index 0000000..88acaf7 --- /dev/null +++ b/rqt_svo/src/rqt_svo/svo.py @@ -0,0 +1,66 @@ +#!/usr/bin/env python +import os +import rospy +import argparse +from qt_gui.plugin import Plugin +from .svo_widget import SvoWidget + +class Svo(Plugin): + """ + Subclass of Plugin to display SVO status + """ + def __init__(self, context): + + # Init Plugin + super(Svo, self).__init__(context) + self.setObjectName('SvoPlugin') + + # Load arguments + # TODO load topic name from args + args = self._parse_args(context.argv()) + + # Create QWidget + self._widget = SvoWidget() + + # Show _widget.windowTitle on left-top of each plugin (when + # it's set in _widget). This is useful when you open multiple + # plugins at once. Also if you open multiple instances of your + # plugin at once, these lines add number to make it easy to + # tell from pane to pane. + if context.serial_number() > 1: + self._widget.setWindowTitle(self._widget.windowTitle() + (' (%d)' % context.serial_number())) + + # Add widget to the user interface + context.add_widget(self._widget) + + def _parse_args(self, argv): + parser = argparse.ArgumentParser(prog='rqt_svo', add_help=False) + group = parser.add_argument_group('Options for rqt_svo plugin') + group.add_argument('topic', type=argparse.FileType('r'), nargs='*', default=[], help='Svo Info Topic to display') + return parser.parse_args(argv) + +# def shutdown_plugin(self): +# # self._unregister_publisher() +# pass +# +# def save_settings(self, plugin_settings, instance_settings): +# # TODO save intrinsic configuration, usually using: +# # instance_settings.set_value(k, v) +# pass +# +# def restore_settings(self, plugin_settings, instance_settings): +# # TODO restore intrinsic configuration, usually using: +# # v = instance_settings.value(k) +# pass + + +# def _unregister_publisher(self): +# if self._publisher is not None: +# self._publisher.unregister() +# self._publisher = None + + + #def trigger_configuration(self): + # Comment in to signal that the plugin has a way to configure + # This will enable a setting button (gear icon) in each dock widget title bar + # Usually used to open a modal configuration dialog diff --git a/rqt_svo/src/rqt_svo/svo_widget.py b/rqt_svo/src/rqt_svo/svo_widget.py new file mode 100644 index 0000000..fd8303b --- /dev/null +++ b/rqt_svo/src/rqt_svo/svo_widget.py @@ -0,0 +1,126 @@ +#!/usr/bin/env python +import os +import rospy +import rospkg +import numpy as np +from python_qt_binding import loadUi +from python_qt_binding.QtGui import QWidget +from python_qt_binding.QtCore import QTimer, Slot +from svo_msgs.msg import Info +from std_msgs.msg import String + +class SvoWidget(QWidget): + _last_info_msg = Info() + _publisher = None + _subscriber = None + _num_received_msgs = 0 + + def __init__(self, svo_namespace='svo'): + + # Init QWidget + super(SvoWidget, self).__init__() + self.setObjectName('SvoWidget') + + # load UI + ui_file = os.path.join(rospkg.RosPack().get_path('rqt_svo'), 'resource', 'widget.ui') + loadUi(ui_file, self) + + # init and start update timer for data, the timer calls the function update_info all 40ms + self._update_info_timer = QTimer(self) + self._update_info_timer.timeout.connect(self.update_info) + self._update_info_timer.start(40) + + # set the functions that are called when a button is pressed + self.button_start.pressed.connect(self.on_start_button_pressed) + self.button_reset.pressed.connect(self.on_reset_button_pressed) + self.button_quit.pressed.connect(self.on_quit_button_pressed) + + # set callback for changed topic + self.topic_line_edit.setText(svo_namespace) + self.register(svo_namespace) + self.topic_line_edit.textChanged.connect(self._on_topic_changed) + + # TODO: set a timer when the last message was received and give a warning if it is too long ago! + + @Slot(str) + def _on_topic_changed(self, topic): + topic = str(topic) + self.unregister() + self.register(topic) + + def register(self, svo_namespace): + # Load parameters + max_num_features = rospy.get_param(svo_namespace+'/max_fts', 120) + + # Feature bar + self.num_tracked_bar.setMaximum(max_num_features) + print('set maximum number of features to '+str(max_num_features)) + + # Subscribe to ROS Info topic and register callback + self._subscriber = rospy.Subscriber(svo_namespace+'/info', Info, self.info_cb) + + # Initialize Publisher + self._publisher = rospy.Publisher(svo_namespace+'/remote_key', String) + + def unregister(self): + if self._publisher is not None: + self._publisher.unregister() + self._publisher = None + + if self._subscriber is not None: + self._subscriber.unregister() + self._subscriber = None + + + def info_cb(self, msg): + self._last_info_msg = msg + self._num_received_msgs += 1 + + def update_info(self): + info_text = 'Not Connected' + if self._num_received_msgs > 0: + fps = 0 + if self._last_info_msg.processing_time > 0: + fps = 1.0/self._last_info_msg.processing_time + info_text = 'fps = %.2f' % fps + info_text += '\t #Features = ' + str(self._last_info_msg.num_matches) + info_text += '\t' + if self._last_info_msg.stage == 0: + info_text += '\t PAUSED' + elif self._last_info_msg.stage == 1: + info_text += '\t FIRST_FRAME' + elif self._last_info_msg.stage == 2: + info_text += '\t SECOND_FRAME' + elif self._last_info_msg.stage == 3: + info_text += '\t RUNNING' + if self._last_info_msg.tracking_quality == 0: + info_text += '\t CRITICAL' + elif self._last_info_msg.tracking_quality == 1: + info_text += '\t BAD TRACKING' + elif self._last_info_msg.tracking_quality == 2: + info_text += '\t GOOD TRACKING' + + # set info text + self.svo_info_label.setText(info_text) + + # set progress bar + self.num_tracked_bar.setValue(self._last_info_msg.num_matches) + + def on_start_button_pressed(self): + print('START SLAM') + self.send_command('s') + + def on_reset_button_pressed(self): + print('RESET SLAM') + self.send_command('r') + + def on_quit_button_pressed(self): + print('QUIT SLAM') + self.send_command('q') + + def send_command(self, cmd): + if self._publisher is None: + return + self._publisher.publish(String(cmd)) + + diff --git a/svo/CMakeLists.txt b/svo/CMakeLists.txt new file mode 100644 index 0000000..7612a94 --- /dev/null +++ b/svo/CMakeLists.txt @@ -0,0 +1,156 @@ +################################################################################ +# user build settings + +SET(DEBUG FALSE) +SET(TRACE TRUE) +SET(HAVE_G2O FALSE) + +################################################################################ + +SET(PROJECT_NAME svo) +PROJECT(${PROJECT_NAME}) +CMAKE_MINIMUM_REQUIRED (VERSION 2.8.3) +SET(CMAKE_BUILD_TYPE Release) # Release, RelWithDebInfo +SET(CMAKE_VERBOSE_MAKEFILE OFF) +SET(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${PROJECT_SOURCE_DIR}/CMakeModules/") + +# Set ARM_ARCHITECTURE environment variable on Odroid +IF(DEFINED ENV{ARM_ARCHITECTURE}) + SET(IS_ARM TRUE) +# ADD_DEFINITIONS(-DHAVE_FAST_NEON) +ELSE() + SET(IS_ARM FALSE) +ENDIF() + +# Set definitions +IF(DEBUG) + ADD_DEFINITIONS(-DSVO_DEBUG) +ENDIF() +IF(TRACE) + ADD_DEFINITIONS(-DSVO_TRACE) +ENDIF() +IF(HAVE_G2O) + ADD_DEFINITIONS(-DUSE_BUNDLE_ADJUSTMENT) +ENDIF() +ADD_DEFINITIONS(-DUSE_ROS) + +# Set build flags +SET(CMAKE_CXX_FLAGS "-Wall -Werror -D_LINUX -D_REENTRANT -march=native -Wno-unused-variable -Wno-unused-but-set-variable -Wno-unknown-pragmas") +SET(CMAKE_CXX_FLAGS_DEBUG "${CMAKE_CXX_FLAGS} -O0 -g") +IF(IS_ARM) + SET(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS} -O3 -mfpu=neon -march=armv7-a -fomit-frame-pointer -fsee -funsafe-loop-optimizations -fno-signed-zeros -fno-math-errno -funroll-loops") +ELSE() + SET(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS} -O3 -mmmx -msse -msse -msse2 -msse3 -mssse3 -fomit-frame-pointer -fsee -funsafe-loop-optimizations -fno-signed-zeros -fno-math-errno -funroll-loops") +ENDIF() +IF(CMAKE_COMPILER_IS_GNUCC) + SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x") +ELSE() + SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11") +ENDIF() + +# Add catkin and required ROS packages +FIND_PACKAGE(catkin REQUIRED COMPONENTS roscpp vikit_common vikit_ros) + +# Add plain cmake packages +FIND_PACKAGE(G2O REQUIRED) +FIND_PACKAGE(OpenCV REQUIRED) +FIND_PACKAGE(Eigen REQUIRED) +FIND_PACKAGE(Sophus REQUIRED) +FIND_PACKAGE(fast REQUIRED) +FIND_PACKAGE(Boost REQUIRED COMPONENTS system thread signals) + +# Describe catkin Project +catkin_package( + DEPENDS Eigen OpenCV Sophus Boost fast + CATKIN_DEPENDS roscpp vikit_common vikit_ros + INCLUDE_DIRS include + LIBRARIES svo +) + +# Include dirs +INCLUDE_DIRECTORIES( + include + ${Eigen_INCLUDE_DIRS} + ${OpenCV_INCLUDE_DIRS} + ${Sophus_INCLUDE_DIRS} + ${Boost_INCLUDE_DIRS} + ${catkin_INCLUDE_DIRS} + ${fast_INCLUDE_DIRS} +) +IF(HAVE_G2O) + INCLUDE_DIRECTORIES( + ${G2O_ROOT}/include + /usr/include/suitesparse # for cholmod + ) +ENDIF() + +# Set link libraries +LIST(APPEND LINK_LIBS + ${OpenCV_LIBRARIES} + ${Sophus_LIBRARIES} + ${Boost_LIBRARIES} + ${catkin_LIBRARIES} + ${fast_LIBRARIES} +) +IF(HAVE_G2O) + LIST(APPEND LINK_LIBS + g2o_core g2o_stuff g2o_solver_cholmod g2o_solver_csparse g2o_solver_dense g2o_solver_pcg g2o_types_sba + cholmod cxsparse + ) +ENDIF() + +# Set sourcefiles +LIST(APPEND SOURCEFILES + src/frame_handler_mono.cpp + src/frame_handler_base.cpp + src/frame.cpp + src/point.cpp + src/map.cpp + src/pose_optimizer.cpp + src/initialization.cpp + src/matcher.cpp + src/reprojection.cpp + src/feature_alignment.cpp + src/feature_detection.cpp + src/depth_filter.cpp + src/config.cpp + src/sparse_img_align.cpp) +IF(HAVE_G2O) + LIST(APPEND SOURCEFILES src/bundle_adjustment.cpp) +ENDIF(HAVE_G2O) + +# Create svo library +ADD_LIBRARY(svo SHARED ${SOURCEFILES}) +TARGET_LINK_LIBRARIES(svo ${LINK_LIBS}) + + +################################################################################ +# TESTS + +IF(DEFINED ENV{SVO_DATASET_DIR}) + ADD_DEFINITIONS(-DTEST_DATA_DIR=\"$ENV{SVO_DATASET_DIR}\") +ELSE() + ADD_DEFINITIONS(-DTEST_DATA_DIR=\"${PROJECT_SOURCE_DIR}/test/data\") +ENDIF() +ADD_DEFINITIONS(-DTEST_TRACE_DIR=\"${PROJECT_SOURCE_DIR}/test/results\") + +ADD_EXECUTABLE(test_feature_align test/test_feature_alignment.cpp) +TARGET_LINK_LIBRARIES(test_feature_align svo) + +ADD_EXECUTABLE(test_pipeline test/test_pipeline.cpp) +TARGET_LINK_LIBRARIES(test_pipeline svo) + +ADD_EXECUTABLE(test_matcher test/test_matcher.cpp) +TARGET_LINK_LIBRARIES(test_matcher svo) + +ADD_EXECUTABLE(test_feature_detection test/test_feature_detection.cpp) +TARGET_LINK_LIBRARIES(test_feature_detection svo) + +ADD_EXECUTABLE(test_depth_filter test/test_depth_filter.cpp) +TARGET_LINK_LIBRARIES(test_depth_filter svo) + +ADD_EXECUTABLE(test_sparse_img_align test/test_sparse_img_align.cpp) +TARGET_LINK_LIBRARIES(test_sparse_img_align svo) + +ADD_EXECUTABLE(test_pose_optimizer test/test_pose_optimizer.cpp) +TARGET_LINK_LIBRARIES(test_pose_optimizer svo) diff --git a/svo/CMakeModules/FindG2O.cmake b/svo/CMakeModules/FindG2O.cmake new file mode 100644 index 0000000..655600f --- /dev/null +++ b/svo/CMakeModules/FindG2O.cmake @@ -0,0 +1,113 @@ +# Find the header files + +FIND_PATH(G2O_INCLUDE_DIR g2o/core/base_vertex.h + ${G2O_ROOT}/include + $ENV{G2O_ROOT}/include + $ENV{G2O_ROOT} + /usr/local/include + /usr/include + /opt/local/include + /sw/local/include + /sw/include + NO_DEFAULT_PATH + ) + +# Macro to unify finding both the debug and release versions of the +# libraries; this is adapted from the OpenSceneGraph FIND_LIBRARY +# macro. + +MACRO(FIND_G2O_LIBRARY MYLIBRARY MYLIBRARYNAME) + + FIND_LIBRARY("${MYLIBRARY}_DEBUG" + NAMES "g2o_${MYLIBRARYNAME}_d" + PATHS + ${G2O_ROOT}/lib/Debug + ${G2O_ROOT}/lib + $ENV{G2O_ROOT}/lib/Debug + $ENV{G2O_ROOT}/lib + NO_DEFAULT_PATH + ) + + FIND_LIBRARY("${MYLIBRARY}_DEBUG" + NAMES "g2o_${MYLIBRARYNAME}_d" + PATHS + ~/Library/Frameworks + /Library/Frameworks + /usr/local/lib + /usr/local/lib64 + /usr/lib + /usr/lib64 + /opt/local/lib + /sw/local/lib + /sw/lib + ) + + FIND_LIBRARY(${MYLIBRARY} + NAMES "g2o_${MYLIBRARYNAME}" + PATHS + ${G2O_ROOT}/lib/Release + ${G2O_ROOT}/lib + $ENV{G2O_ROOT}/lib/Release + $ENV{G2O_ROOT}/lib + NO_DEFAULT_PATH + ) + + FIND_LIBRARY(${MYLIBRARY} + NAMES "g2o_${MYLIBRARYNAME}" + PATHS + ~/Library/Frameworks + /Library/Frameworks + /usr/local/lib + /usr/local/lib64 + /usr/lib + /usr/lib64 + /opt/local/lib + /sw/local/lib + /sw/lib + ) + + IF(NOT ${MYLIBRARY}_DEBUG) + IF(MYLIBRARY) + SET(${MYLIBRARY}_DEBUG ${MYLIBRARY}) + ENDIF(MYLIBRARY) + ENDIF( NOT ${MYLIBRARY}_DEBUG) + +ENDMACRO(FIND_G2O_LIBRARY LIBRARY LIBRARYNAME) + +# Find the core elements +FIND_G2O_LIBRARY(G2O_STUFF_LIBRARY stuff) +FIND_G2O_LIBRARY(G2O_CORE_LIBRARY core) + +# Find the CLI library +FIND_G2O_LIBRARY(G2O_CLI_LIBRARY cli) + +# Find the pluggable solvers +FIND_G2O_LIBRARY(G2O_SOLVER_CHOLMOD solver_cholmod) +FIND_G2O_LIBRARY(G2O_SOLVER_CSPARSE solver_csparse) +FIND_G2O_LIBRARY(G2O_SOLVER_CSPARSE_EXTENSION csparse_extension) +FIND_G2O_LIBRARY(G2O_SOLVER_DENSE solver_dense) +FIND_G2O_LIBRARY(G2O_SOLVER_PCG solver_pcg) +FIND_G2O_LIBRARY(G2O_SOLVER_SLAM2D_LINEAR solver_slam2d_linear) +FIND_G2O_LIBRARY(G2O_SOLVER_STRUCTURE_ONLY solver_structure_only) +FIND_G2O_LIBRARY(G2O_SOLVER_EIGEN solver_eigen) + +# Find the predefined types +FIND_G2O_LIBRARY(G2O_TYPES_DATA types_data) +FIND_G2O_LIBRARY(G2O_TYPES_ICP types_icp) +FIND_G2O_LIBRARY(G2O_TYPES_SBA types_sba) +FIND_G2O_LIBRARY(G2O_TYPES_SCLAM2D types_sclam2d) +FIND_G2O_LIBRARY(G2O_TYPES_SIM3 types_sim3) +FIND_G2O_LIBRARY(G2O_TYPES_SLAM2D types_slam2d) +FIND_G2O_LIBRARY(G2O_TYPES_SLAM3D types_slam3d) + +# G2O solvers declared found if we found at least one solver +SET(G2O_SOLVERS_FOUND "NO") +IF(G2O_SOLVER_CHOLMOD OR G2O_SOLVER_CSPARSE OR G2O_SOLVER_DENSE OR G2O_SOLVER_PCG OR G2O_SOLVER_SLAM2D_LINEAR OR G2O_SOLVER_STRUCTURE_ONLY OR G2O_SOLVER_EIGEN) + SET(G2O_SOLVERS_FOUND "YES") +ENDIF(G2O_SOLVER_CHOLMOD OR G2O_SOLVER_CSPARSE OR G2O_SOLVER_DENSE OR G2O_SOLVER_PCG OR G2O_SOLVER_SLAM2D_LINEAR OR G2O_SOLVER_STRUCTURE_ONLY OR G2O_SOLVER_EIGEN) + +# G2O itself declared found if we found the core libraries and at least one solver +SET(G2O_FOUND "NO") +IF(G2O_STUFF_LIBRARY AND G2O_CORE_LIBRARY AND G2O_INCLUDE_DIR AND G2O_SOLVERS_FOUND) + SET(G2O_FOUND "YES") +ENDIF(G2O_STUFF_LIBRARY AND G2O_CORE_LIBRARY AND G2O_INCLUDE_DIR AND G2O_SOLVERS_FOUND) diff --git a/svo/Doxyfile b/svo/Doxyfile new file mode 100644 index 0000000..fb60d29 --- /dev/null +++ b/svo/Doxyfile @@ -0,0 +1,1782 @@ +# Doxyfile 1.7.6.1 + +# This file describes the settings to be used by the documentation system +# doxygen (www.doxygen.org) for a project. +# +# All text after a hash (#) is considered a comment and will be ignored. +# The format is: +# TAG = value [value, ...] +# For lists items can also be appended using: +# TAG += value [value, ...] +# Values that contain spaces should be placed between quotes (" "). + +#--------------------------------------------------------------------------- +# Project related configuration options +#--------------------------------------------------------------------------- + +# This tag specifies the encoding used for all characters in the config file +# that follow. The default is UTF-8 which is also the encoding used for all +# text before the first occurrence of this tag. Doxygen uses libiconv (or the +# iconv built into libc) for the transcoding. See +# http://www.gnu.org/software/libiconv for the list of possible encodings. + +DOXYFILE_ENCODING = UTF-8 + +# The PROJECT_NAME tag is a single word (or sequence of words) that should +# identify the project. Note that if you do not use Doxywizard you need +# to put quotes around the project name if it contains spaces. + +PROJECT_NAME = "svo" + +# The PROJECT_NUMBER tag can be used to enter a project or revision number. +# This could be handy for archiving the generated documentation or +# if some version control system is used. + +PROJECT_NUMBER = + +# Using the PROJECT_BRIEF tag one can provide an optional one line description +# for a project that appears at the top of each page and should give viewer +# a quick idea about the purpose of the project. Keep the description short. + +PROJECT_BRIEF = "Semi-Direct Visual Odometry" + +# With the PROJECT_LOGO tag one can specify an logo or icon that is +# included in the documentation. The maximum height of the logo should not +# exceed 55 pixels and the maximum width should not exceed 200 pixels. +# Doxygen will copy the logo to the output directory. + +PROJECT_LOGO = + +# The OUTPUT_DIRECTORY tag is used to specify the (relative or absolute) +# base path where the generated documentation will be put. +# If a relative path is entered, it will be relative to the location +# where doxygen was started. If left blank the current directory will be used. + +OUTPUT_DIRECTORY = "doc" + +# If the CREATE_SUBDIRS tag is set to YES, then doxygen will create +# 4096 sub-directories (in 2 levels) under the output directory of each output +# format and will distribute the generated files over these directories. +# Enabling this option can be useful when feeding doxygen a huge amount of +# source files, where putting all generated files in the same directory would +# otherwise cause performance problems for the file system. + +CREATE_SUBDIRS = NO + +# The OUTPUT_LANGUAGE tag is used to specify the language in which all +# documentation generated by doxygen is written. Doxygen will use this +# information to generate all constant output in the proper language. +# The default language is English, other supported languages are: +# Afrikaans, Arabic, Brazilian, Catalan, Chinese, Chinese-Traditional, +# Croatian, Czech, Danish, Dutch, Esperanto, Farsi, Finnish, French, German, +# Greek, Hungarian, Italian, Japanese, Japanese-en (Japanese with English +# messages), Korean, Korean-en, Lithuanian, Norwegian, Macedonian, Persian, +# Polish, Portuguese, Romanian, Russian, Serbian, Serbian-Cyrillic, Slovak, +# Slovene, Spanish, Swedish, Ukrainian, and Vietnamese. + +OUTPUT_LANGUAGE = English + +# If the BRIEF_MEMBER_DESC tag is set to YES (the default) Doxygen will +# include brief member descriptions after the members that are listed in +# the file and class documentation (similar to JavaDoc). +# Set to NO to disable this. + +BRIEF_MEMBER_DESC = YES + +# If the REPEAT_BRIEF tag is set to YES (the default) Doxygen will prepend +# the brief description of a member or function before the detailed description. +# Note: if both HIDE_UNDOC_MEMBERS and BRIEF_MEMBER_DESC are set to NO, the +# brief descriptions will be completely suppressed. + +REPEAT_BRIEF = YES + +# This tag implements a quasi-intelligent brief description abbreviator +# that is used to form the text in various listings. Each string +# in this list, if found as the leading text of the brief description, will be +# stripped from the text and the result after processing the whole list, is +# used as the annotated text. Otherwise, the brief description is used as-is. +# If left blank, the following values are used ("$name" is automatically +# replaced with the name of the entity): "The $name class" "The $name widget" +# "The $name file" "is" "provides" "specifies" "contains" +# "represents" "a" "an" "the" + +ABBREVIATE_BRIEF = + +# If the ALWAYS_DETAILED_SEC and REPEAT_BRIEF tags are both set to YES then +# Doxygen will generate a detailed section even if there is only a brief +# description. + +ALWAYS_DETAILED_SEC = NO + +# If the INLINE_INHERITED_MEMB tag is set to YES, doxygen will show all +# inherited members of a class in the documentation of that class as if those +# members were ordinary class members. Constructors, destructors and assignment +# operators of the base classes will not be shown. + +INLINE_INHERITED_MEMB = NO + +# If the FULL_PATH_NAMES tag is set to YES then Doxygen will prepend the full +# path before files name in the file list and in the header files. If set +# to NO the shortest path that makes the file name unique will be used. + +FULL_PATH_NAMES = YES + +# If the FULL_PATH_NAMES tag is set to YES then the STRIP_FROM_PATH tag +# can be used to strip a user-defined part of the path. Stripping is +# only done if one of the specified strings matches the left-hand part of +# the path. The tag can be used to show relative paths in the file list. +# If left blank the directory from which doxygen is run is used as the +# path to strip. + +STRIP_FROM_PATH = + +# The STRIP_FROM_INC_PATH tag can be used to strip a user-defined part of +# the path mentioned in the documentation of a class, which tells +# the reader which header file to include in order to use a class. +# If left blank only the name of the header file containing the class +# definition is used. Otherwise one should specify the include paths that +# are normally passed to the compiler using the -I flag. + +STRIP_FROM_INC_PATH = + +# If the SHORT_NAMES tag is set to YES, doxygen will generate much shorter +# (but less readable) file names. This can be useful if your file system +# doesn't support long names like on DOS, Mac, or CD-ROM. + +SHORT_NAMES = NO + +# If the JAVADOC_AUTOBRIEF tag is set to YES then Doxygen +# will interpret the first line (until the first dot) of a JavaDoc-style +# comment as the brief description. If set to NO, the JavaDoc +# comments will behave just like regular Qt-style comments +# (thus requiring an explicit @brief command for a brief description.) + +JAVADOC_AUTOBRIEF = YES + +# If the QT_AUTOBRIEF tag is set to YES then Doxygen will +# interpret the first line (until the first dot) of a Qt-style +# comment as the brief description. If set to NO, the comments +# will behave just like regular Qt-style comments (thus requiring +# an explicit \brief command for a brief description.) + +QT_AUTOBRIEF = NO + +# The MULTILINE_CPP_IS_BRIEF tag can be set to YES to make Doxygen +# treat a multi-line C++ special comment block (i.e. a block of //! or /// +# comments) as a brief description. This used to be the default behaviour. +# The new default is to treat a multi-line C++ comment block as a detailed +# description. Set this tag to YES if you prefer the old behaviour instead. + +MULTILINE_CPP_IS_BRIEF = NO + +# If the INHERIT_DOCS tag is set to YES (the default) then an undocumented +# member inherits the documentation from any documented member that it +# re-implements. + +INHERIT_DOCS = YES + +# If the SEPARATE_MEMBER_PAGES tag is set to YES, then doxygen will produce +# a new page for each member. If set to NO, the documentation of a member will +# be part of the file/class/namespace that contains it. + +SEPARATE_MEMBER_PAGES = NO + +# The TAB_SIZE tag can be used to set the number of spaces in a tab. +# Doxygen uses this value to replace tabs by spaces in code fragments. + +TAB_SIZE = 8 + +# This tag can be used to specify a number of aliases that acts +# as commands in the documentation. An alias has the form "name=value". +# For example adding "sideeffect=\par Side Effects:\n" will allow you to +# put the command \sideeffect (or @sideeffect) in the documentation, which +# will result in a user-defined paragraph with heading "Side Effects:". +# You can put \n's in the value part of an alias to insert newlines. + +ALIASES = + +# This tag can be used to specify a number of word-keyword mappings (TCL only). +# A mapping has the form "name=value". For example adding +# "class=itcl::class" will allow you to use the command class in the +# itcl::class meaning. + +TCL_SUBST = + +# Set the OPTIMIZE_OUTPUT_FOR_C tag to YES if your project consists of C +# sources only. Doxygen will then generate output that is more tailored for C. +# For instance, some of the names that are used will be different. The list +# of all members will be omitted, etc. + +OPTIMIZE_OUTPUT_FOR_C = NO + +# Set the OPTIMIZE_OUTPUT_JAVA tag to YES if your project consists of Java +# sources only. Doxygen will then generate output that is more tailored for +# Java. For instance, namespaces will be presented as packages, qualified +# scopes will look different, etc. + +OPTIMIZE_OUTPUT_JAVA = NO + +# Set the OPTIMIZE_FOR_FORTRAN tag to YES if your project consists of Fortran +# sources only. Doxygen will then generate output that is more tailored for +# Fortran. + +OPTIMIZE_FOR_FORTRAN = NO + +# Set the OPTIMIZE_OUTPUT_VHDL tag to YES if your project consists of VHDL +# sources. Doxygen will then generate output that is tailored for +# VHDL. + +OPTIMIZE_OUTPUT_VHDL = NO + +# Doxygen selects the parser to use depending on the extension of the files it +# parses. With this tag you can assign which parser to use for a given extension. +# Doxygen has a built-in mapping, but you can override or extend it using this +# tag. The format is ext=language, where ext is a file extension, and language +# is one of the parsers supported by doxygen: IDL, Java, Javascript, CSharp, C, +# C++, D, PHP, Objective-C, Python, Fortran, VHDL, C, C++. For instance to make +# doxygen treat .inc files as Fortran files (default is PHP), and .f files as C +# (default is Fortran), use: inc=Fortran f=C. Note that for custom extensions +# you also need to set FILE_PATTERNS otherwise the files are not read by doxygen. + +EXTENSION_MAPPING = + +# If you use STL classes (i.e. std::string, std::vector, etc.) but do not want +# to include (a tag file for) the STL sources as input, then you should +# set this tag to YES in order to let doxygen match functions declarations and +# definitions whose arguments contain STL classes (e.g. func(std::string); v.s. +# func(std::string) {}). This also makes the inheritance and collaboration +# diagrams that involve STL classes more complete and accurate. + +BUILTIN_STL_SUPPORT = NO + +# If you use Microsoft's C++/CLI language, you should set this option to YES to +# enable parsing support. + +CPP_CLI_SUPPORT = NO + +# Set the SIP_SUPPORT tag to YES if your project consists of sip sources only. +# Doxygen will parse them like normal C++ but will assume all classes use public +# instead of private inheritance when no explicit protection keyword is present. + +SIP_SUPPORT = NO + +# For Microsoft's IDL there are propget and propput attributes to indicate getter +# and setter methods for a property. Setting this option to YES (the default) +# will make doxygen replace the get and set methods by a property in the +# documentation. This will only work if the methods are indeed getting or +# setting a simple type. If this is not the case, or you want to show the +# methods anyway, you should set this option to NO. + +IDL_PROPERTY_SUPPORT = YES + +# If member grouping is used in the documentation and the DISTRIBUTE_GROUP_DOC +# tag is set to YES, then doxygen will reuse the documentation of the first +# member in the group (if any) for the other members of the group. By default +# all members of a group must be documented explicitly. + +DISTRIBUTE_GROUP_DOC = NO + +# Set the SUBGROUPING tag to YES (the default) to allow class member groups of +# the same type (for instance a group of public functions) to be put as a +# subgroup of that type (e.g. under the Public Functions section). Set it to +# NO to prevent subgrouping. Alternatively, this can be done per class using +# the \nosubgrouping command. + +SUBGROUPING = YES + +# When the INLINE_GROUPED_CLASSES tag is set to YES, classes, structs and +# unions are shown inside the group in which they are included (e.g. using +# @ingroup) instead of on a separate page (for HTML and Man pages) or +# section (for LaTeX and RTF). + +INLINE_GROUPED_CLASSES = NO + +# When the INLINE_SIMPLE_STRUCTS tag is set to YES, structs, classes, and +# unions with only public data fields will be shown inline in the documentation +# of the scope in which they are defined (i.e. file, namespace, or group +# documentation), provided this scope is documented. If set to NO (the default), +# structs, classes, and unions are shown on a separate page (for HTML and Man +# pages) or section (for LaTeX and RTF). + +INLINE_SIMPLE_STRUCTS = NO + +# When TYPEDEF_HIDES_STRUCT is enabled, a typedef of a struct, union, or enum +# is documented as struct, union, or enum with the name of the typedef. So +# typedef struct TypeS {} TypeT, will appear in the documentation as a struct +# with name TypeT. When disabled the typedef will appear as a member of a file, +# namespace, or class. And the struct will be named TypeS. This can typically +# be useful for C code in case the coding convention dictates that all compound +# types are typedef'ed and only the typedef is referenced, never the tag name. + +TYPEDEF_HIDES_STRUCT = NO + +# The SYMBOL_CACHE_SIZE determines the size of the internal cache use to +# determine which symbols to keep in memory and which to flush to disk. +# When the cache is full, less often used symbols will be written to disk. +# For small to medium size projects (<1000 input files) the default value is +# probably good enough. For larger projects a too small cache size can cause +# doxygen to be busy swapping symbols to and from disk most of the time +# causing a significant performance penalty. +# If the system has enough physical memory increasing the cache will improve the +# performance by keeping more symbols in memory. Note that the value works on +# a logarithmic scale so increasing the size by one will roughly double the +# memory usage. The cache size is given by this formula: +# 2^(16+SYMBOL_CACHE_SIZE). The valid range is 0..9, the default is 0, +# corresponding to a cache size of 2^16 = 65536 symbols. + +SYMBOL_CACHE_SIZE = 0 + +# Similar to the SYMBOL_CACHE_SIZE the size of the symbol lookup cache can be +# set using LOOKUP_CACHE_SIZE. This cache is used to resolve symbols given +# their name and scope. Since this can be an expensive process and often the +# same symbol appear multiple times in the code, doxygen keeps a cache of +# pre-resolved symbols. If the cache is too small doxygen will become slower. +# If the cache is too large, memory is wasted. The cache size is given by this +# formula: 2^(16+LOOKUP_CACHE_SIZE). The valid range is 0..9, the default is 0, +# corresponding to a cache size of 2^16 = 65536 symbols. + +LOOKUP_CACHE_SIZE = 0 + +#--------------------------------------------------------------------------- +# Build related configuration options +#--------------------------------------------------------------------------- + +# If the EXTRACT_ALL tag is set to YES doxygen will assume all entities in +# documentation are documented, even if no documentation was available. +# Private class members and static file members will be hidden unless +# the EXTRACT_PRIVATE and EXTRACT_STATIC tags are set to YES + +EXTRACT_ALL = YES + +# If the EXTRACT_PRIVATE tag is set to YES all private members of a class +# will be included in the documentation. + +EXTRACT_PRIVATE = YES + +# If the EXTRACT_STATIC tag is set to YES all static members of a file +# will be included in the documentation. + +EXTRACT_STATIC = YES + +# If the EXTRACT_LOCAL_CLASSES tag is set to YES classes (and structs) +# defined locally in source files will be included in the documentation. +# If set to NO only classes defined in header files are included. + +EXTRACT_LOCAL_CLASSES = YES + +# This flag is only useful for Objective-C code. When set to YES local +# methods, which are defined in the implementation section but not in +# the interface are included in the documentation. +# If set to NO (the default) only methods in the interface are included. + +EXTRACT_LOCAL_METHODS = NO + +# If this flag is set to YES, the members of anonymous namespaces will be +# extracted and appear in the documentation as a namespace called +# 'anonymous_namespace{file}', where file will be replaced with the base +# name of the file that contains the anonymous namespace. By default +# anonymous namespaces are hidden. + +EXTRACT_ANON_NSPACES = NO + +# If the HIDE_UNDOC_MEMBERS tag is set to YES, Doxygen will hide all +# undocumented members of documented classes, files or namespaces. +# If set to NO (the default) these members will be included in the +# various overviews, but no documentation section is generated. +# This option has no effect if EXTRACT_ALL is enabled. + +HIDE_UNDOC_MEMBERS = NO + +# If the HIDE_UNDOC_CLASSES tag is set to YES, Doxygen will hide all +# undocumented classes that are normally visible in the class hierarchy. +# If set to NO (the default) these classes will be included in the various +# overviews. This option has no effect if EXTRACT_ALL is enabled. + +HIDE_UNDOC_CLASSES = NO + +# If the HIDE_FRIEND_COMPOUNDS tag is set to YES, Doxygen will hide all +# friend (class|struct|union) declarations. +# If set to NO (the default) these declarations will be included in the +# documentation. + +HIDE_FRIEND_COMPOUNDS = NO + +# If the HIDE_IN_BODY_DOCS tag is set to YES, Doxygen will hide any +# documentation blocks found inside the body of a function. +# If set to NO (the default) these blocks will be appended to the +# function's detailed documentation block. + +HIDE_IN_BODY_DOCS = NO + +# The INTERNAL_DOCS tag determines if documentation +# that is typed after a \internal command is included. If the tag is set +# to NO (the default) then the documentation will be excluded. +# Set it to YES to include the internal documentation. + +INTERNAL_DOCS = NO + +# If the CASE_SENSE_NAMES tag is set to NO then Doxygen will only generate +# file names in lower-case letters. If set to YES upper-case letters are also +# allowed. This is useful if you have classes or files whose names only differ +# in case and if your file system supports case sensitive file names. Windows +# and Mac users are advised to set this option to NO. + +CASE_SENSE_NAMES = YES + +# If the HIDE_SCOPE_NAMES tag is set to NO (the default) then Doxygen +# will show members with their full class and namespace scopes in the +# documentation. If set to YES the scope will be hidden. + +HIDE_SCOPE_NAMES = NO + +# If the SHOW_INCLUDE_FILES tag is set to YES (the default) then Doxygen +# will put a list of the files that are included by a file in the documentation +# of that file. + +SHOW_INCLUDE_FILES = YES + +# If the FORCE_LOCAL_INCLUDES tag is set to YES then Doxygen +# will list include files with double quotes in the documentation +# rather than with sharp brackets. + +FORCE_LOCAL_INCLUDES = NO + +# If the INLINE_INFO tag is set to YES (the default) then a tag [inline] +# is inserted in the documentation for inline members. + +INLINE_INFO = YES + +# If the SORT_MEMBER_DOCS tag is set to YES (the default) then doxygen +# will sort the (detailed) documentation of file and class members +# alphabetically by member name. If set to NO the members will appear in +# declaration order. + +SORT_MEMBER_DOCS = YES + +# If the SORT_BRIEF_DOCS tag is set to YES then doxygen will sort the +# brief documentation of file, namespace and class members alphabetically +# by member name. If set to NO (the default) the members will appear in +# declaration order. + +SORT_BRIEF_DOCS = NO + +# If the SORT_MEMBERS_CTORS_1ST tag is set to YES then doxygen +# will sort the (brief and detailed) documentation of class members so that +# constructors and destructors are listed first. If set to NO (the default) +# the constructors will appear in the respective orders defined by +# SORT_MEMBER_DOCS and SORT_BRIEF_DOCS. +# This tag will be ignored for brief docs if SORT_BRIEF_DOCS is set to NO +# and ignored for detailed docs if SORT_MEMBER_DOCS is set to NO. + +SORT_MEMBERS_CTORS_1ST = NO + +# If the SORT_GROUP_NAMES tag is set to YES then doxygen will sort the +# hierarchy of group names into alphabetical order. If set to NO (the default) +# the group names will appear in their defined order. + +SORT_GROUP_NAMES = NO + +# If the SORT_BY_SCOPE_NAME tag is set to YES, the class list will be +# sorted by fully-qualified names, including namespaces. If set to +# NO (the default), the class list will be sorted only by class name, +# not including the namespace part. +# Note: This option is not very useful if HIDE_SCOPE_NAMES is set to YES. +# Note: This option applies only to the class list, not to the +# alphabetical list. + +SORT_BY_SCOPE_NAME = NO + +# If the STRICT_PROTO_MATCHING option is enabled and doxygen fails to +# do proper type resolution of all parameters of a function it will reject a +# match between the prototype and the implementation of a member function even +# if there is only one candidate or it is obvious which candidate to choose +# by doing a simple string match. By disabling STRICT_PROTO_MATCHING doxygen +# will still accept a match between prototype and implementation in such cases. + +STRICT_PROTO_MATCHING = NO + +# The GENERATE_TODOLIST tag can be used to enable (YES) or +# disable (NO) the todo list. This list is created by putting \todo +# commands in the documentation. + +GENERATE_TODOLIST = YES + +# The GENERATE_TESTLIST tag can be used to enable (YES) or +# disable (NO) the test list. This list is created by putting \test +# commands in the documentation. + +GENERATE_TESTLIST = YES + +# The GENERATE_BUGLIST tag can be used to enable (YES) or +# disable (NO) the bug list. This list is created by putting \bug +# commands in the documentation. + +GENERATE_BUGLIST = YES + +# The GENERATE_DEPRECATEDLIST tag can be used to enable (YES) or +# disable (NO) the deprecated list. This list is created by putting +# \deprecated commands in the documentation. + +GENERATE_DEPRECATEDLIST= YES + +# The ENABLED_SECTIONS tag can be used to enable conditional +# documentation sections, marked by \if sectionname ... \endif. + +ENABLED_SECTIONS = + +# The MAX_INITIALIZER_LINES tag determines the maximum number of lines +# the initial value of a variable or macro consists of for it to appear in +# the documentation. If the initializer consists of more lines than specified +# here it will be hidden. Use a value of 0 to hide initializers completely. +# The appearance of the initializer of individual variables and macros in the +# documentation can be controlled using \showinitializer or \hideinitializer +# command in the documentation regardless of this setting. + +MAX_INITIALIZER_LINES = 30 + +# Set the SHOW_USED_FILES tag to NO to disable the list of files generated +# at the bottom of the documentation of classes and structs. If set to YES the +# list will mention the files that were used to generate the documentation. + +SHOW_USED_FILES = YES + +# If the sources in your project are distributed over multiple directories +# then setting the SHOW_DIRECTORIES tag to YES will show the directory hierarchy +# in the documentation. The default is NO. + +SHOW_DIRECTORIES = NO + +# Set the SHOW_FILES tag to NO to disable the generation of the Files page. +# This will remove the Files entry from the Quick Index and from the +# Folder Tree View (if specified). The default is YES. + +SHOW_FILES = YES + +# Set the SHOW_NAMESPACES tag to NO to disable the generation of the +# Namespaces page. +# This will remove the Namespaces entry from the Quick Index +# and from the Folder Tree View (if specified). The default is YES. + +SHOW_NAMESPACES = YES + +# The FILE_VERSION_FILTER tag can be used to specify a program or script that +# doxygen should invoke to get the current version for each file (typically from +# the version control system). Doxygen will invoke the program by executing (via +# popen()) the command , where is the value of +# the FILE_VERSION_FILTER tag, and is the name of an input file +# provided by doxygen. Whatever the program writes to standard output +# is used as the file version. See the manual for examples. + +FILE_VERSION_FILTER = + +# The LAYOUT_FILE tag can be used to specify a layout file which will be parsed +# by doxygen. The layout file controls the global structure of the generated +# output files in an output format independent way. The create the layout file +# that represents doxygen's defaults, run doxygen with the -l option. +# You can optionally specify a file name after the option, if omitted +# DoxygenLayout.xml will be used as the name of the layout file. + +LAYOUT_FILE = + +# The CITE_BIB_FILES tag can be used to specify one or more bib files +# containing the references data. This must be a list of .bib files. The +# .bib extension is automatically appended if omitted. Using this command +# requires the bibtex tool to be installed. See also +# http://en.wikipedia.org/wiki/BibTeX for more info. For LaTeX the style +# of the bibliography can be controlled using LATEX_BIB_STYLE. To use this +# feature you need bibtex and perl available in the search path. + +CITE_BIB_FILES = + +#--------------------------------------------------------------------------- +# configuration options related to warning and progress messages +#--------------------------------------------------------------------------- + +# The QUIET tag can be used to turn on/off the messages that are generated +# by doxygen. Possible values are YES and NO. If left blank NO is used. + +QUIET = NO + +# The WARNINGS tag can be used to turn on/off the warning messages that are +# generated by doxygen. Possible values are YES and NO. If left blank +# NO is used. + +WARNINGS = YES + +# If WARN_IF_UNDOCUMENTED is set to YES, then doxygen will generate warnings +# for undocumented members. If EXTRACT_ALL is set to YES then this flag will +# automatically be disabled. + +WARN_IF_UNDOCUMENTED = YES + +# If WARN_IF_DOC_ERROR is set to YES, doxygen will generate warnings for +# potential errors in the documentation, such as not documenting some +# parameters in a documented function, or documenting parameters that +# don't exist or using markup commands wrongly. + +WARN_IF_DOC_ERROR = YES + +# The WARN_NO_PARAMDOC option can be enabled to get warnings for +# functions that are documented, but have no documentation for their parameters +# or return value. If set to NO (the default) doxygen will only warn about +# wrong or incomplete parameter documentation, but not about the absence of +# documentation. + +WARN_NO_PARAMDOC = NO + +# The WARN_FORMAT tag determines the format of the warning messages that +# doxygen can produce. The string should contain the $file, $line, and $text +# tags, which will be replaced by the file and line number from which the +# warning originated and the warning text. Optionally the format may contain +# $version, which will be replaced by the version of the file (if it could +# be obtained via FILE_VERSION_FILTER) + +WARN_FORMAT = "$file:$line: $text" + +# The WARN_LOGFILE tag can be used to specify a file to which warning +# and error messages should be written. If left blank the output is written +# to stderr. + +WARN_LOGFILE = + +#--------------------------------------------------------------------------- +# configuration options related to the input files +#--------------------------------------------------------------------------- + +# The INPUT tag can be used to specify the files and/or directories that contain +# documented source files. You may enter file names like "myfile.cpp" or +# directories like "/usr/src/myproject". Separate the files or directories +# with spaces. + +INPUT = "src", "include/nano_slam" + +# This tag can be used to specify the character encoding of the source files +# that doxygen parses. Internally doxygen uses the UTF-8 encoding, which is +# also the default input encoding. Doxygen uses libiconv (or the iconv built +# into libc) for the transcoding. See http://www.gnu.org/software/libiconv for +# the list of possible encodings. + +INPUT_ENCODING = UTF-8 + +# If the value of the INPUT tag contains directories, you can use the +# FILE_PATTERNS tag to specify one or more wildcard pattern (like *.cpp +# and *.h) to filter out the source-files in the directories. If left +# blank the following patterns are tested: +# *.c *.cc *.cxx *.cpp *.c++ *.d *.java *.ii *.ixx *.ipp *.i++ *.inl *.h *.hh +# *.hxx *.hpp *.h++ *.idl *.odl *.cs *.php *.php3 *.inc *.m *.mm *.dox *.py +# *.f90 *.f *.for *.vhd *.vhdl + +FILE_PATTERNS = + +# The RECURSIVE tag can be used to turn specify whether or not subdirectories +# should be searched for input files as well. Possible values are YES and NO. +# If left blank NO is used. + +RECURSIVE = NO + +# The EXCLUDE tag can be used to specify files and/or directories that should be +# excluded from the INPUT source files. This way you can easily exclude a +# subdirectory from a directory tree whose root is specified with the INPUT tag. +# Note that relative paths are relative to the directory from which doxygen is +# run. + +EXCLUDE = + +# The EXCLUDE_SYMLINKS tag can be used to select whether or not files or +# directories that are symbolic links (a Unix file system feature) are excluded +# from the input. + +EXCLUDE_SYMLINKS = NO + +# If the value of the INPUT tag contains directories, you can use the +# EXCLUDE_PATTERNS tag to specify one or more wildcard patterns to exclude +# certain files from those directories. Note that the wildcards are matched +# against the file with absolute path, so to exclude all test directories +# for example use the pattern */test/* + +EXCLUDE_PATTERNS = + +# The EXCLUDE_SYMBOLS tag can be used to specify one or more symbol names +# (namespaces, classes, functions, etc.) that should be excluded from the +# output. The symbol name can be a fully qualified name, a word, or if the +# wildcard * is used, a substring. Examples: ANamespace, AClass, +# AClass::ANamespace, ANamespace::*Test + +EXCLUDE_SYMBOLS = g2o +EXCLUDE_SYMBOLS += vk + +# The EXAMPLE_PATH tag can be used to specify one or more files or +# directories that contain example code fragments that are included (see +# the \include command). + +EXAMPLE_PATH = + +# If the value of the EXAMPLE_PATH tag contains directories, you can use the +# EXAMPLE_PATTERNS tag to specify one or more wildcard pattern (like *.cpp +# and *.h) to filter out the source-files in the directories. If left +# blank all files are included. + +EXAMPLE_PATTERNS = + +# If the EXAMPLE_RECURSIVE tag is set to YES then subdirectories will be +# searched for input files to be used with the \include or \dontinclude +# commands irrespective of the value of the RECURSIVE tag. +# Possible values are YES and NO. If left blank NO is used. + +EXAMPLE_RECURSIVE = NO + +# The IMAGE_PATH tag can be used to specify one or more files or +# directories that contain image that are included in the documentation (see +# the \image command). + +IMAGE_PATH = + +# The INPUT_FILTER tag can be used to specify a program that doxygen should +# invoke to filter for each input file. Doxygen will invoke the filter program +# by executing (via popen()) the command , where +# is the value of the INPUT_FILTER tag, and is the name of an +# input file. Doxygen will then use the output that the filter program writes +# to standard output. +# If FILTER_PATTERNS is specified, this tag will be +# ignored. + +INPUT_FILTER = + +# The FILTER_PATTERNS tag can be used to specify filters on a per file pattern +# basis. +# Doxygen will compare the file name with each pattern and apply the +# filter if there is a match. +# The filters are a list of the form: +# pattern=filter (like *.cpp=my_cpp_filter). See INPUT_FILTER for further +# info on how filters are used. If FILTER_PATTERNS is empty or if +# non of the patterns match the file name, INPUT_FILTER is applied. + +FILTER_PATTERNS = + +# If the FILTER_SOURCE_FILES tag is set to YES, the input filter (if set using +# INPUT_FILTER) will be used to filter the input files when producing source +# files to browse (i.e. when SOURCE_BROWSER is set to YES). + +FILTER_SOURCE_FILES = NO + +# The FILTER_SOURCE_PATTERNS tag can be used to specify source filters per file +# pattern. A pattern will override the setting for FILTER_PATTERN (if any) +# and it is also possible to disable source filtering for a specific pattern +# using *.ext= (so without naming a filter). This option only has effect when +# FILTER_SOURCE_FILES is enabled. + +FILTER_SOURCE_PATTERNS = + +#--------------------------------------------------------------------------- +# configuration options related to source browsing +#--------------------------------------------------------------------------- + +# If the SOURCE_BROWSER tag is set to YES then a list of source files will +# be generated. Documented entities will be cross-referenced with these sources. +# Note: To get rid of all source code in the generated output, make sure also +# VERBATIM_HEADERS is set to NO. + +SOURCE_BROWSER = NO + +# Setting the INLINE_SOURCES tag to YES will include the body +# of functions and classes directly in the documentation. + +INLINE_SOURCES = NO + +# Setting the STRIP_CODE_COMMENTS tag to YES (the default) will instruct +# doxygen to hide any special comment blocks from generated source code +# fragments. Normal C and C++ comments will always remain visible. + +STRIP_CODE_COMMENTS = YES + +# If the REFERENCED_BY_RELATION tag is set to YES +# then for each documented function all documented +# functions referencing it will be listed. + +REFERENCED_BY_RELATION = NO + +# If the REFERENCES_RELATION tag is set to YES +# then for each documented function all documented entities +# called/used by that function will be listed. + +REFERENCES_RELATION = NO + +# If the REFERENCES_LINK_SOURCE tag is set to YES (the default) +# and SOURCE_BROWSER tag is set to YES, then the hyperlinks from +# functions in REFERENCES_RELATION and REFERENCED_BY_RELATION lists will +# link to the source code. +# Otherwise they will link to the documentation. + +REFERENCES_LINK_SOURCE = YES + +# If the USE_HTAGS tag is set to YES then the references to source code +# will point to the HTML generated by the htags(1) tool instead of doxygen +# built-in source browser. The htags tool is part of GNU's global source +# tagging system (see http://www.gnu.org/software/global/global.html). You +# will need version 4.8.6 or higher. + +USE_HTAGS = NO + +# If the VERBATIM_HEADERS tag is set to YES (the default) then Doxygen +# will generate a verbatim copy of the header file for each class for +# which an include is specified. Set to NO to disable this. + +VERBATIM_HEADERS = YES + +#--------------------------------------------------------------------------- +# configuration options related to the alphabetical class index +#--------------------------------------------------------------------------- + +# If the ALPHABETICAL_INDEX tag is set to YES, an alphabetical index +# of all compounds will be generated. Enable this if the project +# contains a lot of classes, structs, unions or interfaces. + +ALPHABETICAL_INDEX = YES + +# If the alphabetical index is enabled (see ALPHABETICAL_INDEX) then +# the COLS_IN_ALPHA_INDEX tag can be used to specify the number of columns +# in which this list will be split (can be a number in the range [1..20]) + +COLS_IN_ALPHA_INDEX = 5 + +# In case all classes in a project start with a common prefix, all +# classes will be put under the same header in the alphabetical index. +# The IGNORE_PREFIX tag can be used to specify one or more prefixes that +# should be ignored while generating the index headers. + +IGNORE_PREFIX = + +#--------------------------------------------------------------------------- +# configuration options related to the HTML output +#--------------------------------------------------------------------------- + +# If the GENERATE_HTML tag is set to YES (the default) Doxygen will +# generate HTML output. + +GENERATE_HTML = YES + +# The HTML_OUTPUT tag is used to specify where the HTML docs will be put. +# If a relative path is entered the value of OUTPUT_DIRECTORY will be +# put in front of it. If left blank `html' will be used as the default path. + +HTML_OUTPUT = html + +# The HTML_FILE_EXTENSION tag can be used to specify the file extension for +# each generated HTML page (for example: .htm,.php,.asp). If it is left blank +# doxygen will generate files with .html extension. + +HTML_FILE_EXTENSION = .html + +# The HTML_HEADER tag can be used to specify a personal HTML header for +# each generated HTML page. If it is left blank doxygen will generate a +# standard header. Note that when using a custom header you are responsible +# for the proper inclusion of any scripts and style sheets that doxygen +# needs, which is dependent on the configuration options used. +# It is advised to generate a default header using "doxygen -w html +# header.html footer.html stylesheet.css YourConfigFile" and then modify +# that header. Note that the header is subject to change so you typically +# have to redo this when upgrading to a newer version of doxygen or when +# changing the value of configuration settings such as GENERATE_TREEVIEW! + +HTML_HEADER = + +# The HTML_FOOTER tag can be used to specify a personal HTML footer for +# each generated HTML page. If it is left blank doxygen will generate a +# standard footer. + +HTML_FOOTER = + +# The HTML_STYLESHEET tag can be used to specify a user-defined cascading +# style sheet that is used by each HTML page. It can be used to +# fine-tune the look of the HTML output. If the tag is left blank doxygen +# will generate a default style sheet. Note that doxygen will try to copy +# the style sheet file to the HTML output directory, so don't put your own +# style sheet in the HTML output directory as well, or it will be erased! + +HTML_STYLESHEET = + +# The HTML_EXTRA_FILES tag can be used to specify one or more extra images or +# other source files which should be copied to the HTML output directory. Note +# that these files will be copied to the base HTML output directory. Use the +# $relpath$ marker in the HTML_HEADER and/or HTML_FOOTER files to load these +# files. In the HTML_STYLESHEET file, use the file name only. Also note that +# the files will be copied as-is; there are no commands or markers available. + +HTML_EXTRA_FILES = + +# The HTML_COLORSTYLE_HUE tag controls the color of the HTML output. +# Doxygen will adjust the colors in the style sheet and background images +# according to this color. Hue is specified as an angle on a colorwheel, +# see http://en.wikipedia.org/wiki/Hue for more information. +# For instance the value 0 represents red, 60 is yellow, 120 is green, +# 180 is cyan, 240 is blue, 300 purple, and 360 is red again. +# The allowed range is 0 to 359. + +HTML_COLORSTYLE_HUE = 220 + +# The HTML_COLORSTYLE_SAT tag controls the purity (or saturation) of +# the colors in the HTML output. For a value of 0 the output will use +# grayscales only. A value of 255 will produce the most vivid colors. + +HTML_COLORSTYLE_SAT = 100 + +# The HTML_COLORSTYLE_GAMMA tag controls the gamma correction applied to +# the luminance component of the colors in the HTML output. Values below +# 100 gradually make the output lighter, whereas values above 100 make +# the output darker. The value divided by 100 is the actual gamma applied, +# so 80 represents a gamma of 0.8, The value 220 represents a gamma of 2.2, +# and 100 does not change the gamma. + +HTML_COLORSTYLE_GAMMA = 80 + +# If the HTML_TIMESTAMP tag is set to YES then the footer of each generated HTML +# page will contain the date and time when the page was generated. Setting +# this to NO can help when comparing the output of multiple runs. + +HTML_TIMESTAMP = YES + +# If the HTML_ALIGN_MEMBERS tag is set to YES, the members of classes, +# files or namespaces will be aligned in HTML using tables. If set to +# NO a bullet list will be used. + +HTML_ALIGN_MEMBERS = YES + +# If the HTML_DYNAMIC_SECTIONS tag is set to YES then the generated HTML +# documentation will contain sections that can be hidden and shown after the +# page has loaded. For this to work a browser that supports +# JavaScript and DHTML is required (for instance Mozilla 1.0+, Firefox +# Netscape 6.0+, Internet explorer 5.0+, Konqueror, or Safari). + +HTML_DYNAMIC_SECTIONS = NO + +# If the GENERATE_DOCSET tag is set to YES, additional index files +# will be generated that can be used as input for Apple's Xcode 3 +# integrated development environment, introduced with OSX 10.5 (Leopard). +# To create a documentation set, doxygen will generate a Makefile in the +# HTML output directory. Running make will produce the docset in that +# directory and running "make install" will install the docset in +# ~/Library/Developer/Shared/Documentation/DocSets so that Xcode will find +# it at startup. +# See http://developer.apple.com/tools/creatingdocsetswithdoxygen.html +# for more information. + +GENERATE_DOCSET = NO + +# When GENERATE_DOCSET tag is set to YES, this tag determines the name of the +# feed. A documentation feed provides an umbrella under which multiple +# documentation sets from a single provider (such as a company or product suite) +# can be grouped. + +DOCSET_FEEDNAME = "Doxygen generated docs" + +# When GENERATE_DOCSET tag is set to YES, this tag specifies a string that +# should uniquely identify the documentation set bundle. This should be a +# reverse domain-name style string, e.g. com.mycompany.MyDocSet. Doxygen +# will append .docset to the name. + +DOCSET_BUNDLE_ID = org.doxygen.Project + +# When GENERATE_PUBLISHER_ID tag specifies a string that should uniquely identify +# the documentation publisher. This should be a reverse domain-name style +# string, e.g. com.mycompany.MyDocSet.documentation. + +DOCSET_PUBLISHER_ID = org.doxygen.Publisher + +# The GENERATE_PUBLISHER_NAME tag identifies the documentation publisher. + +DOCSET_PUBLISHER_NAME = Publisher + +# If the GENERATE_HTMLHELP tag is set to YES, additional index files +# will be generated that can be used as input for tools like the +# Microsoft HTML help workshop to generate a compiled HTML help file (.chm) +# of the generated HTML documentation. + +GENERATE_HTMLHELP = NO + +# If the GENERATE_HTMLHELP tag is set to YES, the CHM_FILE tag can +# be used to specify the file name of the resulting .chm file. You +# can add a path in front of the file if the result should not be +# written to the html output directory. + +CHM_FILE = + +# If the GENERATE_HTMLHELP tag is set to YES, the HHC_LOCATION tag can +# be used to specify the location (absolute path including file name) of +# the HTML help compiler (hhc.exe). If non-empty doxygen will try to run +# the HTML help compiler on the generated index.hhp. + +HHC_LOCATION = + +# If the GENERATE_HTMLHELP tag is set to YES, the GENERATE_CHI flag +# controls if a separate .chi index file is generated (YES) or that +# it should be included in the master .chm file (NO). + +GENERATE_CHI = NO + +# If the GENERATE_HTMLHELP tag is set to YES, the CHM_INDEX_ENCODING +# is used to encode HtmlHelp index (hhk), content (hhc) and project file +# content. + +CHM_INDEX_ENCODING = + +# If the GENERATE_HTMLHELP tag is set to YES, the BINARY_TOC flag +# controls whether a binary table of contents is generated (YES) or a +# normal table of contents (NO) in the .chm file. + +BINARY_TOC = NO + +# The TOC_EXPAND flag can be set to YES to add extra items for group members +# to the contents of the HTML help documentation and to the tree view. + +TOC_EXPAND = NO + +# If the GENERATE_QHP tag is set to YES and both QHP_NAMESPACE and +# QHP_VIRTUAL_FOLDER are set, an additional index file will be generated +# that can be used as input for Qt's qhelpgenerator to generate a +# Qt Compressed Help (.qch) of the generated HTML documentation. + +GENERATE_QHP = NO + +# If the QHG_LOCATION tag is specified, the QCH_FILE tag can +# be used to specify the file name of the resulting .qch file. +# The path specified is relative to the HTML output folder. + +QCH_FILE = + +# The QHP_NAMESPACE tag specifies the namespace to use when generating +# Qt Help Project output. For more information please see +# http://doc.trolltech.com/qthelpproject.html#namespace + +QHP_NAMESPACE = org.doxygen.Project + +# The QHP_VIRTUAL_FOLDER tag specifies the namespace to use when generating +# Qt Help Project output. For more information please see +# http://doc.trolltech.com/qthelpproject.html#virtual-folders + +QHP_VIRTUAL_FOLDER = doc + +# If QHP_CUST_FILTER_NAME is set, it specifies the name of a custom filter to +# add. For more information please see +# http://doc.trolltech.com/qthelpproject.html#custom-filters + +QHP_CUST_FILTER_NAME = + +# The QHP_CUST_FILT_ATTRS tag specifies the list of the attributes of the +# custom filter to add. For more information please see +# +# Qt Help Project / Custom Filters. + +QHP_CUST_FILTER_ATTRS = + +# The QHP_SECT_FILTER_ATTRS tag specifies the list of the attributes this +# project's +# filter section matches. +# +# Qt Help Project / Filter Attributes. + +QHP_SECT_FILTER_ATTRS = + +# If the GENERATE_QHP tag is set to YES, the QHG_LOCATION tag can +# be used to specify the location of Qt's qhelpgenerator. +# If non-empty doxygen will try to run qhelpgenerator on the generated +# .qhp file. + +QHG_LOCATION = + +# If the GENERATE_ECLIPSEHELP tag is set to YES, additional index files +# will be generated, which together with the HTML files, form an Eclipse help +# plugin. To install this plugin and make it available under the help contents +# menu in Eclipse, the contents of the directory containing the HTML and XML +# files needs to be copied into the plugins directory of eclipse. The name of +# the directory within the plugins directory should be the same as +# the ECLIPSE_DOC_ID value. After copying Eclipse needs to be restarted before +# the help appears. + +GENERATE_ECLIPSEHELP = NO + +# A unique identifier for the eclipse help plugin. When installing the plugin +# the directory name containing the HTML and XML files should also have +# this name. + +ECLIPSE_DOC_ID = org.doxygen.Project + +# The DISABLE_INDEX tag can be used to turn on/off the condensed index (tabs) +# at top of each HTML page. The value NO (the default) enables the index and +# the value YES disables it. Since the tabs have the same information as the +# navigation tree you can set this option to NO if you already set +# GENERATE_TREEVIEW to YES. + +DISABLE_INDEX = NO + +# The GENERATE_TREEVIEW tag is used to specify whether a tree-like index +# structure should be generated to display hierarchical information. +# If the tag value is set to YES, a side panel will be generated +# containing a tree-like index structure (just like the one that +# is generated for HTML Help). For this to work a browser that supports +# JavaScript, DHTML, CSS and frames is required (i.e. any modern browser). +# Windows users are probably better off using the HTML help feature. +# Since the tree basically has the same information as the tab index you +# could consider to set DISABLE_INDEX to NO when enabling this option. + +GENERATE_TREEVIEW = NO + +# The ENUM_VALUES_PER_LINE tag can be used to set the number of enum values +# (range [0,1..20]) that doxygen will group on one line in the generated HTML +# documentation. Note that a value of 0 will completely suppress the enum +# values from appearing in the overview section. + +ENUM_VALUES_PER_LINE = 4 + +# By enabling USE_INLINE_TREES, doxygen will generate the Groups, Directories, +# and Class Hierarchy pages using a tree view instead of an ordered list. + +USE_INLINE_TREES = NO + +# If the treeview is enabled (see GENERATE_TREEVIEW) then this tag can be +# used to set the initial width (in pixels) of the frame in which the tree +# is shown. + +TREEVIEW_WIDTH = 250 + +# When the EXT_LINKS_IN_WINDOW option is set to YES doxygen will open +# links to external symbols imported via tag files in a separate window. + +EXT_LINKS_IN_WINDOW = NO + +# Use this tag to change the font size of Latex formulas included +# as images in the HTML documentation. The default is 10. Note that +# when you change the font size after a successful doxygen run you need +# to manually remove any form_*.png images from the HTML output directory +# to force them to be regenerated. + +FORMULA_FONTSIZE = 10 + +# Use the FORMULA_TRANPARENT tag to determine whether or not the images +# generated for formulas are transparent PNGs. Transparent PNGs are +# not supported properly for IE 6.0, but are supported on all modern browsers. +# Note that when changing this option you need to delete any form_*.png files +# in the HTML output before the changes have effect. + +FORMULA_TRANSPARENT = YES + +# Enable the USE_MATHJAX option to render LaTeX formulas using MathJax +# (see http://www.mathjax.org) which uses client side Javascript for the +# rendering instead of using prerendered bitmaps. Use this if you do not +# have LaTeX installed or if you want to formulas look prettier in the HTML +# output. When enabled you also need to install MathJax separately and +# configure the path to it using the MATHJAX_RELPATH option. + +USE_MATHJAX = NO + +# When MathJax is enabled you need to specify the location relative to the +# HTML output directory using the MATHJAX_RELPATH option. The destination +# directory should contain the MathJax.js script. For instance, if the mathjax +# directory is located at the same level as the HTML output directory, then +# MATHJAX_RELPATH should be ../mathjax. The default value points to the +# mathjax.org site, so you can quickly see the result without installing +# MathJax, but it is strongly recommended to install a local copy of MathJax +# before deployment. + +MATHJAX_RELPATH = http://www.mathjax.org/mathjax + +# The MATHJAX_EXTENSIONS tag can be used to specify one or MathJax extension +# names that should be enabled during MathJax rendering. + +MATHJAX_EXTENSIONS = + +# When the SEARCHENGINE tag is enabled doxygen will generate a search box +# for the HTML output. The underlying search engine uses javascript +# and DHTML and should work on any modern browser. Note that when using +# HTML help (GENERATE_HTMLHELP), Qt help (GENERATE_QHP), or docsets +# (GENERATE_DOCSET) there is already a search function so this one should +# typically be disabled. For large projects the javascript based search engine +# can be slow, then enabling SERVER_BASED_SEARCH may provide a better solution. + +SEARCHENGINE = YES + +# When the SERVER_BASED_SEARCH tag is enabled the search engine will be +# implemented using a PHP enabled web server instead of at the web client +# using Javascript. Doxygen will generate the search PHP script and index +# file to put on the web server. The advantage of the server +# based approach is that it scales better to large projects and allows +# full text search. The disadvantages are that it is more difficult to setup +# and does not have live searching capabilities. + +SERVER_BASED_SEARCH = NO + +#--------------------------------------------------------------------------- +# configuration options related to the LaTeX output +#--------------------------------------------------------------------------- + +# If the GENERATE_LATEX tag is set to YES (the default) Doxygen will +# generate Latex output. + +GENERATE_LATEX = YES + +# The LATEX_OUTPUT tag is used to specify where the LaTeX docs will be put. +# If a relative path is entered the value of OUTPUT_DIRECTORY will be +# put in front of it. If left blank `latex' will be used as the default path. + +LATEX_OUTPUT = latex + +# The LATEX_CMD_NAME tag can be used to specify the LaTeX command name to be +# invoked. If left blank `latex' will be used as the default command name. +# Note that when enabling USE_PDFLATEX this option is only used for +# generating bitmaps for formulas in the HTML output, but not in the +# Makefile that is written to the output directory. + +LATEX_CMD_NAME = latex + +# The MAKEINDEX_CMD_NAME tag can be used to specify the command name to +# generate index for LaTeX. If left blank `makeindex' will be used as the +# default command name. + +MAKEINDEX_CMD_NAME = makeindex + +# If the COMPACT_LATEX tag is set to YES Doxygen generates more compact +# LaTeX documents. This may be useful for small projects and may help to +# save some trees in general. + +COMPACT_LATEX = NO + +# The PAPER_TYPE tag can be used to set the paper type that is used +# by the printer. Possible values are: a4, letter, legal and +# executive. If left blank a4wide will be used. + +PAPER_TYPE = a4 + +# The EXTRA_PACKAGES tag can be to specify one or more names of LaTeX +# packages that should be included in the LaTeX output. + +EXTRA_PACKAGES = + +# The LATEX_HEADER tag can be used to specify a personal LaTeX header for +# the generated latex document. The header should contain everything until +# the first chapter. If it is left blank doxygen will generate a +# standard header. Notice: only use this tag if you know what you are doing! + +LATEX_HEADER = + +# The LATEX_FOOTER tag can be used to specify a personal LaTeX footer for +# the generated latex document. The footer should contain everything after +# the last chapter. If it is left blank doxygen will generate a +# standard footer. Notice: only use this tag if you know what you are doing! + +LATEX_FOOTER = + +# If the PDF_HYPERLINKS tag is set to YES, the LaTeX that is generated +# is prepared for conversion to pdf (using ps2pdf). The pdf file will +# contain links (just like the HTML output) instead of page references +# This makes the output suitable for online browsing using a pdf viewer. + +PDF_HYPERLINKS = YES + +# If the USE_PDFLATEX tag is set to YES, pdflatex will be used instead of +# plain latex in the generated Makefile. Set this option to YES to get a +# higher quality PDF documentation. + +USE_PDFLATEX = YES + +# If the LATEX_BATCHMODE tag is set to YES, doxygen will add the \\batchmode. +# command to the generated LaTeX files. This will instruct LaTeX to keep +# running if errors occur, instead of asking the user for help. +# This option is also used when generating formulas in HTML. + +LATEX_BATCHMODE = NO + +# If LATEX_HIDE_INDICES is set to YES then doxygen will not +# include the index chapters (such as File Index, Compound Index, etc.) +# in the output. + +LATEX_HIDE_INDICES = NO + +# If LATEX_SOURCE_CODE is set to YES then doxygen will include +# source code with syntax highlighting in the LaTeX output. +# Note that which sources are shown also depends on other settings +# such as SOURCE_BROWSER. + +LATEX_SOURCE_CODE = NO + +# The LATEX_BIB_STYLE tag can be used to specify the style to use for the +# bibliography, e.g. plainnat, or ieeetr. The default style is "plain". See +# http://en.wikipedia.org/wiki/BibTeX for more info. + +LATEX_BIB_STYLE = plain + +#--------------------------------------------------------------------------- +# configuration options related to the RTF output +#--------------------------------------------------------------------------- + +# If the GENERATE_RTF tag is set to YES Doxygen will generate RTF output +# The RTF output is optimized for Word 97 and may not look very pretty with +# other RTF readers or editors. + +GENERATE_RTF = NO + +# The RTF_OUTPUT tag is used to specify where the RTF docs will be put. +# If a relative path is entered the value of OUTPUT_DIRECTORY will be +# put in front of it. If left blank `rtf' will be used as the default path. + +RTF_OUTPUT = rtf + +# If the COMPACT_RTF tag is set to YES Doxygen generates more compact +# RTF documents. This may be useful for small projects and may help to +# save some trees in general. + +COMPACT_RTF = NO + +# If the RTF_HYPERLINKS tag is set to YES, the RTF that is generated +# will contain hyperlink fields. The RTF file will +# contain links (just like the HTML output) instead of page references. +# This makes the output suitable for online browsing using WORD or other +# programs which support those fields. +# Note: wordpad (write) and others do not support links. + +RTF_HYPERLINKS = NO + +# Load style sheet definitions from file. Syntax is similar to doxygen's +# config file, i.e. a series of assignments. You only have to provide +# replacements, missing definitions are set to their default value. + +RTF_STYLESHEET_FILE = + +# Set optional variables used in the generation of an rtf document. +# Syntax is similar to doxygen's config file. + +RTF_EXTENSIONS_FILE = + +#--------------------------------------------------------------------------- +# configuration options related to the man page output +#--------------------------------------------------------------------------- + +# If the GENERATE_MAN tag is set to YES (the default) Doxygen will +# generate man pages + +GENERATE_MAN = NO + +# The MAN_OUTPUT tag is used to specify where the man pages will be put. +# If a relative path is entered the value of OUTPUT_DIRECTORY will be +# put in front of it. If left blank `man' will be used as the default path. + +MAN_OUTPUT = man + +# The MAN_EXTENSION tag determines the extension that is added to +# the generated man pages (default is the subroutine's section .3) + +MAN_EXTENSION = .3 + +# If the MAN_LINKS tag is set to YES and Doxygen generates man output, +# then it will generate one additional man file for each entity +# documented in the real man page(s). These additional files +# only source the real man page, but without them the man command +# would be unable to find the correct page. The default is NO. + +MAN_LINKS = NO + +#--------------------------------------------------------------------------- +# configuration options related to the XML output +#--------------------------------------------------------------------------- + +# If the GENERATE_XML tag is set to YES Doxygen will +# generate an XML file that captures the structure of +# the code including all documentation. + +GENERATE_XML = NO + +# The XML_OUTPUT tag is used to specify where the XML pages will be put. +# If a relative path is entered the value of OUTPUT_DIRECTORY will be +# put in front of it. If left blank `xml' will be used as the default path. + +XML_OUTPUT = xml + +# The XML_SCHEMA tag can be used to specify an XML schema, +# which can be used by a validating XML parser to check the +# syntax of the XML files. + +XML_SCHEMA = + +# The XML_DTD tag can be used to specify an XML DTD, +# which can be used by a validating XML parser to check the +# syntax of the XML files. + +XML_DTD = + +# If the XML_PROGRAMLISTING tag is set to YES Doxygen will +# dump the program listings (including syntax highlighting +# and cross-referencing information) to the XML output. Note that +# enabling this will significantly increase the size of the XML output. + +XML_PROGRAMLISTING = YES + +#--------------------------------------------------------------------------- +# configuration options for the AutoGen Definitions output +#--------------------------------------------------------------------------- + +# If the GENERATE_AUTOGEN_DEF tag is set to YES Doxygen will +# generate an AutoGen Definitions (see autogen.sf.net) file +# that captures the structure of the code including all +# documentation. Note that this feature is still experimental +# and incomplete at the moment. + +GENERATE_AUTOGEN_DEF = NO + +#--------------------------------------------------------------------------- +# configuration options related to the Perl module output +#--------------------------------------------------------------------------- + +# If the GENERATE_PERLMOD tag is set to YES Doxygen will +# generate a Perl module file that captures the structure of +# the code including all documentation. Note that this +# feature is still experimental and incomplete at the +# moment. + +GENERATE_PERLMOD = NO + +# If the PERLMOD_LATEX tag is set to YES Doxygen will generate +# the necessary Makefile rules, Perl scripts and LaTeX code to be able +# to generate PDF and DVI output from the Perl module output. + +PERLMOD_LATEX = NO + +# If the PERLMOD_PRETTY tag is set to YES the Perl module output will be +# nicely formatted so it can be parsed by a human reader. +# This is useful +# if you want to understand what is going on. +# On the other hand, if this +# tag is set to NO the size of the Perl module output will be much smaller +# and Perl will parse it just the same. + +PERLMOD_PRETTY = YES + +# The names of the make variables in the generated doxyrules.make file +# are prefixed with the string contained in PERLMOD_MAKEVAR_PREFIX. +# This is useful so different doxyrules.make files included by the same +# Makefile don't overwrite each other's variables. + +PERLMOD_MAKEVAR_PREFIX = + +#--------------------------------------------------------------------------- +# Configuration options related to the preprocessor +#--------------------------------------------------------------------------- + +# If the ENABLE_PREPROCESSING tag is set to YES (the default) Doxygen will +# evaluate all C-preprocessor directives found in the sources and include +# files. + +ENABLE_PREPROCESSING = YES + +# If the MACRO_EXPANSION tag is set to YES Doxygen will expand all macro +# names in the source code. If set to NO (the default) only conditional +# compilation will be performed. Macro expansion can be done in a controlled +# way by setting EXPAND_ONLY_PREDEF to YES. + +MACRO_EXPANSION = NO + +# If the EXPAND_ONLY_PREDEF and MACRO_EXPANSION tags are both set to YES +# then the macro expansion is limited to the macros specified with the +# PREDEFINED and EXPAND_AS_DEFINED tags. + +EXPAND_ONLY_PREDEF = NO + +# If the SEARCH_INCLUDES tag is set to YES (the default) the includes files +# pointed to by INCLUDE_PATH will be searched when a #include is found. + +SEARCH_INCLUDES = YES + +# The INCLUDE_PATH tag can be used to specify one or more directories that +# contain include files that are not input files but should be processed by +# the preprocessor. + +INCLUDE_PATH = + +# You can use the INCLUDE_FILE_PATTERNS tag to specify one or more wildcard +# patterns (like *.h and *.hpp) to filter out the header-files in the +# directories. If left blank, the patterns specified with FILE_PATTERNS will +# be used. + +INCLUDE_FILE_PATTERNS = + +# The PREDEFINED tag can be used to specify one or more macro names that +# are defined before the preprocessor is started (similar to the -D option of +# gcc). The argument of the tag is a list of macros of the form: name +# or name=definition (no spaces). If the definition and the = are +# omitted =1 is assumed. To prevent a macro definition from being +# undefined via #undef or recursively expanded use the := operator +# instead of the = operator. + +PREDEFINED = + +# If the MACRO_EXPANSION and EXPAND_ONLY_PREDEF tags are set to YES then +# this tag can be used to specify a list of macro names that should be expanded. +# The macro definition that is found in the sources will be used. +# Use the PREDEFINED tag if you want to use a different macro definition that +# overrules the definition found in the source code. + +EXPAND_AS_DEFINED = + +# If the SKIP_FUNCTION_MACROS tag is set to YES (the default) then +# doxygen's preprocessor will remove all references to function-like macros +# that are alone on a line, have an all uppercase name, and do not end with a +# semicolon, because these will confuse the parser if not removed. + +SKIP_FUNCTION_MACROS = YES + +#--------------------------------------------------------------------------- +# Configuration::additions related to external references +#--------------------------------------------------------------------------- + +# The TAGFILES option can be used to specify one or more tagfiles. +# Optionally an initial location of the external documentation +# can be added for each tagfile. The format of a tag file without +# this location is as follows: +# +# TAGFILES = file1 file2 ... +# Adding location for the tag files is done as follows: +# +# TAGFILES = file1=loc1 "file2 = loc2" ... +# where "loc1" and "loc2" can be relative or absolute paths or +# URLs. If a location is present for each tag, the installdox tool +# does not have to be run to correct the links. +# Note that each tag file must have a unique name +# (where the name does NOT include the path) +# If a tag file is not located in the directory in which doxygen +# is run, you must also specify the path to the tagfile here. + +TAGFILES = + +# When a file name is specified after GENERATE_TAGFILE, doxygen will create +# a tag file that is based on the input files it reads. + +GENERATE_TAGFILE = + +# If the ALLEXTERNALS tag is set to YES all external classes will be listed +# in the class index. If set to NO only the inherited external classes +# will be listed. + +ALLEXTERNALS = NO + +# If the EXTERNAL_GROUPS tag is set to YES all external groups will be listed +# in the modules index. If set to NO, only the current project's groups will +# be listed. + +EXTERNAL_GROUPS = YES + +# The PERL_PATH should be the absolute path and name of the perl script +# interpreter (i.e. the result of `which perl'). + +PERL_PATH = /usr/bin/perl + +#--------------------------------------------------------------------------- +# Configuration options related to the dot tool +#--------------------------------------------------------------------------- + +# If the CLASS_DIAGRAMS tag is set to YES (the default) Doxygen will +# generate a inheritance diagram (in HTML, RTF and LaTeX) for classes with base +# or super classes. Setting the tag to NO turns the diagrams off. Note that +# this option also works with HAVE_DOT disabled, but it is recommended to +# install and use dot, since it yields more powerful graphs. + +CLASS_DIAGRAMS = YES + +# You can define message sequence charts within doxygen comments using the \msc +# command. Doxygen will then run the mscgen tool (see +# http://www.mcternan.me.uk/mscgen/) to produce the chart and insert it in the +# documentation. The MSCGEN_PATH tag allows you to specify the directory where +# the mscgen tool resides. If left empty the tool is assumed to be found in the +# default search path. + +MSCGEN_PATH = + +# If set to YES, the inheritance and collaboration graphs will hide +# inheritance and usage relations if the target is undocumented +# or is not a class. + +HIDE_UNDOC_RELATIONS = YES + +# If you set the HAVE_DOT tag to YES then doxygen will assume the dot tool is +# available from the path. This tool is part of Graphviz, a graph visualization +# toolkit from AT&T and Lucent Bell Labs. The other options in this section +# have no effect if this option is set to NO (the default) + +HAVE_DOT = NO + +# The DOT_NUM_THREADS specifies the number of dot invocations doxygen is +# allowed to run in parallel. When set to 0 (the default) doxygen will +# base this on the number of processors available in the system. You can set it +# explicitly to a value larger than 0 to get control over the balance +# between CPU load and processing speed. + +DOT_NUM_THREADS = 0 + +# By default doxygen will use the Helvetica font for all dot files that +# doxygen generates. When you want a differently looking font you can specify +# the font name using DOT_FONTNAME. You need to make sure dot is able to find +# the font, which can be done by putting it in a standard location or by setting +# the DOTFONTPATH environment variable or by setting DOT_FONTPATH to the +# directory containing the font. + +DOT_FONTNAME = Helvetica + +# The DOT_FONTSIZE tag can be used to set the size of the font of dot graphs. +# The default size is 10pt. + +DOT_FONTSIZE = 10 + +# By default doxygen will tell dot to use the Helvetica font. +# If you specify a different font using DOT_FONTNAME you can use DOT_FONTPATH to +# set the path where dot can find it. + +DOT_FONTPATH = + +# If the CLASS_GRAPH and HAVE_DOT tags are set to YES then doxygen +# will generate a graph for each documented class showing the direct and +# indirect inheritance relations. Setting this tag to YES will force the +# CLASS_DIAGRAMS tag to NO. + +CLASS_GRAPH = YES + +# If the COLLABORATION_GRAPH and HAVE_DOT tags are set to YES then doxygen +# will generate a graph for each documented class showing the direct and +# indirect implementation dependencies (inheritance, containment, and +# class references variables) of the class with other documented classes. + +COLLABORATION_GRAPH = YES + +# If the GROUP_GRAPHS and HAVE_DOT tags are set to YES then doxygen +# will generate a graph for groups, showing the direct groups dependencies + +GROUP_GRAPHS = YES + +# If the UML_LOOK tag is set to YES doxygen will generate inheritance and +# collaboration diagrams in a style similar to the OMG's Unified Modeling +# Language. + +UML_LOOK = NO + +# If set to YES, the inheritance and collaboration graphs will show the +# relations between templates and their instances. + +TEMPLATE_RELATIONS = NO + +# If the ENABLE_PREPROCESSING, SEARCH_INCLUDES, INCLUDE_GRAPH, and HAVE_DOT +# tags are set to YES then doxygen will generate a graph for each documented +# file showing the direct and indirect include dependencies of the file with +# other documented files. + +INCLUDE_GRAPH = YES + +# If the ENABLE_PREPROCESSING, SEARCH_INCLUDES, INCLUDED_BY_GRAPH, and +# HAVE_DOT tags are set to YES then doxygen will generate a graph for each +# documented header file showing the documented files that directly or +# indirectly include this file. + +INCLUDED_BY_GRAPH = YES + +# If the CALL_GRAPH and HAVE_DOT options are set to YES then +# doxygen will generate a call dependency graph for every global function +# or class method. Note that enabling this option will significantly increase +# the time of a run. So in most cases it will be better to enable call graphs +# for selected functions only using the \callgraph command. + +CALL_GRAPH = NO + +# If the CALLER_GRAPH and HAVE_DOT tags are set to YES then +# doxygen will generate a caller dependency graph for every global function +# or class method. Note that enabling this option will significantly increase +# the time of a run. So in most cases it will be better to enable caller +# graphs for selected functions only using the \callergraph command. + +CALLER_GRAPH = NO + +# If the GRAPHICAL_HIERARCHY and HAVE_DOT tags are set to YES then doxygen +# will generate a graphical hierarchy of all classes instead of a textual one. + +GRAPHICAL_HIERARCHY = YES + +# If the DIRECTORY_GRAPH, SHOW_DIRECTORIES and HAVE_DOT tags are set to YES +# then doxygen will show the dependencies a directory has on other directories +# in a graphical way. The dependency relations are determined by the #include +# relations between the files in the directories. + +DIRECTORY_GRAPH = YES + +# The DOT_IMAGE_FORMAT tag can be used to set the image format of the images +# generated by dot. Possible values are svg, png, jpg, or gif. +# If left blank png will be used. If you choose svg you need to set +# HTML_FILE_EXTENSION to xhtml in order to make the SVG files +# visible in IE 9+ (other browsers do not have this requirement). + +DOT_IMAGE_FORMAT = png + +# If DOT_IMAGE_FORMAT is set to svg, then this option can be set to YES to +# enable generation of interactive SVG images that allow zooming and panning. +# Note that this requires a modern browser other than Internet Explorer. +# Tested and working are Firefox, Chrome, Safari, and Opera. For IE 9+ you +# need to set HTML_FILE_EXTENSION to xhtml in order to make the SVG files +# visible. Older versions of IE do not have SVG support. + +INTERACTIVE_SVG = NO + +# The tag DOT_PATH can be used to specify the path where the dot tool can be +# found. If left blank, it is assumed the dot tool can be found in the path. + +DOT_PATH = + +# The DOTFILE_DIRS tag can be used to specify one or more directories that +# contain dot files that are included in the documentation (see the +# \dotfile command). + +DOTFILE_DIRS = + +# The MSCFILE_DIRS tag can be used to specify one or more directories that +# contain msc files that are included in the documentation (see the +# \mscfile command). + +MSCFILE_DIRS = + +# The DOT_GRAPH_MAX_NODES tag can be used to set the maximum number of +# nodes that will be shown in the graph. If the number of nodes in a graph +# becomes larger than this value, doxygen will truncate the graph, which is +# visualized by representing a node as a red box. Note that doxygen if the +# number of direct children of the root node in a graph is already larger than +# DOT_GRAPH_MAX_NODES then the graph will not be shown at all. Also note +# that the size of a graph can be further restricted by MAX_DOT_GRAPH_DEPTH. + +DOT_GRAPH_MAX_NODES = 50 + +# The MAX_DOT_GRAPH_DEPTH tag can be used to set the maximum depth of the +# graphs generated by dot. A depth value of 3 means that only nodes reachable +# from the root by following a path via at most 3 edges will be shown. Nodes +# that lay further from the root node will be omitted. Note that setting this +# option to 1 or 2 may greatly reduce the computation time needed for large +# code bases. Also note that the size of a graph can be further restricted by +# DOT_GRAPH_MAX_NODES. Using a depth of 0 means no depth restriction. + +MAX_DOT_GRAPH_DEPTH = 0 + +# Set the DOT_TRANSPARENT tag to YES to generate images with a transparent +# background. This is disabled by default, because dot on Windows does not +# seem to support this out of the box. Warning: Depending on the platform used, +# enabling this option may lead to badly anti-aliased labels on the edges of +# a graph (i.e. they become hard to read). + +DOT_TRANSPARENT = NO + +# Set the DOT_MULTI_TARGETS tag to YES allow dot to generate multiple output +# files in one run (i.e. multiple -o and -T options on the command line). This +# makes dot run faster, but since only newer versions of dot (>1.8.10) +# support this, this feature is disabled by default. + +DOT_MULTI_TARGETS = YES + +# If the GENERATE_LEGEND tag is set to YES (the default) Doxygen will +# generate a legend page explaining the meaning of the various boxes and +# arrows in the dot generated graphs. + +GENERATE_LEGEND = YES + +# If the DOT_CLEANUP tag is set to YES (the default) Doxygen will +# remove the intermediate dot files that are used to generate +# the various graphs. + +DOT_CLEANUP = YES diff --git a/svo/doc/.gitignore b/svo/doc/.gitignore new file mode 100644 index 0000000..c96a04f --- /dev/null +++ b/svo/doc/.gitignore @@ -0,0 +1,2 @@ +* +!.gitignore \ No newline at end of file diff --git a/svo/include/svo/bundle_adjustment.h b/svo/include/svo/bundle_adjustment.h new file mode 100644 index 0000000..215d563 --- /dev/null +++ b/svo/include/svo/bundle_adjustment.h @@ -0,0 +1,103 @@ +// This file is part of SVO - Semi-direct Visual Odometry. +// +// Copyright (C) 2014 Christian Forster +// (Robotics and Perception Group, University of Zurich, Switzerland). +// +// SVO is free software: you can redistribute it and/or modify it under the +// terms of the GNU General Public License as published by the Free Software +// Foundation, either version 3 of the License, or any later version. +// +// SVO is distributed in the hope that it will be useful, but WITHOUT ANY +// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS +// FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. +// +// You should have received a copy of the GNU General Public License +// along with this program. If not, see . + +#ifndef SVO_BUNDLE_ADJUSTMENT_H_ +#define SVO_BUNDLE_ADJUSTMENT_H_ + +#include + +namespace g2o { +class EdgeProjectXYZ2UV; +class SparseOptimizer; +} +typedef g2o::EdgeProjectXYZ2UV g2oEdgeSE3; + +namespace svo { + +class Point; +class Feature; +class Map; + +/// Local, global and 2-view bundle adjustment with g2o. +namespace ba { + +/// Temporary container to hold the g2o edge with reference to frame and point. +struct EdgeContainerSE3 +{ + g2oEdgeSE3* edge; + Frame* frame; + Feature* feature; + bool is_deleted; + EdgeContainerSE3(g2oEdgeSE3* e, Frame* frame, Feature* feature) : + edge(e), frame(frame), feature(feature), is_deleted(false) + {} +}; + +/// Optimize two camera frames and their observed 3D points. +/// Is used after initialization. +void twoViewBA(Frame* frame1, Frame* frame2, double reproj_thresh, Map* map); + +/// Local bundle adjustment. +/// Optimizes core_kfs and their observed map points while keeping the +/// neighbourhood fixed. +void localBA( + Frame* center_kf, + set* core_kfs, + Map* map, + size_t& n_incorrect_edges_1, + size_t& n_incorrect_edges_2, + double& init_error, + double& final_error); + +/// Global bundle adjustment. +/// Optimizes the whole map. Is currently not used in SVO. +void globalBA(Map* map); + +/// Initialize g2o with solver type, optimization strategy and camera model. +void setupG2o(g2o::SparseOptimizer * optimizer); + +/// Run the optimization on the provided graph. +void runSparseBAOptimizer( + g2o::SparseOptimizer* optimizer, + unsigned int num_iter, + double& init_error, + double& final_error); + +/// Create a g2o vertice from a keyframe object. +g2oFrameSE3* createG2oFrameSE3( + Frame* kf, + size_t id, + bool fixed); + +/// Creates a g2o vertice from a mappoint object. +g2oPoint* createG2oPoint( + Vector3d pos, + size_t id, + bool fixed); + +/// Creates a g2o edge between a g2o keyframe and mappoint vertice with the provided measurement. +g2oEdgeSE3* createG2oEdgeSE3( + g2oFrameSE3* v_kf, + g2oPoint* v_mp, + const Vector2d& f_up, + bool robust_kernel, + double huber_width, + double weight = 1); + +} // namespace ba +} // namespace svo + +#endif // SVO_BUNDLE_ADJUSTMENT_H_ diff --git a/svo/include/svo/config.h b/svo/include/svo/config.h new file mode 100644 index 0000000..3ad547b --- /dev/null +++ b/svo/include/svo/config.h @@ -0,0 +1,159 @@ +// This file is part of SVO - Semi-direct Visual Odometry. +// +// Copyright (C) 2014 Christian Forster +// (Robotics and Perception Group, University of Zurich, Switzerland). +// +// SVO is free software: you can redistribute it and/or modify it under the +// terms of the GNU General Public License as published by the Free Software +// Foundation, either version 3 of the License, or any later version. +// +// SVO is distributed in the hope that it will be useful, but WITHOUT ANY +// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS +// FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. +// +// You should have received a copy of the GNU General Public License +// along with this program. If not, see . + +#ifndef NSLAM_CONFIG_H_ +#define NSLAM_CONFIG_H_ + +#include +#include +#include + +namespace svo { + +using namespace std; + +/// Global configuration file of SVO. +/// Implements the Singleton design pattern to allow global access and to ensure +/// that only one instance exists. +class Config +{ +public: + static Config& getInstance(); + + /// Base-name of the tracefiles. + static string& traceName() { return getInstance().trace_name; } + + /// Directory where the tracefiles are saved. + static string& traceDir() { return getInstance().trace_dir; } + + /// Number of pyramid levels used for features. + static size_t& nPyrLevels() { return getInstance().n_pyr_levels; } + + /// Use the IMU to get relative rotations. + static bool& useImu() { return getInstance().use_imu; } + + /// Number of keyframes in the core. The core-kfs are optimized through bundle adjustment. + static size_t& coreNKfs() { return getInstance().core_n_kfs; } + + /// Initial scale of the map. Depends on the distance the camera is moved for the initialization. + static double& mapScale() { return getInstance().map_scale; } + + /// Feature grid size of a cell in [px]. + static size_t& gridSize() { return getInstance().grid_size; } + + /// Initialization: Minimum required disparity between the first two frames. + static double& initMinDisparity() { return getInstance().init_min_disparity; } + + /// Initialization: Minimum number of tracked features. + static size_t& initMinTracked() { return getInstance().init_min_tracked; } + + /// Initialization: Minimum number of inliers after RANSAC. + static size_t& initMinInliers() { return getInstance().init_min_inliers; } + + /// Maximum level of the Lucas Kanade tracker. + static size_t& kltMaxLevel() { return getInstance().klt_max_level; } + + /// Minimum level of the Lucas Kanade tracker. + static size_t& kltMinLevel() { return getInstance().klt_min_level; } + + /// Reprojection threshold [px]. + static double& reprojThresh() { return getInstance().reproj_thresh; } + + /// Reprojection threshold after pose optimization. + static double& poseOptimThresh() { return getInstance().poseoptim_thresh; } + + /// Number of iterations in local bundle adjustment. + static size_t& poseOptimNumIter() { return getInstance().poseoptim_num_iter; } + + /// Maximum number of points to optimize at every iteration. + static size_t& structureOptimMaxPts() { return getInstance().structureoptim_max_pts; } + + /// Number of iterations in structure optimization. + static size_t& structureOptimNumIter() { return getInstance().structureoptim_num_iter; } + + /// Reprojection threshold after bundle adjustment. + static double& lobaThresh() { return getInstance().loba_thresh; } + + /// Threshold for the robust Huber kernel of the local bundle adjustment. + static double& lobaRobustHuberWidth() { return getInstance().loba_robust_huber_width; } + + /// Number of iterations in the local bundle adjustment. + static size_t& lobaNumIter() { return getInstance().loba_num_iter; } + + /// Minimum distance between two keyframes. Relative to the average height in the map. + static double& kfSelectMinDist() { return getInstance().kfselect_mindist; } + + /// Select only features with a minimum Harris corner score for triangulation. + static double& triangMinCornerScore() { return getInstance().triang_min_corner_score; } + + /// Subpixel refinement of reprojection and triangulation. Set to 0 if no subpix refinement required! + static size_t& subpixNIter() { return getInstance().subpix_n_iter; } + + /// Limit the number of keyframes in the map. This makes nslam essentially. + /// a Visual Odometry. Set to 0 if unlimited number of keyframes are allowed. + /// Minimum number of keyframes is 3. + static size_t& maxNKfs() { return getInstance().max_n_kfs; } + + /// How much (in milliseconds) is the camera delayed with respect to the imu. + static double& imgImuDelay() { return getInstance().img_imu_delay; } + + /// Maximum number of features that should be tracked. + static size_t& maxFts() { return getInstance().max_fts; } + + /// If the number of tracked features drops below this threshold. Tracking quality is bad. + static size_t& qualityMinFts() { return getInstance().quality_min_fts; } + + /// If within one frame, this amount of features are dropped. Tracking quality is bad. + static int& qualityMaxFtsDrop() { return getInstance().quality_max_drop_fts; } + +private: + Config(); + Config(Config const&); + void operator=(Config const&); + string trace_name; + string trace_dir; + size_t n_pyr_levels; + bool use_imu; + size_t core_n_kfs; + double map_scale; + size_t grid_size; + double init_min_disparity; + size_t init_min_tracked; + size_t init_min_inliers; + size_t klt_max_level; + size_t klt_min_level; + double reproj_thresh; + double poseoptim_thresh; + size_t poseoptim_num_iter; + size_t structureoptim_max_pts; + size_t structureoptim_num_iter; + double loba_thresh; + double loba_robust_huber_width; + size_t loba_num_iter; + double kfselect_mindist; + double triang_min_corner_score; + size_t triang_half_patch_size; + size_t subpix_n_iter; + size_t max_n_kfs; + double img_imu_delay; + size_t max_fts; + size_t quality_min_fts; + int quality_max_drop_fts; +}; + +} // namespace nslam + +#endif // NSLAM_CONFIG_H_ diff --git a/svo/include/svo/depth_filter.h b/svo/include/svo/depth_filter.h new file mode 100644 index 0000000..d943764 --- /dev/null +++ b/svo/include/svo/depth_filter.h @@ -0,0 +1,163 @@ +// This file is part of SVO - Semi-direct Visual Odometry. +// +// Copyright (C) 2014 Christian Forster +// (Robotics and Perception Group, University of Zurich, Switzerland). +// +// SVO is free software: you can redistribute it and/or modify it under the +// terms of the GNU General Public License as published by the Free Software +// Foundation, either version 3 of the License, or any later version. +// +// SVO is distributed in the hope that it will be useful, but WITHOUT ANY +// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS +// FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. +// +// You should have received a copy of the GNU General Public License +// along with this program. If not, see . + +#ifndef SVO_DEPTH_FILTER_H_ +#define SVO_DEPTH_FILTER_H_ + +#include +#include +#include +#include +#include +#include + +namespace svo { + +class Frame; +class Feature; +class Point; + +/// A seed is a probabilistic depth estimate for a single pixel. +struct Seed +{ + EIGEN_MAKE_ALIGNED_OPERATOR_NEW + + static int batch_counter; + static int seed_counter; + int batch_id; //!< Batch id is the id of the keyframe for which the seed was created. + int id; //!< Seed ID, only used for visualization. + Feature* ftr; //!< Feature in the keyframe for which the depth should be computed. + float a; //!< a of Beta distribution: When high, probability of inlier is large. + float b; //!< b of Beta distribution: When high, probability of outlier is large. + float mu; //!< Mean of normal distribution. + float z_range; //!< Max range of the possible depth. + float sigma2; //!< Variance of normal distribution. + Matrix2d patch_cov; //!< Patch covariance in reference image. + Seed(Feature* ftr, float angle, float depth_mean, float depth_min); +}; + +/// Depth filter implements the Bayesian Update proposed in: +/// "Video-based, Real-Time Multi View Stereo" by G. Vogiatzis and C. Hernández. +/// In Image and Vision Computing, 29(7):434-441, 2011. +/// +/// The class uses a callback mechanism such that it can be used also by other +/// algorithms than nslam and for simplified testing. +class DepthFilter +{ +public: + EIGEN_MAKE_ALIGNED_OPERATOR_NEW + + typedef boost::unique_lock lock_t; + typedef boost::function callback_t; + + /// Depth-filter config parameters + struct Options { + bool check_ftr_angle; //!< gradient features are only updated if the epipolar line is orthogonal to the gradient. + bool epi_search_1d; //!< restrict Gauss Newton in the epipolar search to the epipolar line. + bool verbose; //!< display output. + bool use_photometric_disparity_error; //!< use photometric disparity error instead of 1px error in tau computation. + int max_n_kfs; //!< maximum number of keyframes for which we maintain seeds. + double sigma_i_sq; //!< image noise. + double seed_convergence_sigma2_thresh; //!< threshold on depth uncertainty for convergence. + Options() + : check_ftr_angle(false), + epi_search_1d(false), + verbose(false), + use_photometric_disparity_error(false), + max_n_kfs(3), + sigma_i_sq(5e-4), + seed_convergence_sigma2_thresh(200.0) + {} + } options_; + + DepthFilter(feature_detection::DetectorPtr feature_detector, callback_t seed_converged_cb); + ~DepthFilter(); + + /// Start this thread when seed updating should be in a parallel thread. + void startThread(); + + /// Stop the parallel thread that is running. + void stopThread(); + + /// Add frame to the queue to be processed. + void addFrame(FramePtr frame); + + /// Add new keyframe to the queue + void addKeyframe(FramePtr frame, double depth_mean, double depth_min); + + /// Remove all seeds which are initialized from the specified keyframe. This + /// function is used to make sure that no seeds points to a non-existent frame + /// when a frame is removed from the map. + void removeKeyframe(FramePtr frame); + + /// If the map is reset, call this function such that we don't have pointers + /// to old frames. + void reset(); + + /// Returns a copy of the seeds belonging to frame. Thread-safe. + /// Can be used to compute the Next-Best-View in parallel. + /// IMPORTANT! Make sure you hold a valid reference counting pointer to frame + /// so it is not being deleted while you use it. + void getSeedsCopy(const FramePtr& frame, std::list& seeds); + + /// Return a reference to the seeds. This is NOT THREAD SAFE! + std::list >& getSeeds() { return seeds_; } + + /// Bayes update of the seed, x is the measurement, tau2 the measurement uncertainty + static void updateSeed( + const float x, + const float tau2, + Seed* seed); + + /// Compute the uncertainty of the measurement. + static double computeTau( + const SE3& T_ref_cur, + const Vector3d& f, + const double z, + const double px_error_angle); + +private: + feature_detection::DetectorPtr feature_detector_; + callback_t seed_converged_cb_; + std::list > seeds_; + boost::mutex seeds_mut_; + bool seeds_updating_halt_; //!< Set this value to true when seeds updating should be interrupted. + boost::thread* thread_; + std::queue frame_queue_; + boost::mutex frame_queue_mut_; + boost::condition_variable frame_queue_cond_; + FramePtr new_keyframe_; //!< Next keyframe to extract new seeds. + bool new_keyframe_set_; //!< Do we have a new keyframe to process?. + double new_keyframe_min_depth_; //!< Minimum depth in the new keyframe. Used for range in new seeds. + double new_keyframe_mean_depth_; //!< Maximum depth in the new keyframe. Used for range in new seeds. + vk::PerformanceMonitor permon_; //!< Separate performance monitor since the DepthFilter runs in a parallel thread. + + /// Initialize new seeds from a frame. + void initializeSeeds(FramePtr frame); + + /// Update all seeds with a new measurement frame. + void updateSeeds(FramePtr frame); + + /// When a new keyframe arrives, the frame queue should be cleared. + void clearFrameQueue(); + + /// A thread that is continuously updating the seeds. + void updateSeedsLoop(); +}; + +} // namespace svo + +#endif // SVO_DEPTH_FILTER_H_ diff --git a/svo/include/svo/feature.h b/svo/include/svo/feature.h new file mode 100644 index 0000000..a0a30f4 --- /dev/null +++ b/svo/include/svo/feature.h @@ -0,0 +1,62 @@ +// This file is part of SVO - Semi-direct Visual Odometry. +// +// Copyright (C) 2014 Christian Forster +// (Robotics and Perception Group, University of Zurich, Switzerland). +// +// SVO is free software: you can redistribute it and/or modify it under the +// terms of the GNU General Public License as published by the Free Software +// Foundation, either version 3 of the License, or any later version. +// +// SVO is distributed in the hope that it will be useful, but WITHOUT ANY +// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS +// FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. +// +// You should have received a copy of the GNU General Public License +// along with this program. If not, see . + +#ifndef SVO_FEATURE_H_ +#define SVO_FEATURE_H_ + +#include + +namespace svo { + +/// A salient image region that is tracked across frames. +struct Feature +{ + EIGEN_MAKE_ALIGNED_OPERATOR_NEW + + Frame* frame; //!< Pointer to frame in which the feature was detected. + Vector2d px; //!< Coordinates in pixels on pyramid level 0. + Vector3d f; //!< Unit-bearing vector of the feature. + int level; //!< Image pyramid level where feature was extracted. + Point* point; //!< Pointer to 3D point which corresponds to the feature. + + Feature(Frame* _frame, const Vector2d& _px, int _level) + : frame(_frame), + px(_px), + f(frame->cam_->cam2world(px)), + level(_level), + point(NULL) + {} + + Feature(Frame* _frame, const Vector2d& _px, const Vector3d& _f, int _level) + : frame(_frame), + px(_px), + f(_f), + level(_level), + point(NULL) + {} + + Feature(Frame* _frame, Point* _point, const Vector2d& _px, const Vector3d& _f, int _level) + : frame(_frame), + px(_px), + f(_f), + level(_level), + point(_point) + {} +}; + +} // namespace svo + +#endif // SVO_FEATURE_H_ diff --git a/svo/include/svo/feature_alignment.h b/svo/include/svo/feature_alignment.h new file mode 100644 index 0000000..12523e3 --- /dev/null +++ b/svo/include/svo/feature_alignment.h @@ -0,0 +1,63 @@ +// This file is part of SVO - Semi-direct Visual Odometry. +// +// Copyright (C) 2014 Christian Forster +// (Robotics and Perception Group, University of Zurich, Switzerland). +// +// SVO is free software: you can redistribute it and/or modify it under the +// terms of the GNU General Public License as published by the Free Software +// Foundation, either version 3 of the License, or any later version. +// +// SVO is distributed in the hope that it will be useful, but WITHOUT ANY +// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS +// FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. +// +// You should have received a copy of the GNU General Public License +// along with this program. If not, see . + +#ifndef SVO_FEATURE_ALIGNMENT_H_ +#define SVO_FEATURE_ALIGNMENT_H_ + +#include + +namespace svo { + +/// Subpixel refinement of a reference feature patch with the current image. +/// Implements the inverse-compositional approach (see "Lucas-Kanade 20 Years on" +/// paper by Baker. +namespace feature_alignment { + +bool align1D( + const cv::Mat& cur_img, + const Vector2f& dir, // direction in which the patch is allowed to move + uint8_t* ref_patch_with_border, + uint8_t* ref_patch, + const int n_iter, + Vector2d& cur_px_estimate, + double& h_inv); + +bool align2D( + const cv::Mat& cur_img, + uint8_t* ref_patch_with_border, + uint8_t* ref_patch, + const int n_iter, + Vector2d& cur_px_estimate, + bool no_simd = false); + +bool align2D_SSE2( + const cv::Mat& cur_img, + uint8_t* ref_patch_with_border, + uint8_t* ref_patch, + const int n_iter, + Vector2d& cur_px_estimate); + +bool align2D_NEON( + const cv::Mat& cur_img, + uint8_t* ref_patch_with_border, + uint8_t* ref_patch, + const int n_iter, + Vector2d& cur_px_estimate); + +} // namespace feature_alignment +} // namespace svo + +#endif // SVO_FEATURE_ALIGNMENT_H_ diff --git a/svo/include/svo/feature_detection.h b/svo/include/svo/feature_detection.h new file mode 100644 index 0000000..a84586a --- /dev/null +++ b/svo/include/svo/feature_detection.h @@ -0,0 +1,76 @@ +// This file is part of SVO - Semi-direct Visual Odometry. +// +// Copyright (C) 2014 Christian Forster +// (Robotics and Perception Group, University of Zurich, Switzerland). +// +// SVO is free software: you can redistribute it and/or modify it under the +// terms of the GNU General Public License as published by the Free Software +// Foundation, either version 3 of the License, or any later version. +// +// SVO is distributed in the hope that it will be useful, but WITHOUT ANY +// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS +// FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. +// +// You should have received a copy of the GNU General Public License +// along with this program. If not, see . + +#ifndef SVO_FEATURE_DETECTION_H_ +#define SVO_FEATURE_DETECTION_H_ + +#include +#include + +namespace svo { + +/// Implementation of various feature detectors. +namespace feature_detection { + +/// Temporary container used for corner detection. Features are initialized from these. +// TODO: why not use feature struct? +struct Corner +{ + int x; //!< x-coordinate of corner in the image. + int y; //!< y-coordinate of corner in the image. + int level; //!< pyramid level of the corner. + float score; //!< shi-tomasi score of the corner. + float angle; //!< for gradient-features: dominant gradient angle. + Corner(int x, int y, float score, int level, float angle) : + x(x), y(y), level(level), score(score), angle(angle) + {} +}; +typedef vector Corners; + +/// All detectors should derive from this abstract class. +class AbstractDetector +{ +public: + virtual ~AbstractDetector() {}; + virtual void detect( + const ImgPyr& img_pyr, + const Features& fts, + const int cell_size, + const int n_levels, + const double detection_threshold, + Corners* corners) const = 0; +}; +typedef boost::shared_ptr DetectorPtr; + +/// FAST detector by Edward Rosten. +class FastDetector : public AbstractDetector +{ +public: + FastDetector() {} + virtual ~FastDetector() {} + virtual void detect( + const ImgPyr& img_pyr, + const Features& fts, + const int cell_size, + const int n_levels, + const double detection_threshold, + Corners* corners) const; +}; + +} // namespace feature_detection +} // namespace svo + +#endif // SVO_FEATURE_DETECTION_H_ diff --git a/svo/include/svo/frame.h b/svo/include/svo/frame.h new file mode 100644 index 0000000..68aa548 --- /dev/null +++ b/svo/include/svo/frame.h @@ -0,0 +1,130 @@ +// This file is part of SVO - Semi-direct Visual Odometry. +// +// Copyright (C) 2014 Christian Forster +// (Robotics and Perception Group, University of Zurich, Switzerland). +// +// SVO is free software: you can redistribute it and/or modify it under the +// terms of the GNU General Public License as published by the Free Software +// Foundation, either version 3 of the License, or any later version. +// +// SVO is distributed in the hope that it will be useful, but WITHOUT ANY +// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS +// FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. +// +// You should have received a copy of the GNU General Public License +// along with this program. If not, see . + +#ifndef SVO_FRAME_H_ +#define SVO_FRAME_H_ + +#include +#include +#include +#include +#include +#include + +namespace g2o { +class VertexSE3Expmap; +} +typedef g2o::VertexSE3Expmap g2oFrameSE3; + +namespace svo { + +class Point; +class Frame; +struct Feature; + +typedef list Features; +typedef vector ImgPyr; + +/// A frame saves the image, the associated features and the estimated pose. +class Frame : boost::noncopyable +{ +public: + EIGEN_MAKE_ALIGNED_OPERATOR_NEW + + static int frame_counter_; //!< Counts the number of created frames. Used to set the unique id. + int id_; //!< Unique id of the frame. + double timestamp_; //!< Timestamp of when the image was recorded. + vk::AbstractCamera* cam_; //!< Camera model. + Sophus::SE3 T_f_w_; //!< Transform (f)rame from (w)orld. + Matrix Cov_; //!< Covariance. + ImgPyr img_pyr_; //!< Image Pyramid. + Features fts_; //!< List of features in the image. + vector key_pts_; //!< Five features and associated 3D points which are used to detect if two frames have overlapping field of view. + bool is_keyframe_; //!< Was this frames selected as keyframe? + g2oFrameSE3* v_kf_; //!< Temporary pointer to the g2o node object of the keyframe. + int last_published_ts_; //!< Timestamp of last publishing. + + Frame(vk::AbstractCamera* cam, const cv::Mat& img, double timestamp=0.0); + ~Frame(); + + /// Initialize new frame and create image pyramid. + void initFrame(const cv::Mat& img); + + /// Select this frame as keyframe. + void setKeyframe(); + + /// Add a feature to the image + void addFeature(Feature* ftr); + + /// The KeyPoints are those five features which are closest to the 4 image corners + /// and to the center and which have a 3D point assigned. These points are used + /// to quickly check whether two frames have overlapping field of view. + void setKeyPoints(); + + /// Check if we can select five better key-points. + void checkKeyPoints(Feature* ftr); + + /// If a point is deleted, we must remove the corresponding key-point. + void removeKeyPoint(Feature* ftr); + + /// Return number of point observations. + size_t nObs() const; + + /// Check if a point in (w)orld coordinate frame is visible in the image. + bool isVisible(const Vector3d& xyz_w) const; + + /// Full resolution image stored in the frame. + inline const cv::Mat& img() const { return img_pyr_[0]; } + + /// Was this frame selected as keyframe? + inline bool isKeyframe() const { return is_keyframe_; } + + /// Transforms point coordinates in world-frame (w) to camera pixel coordinates (c). + inline Vector2d w2c(const Vector3d& xyz_w) const { return cam_->world2cam( T_f_w_ * xyz_w ); } + + /// Transforms pixel coordinates (c) to frame unit sphere coordinates (f). + inline Vector3d c2f(const Vector2d& px) const { return cam_->cam2world(px[0], px[1]); } + + /// Transforms pixel coordinates (c) to frame unit sphere coordinates (f). + inline Vector3d c2f(const double x, const double y) const { return cam_->cam2world(x, y); } + + /// Transforms point coordinates in world-frame (w) to camera-frams (f). + inline Vector3d w2f(const Vector3d& xyz_w) const { return T_f_w_ * xyz_w; } + + /// Transforms point from frame unit sphere (f) frame to world coordinate frame (w). + inline Vector3d f2w(const Vector3d& f) const { return T_f_w_.inverse() * 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 Vector3d pos() const { return T_f_w_.inverse().translation(); } +}; + + +/// Some helper functions for the frame object. +namespace frame_utils { + +/// Creates an image pyramid of half-sampled images. +void createImgPyramid(const cv::Mat& img_level_0, int n_levels, ImgPyr& pyr); + +/// Get the average depth of the features in the image. +bool getSceneDepth(const Frame& frame, double& depth_mean, double& depth_min); + +} // namespace frame_utils +} // namespace svo + +#endif // SVO_FRAME_H_ diff --git a/svo/include/svo/frame_handler_base.h b/svo/include/svo/frame_handler_base.h new file mode 100644 index 0000000..51286c7 --- /dev/null +++ b/svo/include/svo/frame_handler_base.h @@ -0,0 +1,116 @@ +// This file is part of SVO - Semi-direct Visual Odometry. +// +// Copyright (C) 2014 Christian Forster +// (Robotics and Perception Group, University of Zurich, Switzerland). +// +// SVO is free software: you can redistribute it and/or modify it under the +// terms of the GNU General Public License as published by the Free Software +// Foundation, either version 3 of the License, or any later version. +// +// SVO is distributed in the hope that it will be useful, but WITHOUT ANY +// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS +// FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. +// +// You should have received a copy of the GNU General Public License +// along with this program. If not, see . + +#ifndef SVO_FRAME_HANDLER_BASE_H_ +#define SVO_FRAME_HANDLER_BASE_H_ + +#include +#include +#include +#include +#include +#include +#include +#include + +namespace vk { + class AbstractCamera; + class PerformanceMonitor; +} + +namespace svo { + +class Point; +class Matcher; +class DepthFilter; + +/// Base class for various VO pipelines. Manages the map and the state machine. +class FrameHandlerBase : boost::noncopyable +{ +public: + enum Stage { PAUSED, FIRST_FRAME, SECOND_FRAME, DEFAULT_FRAME }; + enum TrackingQuality { INSUFFICIENT, BAD, GOOD }; + enum UpdateResult { NO_KEYFRAME, IS_KEYFRAME, FAILURE }; + + FrameHandlerBase(); + + virtual ~FrameHandlerBase(); + + /// Set initial pose of the camera. + void setInitialPose(const SE3& T_frame_from_world) { T_f_w_init_ = T_frame_from_world; } + + /// Get the current map. + const Map& map() const { return map_; } + + /// Will reset the map as soon as the current frame is finished processing. + void reset() { set_reset_ = true; } + + /// Start processing. + void start() { set_start_ = true; } + + /// Get the current stage of the algorithm. + Stage stage() const { return stage_; } + + /// Get tracking quality. + TrackingQuality trackingQuality() const { return tracking_quality_; } + + /// Get the processing time of the previous iteration. + double lastProcessingTime() const { return timer_.getTime(); } + + /// Get the number of feature observations of the last frame. + size_t lastNumObservations() const { return num_obs_last_; } + + /// Access the depth filter. + DepthFilter* depthFilter() const { return depth_filter_; } + +protected: + Stage stage_; //!< Current stage of the algorithm. + bool set_reset_; //!< Flag that the user can set. Will reset the system before the next iteration. + bool set_start_; //!< Flag the user can set to start the system when the next image is received. + Map map_; //!< Map of keyframes created by the slam system. + SE3 T_f_w_init_; //!< Initial pose of the camera. + vk::Timer timer_; //!< Stopwatch to measure time to process frame. + vk::RingBuffer acc_frame_timings_; //!< Total processing time of the last 10 frames, used to give some user feedback on the performance. + vk::RingBuffer acc_num_obs_; //!< Number of observed features of the last 10 frames, used to give some user feedback on the tracking performance. + size_t num_obs_last_; //!< Number of observations in the previous frame. + TrackingQuality tracking_quality_; //!< An estimate of the tracking quality based on the number of tracked features. + DepthFilter* depth_filter_; //!< Depth estimation algorithm runs in a parallel thread and is used to initialize new 3D points. + + /// Before a frame is processed, this function is called. + bool startFrameProcessingCommon(); + + /// When a frame is finished processing, this function is called. + int finishFrameProcessingCommon( + size_t update_id, + UpdateResult dropout, + size_t num_observations); + + /// Reset the map and frame handler to start from scratch. + void resetCommon(); + + /// Reset the frame handler. Implement in derived class. + virtual void resetAll() { resetCommon(); } + + /// Set the tracking quality based on the number of tracked features. + void setTrackingQuality(const size_t num_observations); + + /// Optimize some of the observed 3D points. + void optimizeStructure(FramePtr frame, size_t max_n_pts, int max_iter); +}; + +} // namespace nslam + +#endif // SVO_FRAME_HANDLER_BASE_H_ diff --git a/svo/include/svo/frame_handler_mono.h b/svo/include/svo/frame_handler_mono.h new file mode 100644 index 0000000..3dc80ab --- /dev/null +++ b/svo/include/svo/frame_handler_mono.h @@ -0,0 +1,75 @@ +// This file is part of SVO - Semi-direct Visual Odometry. +// +// Copyright (C) 2014 Christian Forster +// (Robotics and Perception Group, University of Zurich, Switzerland). +// +// SVO is free software: you can redistribute it and/or modify it under the +// terms of the GNU General Public License as published by the Free Software +// Foundation, either version 3 of the License, or any later version. +// +// SVO is distributed in the hope that it will be useful, but WITHOUT ANY +// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS +// FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. +// +// You should have received a copy of the GNU General Public License +// along with this program. If not, see . + +#ifndef SVO_FRAME_HANDLER_H_ +#define SVO_FRAME_HANDLER_H_ + +#include +#include +#include +#include + +namespace svo { + +/// Monocular Visual Odometry Pipeline as described in the SVO paper. +class FrameHandlerMono : public FrameHandlerBase +{ +public: + FrameHandlerMono(vk::AbstractCamera* cam); + ~FrameHandlerMono(); + + /// Provide an image. + void addImage(const cv::Mat& img, double timestamp); + + /// Get the last frame that has been processed. + FramePtr lastFrame() { return last_frame_; } + + /// Get the set of spatially closest keyframes of the last frame. + const set& coreKeyframes() { return core_kfs_; } + + /// Return the feature track to visualize the KLT tracking during initialization. + const vector& initFeatureTrackRefPx() const { return klt_homography_init_.px_ref_; } + const vector& initFeatureTrackCurPx() const { return klt_homography_init_.px_cur_; } + +protected: + vk::AbstractCamera* cam_; //!< Camera model, can be ATAN, Pinhole or Ocam (see vikit). + reprojection::Grid reprojection_grid_; //!< Grid used for reprojection to make sure we have evenly distributed features. + FramePtr new_frame_; //!< Current frame. + FramePtr last_frame_; //!< Last frame, not necessarily a keyframe. + set core_kfs_; //!< Keyframes in the closer neighbourhood. + vector< pair > overlap_kfs_; //!< All keyframes with overlapping field of view. the paired number specifies how many common mappoints are observed TODO: why vector!? + initialization::KltHomographyInit klt_homography_init_; //!< Used to estimate pose of the first two keyframes by estimating a homography. + + /// Processes the first frame and sets it as a keyframe. + UpdateResult processFirstFrame(); + + /// Processes all frames after the first frame until a keyframe is selected. + UpdateResult processSecondFrame(); + + /// Processes all frames after the first two keyframes. + UpdateResult processFrame(); + + /// Reset the frame handler. Implement in derived class. + virtual void resetAll(); + + void setCoreKfs(size_t n_closest); + + bool needNewKf(double scene_depth_mean); +}; + +} // namespace svo + +#endif // SVO_FRAME_HANDLER_H_ diff --git a/svo/include/svo/global.h b/svo/include/svo/global.h new file mode 100644 index 0000000..01d8d52 --- /dev/null +++ b/svo/include/svo/global.h @@ -0,0 +1,95 @@ +// This file is part of SVO - Semi-direct Visual Odometry. +// +// Copyright (C) 2014 Christian Forster +// (Robotics and Perception Group, University of Zurich, Switzerland). +// +// SVO is free software: you can redistribute it and/or modify it under the +// terms of the GNU General Public License as published by the Free Software +// Foundation, either version 3 of the License, or any later version. +// +// SVO is distributed in the hope that it will be useful, but WITHOUT ANY +// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS +// FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. +// +// You should have received a copy of the GNU General Public License +// along with this program. If not, see . + +#ifndef SVO_GLOBAL_H_ +#define SVO_GLOBAL_H_ + +#include +#include +#include +#include +#include +#include + +#include +#include +#include +#include +#include + +#ifdef USE_ROS + #include + #define SVO_DEBUG_STREAM(x) ROS_DEBUG_STREAM(x) + #define SVO_INFO_STREAM(x) ROS_INFO_STREAM(x) + #define SVO_WARN_STREAM(x) ROS_WARN_STREAM(x) + #define SVO_WARN_STREAM_THROTTLE(rate, x) ROS_WARN_STREAM_THROTTLE(rate, x) + #define SVO_ERROR_STREAM(x) ROS_ERROR_STREAM(x) +#else + #define SVO_INFO_STREAM(x) std::cerr<<"\033[0;0m[INFO] "< // Adapted from rosconsole. Copyright (c) 2008, Willow Garage, Inc. + #define SVO_WARN_STREAM_THROTTLE(rate, x) \ + do { \ + static double __log_stream_throttle__last_hit__ = 0.0; \ + std::chrono::time_point __log_stream_throttle__now__ = \ + std::chrono::system_clock::now(); \ + if (__log_stream_throttle__last_hit__ + rate <= \ + std::chrono::duration_cast( \ + __log_stream_throttle__now__.time_since_epoch()).count()) { \ + __log_stream_throttle__last_hit__ = \ + std::chrono::duration_cast( \ + __log_stream_throttle__now__.time_since_epoch()).count(); \ + SVO_WARN_STREAM(x); \ + } \ + } while(0) +#endif + +namespace svo +{ + using namespace Eigen; + using namespace Sophus; + + const double EPS = 0.0000000001; + const double PI = 3.14159265; + +#ifdef SVO_TRACE + extern vk::PerformanceMonitor* g_permon; + #define SVO_LOG(value) g_permon->log(std::string((#value)),(value)) + #define SVO_LOG2(value1, value2) SVO_LOG(value1); SVO_LOG(value2) + #define SVO_LOG3(value1, value2, value3) SVO_LOG2(value1, value2); SVO_LOG(value3) + #define SVO_LOG4(value1, value2, value3, value4) SVO_LOG2(value1, value2); SVO_LOG2(value3, value4) + #define SVO_START_TIMER(name) g_permon->startTimer((name)) + #define SVO_STOP_TIMER(name) g_permon->stopTimer((name)) +#else + #define SVO_LOG(v) + #define SVO_LOG2(v1, v2) + #define SVO_LOG3(v1, v2, v3) + #define SVO_LOG4(v1, v2, v3, v4) + #define SVO_START_TIMER(name) + #define SVO_STOP_TIMER(name) +#endif + + class Frame; + typedef boost::shared_ptr FramePtr; +} // namespace svo + +#endif // SVO_GLOBAL_H_ diff --git a/svo/include/svo/initialization.h b/svo/include/svo/initialization.h new file mode 100644 index 0000000..4513086 --- /dev/null +++ b/svo/include/svo/initialization.h @@ -0,0 +1,83 @@ +// This file is part of SVO - Semi-direct Visual Odometry. +// +// Copyright (C) 2014 Christian Forster +// (Robotics and Perception Group, University of Zurich, Switzerland). +// +// SVO is free software: you can redistribute it and/or modify it under the +// terms of the GNU General Public License as published by the Free Software +// Foundation, either version 3 of the License, or any later version. +// +// SVO is distributed in the hope that it will be useful, but WITHOUT ANY +// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS +// FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. +// +// You should have received a copy of the GNU General Public License +// along with this program. If not, see . + +#ifndef SVO_INITIALIZATION_H +#define SVO_INITIALIZATION_H + +#include + +namespace svo { + +class FrameHandlerMono; + +/// Bootstrapping the map from the first two views. +namespace initialization { + +enum InitResult { FAILURE, NO_KEYFRAME, SUCCESS }; + +/// Tracks features using Lucas-Kanade tracker and then estimates a homography. +class KltHomographyInit { + friend class svo::FrameHandlerMono; +public: + EIGEN_MAKE_ALIGNED_OPERATOR_NEW + + FramePtr frame_ref_; + KltHomographyInit() {}; + ~KltHomographyInit() {}; + InitResult addFirstFrame(FramePtr frame_ref); + InitResult addSecondFrame(FramePtr frame_ref); + void reset(); + +protected: + vector px_ref_; //!< keypoints to be tracked in reference frame. + vector px_cur_; //!< tracked keypoints in current frame. + vector f_ref_; //!< bearing vectors corresponding to the keypoints in the reference image. + vector f_cur_; //!< bearing vectors corresponding to the keypoints in the current image. + vector disparities_; //!< disparity between first and second frame. + vector inliers_; //!< inliers after the geometric check (e.g., Homography). + vector xyz_in_cur_; //!< 3D points computed during the geometric check. + SE3 T_cur_from_ref_; //!< computed transformation between the first two frames. +}; + +/// Detect Fast corners in the image. +void detectFeatures( + FramePtr frame, + vector& px_vec, + vector& f_vec); + +/// Compute optical flow (Lucas Kanade) for selected keypoints. +void trackKlt( + FramePtr frame_ref, + FramePtr frame_cur, + vector& px_ref, + vector& px_cur, + vector& f_ref, + vector& f_cur, + vector& disparities); + +void computeHomography( + const vector& f_ref, + const vector& f_cur, + double focal_length, + double reprojection_threshold, + vector& inliers, + vector& xyz_in_cur, + SE3& T_cur_from_ref); + +} // namespace initialization +} // namespace nslam + +#endif // NSLAM_INITIALIZATION_H diff --git a/svo/include/svo/map.h b/svo/include/svo/map.h new file mode 100644 index 0000000..076ee01 --- /dev/null +++ b/svo/include/svo/map.h @@ -0,0 +1,134 @@ +// This file is part of SVO - Semi-direct Visual Odometry. +// +// Copyright (C) 2014 Christian Forster +// (Robotics and Perception Group, University of Zurich, Switzerland). +// +// SVO is free software: you can redistribute it and/or modify it under the +// terms of the GNU General Public License as published by the Free Software +// Foundation, either version 3 of the License, or any later version. +// +// SVO is distributed in the hope that it will be useful, but WITHOUT ANY +// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS +// FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. +// +// You should have received a copy of the GNU General Public License +// along with this program. If not, see . + +#ifndef SVO_MAP_H_ +#define SVO_MAP_H_ + +#include +#include +#include +#include + +namespace svo { + +class Point; +class Feature; +class Seed; + +/// Container for converged 3D points that are not already assigned to two keyframes. +class MapPointCandidates +{ +public: + typedef pair PointCandidate; + typedef list PointCandidateList; + + /// The depth-filter is running in a parallel thread and fills the canidate list. + /// This mutex controls concurrent access to point_candidates. + boost::mutex mut_; + + /// Candidate points are created from converged seeds. + /// Until the next keyframe, these points can be used for reprojection and pose optimization. + PointCandidateList candidates_; + list< Point* > trash_points_; + + MapPointCandidates(); + ~MapPointCandidates(); + + /// Add a candidate point. + void newCandidatePoint(const Seed& seed, const Vector3d& xyz_world); + + /// Adds the feature to the frame and deletes candidate from list. + void addCandidatePointToFrame(FramePtr frame); + + /// Remove a candidate point from the list of candidates. + bool deleteCandidatePoint(Point* point); + + /// Remove all candidates that belong to a frame. + void removeFrameCandidates(FramePtr frame); + + /// Reset the candidate list, remove and delete all points. + void reset(); + + void deleteCandidate(PointCandidate& c); + + void emptyTrash(); +}; + +/// Map object which saves all keyframes which are in a map. +class Map : boost::noncopyable +{ +public: + list< FramePtr > keyframes_; //!< List of keyframes in the map. + list< Point* > trash_points_; //!< A deleted point is moved to the trash bin. Now and then this is cleaned. One reason is that the visualizer must remove the points also. + MapPointCandidates point_candidates_; + + Map(); + ~Map(); + + /// Reset the map. Delete all keyframes and reset the frame and point counters. + void reset(); + + /// Delete a point in the map and remove all references in keyframes to it. + void safeDeletePoint(Point* pt); + + /// Moves the point to the trash queue which is cleaned now and then. + void deletePoint(Point* pt); + + /// Moves the frame to the trash queue which is cleaned now and then. + bool safeDeleteFrame(FramePtr frame); + + /// Remove the references between a point and a frame. + void removePtFrameRef(Frame* frame, Feature* ftr); + + /// Add a new keyframe to the map. + void addKeyframe(FramePtr new_keyframe); + + /// Given a frame, return all keyframes which have an overlapping field of view. + void getCloseKeyframes(const FramePtr& frame, list< pair >& close_kfs) const; + + /// Return the keyframe which is spatially closest and has overlapping field of view. + FramePtr getClosestKeyframe(const FramePtr& frame) const; + + /// Return the keyframe which is furthest apart from pos. + FramePtr getFurthestKeyframe(const Vector3d& pos) const; + + /// Transform the whole map with rotation R, translation t and scale s. + void transform(const Matrix3d& R, const Vector3d& t, const double& s); + + /// Empty trash bin of deleted keyframes and map points. We don't delete the + /// points immediately to ensure proper cleanup and to provide the visualizer + /// a list of objects which must be removed. + void emptyTrash(); + + /// Return the keyframe which was last inserted in the map. + inline FramePtr lastKeyframe() { return keyframes_.back(); } + + /// Return the number of keyframes in the map + inline size_t size() const { return keyframes_.size(); } +}; + +/// A collection of debug functions to check the data consistency. +namespace map_debug { + +void mapStatistics(Map* map); +void mapValidation(Map* map, int id); +void frameValidation(Frame* frame, int id); +void pointValidation(Point* point, int id); + +} // namespace map_debug +} // namespace svo + +#endif // SVO_MAP_H_ diff --git a/svo/include/svo/matcher.h b/svo/include/svo/matcher.h new file mode 100644 index 0000000..b79340b --- /dev/null +++ b/svo/include/svo/matcher.h @@ -0,0 +1,105 @@ +// This file is part of SVO - Semi-direct Visual Odometry. +// +// Copyright (C) 2014 Christian Forster +// (Robotics and Perception Group, University of Zurich, Switzerland). +// +// SVO is free software: you can redistribute it and/or modify it under the +// terms of the GNU General Public License as published by the Free Software +// Foundation, either version 3 of the License, or any later version. +// +// SVO is distributed in the hope that it will be useful, but WITHOUT ANY +// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS +// FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. +// +// You should have received a copy of the GNU General Public License +// along with this program. If not, see . + +#ifndef SVO_MATCHER_H_ +#define SVO_MATCHER_H_ + +#include + +namespace vk { + class AbstractCamera; +} + +namespace svo { + +class Point; +class Frame; +class Feature; + +/// Patch-matcher for reprojection-matching and epipolar search in triangulation. +namespace matcher { + +const int g_halfpatch_size = 4; // do not change, because of sse instructions alignment. +const int g_patch_size = 8; // do not change, because of sse instructions alignment. + +/// Manages the aligned memory of a patch. Aligned for SIMD instructions. +struct PatchData +{ + const int patch_size; + uint8_t* patch; + uint8_t* patch_with_border; + PatchData(int patch_size); + ~PatchData(); +}; + +/// Warp a patch from the reference view to the current view. +namespace warp { + +void getWarpMatrixAffine( + const vk::AbstractCamera& cam_ref, + const vk::AbstractCamera& cam_cur, + const Vector2d& px_ref, + const Vector3d& f_ref, + const double depth_ref, + const SE3& T_cur_ref, + const int level_ref, + Matrix2d& A_cur_ref); + +int getBestSearchLevel( + const Matrix2d& A_cur_ref, + const int max_level); + +void warpAffine( + const Matrix2d& A_cur_ref, + const cv::Mat& img_ref, + const Vector2d& px_ref, + const int level_ref, + const int level_cur, + PatchData& ref_patch); + +} // namespace warp + +// TODO take function from vikit +bool depthFromTriangulation( + const SE3& T_cur_ref, + const Vector3d& f_ref, + const Vector3d& f_cur, + double& depth); + +/// Find a match by directly applying subpix refinement. +/// IMPORTANT! This function assumes that px_cur is already set to an estimate that is within ~2-3 pixel of the final result! +bool findMatchDirect( + const Point& pt, + const Frame& frame, + Vector2d& px_cur, + int& level_cur); + +/// Find a match by searching along the epipolar line without using any features. +bool findEpipolarMatchDirect( + const Frame& ref_frame, + const Frame& cur_frame, + const Feature& ref_ftr, + const double d_estimate, + const double d_min, + const double d_max, + const bool align_1d, + double& depth, + double& h_inv); + +} // namespace matcher +} // namespace svo + +#endif // SVO_MATCHER_H_ diff --git a/svo/include/svo/point.h b/svo/include/svo/point.h new file mode 100644 index 0000000..1fa26f0 --- /dev/null +++ b/svo/include/svo/point.h @@ -0,0 +1,83 @@ +// This file is part of SVO - Semi-direct Visual Odometry. +// +// Copyright (C) 2014 Christian Forster +// (Robotics and Perception Group, University of Zurich, Switzerland). +// +// SVO is free software: you can redistribute it and/or modify it under the +// terms of the GNU General Public License as published by the Free Software +// Foundation, either version 3 of the License, or any later version. +// +// SVO is distributed in the hope that it will be useful, but WITHOUT ANY +// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS +// FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. +// +// You should have received a copy of the GNU General Public License +// along with this program. If not, see . + +#ifndef SVO_POINT_H_ +#define SVO_POINT_H_ + +#include +#include + +namespace g2o { + class VertexSBAPointXYZ; +} +typedef g2o::VertexSBAPointXYZ g2oPoint; + +namespace svo { + +class Feature; + +typedef Matrix Matrix23d; + +/// A 3D point that was triangulated from at least two corresponding image features. +class Point : boost::noncopyable +{ +public: + + enum PointType {DELETED, CANDIDATE, UNKNOWN_QUALITY, GOOD_QUALITY }; + enum PointOrigin { TRIANGULATION, DEPTH, VOGIATZIS, IDFILTER }; + + static int point_counter_; //!< Counts the number of created points. Used to set the unique id. + int id_; //!< Unique ID of the point. + Vector3d pos_; //!< 3d pos of the point in the world coordinate frame. + list obs_; //!< References to keyframes which observe the point. + size_t n_obs_; //!< Number of obervations, not only keyframes. + g2oPoint* v_pt_; //!< Temporary pointer to the point-vertex in g2o during bundle adjustment. + int last_published_ts_; //!< Timestamp of last publishing. + int last_projected_kf_id_; //!< Flag for the reprojection: don't reproject a pt twice. + PointType type_; //!< Quality of the point. + PointOrigin origin_; //!< What is the source of the point, i.e. DEPTH if a kinect is used. + int n_failed_reproj_; //!< Number of failed reprojections. Used to assess the quality of the point. + int n_succeeded_reproj_; //!< Number of succeeded reprojections. Used to assess the quality of the point. + int last_structure_optim_; + + Point(Vector3d pos, PointOrigin origin); + ~Point(); + + /// Add a reference to a frame. + void addFrameRef(Feature* ftr); + + /// Remove reference to a frame. + bool deleteFrameRef(Frame* frame); + + /// Check whether mappoint has reference to a frame. + Feature* findFrameRef(Frame* frame); + + /// Get Frame with similar viewpoint. + bool getCloseViewObs(const Vector3d& pos, Feature*& obs) const; + + /// Get number of observations. + inline size_t nRefs() const { return obs_.size(); } + + /// Point jacobian w.r.t frame f. + void pointJacobian(const Vector3d& p_in_f, const Matrix3d& R_f_w, Matrix23d& point_jac) const; + + /// Optimize point position through minimizing the reprojection error. + void optimize(const size_t n_iter); +}; + +} // namespace svo + +#endif // SVO_POINT_H_ diff --git a/svo/include/svo/pose_optimizer.h b/svo/include/svo/pose_optimizer.h new file mode 100644 index 0000000..575da32 --- /dev/null +++ b/svo/include/svo/pose_optimizer.h @@ -0,0 +1,77 @@ +// This file is part of SVO - Semi-direct Visual Odometry. +// +// Copyright (C) 2014 Christian Forster +// (Robotics and Perception Group, University of Zurich, Switzerland). +// +// SVO is free software: you can redistribute it and/or modify it under the +// terms of the GNU General Public License as published by the Free Software +// Foundation, either version 3 of the License, or any later version. +// +// SVO is distributed in the hope that it will be useful, but WITHOUT ANY +// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS +// FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. +// +// You should have received a copy of the GNU General Public License +// along with this program. If not, see . + +#ifndef SVO_POSE_OPTIMIZER_H_ +#define SVO_POSE_OPTIMIZER_H_ + +#include + +namespace svo { + +using namespace Eigen; +using namespace Sophus; +using namespace std; + +typedef Matrix Matrix6d; +typedef Matrix Matrix26d; +typedef Matrix Vector6d; + +class Point; + +/// Motion-only bundle adjustment. Minimize the reprojection error of a single frame. +namespace pose_optimizer { + +inline Matrix26d +frameJac(const SE3 & T, + const Vector3d & xyz, + const Vector2d & focal_length) +{ + const Vector3d & xyz_trans = T*xyz; + double x = xyz_trans[0]; + double y = xyz_trans[1]; + double z = xyz_trans[2]; + double z_2 = z*z; + Matrix26d frame_jac; + frame_jac(0,0) = -1./z *focal_length[0]; + frame_jac(0,1) = 0; + frame_jac(0,2) = x/z_2 *focal_length[0]; + frame_jac(0,3) = x*y/z_2 * focal_length[0]; + frame_jac(0,4) = -(1+(x*x/z_2)) *focal_length[0]; + frame_jac(0,5) = y/z *focal_length[0]; + + frame_jac(1,0) = 0; + frame_jac(1,1) = -1./z *focal_length[1]; + frame_jac(1,2) = y/z_2 *focal_length[1]; + frame_jac(1,3) = (1+y*y/z_2) *focal_length[1]; + frame_jac(1,4) = -x*y/z_2 *focal_length[1]; + frame_jac(1,5) = -x/z *focal_length[1]; + return frame_jac; +} + +void optimizeGaussNewton( + const double reproj_thresh, + const size_t n_iter, + const bool verbose, + FramePtr& frame, + double& estimated_scale, + double& error_init, + double& error_final, + size_t& num_obs); + +} // namespace pose_optimizer +} // namespace svo + +#endif // SVO_POSE_OPTIMIZER_H_ diff --git a/svo/include/svo/reprojection.h b/svo/include/svo/reprojection.h new file mode 100644 index 0000000..a6ce153 --- /dev/null +++ b/svo/include/svo/reprojection.h @@ -0,0 +1,98 @@ +// This file is part of SVO - Semi-direct Visual Odometry. +// +// Copyright (C) 2014 Christian Forster +// (Robotics and Perception Group, University of Zurich, Switzerland). +// +// SVO is free software: you can redistribute it and/or modify it under the +// terms of the GNU General Public License as published by the Free Software +// Foundation, either version 3 of the License, or any later version. +// +// SVO is distributed in the hope that it will be useful, but WITHOUT ANY +// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS +// FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. +// +// You should have received a copy of the GNU General Public License +// along with this program. If not, see . + +#ifndef SVO_REPROJECTION_H_ +#define SVO_REPROJECTION_H_ + +#include +#include + +namespace vk { + class AbstractCamera; +} + +namespace svo { + +class Map; +class Point; +class MapPointCandidates; + +/// Project points from the map into the image and find the corresponding +/// feature (corner). We don't search a match for every point but only for one +/// point per cell. Thereby, we achieve a homogeneously distributed set of +/// matched features and at the same time we can save processing time by not +/// projecting all points. +namespace reprojection { + +/// A candidate is a point that projects into the image plane and for which we +/// will search a maching feature in the image. +struct Candidate { + EIGEN_MAKE_ALIGNED_OPERATOR_NEW + + Point* pt; //!< 3D point. + Vector2d px; //!< projected 2D pixel location. + Candidate(Point* pt, Vector2d& px) + : pt(pt), + px(px) + {} +}; + +typedef std::list > Cell; +typedef std::vector CandidateGrid; + +/// The grid stores a set of candidate matches. For every grid cell we try to find one match. +struct Grid +{ + CandidateGrid cells; + vector cell_order; + int cell_size; + int grid_n_cols; + int grid_n_rows; + Grid(); + void initialize(vk::AbstractCamera* cam); + ~Grid(); +}; + +/// Reset the grid +void resetGrid(Grid& grid); + +/// Project points from the map into the image. First finds keyframes with +/// overlapping field of view and projects only those map-points. +void reprojectMap( + Map& map, + FramePtr frame, + Grid& grid, + MapPointCandidates& candidate_points, + std::vector< std::pair >& overlap_kfs, + size_t& n_matches, + size_t& n_trials); + +bool reprojectCell( + Cell& cell, + FramePtr frame, + Map& map, + MapPointCandidates& candidate_points, + size_t& n_trials); + +bool reprojectPoint( + Grid& grid, + FramePtr frame, + Point* point); + +} // namespace reprojection +} // namespace svo + +#endif // SVO_REPROJECTION_H_ diff --git a/svo/include/svo/sparse_img_align.h b/svo/include/svo/sparse_img_align.h new file mode 100644 index 0000000..7df0456 --- /dev/null +++ b/svo/include/svo/sparse_img_align.h @@ -0,0 +1,78 @@ +// This file is part of SVO - Semi-direct Visual Odometry. +// +// Copyright (C) 2014 Christian Forster +// (Robotics and Perception Group, University of Zurich, Switzerland). +// +// SVO is free software: you can redistribute it and/or modify it under the +// terms of the GNU General Public License as published by the Free Software +// Foundation, either version 3 of the License, or any later version. +// +// SVO is distributed in the hope that it will be useful, but WITHOUT ANY +// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS +// FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. +// +// You should have received a copy of the GNU General Public License +// along with this program. If not, see . + +#ifndef SVO_SPARSE_IMG_ALIGN_H_ +#define SVO_SPARSE_IMG_ALIGN_H_ + +#include +#include +#include + +namespace vk { +class AbstractCamera; +} + +namespace svo { + +class Feature; + +/// Optimize the pose of the frame by minimizing the photometric error of feature patches. +class SparseImgAlign : public vk::NLLSSolver<6, SE3> +{ + static const int patch_halfsize_ = 2; + static const int patch_size_ = 2*patch_halfsize_; + static const int patch_area_ = patch_size_*patch_size_; +public: + + cv::Mat resimg_; + + SparseImgAlign( + int n_levels, + int min_level, + int n_iter, + Method method, + bool display, + bool verbose); + + size_t run( + FramePtr ref_frame, + FramePtr cur_frame); + +protected: + FramePtr ref_frame_; //!< reference frame, has depth for gradient pixels. + FramePtr cur_frame_; //!< only the image is known! + int level_; //!< current pyramid level on which the optimization runs. + bool display_; //!< display residual image. + int max_level_; //!< coarsest pyramid level for the alignment. + int min_level_; //!< finest pyramid level for the alignment. + + // cache: + Matrix jacobian_cache_; //!< the first row is a flag whether the jacobian has been computed. + bool have_ref_patch_cache_; + cv::Mat ref_patch_cache_; + std::vector visible_fts_; + + void precomputeReferencePatches(); + virtual double computeResiduals(const SE3& model, bool linearize_system, bool compute_weight_scale = false); + virtual int solve(); + virtual void update (const ModelType& old_model, ModelType& new_model); + virtual void startIteration(); + virtual void finishIteration(); +}; + +} // namespace svo + +#endif // SVO_SPARSE_IMG_ALIGN_H_ diff --git a/svo/package.xml b/svo/package.xml new file mode 100644 index 0000000..c2997c2 --- /dev/null +++ b/svo/package.xml @@ -0,0 +1,24 @@ + + + svo + 0.1.0 + + Monocular Visual Odometry + + Christian Forster + Christian Forster + GPLv3 + + + catkin + + + roscpp + vikit_common + vikit_ros + + + roscpp + vikit_common + vikit_ros + \ No newline at end of file diff --git a/svo/src/bundle_adjustment.cpp b/svo/src/bundle_adjustment.cpp new file mode 100644 index 0000000..a2075f4 --- /dev/null +++ b/svo/src/bundle_adjustment.cpp @@ -0,0 +1,435 @@ +// This file is part of SVO - Semi-direct Visual Odometry. +// +// Copyright (C) 2014 Christian Forster +// (Robotics and Perception Group, University of Zurich, Switzerland). +// +// SVO is free software: you can redistribute it and/or modify it under the +// terms of the GNU General Public License as published by the Free Software +// Foundation, either version 3 of the License, or any later version. +// +// SVO is distributed in the hope that it will be useful, but WITHOUT ANY +// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS +// FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. +// +// You should have received a copy of the GNU General Public License +// along with this program. If not, see . + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#define SCHUR_TRICK 1 + +namespace svo { +namespace ba { + +void +twoViewBA(Frame* frame1, Frame* frame2, + double reproj_thresh, + Map* map) +{ + // scale reprojection threshold in pixels to unit plane + reproj_thresh /= frame1->cam_->errorMultiplier2(); + + // init g2o + g2o::SparseOptimizer optimizer; + setupG2o(&optimizer); + + list edges; + size_t v_id = 0; + + // New Keyframe Vertex 1: This Keyframe is set to fixed! + g2oFrameSE3* v_frame1 = createG2oFrameSE3(frame1, v_id++, true); + optimizer.addVertex(v_frame1); + + // New Keyframe Vertex 2 + g2oFrameSE3* v_frame2 = createG2oFrameSE3(frame2, v_id++, false); + optimizer.addVertex(v_frame2); + + // Create Point Vertices + for(Features::iterator it_ftr=frame1->fts_.begin(); it_ftr!=frame1->fts_.end(); ++it_ftr) + { + Point* pt = (*it_ftr)->point; + if(pt == NULL) + continue; + g2oPoint* v_pt = createG2oPoint(pt->pos_, v_id++, false); + optimizer.addVertex(v_pt); + pt->v_pt_ = v_pt; + g2oEdgeSE3* e = createG2oEdgeSE3(v_frame1, v_pt, vk::project2d((*it_ftr)->f), true, reproj_thresh*Config::lobaRobustHuberWidth()); + optimizer.addEdge(e); + edges.push_back(EdgeContainerSE3(e, frame1, *it_ftr)); // TODO feature now links to frame, so we can simplify edge container! + + // find at which index the second frame observes the point + Feature* ftr_frame2 = pt->findFrameRef(frame2); + e = createG2oEdgeSE3(v_frame2, v_pt, vk::project2d(ftr_frame2->f), true, reproj_thresh*Config::lobaRobustHuberWidth()); + optimizer.addEdge(e); + edges.push_back(EdgeContainerSE3(e, frame2, ftr_frame2)); + } + + // Optimization + double init_error, final_error; + runSparseBAOptimizer(&optimizer, Config::lobaNumIter(), init_error, final_error); + printf("2-View BA: Error before/after = %f / %f\n", init_error, final_error); + + // Update Keyframe Positions + frame1->T_f_w_.rotation_matrix() = v_frame1->estimate().rotation().toRotationMatrix(); + frame1->T_f_w_.translation() = v_frame1->estimate().translation(); + frame2->T_f_w_.rotation_matrix() = v_frame2->estimate().rotation().toRotationMatrix(); + frame2->T_f_w_.translation() = v_frame2->estimate().translation(); + + // Update Mappoint Positions + for(Features::iterator it=frame1->fts_.begin(); it!=frame1->fts_.end(); ++it) + { + if((*it)->point == NULL) + continue; + (*it)->point->pos_ = (*it)->point->v_pt_->estimate(); + (*it)->point->v_pt_ = NULL; + } + + // Find Mappoints with too large reprojection error + const double reproj_thresh_squared = reproj_thresh*reproj_thresh; + size_t n_incorrect_edges = 0; + for(list::iterator it_e = edges.begin(); it_e != edges.end(); ++it_e) + if(it_e->edge_->chi2() > reproj_thresh_squared) + { + if(it_e->feature_->point != NULL) + { + map->safeDeletePoint(it_e->feature_->point); + it_e->feature_->point = NULL; + } + ++n_incorrect_edges; + } + + printf("2-View BA: Wrong edges = %zu\n", n_incorrect_edges); +} + +void +localBA(Frame* center_kf, + set* core_kfs, + Map* map, + size_t& n_incorrect_edges_1, + size_t& n_incorrect_edges_2, + double& init_error, + double& final_error) +{ + + // init g2o + g2o::SparseOptimizer optimizer; + setupG2o(&optimizer); + + list edges; + set mps; + list neib_kfs; + size_t v_id = 0; + size_t n_mps = 0; + size_t n_fix_kfs = 0; + size_t n_var_kfs = 1; + size_t n_edges = 0; + n_incorrect_edges_1 = 0; + n_incorrect_edges_2 = 0; + + // Add all core keyframes + for(set::iterator it_kf = core_kfs->begin(); it_kf != core_kfs->end(); ++it_kf) + { + g2oFrameSE3* v_kf = createG2oFrameSE3(it_kf->get(), v_id++, false); + (*it_kf)->v_kf_ = v_kf; + ++n_var_kfs; + assert(optimizer.addVertex(v_kf)); + + // all points that the core keyframes observe are also optimized: + for(Features::iterator it_pt=(*it_kf)->fts_.begin(); it_pt!=(*it_kf)->fts_.end(); ++it_pt) + if((*it_pt)->point != NULL) + mps.insert((*it_pt)->point); + } + + // Now go throug all the points and add a measurement. Add a fixed neighbour + // Keyframe if it is not in the set of core kfs + double reproj_thresh_2 = Config::lobaThresh() / center_kf->cam_->errorMultiplier2(); + double reproj_thresh_1 = Config::poseOptimThresh() / center_kf->cam_->errorMultiplier2(); + double reproj_thresh_1_squared = reproj_thresh_1*reproj_thresh_1; + for(set::iterator it_pt = mps.begin(); it_pt!=mps.end(); ++it_pt) + { + // Create point vertex + g2oPoint* v_pt = createG2oPoint((*it_pt)->pos_, v_id++, false); + (*it_pt)->v_pt_ = v_pt; + assert(optimizer.addVertex(v_pt)); + ++n_mps; + + // Add edges + Observations::iterator it_obs=(*it_pt)->obs_.begin(); + while(it_obs!=(*it_pt)->obs_.end()) + { + Vector2d error = vk::project2d((*it_obs)->f) - vk::project2d((*it_obs)->frame->w2f((*it_pt)->pos_)); + + if((*it_obs)->frame->v_kf_ == NULL) + { + // frame does not have a vertex yet -> it belongs to the neib kfs and + // is fixed. create one: + g2oFrameSE3* v_kf = createG2oFrameSE3((*it_obs)->frame, v_id++, true); + (*it_obs)->frame->v_kf_ = v_kf; + ++n_fix_kfs; + assert(optimizer.addVertex(v_kf)); + neib_kfs.push_back((*it_obs)->frame); + } + + // create edge + g2oEdgeSE3* e = createG2oEdgeSE3((*it_obs)->frame->v_kf_, v_pt, + vk::project2d((*it_obs)->f), + true, + reproj_thresh_2*Config::lobaRobustHuberWidth(), + 1.0 / (1<<(*it_obs)->level)); + assert(optimizer.addEdge(e)); + edges.push_back(EdgeContainerSE3(e, (*it_obs)->frame, *it_obs)); + ++n_edges; + ++it_obs; + } + } + + // structure only + g2o::StructureOnlySolver<3> structure_only_ba; + g2o::OptimizableGraph::VertexContainer points; + for (g2o::OptimizableGraph::VertexIDMap::const_iterator it = optimizer.vertices().begin(); it != optimizer.vertices().end(); ++it) + { + g2o::OptimizableGraph::Vertex* v = static_cast(it->second); + if (v->dimension() == 3 && v->edges().size() >= 2) + points.push_back(v); + } + structure_only_ba.calc(points, 10); + + // Optimization + if(Config::lobaNumIter() > 0) + runSparseBAOptimizer(&optimizer, Config::lobaNumIter(), init_error, final_error); + + // Update Keyframes + for(set::iterator it = core_kfs->begin(); it != core_kfs->end(); ++it) + { + (*it)->T_f_w_ = SE3( (*it)->v_kf_->estimate().rotation(), + (*it)->v_kf_->estimate().translation()); + (*it)->v_kf_ = NULL; + } + + for(list::iterator it = neib_kfs.begin(); it != neib_kfs.end(); ++it) + (*it)->v_kf_ = NULL; + + // Update Mappoints + for(set::iterator it = mps.begin(); it != mps.end(); ++it) + { + (*it)->pos_ = (*it)->v_pt_->estimate(); + (*it)->v_pt_ = NULL; + } + + // Remove Measurements with too large reprojection error + double reproj_thresh_2_squared = reproj_thresh_2*reproj_thresh_2; + for(list::iterator it = edges.begin(); it != edges.end(); ++it) + { + if(it->edge_->chi2() > reproj_thresh_2_squared) //*(1<feature_->level)) + { + map->removePtFrameRef(it->frame_, it->feature_); + ++n_incorrect_edges_2; + } + } + + // TODO: delete points and edges! + init_error = sqrt(init_error)*center_kf->cam_->errorMultiplier2(); + final_error = sqrt(final_error)*center_kf->cam_->errorMultiplier2(); +} + +void +globalBA(Map* map) +{ + // init g2o + g2o::SparseOptimizer optimizer; + setupG2o(&optimizer); + + list edges; + list< pair > incorrect_edges; + + // Go through all Keyframes + size_t v_id = 0; + double reproj_thresh_2 = Config::lobaThresh() / map->lastKeyframe()->cam_->errorMultiplier2(); + double reproj_thresh_1_squared = Config::poseOptimThresh() / map->lastKeyframe()->cam_->errorMultiplier2(); + reproj_thresh_1_squared *= reproj_thresh_1_squared; + for(list::iterator it_kf = map->keyframes_.begin(); + it_kf != map->keyframes_.end(); ++it_kf) + { + // New Keyframe Vertex + g2oFrameSE3* v_kf = createG2oFrameSE3(it_kf->get(), v_id++, false); + (*it_kf)->v_kf_ = v_kf; + optimizer.addVertex(v_kf); + for(Features::iterator it_ftr=(*it_kf)->fts_.begin(); it_ftr!=(*it_kf)->fts_.end(); ++it_ftr) + { + // for each keyframe add edges to all observed mapoints + Point* mp = (*it_ftr)->point; + if(mp == NULL) + continue; + g2oPoint* v_mp = mp->v_pt_; + if(v_mp == NULL) + { + // mappoint-vertex doesn't exist yet. create a new one: + v_mp = createG2oPoint(mp->pos_, v_id++, false); + mp->v_pt_ = v_mp; + optimizer.addVertex(v_mp); + } + + // Due to merging of mappoints it is possible that references in kfs suddenly + // have a very large reprojection error which may result in distorted results. + Vector2d error = vk::project2d((*it_ftr)->f) - vk::project2d((*it_kf)->w2f(mp->pos_)); + if(error.squaredNorm() > reproj_thresh_1_squared) + incorrect_edges.push_back(pair(*it_kf, *it_ftr)); + else + { + g2oEdgeSE3* e = createG2oEdgeSE3(v_kf, v_mp, vk::project2d((*it_ftr)->f), + true, + reproj_thresh_2*Config::lobaRobustHuberWidth()); + + edges.push_back(EdgeContainerSE3(e, it_kf->get(), *it_ftr)); + optimizer.addEdge(e); + } + } + } + + // Optimization + double init_error=0.0, final_error=0.0; + if(Config::lobaNumIter() > 0) + runSparseBAOptimizer(&optimizer, Config::lobaNumIter(), init_error, final_error); + + // Update Keyframe and MapPoint Positions + for(list::iterator it_kf = map->keyframes_.begin(); + it_kf != map->keyframes_.end(); ++it_kf) + { + (*it_kf)->T_f_w_ = SE3( (*it_kf)->v_kf_->estimate().rotation(), + (*it_kf)->v_kf_->estimate().translation()); + (*it_kf)->v_kf_ = NULL; + for(Features::iterator it_ftr=(*it_kf)->fts_.begin(); it_ftr!=(*it_kf)->fts_.end(); ++it_ftr) + { + Point* mp = (*it_ftr)->point; + if(mp == NULL) + continue; + if(mp->v_pt_ == NULL) + continue; // mp was updated before + mp->pos_ = mp->v_pt_->estimate(); + mp->v_pt_ = NULL; + } + } + + // Remove Measurements with too large reprojection error + for(list< pair >::iterator it=incorrect_edges.begin(); + it!=incorrect_edges.end(); ++it) + map->removePtFrameRef(it->first.get(), it->second); + + double reproj_thresh_2_squared = reproj_thresh_2*reproj_thresh_2; + for(list::iterator it = edges.begin(); it != edges.end(); ++it) + { + if(it->edge_->chi2() > reproj_thresh_2_squared) + { + map->removePtFrameRef(it->frame_, it->feature_); + } + } +} + +void +setupG2o(g2o::SparseOptimizer * optimizer) +{ + // TODO: What's happening with all this HEAP stuff? Memory Leak? + optimizer->setVerbose(false); + +#if SCHUR_TRICK + // solver + g2o::BlockSolver_6_3::LinearSolverType* linearSolver; + linearSolver = new g2o::LinearSolverCholmod(); + //linearSolver = new g2o::LinearSolverCSparse(); + + g2o::BlockSolver_6_3 * solver_ptr = new g2o::BlockSolver_6_3(linearSolver); + g2o::OptimizationAlgorithmLevenberg * solver = new g2o::OptimizationAlgorithmLevenberg(solver_ptr); +#else + g2o::BlockSolverX::LinearSolverType * linearSolver; + linearSolver = new g2o::LinearSolverCholmod(); + //linearSolver = new g2o::LinearSolverCSparse(); + g2o::BlockSolverX * solver_ptr = new g2o::BlockSolverX(linearSolver); + g2o::OptimizationAlgorithmLevenberg* solver = new g2o::OptimizationAlgorithmLevenberg(solver_ptr); +#endif + + solver->setMaxTrialsAfterFailure(5); + optimizer->setAlgorithm(solver); + + // setup camera + g2o::CameraParameters * cam_params = new g2o::CameraParameters(1.0, Vector2d(0.,0.), 0.); + cam_params->setId(0); + if (!optimizer->addParameter(cam_params)) { + assert(false); + } +} + +void +runSparseBAOptimizer(g2o::SparseOptimizer* optimizer, + unsigned int num_iter, + double& init_error, double& final_error) +{ + optimizer->initializeOptimization(); + optimizer->computeActiveErrors(); + init_error = optimizer->activeChi2(); + optimizer->optimize(num_iter); + final_error = optimizer->activeChi2(); +} + +g2oFrameSE3* +createG2oFrameSE3(Frame* frame, size_t id, bool fixed) +{ + g2oFrameSE3* v = new g2oFrameSE3(); + v->setId(id); + v->setFixed(fixed); + v->setEstimate(g2o::SE3Quat(frame->T_f_w_.unit_quaternion(), frame->T_f_w_.translation())); + return v; +} + +g2oPoint* +createG2oPoint(Vector3d pos, + size_t id, + bool fixed) +{ + g2oPoint* v = new g2oPoint(); + v->setId(id); +#if SCHUR_TRICK + v->setMarginalized(true); +#endif + v->setFixed(fixed); + v->setEstimate(pos); + return v; +} + +g2oEdgeSE3* +createG2oEdgeSE3( g2oFrameSE3* v_frame, + g2oPoint* v_point, + const Vector2d& f_up, + bool robust_kernel, + double huber_width, + double weight) +{ + g2oEdgeSE3* e = new g2oEdgeSE3(); + e->setVertex(0, dynamic_cast(v_point)); + e->setVertex(1, dynamic_cast(v_frame)); + e->setMeasurement(f_up); + e->information() = weight * Eigen::Matrix2d::Identity(2,2); + g2o::RobustKernelHuber* rk = new g2o::RobustKernelHuber(); // TODO: memory leak + rk->setDelta(huber_width); + e->setRobustKernel(rk); + e->setParameterId(0, 0); //old: e->setId(v_point->id()); + return e; +} + +} // namespace ba +} // namespace svo diff --git a/svo/src/config.cpp b/svo/src/config.cpp new file mode 100644 index 0000000..c8593c4 --- /dev/null +++ b/svo/src/config.cpp @@ -0,0 +1,95 @@ +// This file is part of SVO - Semi-direct Visual Odometry. +// +// Copyright (C) 2014 Christian Forster +// (Robotics and Perception Group, University of Zurich, Switzerland). +// +// SVO is free software: you can redistribute it and/or modify it under the +// terms of the GNU General Public License as published by the Free Software +// Foundation, either version 3 of the License, or any later version. +// +// SVO is distributed in the hope that it will be useful, but WITHOUT ANY +// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS +// FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. +// +// You should have received a copy of the GNU General Public License +// along with this program. If not, see . + +#ifdef USE_ROS +#include +#endif +#include + +namespace svo { + +Config::Config() : +#ifdef USE_ROS + trace_name(vk::getParam("svo/trace_name", "svo")), + trace_dir(vk::getParam("svo/trace_dir", "/tmp")), + n_pyr_levels(vk::getParam("svo/n_pyr_levels", 3)), + use_imu(vk::getParam("svo/use_imu", false)), + core_n_kfs(vk::getParam("svo/core_n_kfs", 3)), + map_scale(vk::getParam("svo/map_scale", 1.0)), + grid_size(vk::getParam("svo/grid_size", 30)), + init_min_disparity(vk::getParam("svo/init_min_disparity", 50.0)), + init_min_tracked(vk::getParam("svo/init_min_tracked", 50)), + init_min_inliers(vk::getParam("svo/init_min_inliers", 40)), + klt_max_level(vk::getParam("svo/klt_max_level", 4)), + klt_min_level(vk::getParam("svo/klt_min_level", 2)), + reproj_thresh(vk::getParam("svo/reproj_thresh", 2.0)), + poseoptim_thresh(vk::getParam("svo/poseoptim_thresh", 2.0)), + poseoptim_num_iter(vk::getParam("svo/poseoptim_num_iter", 10)), + structureoptim_max_pts(vk::getParam("svo/structureoptim_max_pts", 20)), + structureoptim_num_iter(vk::getParam("svo/structureoptim_num_iter", 5)), + loba_thresh(vk::getParam("svo/loba_thresh", 2.0)), + loba_robust_huber_width(vk::getParam("svo/loba_robust_huber_width", 1.0)), + loba_num_iter(vk::getParam("svo/loba_num_iter", 0)), + kfselect_mindist(vk::getParam("svo/kfselect_mindist", 0.12)), + triang_min_corner_score(vk::getParam("svo/triang_min_corner_score", 20.0)), + triang_half_patch_size(vk::getParam("svo/triang_half_patch_size", 4)), + subpix_n_iter(vk::getParam("svo/subpix_n_iter", 10)), + max_n_kfs(vk::getParam("svo/max_n_kfs", 10)), + img_imu_delay(vk::getParam("svo/img_imu_delay", 0.0)), + max_fts(vk::getParam("svo/max_fts", 120)), + quality_min_fts(vk::getParam("svo/quality_min_fts", 50)), + quality_max_drop_fts(vk::getParam("svo/quality_max_drop_fts", 40)) +#else + trace_name("svo"), + trace_dir("/tmp"), + n_pyr_levels(3), + use_imu(false), + core_n_kfs(3), + map_scale(1.0), + grid_size(25), + init_min_disparity(50.0), + init_min_tracked(50), + init_min_inliers(40), + klt_max_level(4), + klt_min_level(2), + reproj_thresh(2.0), + poseoptim_thresh(2.0), + poseoptim_num_iter(10), + structureoptim_max_pts(20), + structureoptim_num_iter(5), + loba_thresh(2.0), + loba_robust_huber_width(1.0), + loba_num_iter(0), + kfselect_mindist(0.12), + triang_min_corner_score(20.0), + triang_half_patch_size(4), + subpix_n_iter(10), + max_n_kfs(0), + img_imu_delay(0.0), + max_fts(120), + quality_min_fts(50), + quality_max_drop_fts(40) +#endif +{} + +Config& Config::getInstance() +{ + static Config instance; // Instantiated on first use and guaranteed to be destroyed + return instance; +} + +} // namespace svo + diff --git a/svo/src/depth_filter.cpp b/svo/src/depth_filter.cpp new file mode 100644 index 0000000..8acd71d --- /dev/null +++ b/svo/src/depth_filter.cpp @@ -0,0 +1,362 @@ +// This file is part of SVO - Semi-direct Visual Odometry. +// +// Copyright (C) 2014 Christian Forster +// (Robotics and Perception Group, University of Zurich, Switzerland). +// +// SVO is free software: you can redistribute it and/or modify it under the +// terms of the GNU General Public License as published by the Free Software +// Foundation, either version 3 of the License, or any later version. +// +// SVO is distributed in the hope that it will be useful, but WITHOUT ANY +// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS +// FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. +// +// You should have received a copy of the GNU General Public License +// along with this program. If not, see . + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +namespace svo { + +int Seed::batch_counter = 0; +int Seed::seed_counter = 0; + +Seed::Seed(Feature* ftr, float angle, float depth_mean, float depth_min) : + batch_id(batch_counter), + id(seed_counter++), + ftr(ftr), + a(10), + b(10), + mu(1.0/depth_mean), + z_range(1.0/depth_min), + sigma2(z_range*z_range/36) +{} + +DepthFilter::DepthFilter(feature_detection::DetectorPtr feature_detector, callback_t seed_converged_cb) : + feature_detector_(feature_detector), + seed_converged_cb_(seed_converged_cb), + seeds_updating_halt_(false), + thread_(NULL), + new_keyframe_set_(false), + new_keyframe_min_depth_(0.0), + new_keyframe_mean_depth_(0.0) +{} + +DepthFilter::~DepthFilter() +{ + stopThread(); + SVO_INFO_STREAM("DepthFilter destructed."); +} + +void DepthFilter::startThread() +{ + thread_ = new boost::thread(&DepthFilter::updateSeedsLoop, this); +} + +void DepthFilter::stopThread() +{ + SVO_INFO_STREAM("DepthFilter stop thread invoked."); + if(thread_ != NULL) + { + SVO_INFO_STREAM("DepthFilter interrupt and join thread... "); + seeds_updating_halt_ = true; + thread_->interrupt(); + thread_->join(); + thread_ = NULL; + } +} + +void DepthFilter::addFrame(FramePtr frame) +{ + if(thread_ != NULL) + { + { + lock_t lock(frame_queue_mut_); + if(frame_queue_.size() > 2) + frame_queue_.pop(); + frame_queue_.push(frame); + } + seeds_updating_halt_ = false; + frame_queue_cond_.notify_one(); + } + else + updateSeeds(frame); +} + +void DepthFilter::addKeyframe(FramePtr frame, double depth_mean, double depth_min) +{ + new_keyframe_min_depth_ = depth_min; + new_keyframe_mean_depth_ = depth_mean; + if(thread_ != NULL) + { + new_keyframe_ = frame; + new_keyframe_set_ = true; + seeds_updating_halt_ = true; + frame_queue_cond_.notify_one(); + } + else + initializeSeeds(frame); +} + +void DepthFilter::initializeSeeds(FramePtr frame) +{ + feature_detection::Corners corners; + feature_detector_->detect(frame->img_pyr_, frame->fts_, svo::Config::gridSize(), + svo::Config::nPyrLevels(), Config::triangMinCornerScore(), + &corners); + + seeds_updating_halt_ = true; + lock_t lock(seeds_mut_); // by locking the updateSeeds function stops + size_t new_seeds = 0; + ++Seed::batch_counter; + + // now for all maximum corners, initialize a new seed + for(feature_detection::Corners::iterator it=corners.begin(); it!=corners.end(); ++it) + { + // we must check again if the score is above the threshold because the Corners + // vector is initialized with dummy corners + if(it->score > Config::triangMinCornerScore()) + { + Feature* new_feature(new Feature(frame.get(), Vector2d(it->x, it->y), it->level)); + seeds_.push_back(Seed(new_feature, it->angle, new_keyframe_mean_depth_, new_keyframe_min_depth_)); + ++new_seeds; + } + } + + if(options_.verbose) + SVO_INFO_STREAM("DepthFilter: Initialized "<::iterator it=seeds_.begin(); + size_t n_removed = 0; + while(it!=seeds_.end()) + { + if(it->ftr->frame == frame.get()) + { + it = seeds_.erase(it); + ++n_removed; + } + else + ++it; + } + seeds_updating_halt_ = false; + //printf("Vogiatzis: removed %zu seeds belonging to old keyframe\n", n_removed); +} + +void DepthFilter::reset() +{ + seeds_updating_halt_ = true; + { + lock_t lock(seeds_mut_); + seeds_.clear(); + } + lock_t lock(); + while(!frame_queue_.empty()) + frame_queue_.pop(); + seeds_updating_halt_ = false; + + if(options_.verbose) + SVO_INFO_STREAM("DepthFilter: RESET."); +} + +void DepthFilter::updateSeedsLoop() +{ + while(!boost::this_thread::interruption_requested()) + { + FramePtr frame; + { + lock_t lock(frame_queue_mut_); + while(frame_queue_.empty() && new_keyframe_set_ == false) + frame_queue_cond_.wait(lock); + if(new_keyframe_set_) + { + new_keyframe_set_ = false; + clearFrameQueue(); + initializeSeeds(new_keyframe_); + continue; + } + frame = frame_queue_.front(); + frame_queue_.pop(); + } + updateSeeds(frame); + } +} + +void DepthFilter::updateSeeds(FramePtr frame) +{ + // update only a limited number of seeds, because we don't have time to do it + // for all the seeds in every frame! + size_t n_updates=0, n_failed_matches=0, n_seeds = seeds_.size(); + double reproj_thresh = Config::lobaThresh() / frame->cam_->errorMultiplier2(); + lock_t lock(seeds_mut_); + list::iterator it=seeds_.begin(); + + const double focal_length = frame->cam_->errorMultiplier2(); + double px_noise = 1.0; + double px_error_angle = atan(px_noise/(2.0*focal_length))*2.0; // law of chord (sehnensatz) + + while( it!=seeds_.end()) + { + // set this value true when seeds updating should be interrupted + if(seeds_updating_halt_) + return; + + // check if seed is not already too old + if((Seed::batch_counter - it->batch_id) > options_.max_n_kfs) { + it = seeds_.erase(it); + continue; + } + + SE3 T_ref_cur = it->ftr->frame->T_f_w_ * frame->T_f_w_.inverse(); + + // check if point is visible in the current image + const Vector3d xyz_f(T_ref_cur.inverse()*(1.0/it->mu * it->ftr->f) ); + if(xyz_f.z() < 0.0) { + ++it; // behind the camera + continue; + } + const Vector2d px(it->ftr->frame->f2c(xyz_f)); + if(!it->ftr->frame->cam_->isInFrame(px.cast())) { + ++it; + if(options_.verbose) + SVO_INFO_STREAM("not visible"); + continue; + } + + // we are using inverse depth coordinates + float z_inv_min = it->mu + sqrt(it->sigma2); + float z_inv_max = max(it->mu - sqrt(it->sigma2), 0.00000001f); + double z, h_inv = -1.0; + if(!matcher::findEpipolarMatchDirect( + *it->ftr->frame, *frame, *it->ftr, 1.0/it->mu, 1.0/z_inv_min, 1.0/z_inv_max, + options_.epi_search_1d, z, h_inv)) + { + if(options_.verbose) + SVO_INFO_STREAM("no match found"); + it->b++; // increase outlier probability when no match was found + ++it; + ++n_failed_matches; + continue; + } + + if(options_.use_photometric_disparity_error && h_inv > 0) + { + px_noise = fmax(2.0*options_.sigma_i_sq*h_inv, 1.0); + px_error_angle = atan(px_noise/(2.0*focal_length))*2.0; // law of chord (sehnensatz) + if(options_.verbose) + SVO_INFO_STREAM("Photometric disparity error "<ftr->f, z, px_error_angle); + double tau_inverse = 0.5 * (1.0/max(0.0000001, z-tau) - 1.0/(z+tau)); + + // update the estimate + updateSeed(1./z, tau_inverse*tau_inverse, &*it); + ++n_updates; + + // if the seed has converged, we initialize a new candidate point and remove the seed + if(sqrt(it->sigma2) < it->z_range/options_.seed_convergence_sigma2_thresh) + { + if(it->ftr->point == NULL) + { + Vector3d xyz_world(it->ftr->frame->T_f_w_.inverse() * (it->ftr->f * (1.0/it->mu))); + seed_converged_cb_(*it, xyz_world); + if(options_.verbose) + SVO_INFO_STREAM("seed converged"); + } + it = seeds_.erase(it); + } + else if(isnan(z_inv_min)) + { + SVO_WARN_STREAM("z_min is NaN"); + it = seeds_.erase(it); + } + else + ++it; + } +} + +void DepthFilter:: +clearFrameQueue() +{ + while(!frame_queue_.empty()) + frame_queue_.pop(); +} + +void DepthFilter::getSeedsCopy(const FramePtr& frame, std::list& seeds) +{ + lock_t lock(seeds_mut_); + for(std::list::iterator it=seeds_.begin(); it!=seeds_.end(); ++it) + { + if (it->ftr->frame == frame.get()) + seeds.push_back(*it); + } +} + +void DepthFilter::updateSeed(const float x, const float tau2, Seed* seed) +{ + float norm_scale = sqrt(seed->sigma2 + tau2); + if(isnanf(norm_scale)) + return; + boost::math::normal_distribution nd(seed->mu, norm_scale); + float s2 = 1./(1./seed->sigma2 + 1./tau2); + float m = s2*(seed->mu/seed->sigma2 + x/tau2); + float C1 = seed->a/(seed->a+seed->b) * boost::math::pdf(nd, x); + float C2 = seed->b/(seed->a+seed->b) * 1./seed->z_range; + float normalization_constant = C1 + C2; + C1 /= normalization_constant; + C2 /= normalization_constant; + float f = C1*(seed->a+1.)/(seed->a+seed->b+1.) + C2*seed->a/(seed->a+seed->b+1.); + float e = C1*(seed->a+1.)*(seed->a+2.)/((seed->a+seed->b+1.)*(seed->a+seed->b+2.)) + + C2*seed->a*(seed->a+1.0f)/((seed->a+seed->b+1.0f)*(seed->a+seed->b+2.0f)); + + // update parameters + float mu_new = C1*m+C2*seed->mu; + seed->sigma2 = C1*(s2 + m*m) + C2*(seed->sigma2 + seed->mu*seed->mu) - mu_new*mu_new; + seed->mu = mu_new; + seed->a = (e-f)/(f-e/f); + seed->b = seed->a*(1.0f-f)/f; +} + +double DepthFilter::computeTau( + const SE3& T_ref_cur, + const Vector3d& f, + const double z, + const double px_error_angle) +{ + Vector3d t(T_ref_cur.translation()); + Vector3d a = f*z-t; + double t_norm = t.norm(); + double a_norm = a.norm(); + double alpha = acos(f.dot(t)/t_norm); // dot product + double beta = acos(a.dot(-t)/(t_norm*a_norm)); // dot product + double beta_plus = beta + px_error_angle; + double gamma_plus = PI-alpha-beta_plus; // triangle angles sum to PI + double z_plus = t_norm*sin(beta_plus)/sin(gamma_plus); // law of sines + return (z_plus - z); // tau +} + +} // namespace svo diff --git a/svo/src/feature_alignment.cpp b/svo/src/feature_alignment.cpp new file mode 100644 index 0000000..15dcee3 --- /dev/null +++ b/svo/src/feature_alignment.cpp @@ -0,0 +1,601 @@ +// This file is part of SVO - Semi-direct Visual Odometry. +// +// Copyright (C) 2014 Christian Forster +// (Robotics and Perception Group, University of Zurich, Switzerland). +// +// SVO is free software: you can redistribute it and/or modify it under the +// terms of the GNU General Public License as published by the Free Software +// Foundation, either version 3 of the License, or any later version. +// +// SVO is distributed in the hope that it will be useful, but WITHOUT ANY +// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS +// FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. +// +// You should have received a copy of the GNU General Public License +// along with this program. If not, see . + +#ifdef __SSE2__ +#include +#endif +#ifdef __ARM_NEON__ +#include +#endif +#include + +namespace svo { +namespace feature_alignment { + +#define SUBPIX_VERBOSE 0 + +bool align1D( + const cv::Mat& cur_img, + const Vector2f& dir, // direction in which the patch is allowed to move + uint8_t* ref_patch_with_border, + uint8_t* ref_patch, + const int n_iter, + Vector2d& cur_px_estimate, + double& h_inv) +{ + const int halfpatch_size_ = 4; + const int patch_size = 8; + const int patch_area = 64; + bool converged=false; + + // compute derivative of template and prepare inverse compositional + float __attribute__((__aligned__(16))) ref_patch_dv[patch_area]; + Matrix2f H; H.setZero(); + + // compute gradient and hessian + const int ref_step = patch_size+2; + float* it_dv = ref_patch_dv; + for(int y=0; y= cur_img.cols-halfpatch_size_ || v_r >= cur_img.rows-halfpatch_size_) + break; + + if(isnan(u) || isnan(v)) // TODO very rarely this can happen, maybe H is singular? should not be at corner.. check + return false; + + // compute interpolation weights + float subpix_x = u-u_r; + float subpix_y = v-v_r; + float wTL = (1.0-subpix_x)*(1.0-subpix_y); + float wTR = subpix_x * (1.0-subpix_y); + float wBL = (1.0-subpix_x)*subpix_y; + float wBR = subpix_x * subpix_y; + + // loop through search_patch, interpolate + uint8_t* it_ref = ref_patch; + float* it_ref_dv = ref_patch_dv; + float new_chi2 = 0.0; + Vector2f Jres; Jres.setZero(); + for(int y=0; y 0 && new_chi2 > chi2) + { +#if SUBPIX_VERBOSE + cout << "error increased." << endl; +#endif + u -= update[0]; + v -= update[1]; + break; + } + + chi2 = new_chi2; + update = Hinv * Jres; + u += update[0]*dir[0]; + v += update[0]*dir[1]; + mean_diff += update[1]; + +#if SUBPIX_VERBOSE + cout << "Iter " << iter << ":" + << "\t u=" << u << ", v=" << v + << "\t update = " << update[0] << ", " << update[1] + << "\t new chi2 = " << new_chi2 << endl; +#endif + + if(update[0]*update[0]+update[1]*update[1] < min_update_squared) + { +#if SUBPIX_VERBOSE + cout << "converged." << endl; +#endif + converged=true; + break; + } + } + + cur_px_estimate << u, v; + return converged; +} + +bool align2D( + const cv::Mat& cur_img, + uint8_t* ref_patch_with_border, + uint8_t* ref_patch, + const int n_iter, + Vector2d& cur_px_estimate, + bool no_simd) +{ +#ifdef __ARM_NEON__ + if(!no_simd) + return align2D_NEON(cur_img, ref_patch_with_border, ref_patch, n_iter, cur_px_estimate); +#endif + + const int halfpatch_size_ = 4; + const int patch_size_ = 8; + const int patch_area_ = 64; + bool converged=false; + + // compute derivative of template and prepare inverse compositional + float __attribute__((__aligned__(16))) ref_patch_dx[patch_area_]; + float __attribute__((__aligned__(16))) ref_patch_dy[patch_area_]; + Matrix3f H; H.setZero(); + + // compute gradient and hessian + const int ref_step = patch_size_+2; + float* it_dx = ref_patch_dx; + float* it_dy = ref_patch_dy; + for(int y=0; y= cur_img.cols-halfpatch_size_ || v_r >= cur_img.rows-halfpatch_size_) + break; + + if(isnan(u) || isnan(v)) // TODO very rarely this can happen, maybe H is singular? should not be at corner.. check + return false; + + // compute interpolation weights + float subpix_x = u-u_r; + float subpix_y = v-v_r; + float wTL = (1.0-subpix_x)*(1.0-subpix_y); + float wTR = subpix_x * (1.0-subpix_y); + float wBL = (1.0-subpix_x)*subpix_y; + float wBR = subpix_x * subpix_y; + + // loop through search_patch, interpolate + uint8_t* it_ref = ref_patch; + float* it_ref_dx = ref_patch_dx; + float* it_ref_dy = ref_patch_dy; + float new_chi2 = 0.0; + Vector3f Jres; Jres.setZero(); + for(int y=0; y 0 && new_chi2 > chi2) + { +#if SUBPIX_VERBOSE + cout << "error increased." << endl; +#endif + u -= update[0]; + v -= update[1]; + break; + } + + chi2 = new_chi2; + update = Hinv * Jres; + u += update[0]; + v += update[1]; + mean_diff += update[2]; + +#if SUBPIX_VERBOSE + cout << "Iter " << iter << ":" + << "\t u=" << u << ", v=" << v + << "\t update = " << update[0] << ", " << update[1] + << "\t new chi2 = " << new_chi2 << endl; +#endif + + if(update[0]*update[0]+update[1]*update[1] < min_update_squared) + { +#if SUBPIX_VERBOSE + cout << "converged." << endl; +#endif + converged=true; + break; + } + } + + cur_px_estimate << u, v; + return converged; +} + +#define DESCALE(x,n) (((x) + (1 << ((n)-1))) >> (n)) // rounds to closest integer and descales + +bool align2D_SSE2( + const cv::Mat& cur_img, + uint8_t* ref_patch_with_border, + uint8_t* ref_patch, + const int n_iter, + Vector2d& cur_px_estimate) +{ + // TODO: This function should not be used as the alignment is not robust to illumination changes! + const int halfpatch_size = 4; + const int patch_size = 8; + const int patch_area = 64; + bool converged=false; + const int W_BITS = 14; + + // compute derivative of template and prepare inverse compositional + int16_t __attribute__((__aligned__(16))) ref_patch_dx[patch_area]; + int16_t __attribute__((__aligned__(16))) ref_patch_dy[patch_area]; + + // compute gradient and hessian + const int ref_step = patch_size+2; + int16_t* it_dx = ref_patch_dx; + int16_t* it_dy = ref_patch_dy; + float A11=0, A12=0, A22=0; + for(int y=0; y(it[1]) - it[-1]; + int16_t dy = static_cast(it[ref_step]) - it[-ref_step]; + *it_dx = dx; + *it_dy = dy; // we are missing a factor 1/2 + A11 += static_cast(dx*dx); // we are missing a factor 1/4 + A12 += static_cast(dx*dy); + A22 += static_cast(dy*dy); + } + } + + // Compute pixel location in new image: + float u = cur_px_estimate.x(); + float v = cur_px_estimate.y(); + + // termination condition + const float min_update_squared = 0.03*0.03; + const int cur_step = cur_img.step.p[0]; + const float Dinv = 1.0f/(A11*A22 - A12*A12); // we are missing an extra factor 16 + float chi2 = 0; + float update_u = 0, update_v = 0; + + for(int iter = 0; iter= cur_img.cols-halfpatch_size || v_r >= cur_img.rows-halfpatch_size) + break; + + if(isnan(u) || isnan(v)) // TODO very rarely this can happen, maybe H is singular? should not be at corner.. check + return false; + + float subpix_x = u-u_r; + float subpix_y = v-v_r; + float b1=0, b2=0; + float new_chi2 = 0.0; + +#ifdef __SSE2__ + // compute bilinear interpolation weights + int wTL = static_cast((1.0f-subpix_x)*(1.0f-subpix_y)*(1 << W_BITS)); + int wTR = static_cast(subpix_x * (1.0f-subpix_y)*(1 << W_BITS)); + int wBL = static_cast((1.0f-subpix_x)*subpix_y*(1 << W_BITS)); + int wBR = (1 << W_BITS) - wTL - wTR - wBL; + + __m128i qw0 = _mm_set1_epi32(wTL + (wTR << 16)); // Sets the 4 signed 32-bit integer values to [wTL, wTR]. + __m128i qw1 = _mm_set1_epi32(wBL + (wBR << 16)); + __m128i z = _mm_setzero_si128(); + __m128 qb0 = _mm_setzero_ps(); // 4 floats + __m128 qb1 = _mm_setzero_ps(); // 4 floats + __m128i qdelta = _mm_set1_epi32(1 << (W_BITS-1)); + for(int y=0; y(it[1] - it[-1]); + *it_dy = static_cast(it[ref_step] - it[-ref_step]); // divide by 2 missing + Vector3f J(*it_dx, *it_dy, 1.0f); + H += J*J.transpose(); + } + } + Matrix3f Hinv = H.inverse(); + float mean_diff = 0.0; + + // Compute pixel location in new image: + float u = cur_px_estimate.x(); + float v = cur_px_estimate.y(); + + // termination condition + const float min_update_squared = 0.03*0.03; + const int cur_step = cur_img.step.p[0]; + Vector3f update; + Vector3f Jres; + for(int iter = 0; iter= cur_img.cols-halfpatch_size || v_r >= cur_img.rows-halfpatch_size) + break; + + if(isnan(u) || isnan(v)) // TODO very rarely this can happen, maybe H is singular? should not be at corner.. check + return false; + + float subpix_x = u-u_r; + float subpix_y = v-v_r; + float b1=0, b2=0; + +#ifdef __ARM_NEON__ + const int SHIFT_BITS = 7; + const uint16_t wTL = static_cast((1.0f-subpix_x)*(1.0f-subpix_y)*(1<(subpix_x*(1.0f-subpix_y)*(1<((1.0f-subpix_x)*subpix_y*(1<((1 << SHIFT_BITS) - wTL - wTR - wBL); + + // initialize result to zero + int32x4_t vb1 = vdupq_n_s32(0); + int32x4_t vb2 = vdupq_n_s32(0); + int16x8_t vmean_diff = vdupq_n_s16( (int16_t) (mean_diff+0.5) ); + int16x8_t vres_sum = vdupq_n_s16(0); + for(int y=0; y Vr[i] := Va[i] + Vb[i] * Vc[i] + // int32x4_t vmlal_s16(int32x4_t a, int16x4_t b, int16x4_t c); // VMLAL.S16 q0,d0,d0 + int16x8_t grad = vld1q_s16(ref_patch_dx + y*patch_size); + vb1 = vmlal_s16(vb1, vget_low_s16(grad), vget_low_s16(res)); + vb1 = vmlal_s16(vb1, vget_high_s16(grad), vget_high_s16(res)); + + grad = vld1q_s16(ref_patch_dy + y*patch_size); + vb2 = vmlal_s16(vb2, vget_low_s16(grad), vget_low_s16(res)); + vb2 = vmlal_s16(vb2, vget_high_s16(grad), vget_high_s16(res)); + } + + // finally, sum results of vb1, vb2 and vres_sum + int32x2_t tmp; + tmp = vpadd_s32(vget_low_s32(vb1), vget_high_s32(vb1)); + Jres[0] = -vget_lane_s32(tmp, 0) - vget_lane_s32(tmp, 1); + + tmp = vpadd_s32(vget_low_s32(vb2), vget_high_s32(vb2)); + Jres[1] = -vget_lane_s32(tmp, 0) - vget_lane_s32(tmp, 1); + + int32x4_t vres_sum1 = vpaddlq_s16(vres_sum); + tmp = vpadd_s32(vget_low_s32(vres_sum1), vget_high_s32(vres_sum1)); + Jres[2] = -vget_lane_s32(tmp, 0) - vget_lane_s32(tmp, 1); +#endif + + update = Hinv * Jres * 2; // * 2 to compensate because above, we did not compute the derivative correctly + u += update[0]; + v += update[1]; + mean_diff += update[2]; + +#if SUBPIX_VERBOSE + cout << "Iter " << iter << ":" + << "\t u=" << u << ", v=" << v + << "\t update = " << update[0] << ", " << update[1] << endl; +#endif + + if(update[0]*update[0]+update[1]*update[1] < min_update_squared) + { +#if SUBPIX_VERBOSE + cout << "converged." << endl; +#endif + converged=true; + break; + } + } + + cur_px_estimate << u, v; + return converged; +} + +} // namespace feature_alignment +} // namespace svo diff --git a/svo/src/feature_detection.cpp b/svo/src/feature_detection.cpp new file mode 100644 index 0000000..be0ca02 --- /dev/null +++ b/svo/src/feature_detection.cpp @@ -0,0 +1,77 @@ +// This file is part of SVO - Semi-direct Visual Odometry. +// +// Copyright (C) 2014 Christian Forster +// (Robotics and Perception Group, University of Zurich, Switzerland). +// +// SVO is free software: you can redistribute it and/or modify it under the +// terms of the GNU General Public License as published by the Free Software +// Foundation, either version 3 of the License, or any later version. +// +// SVO is distributed in the hope that it will be useful, but WITHOUT ANY +// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS +// FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. +// +// You should have received a copy of the GNU General Public License +// along with this program. If not, see . + +#include +#include +#include +#include + +namespace svo { +namespace feature_detection { + +void FastDetector::detect( + const ImgPyr& img_pyr, + const Features& existing_fts, + const int cell_size, + const int n_levels, + const double detection_threshold, + Corners* corners) const +{ + // first, find which parts of the image already have a matched feature + const int grid_n_cols = ceil(static_cast(img_pyr[0].cols)/cell_size); + const int grid_n_rows = ceil(static_cast(img_pyr[0].rows)/cell_size); + vector occupancy(grid_n_cols*grid_n_rows, false); + for(Features::const_iterator it=existing_fts.begin(); it!=existing_fts.end(); ++it) + { + if((*it)->point == false) + continue; + const int k = static_cast((*it)->px[1]/cell_size)*grid_n_cols + static_cast((*it)->px[0]/cell_size); + occupancy.at(k) = true; + } + + // now, detect features and perform nonmax suppression + corners->resize(grid_n_cols*grid_n_rows, Corner(0,0,detection_threshold,0,0.0f)); + for(int L=0; L fast_corners; +#if __SSE2__ + fast::fast_corner_detect_10_sse2((fast::fast_byte*) img_pyr[L].data, img_pyr[L].cols, img_pyr[L].rows, img_pyr[L].cols, 20, fast_corners); +#elif HAVE_FAST_NEON + fast::fast_corner_detect_9_neon((fast::fast_byte*) img_pyr[L].data, img_pyr[L].cols, img_pyr[L].rows, img_pyr[L].cols, 20, fast_corners); +#else + fast::fast_corner_detect_10((fast::fast_byte*) img_pyr[L].data, img_pyr[L].cols, img_pyr[L].rows, img_pyr[L].cols, 20, fast_corners); +#endif + vector scores, nm_corners; + fast::fast_corner_score_10((fast::fast_byte*) img_pyr[L].data, img_pyr[L].cols, fast_corners, 20, scores); + fast::fast_nonmax_3x3(fast_corners, scores, nm_corners); + + for(vector::iterator it=nm_corners.begin(); it!=nm_corners.end(); ++it) + { + fast::fast_xy& xy = fast_corners.at(*it); + const int k = static_cast((xy.y*scale)/cell_size)*grid_n_cols + static_cast((xy.x*scale)/cell_size); + if(occupancy[k]) + continue; + const float score = vk::shiTomasiScore(img_pyr[L], xy.x, xy.y); + if(score > corners->at(k).score) + corners->at(k) = Corner(xy.x*scale, xy.y*scale, score, L, 0.0f); + } + } +} + +} // namespace feature_detection +} // namespace svo + diff --git a/svo/src/frame.cpp b/svo/src/frame.cpp new file mode 100644 index 0000000..e5f4501 --- /dev/null +++ b/svo/src/frame.cpp @@ -0,0 +1,197 @@ +// This file is part of SVO - Semi-direct Visual Odometry. +// +// Copyright (C) 2014 Christian Forster +// (Robotics and Perception Group, University of Zurich, Switzerland). +// +// SVO is free software: you can redistribute it and/or modify it under the +// terms of the GNU General Public License as published by the Free Software +// Foundation, either version 3 of the License, or any later version. +// +// SVO is distributed in the hope that it will be useful, but WITHOUT ANY +// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS +// FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. +// +// You should have received a copy of the GNU General Public License +// along with this program. If not, see . + +#include +#include +#include +#include +#include +#include +#include +#include +#include + +namespace svo { + +int Frame::frame_counter_ = 0; + +Frame::Frame(vk::AbstractCamera* cam, const cv::Mat& img, double timestamp) : + id_(frame_counter_++), + timestamp_(timestamp), + cam_(cam), + key_pts_(5), + is_keyframe_(false), + v_kf_(NULL) +{ + initFrame(img); +} + +Frame::~Frame() +{ + std::for_each(fts_.begin(), fts_.end(), [&](Feature* i){delete i;}); +} + +void Frame::initFrame(const cv::Mat& img) +{ + // check image + if(img.empty() || img.type() != CV_8UC1 || img.cols != cam_->width() || img.rows != cam_->height()) + throw std::runtime_error("Frame: provided image has not the same size as the camera model"); + + // Set keypoints to NULL + std::for_each(key_pts_.begin(), key_pts_.end(), [&](Feature* ftr){ ftr=NULL; }); + + // Build Image Pyramid + frame_utils::createImgPyramid(img, max(Config::nPyrLevels(), Config::kltMaxLevel()+1), img_pyr_); +} + +void Frame::setKeyframe() +{ + is_keyframe_ = true; + setKeyPoints(); +} + +void Frame::addFeature(Feature* ftr) +{ + fts_.push_back(ftr); +} + +void Frame::setKeyPoints() +{ + for(size_t i = 0; i < 5; ++i) + if(key_pts_[i] != NULL) + if(key_pts_[i]->point == NULL) + key_pts_[i] = NULL; + + std::for_each(fts_.begin(), fts_.end(), [&](Feature* ftr){ if(ftr->point != NULL) checkKeyPoints(ftr); }); +} + +void Frame::checkKeyPoints(Feature* ftr) +{ + const int cu = cam_->width()/2; + const int cv = cam_->height()/2; + + // center pixel + if(key_pts_[0] == NULL) + key_pts_[0] = ftr; + else if(max(abs(ftr->px[0]-cu), abs(ftr->px[1]-cv)) + < max(abs(key_pts_[0]->px[0]-cu), abs(key_pts_[0]->px[1]-cv))) + key_pts_[0] = ftr; + + if(ftr->px[0] >= cu && ftr->px[1] >= cv) + { + if(key_pts_[1] == NULL) + key_pts_[1] = ftr; + else if((ftr->px[0]-cu) * (ftr->px[1]-cv) + > (key_pts_[1]->px[0]-cu) * (key_pts_[1]->px[0]-cv)) + key_pts_[1] = ftr; + } + if(ftr->px[0] >= cu && ftr->px[1] < cv) + { + if(key_pts_[2] == NULL) + key_pts_[2] = ftr; + else if((ftr->px[0]-cu) * (ftr->px[1]-cv) + < (key_pts_[2]->px[0]-cu) * (key_pts_[2]->px[0]-cv)) + key_pts_[2] = ftr; + } + if(ftr->px[0] < cv && ftr->px[1] < cv) + { + if(key_pts_[3] == NULL) + key_pts_[3] = ftr; + else if((ftr->px[0]-cu) * (ftr->px[1]-cv) + > (key_pts_[3]->px[0]-cu) * (key_pts_[3]->px[0]-cv)) + key_pts_[3] = ftr; + } + if(ftr->px[0] < cv && ftr->px[1] >= cv) + { + if(key_pts_[4] == NULL) + key_pts_[4] = ftr; + else if((ftr->px[0]-cu) * (ftr->px[1]-cv) + < (key_pts_[4]->px[0]-cu) * (key_pts_[4]->px[0]-cv)) + key_pts_[4] = ftr; + } +} + +void Frame::removeKeyPoint(Feature* ftr) +{ + bool found = false; + std::for_each(key_pts_.begin(), key_pts_.end(), [&](Feature*& i){ + if(i == ftr) { + i = NULL; + found = true; + } + }); + if(found) + setKeyPoints(); +} + +size_t Frame::nObs() const +{ + size_t n=0; + std::for_each(fts_.begin(), fts_.end(), [&](Feature* i){if(i->point != NULL) ++n; }); + return n; +} + +bool Frame::isVisible(const Vector3d& xyz_w) const +{ + Vector3d xyz_f = T_f_w_*xyz_w; + if(xyz_f.z() < 0.0) + return false; // point is behind the camera + Vector2d px = f2c(xyz_f); + if(px[0] >= 0.0 && px[1] >= 0.0 && px[0] < cam_->width() && px[1] < cam_->height()) + return true; + return false; +} + + +/// Utility functions for the Frame class +namespace frame_utils { + +void createImgPyramid(const cv::Mat& img_level_0, int n_levels, ImgPyr& pyr) +{ + pyr.resize(n_levels); + pyr[0] = img_level_0; + for(int i=1; i depth_vec; + depth_vec.reserve(frame.fts_.size()); + depth_min = std::numeric_limits::max(); + for(auto it=frame.fts_.begin(), ite=frame.fts_.end(); it!=ite; ++it) + { + if((*it)->point != NULL) + { + const double z = frame.w2f((*it)->point->pos_).z(); + depth_vec.push_back(z); + depth_min = fmin(z, depth_min); + } + } + if(depth_vec.empty()) + { + SVO_WARN_STREAM("Cannot set scene depth. Frame has no point-observations!"); + return false; + } + depth_mean = vk::getMedian(depth_vec); + return true; +} + +} // namespace frame_utils +} // namespace svo diff --git a/svo/src/frame_handler_base.cpp b/svo/src/frame_handler_base.cpp new file mode 100644 index 0000000..3d530f7 --- /dev/null +++ b/svo/src/frame_handler_base.cpp @@ -0,0 +1,200 @@ +// This file is part of SVO - Semi-direct Visual Odometry. +// +// Copyright (C) 2014 Christian Forster +// (Robotics and Perception Group, University of Zurich, Switzerland). +// +// SVO is free software: you can redistribute it and/or modify it under the +// terms of the GNU General Public License as published by the Free Software +// Foundation, either version 3 of the License, or any later version. +// +// SVO is distributed in the hope that it will be useful, but WITHOUT ANY +// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS +// FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. +// +// You should have received a copy of the GNU General Public License +// along with this program. If not, see . + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +namespace svo { + +// definition of global and static variables which were declared in the header +#ifdef SVO_TRACE +vk::PerformanceMonitor* g_permon = NULL; +#endif + +FrameHandlerBase:: +FrameHandlerBase() : + stage_(PAUSED), + set_reset_(false), + set_start_(false), + acc_frame_timings_(10), + acc_num_obs_(10), + num_obs_last_(0), + tracking_quality_(BAD), + depth_filter_(NULL) +{ +#ifdef SVO_TRACE + // Initialize Performance Monitor + g_permon = new vk::PerformanceMonitor(); + g_permon->addTimer("pyramid_creation"); + g_permon->addTimer("sparse_img_align"); + g_permon->addTimer("reproject"); + g_permon->addTimer("pose_optimizer"); + g_permon->addTimer("point_optimizer"); + g_permon->addTimer("local_ba"); + g_permon->addTimer("tot_time"); + g_permon->addLog("img_align_n_tracked"); + g_permon->addLog("repr_n_mps"); + g_permon->addLog("repr_n_new_references"); + g_permon->addLog("sfba_thresh"); + g_permon->addLog("sfba_error_init"); + g_permon->addLog("sfba_error_final"); + g_permon->addLog("sfba_n_edges_final"); + g_permon->addLog("loba_n_erredges_init"); + g_permon->addLog("loba_n_erredges_fin"); + g_permon->addLog("loba_err_init"); + g_permon->addLog("loba_err_fin"); + g_permon->addLog("n_candidates"); + g_permon->addLog("dropout"); + g_permon->init(Config::traceName(), Config::traceDir()); +#endif + + // create depth filter and set callback + feature_detection::DetectorPtr feature_detector(new feature_detection::FastDetector()); + DepthFilter::callback_t depth_filter_cb = boost::bind(&MapPointCandidates::newCandidatePoint, &map_.point_candidates_, _1, _2); + depth_filter_ = new DepthFilter(feature_detector, depth_filter_cb); + depth_filter_->startThread(); + + SVO_INFO_STREAM("NanoSlam initialized"); +} + +FrameHandlerBase:: +~FrameHandlerBase() +{ + SVO_INFO_STREAM("SVO destructor invoked."); + delete depth_filter_; + SVO_INFO_STREAM("SVO destructed."); +} + +bool FrameHandlerBase:: +startFrameProcessingCommon() +{ + if(set_start_) + { + resetAll(); + stage_ = FIRST_FRAME; + set_start_ = false; + } + + if(stage_ == PAUSED) + return false; + + SVO_DEBUG_STREAM("New Frame"); + SVO_START_TIMER("tot_time"); + timer_.start(); + + // some cleanup from last iteration, can't do before because of visualization + map_.emptyTrash(); + return true; +} + +int FrameHandlerBase:: +finishFrameProcessingCommon(size_t update_id, UpdateResult dropout, size_t num_observations) +{ + SVO_DEBUG_STREAM("Frame: "<writeToFile(); + { + boost::unique_lock lock(map_.point_candidates_.mut_); + size_t n_candidates = map_.point_candidates_.candidates_.size(); + SVO_LOG(n_candidates); + } + #endif + + // reset if failure or requested + if(dropout == FAILURE || set_reset_) + resetAll(); + return 0; +} + +void FrameHandlerBase:: +resetCommon() +{ + map_.reset(); + stage_ = PAUSED; + set_reset_ = false; + tracking_quality_ = BAD; + depth_filter_->reset(); + num_obs_last_ = 0; + SVO_INFO_STREAM("RESET"); +} + +void FrameHandlerBase:: +setTrackingQuality(const size_t num_observations) +{ + tracking_quality_ = GOOD; + if(num_observations < Config::qualityMinFts()) + { + ROS_WARN_STREAM_THROTTLE(0.5, "Tracking less than "<< Config::qualityMinFts() <<" features!"); + tracking_quality_ = BAD; + } + const int feature_drop = static_cast(num_obs_last_) - num_observations; + if(feature_drop > Config::qualityMaxFtsDrop()) + { + ROS_WARN_STREAM("Lost "<< feature_drop <<" features!"); + tracking_quality_ = BAD; + } + if(num_observations < 20) + { + ROS_ERROR_STREAM("Tracking less than 20 features!"); + tracking_quality_ = INSUFFICIENT; + } +} + +bool ptLastOptimComparator(Point* lhs, Point* rhs) +{ + return (lhs->last_structure_optim_ < rhs->last_structure_optim_); +} + +void FrameHandlerBase:: +optimizeStructure(FramePtr frame, size_t max_n_pts, int max_iter) +{ + deque pts; + for(Features::iterator it=frame->fts_.begin(); it!=frame->fts_.end(); ++it) + { + if((*it)->point != NULL) + pts.push_back((*it)->point); + } + max_n_pts = min(max_n_pts, pts.size()); + nth_element(pts.begin(), pts.begin() + max_n_pts, pts.end(), ptLastOptimComparator); + for(deque::iterator it=pts.begin(); it!=pts.begin()+max_n_pts; ++it) + { + (*it)->optimize(max_iter); + (*it)->last_structure_optim_ = frame->id_; + } +} + + +} // namespace svo diff --git a/svo/src/frame_handler_mono.cpp b/svo/src/frame_handler_mono.cpp new file mode 100644 index 0000000..95a9787 --- /dev/null +++ b/svo/src/frame_handler_mono.cpp @@ -0,0 +1,254 @@ +// This file is part of SVO - Semi-direct Visual Odometry. +// +// Copyright (C) 2014 Christian Forster +// (Robotics and Perception Group, University of Zurich, Switzerland). +// +// SVO is free software: you can redistribute it and/or modify it under the +// terms of the GNU General Public License as published by the Free Software +// Foundation, either version 3 of the License, or any later version. +// +// SVO is distributed in the hope that it will be useful, but WITHOUT ANY +// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS +// FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. +// +// You should have received a copy of the GNU General Public License +// along with this program. If not, see . + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#ifdef USE_BUNDLE_ADJUSTMENT +#include +#endif + +namespace svo { + +FrameHandlerMono:: +FrameHandlerMono(vk::AbstractCamera* cam) : + FrameHandlerBase(), + cam_(cam) +{ + reprojection_grid_.initialize(cam_); +} + +FrameHandlerMono:: +~FrameHandlerMono() +{} + +void FrameHandlerMono:: +addImage(const cv::Mat& img, double timestamp) +{ + if(!startFrameProcessingCommon()) + return; + + // some cleanup from last iteration, can't do before because of visualization + core_kfs_.clear(); + overlap_kfs_.clear(); + + // create new frame + SVO_START_TIMER("pyramid_creation"); + new_frame_.reset(new Frame(cam_, img.clone(), timestamp)); + SVO_STOP_TIMER("pyramid_creation"); + + // process frame + UpdateResult res = FAILURE; + if(stage_ == DEFAULT_FRAME) + res = processFrame(); + else if(stage_ == SECOND_FRAME) + res = processSecondFrame(); + else if(stage_ == FIRST_FRAME) + res = processFirstFrame(); + + // set last frame + last_frame_ = new_frame_; + new_frame_.reset(); + + // finish processing + finishFrameProcessingCommon(last_frame_->id_, res, last_frame_->nObs()); +} + +FrameHandlerMono::UpdateResult FrameHandlerMono:: +processFirstFrame() +{ + new_frame_->T_f_w_ = T_f_w_init_; + if(klt_homography_init_.addFirstFrame(new_frame_) == initialization::FAILURE) + return NO_KEYFRAME; + new_frame_->setKeyframe(); + map_.addKeyframe(new_frame_); + stage_ = SECOND_FRAME; + SVO_INFO_STREAM("Init: Selected first frame."); + return IS_KEYFRAME; +} + +FrameHandlerMono::UpdateResult FrameHandlerMono:: +processSecondFrame() +{ + initialization::InitResult res = klt_homography_init_.addSecondFrame(new_frame_); + if(res == initialization::FAILURE) + return FAILURE; + else if(res == initialization::NO_KEYFRAME) + return NO_KEYFRAME; + + // two-frame bundle adjustment +#ifdef USE_BUNDLE_ADJUSTMENT + ba::twoViewBA(new_frame_.get(), map_.lastKeyframe().get(), Config::lobaThresh(), map_); +#endif + + double depth_mean, depth_min; + frame_utils::getSceneDepth(*new_frame_, depth_mean, depth_min); + depth_filter_->addKeyframe(new_frame_, depth_mean, 0.5*depth_min); + + // add frame to map + new_frame_->setKeyframe(); + map_.addKeyframe(new_frame_); + stage_ = DEFAULT_FRAME; + klt_homography_init_.reset(); + SVO_INFO_STREAM("Init: Selected second frame, triangulated initial map."); + return IS_KEYFRAME; +} + +FrameHandlerMono::UpdateResult FrameHandlerMono:: +processFrame() +{ + // Set initial pose TODO use prior + new_frame_->T_f_w_ = last_frame_->T_f_w_; + + // sparse image align + SVO_START_TIMER("sparse_img_align"); + SparseImgAlign img_align(Config::kltMaxLevel(), Config::kltMinLevel(), + 30, SparseImgAlign::GaussNewton, false, false); + size_t img_align_n_tracked = img_align.run(last_frame_, new_frame_); + SVO_STOP_TIMER("sparse_img_align"); + SVO_LOG(img_align_n_tracked); + SVO_DEBUG_STREAM("Img Align:\t Tracked = " << img_align_n_tracked); + + // map reprojection & feature alignment + SVO_START_TIMER("reproject"); + size_t repr_n_new_references, repr_n_mps; + reprojection::reprojectMap( + map_, new_frame_, reprojection_grid_, map_.point_candidates_, + overlap_kfs_, repr_n_new_references, repr_n_mps); + SVO_STOP_TIMER("reproject"); + SVO_LOG2(repr_n_mps, repr_n_new_references); + SVO_DEBUG_STREAM("Reprojection:\t nPoints = "<addFrame(new_frame_); + return NO_KEYFRAME; + } + + // new keyframe selected + for(Features::iterator it=new_frame_->fts_.begin(); it!=new_frame_->fts_.end(); ++it) + if((*it)->point != NULL) + (*it)->point->addFrameRef(*it); + map_.point_candidates_.addCandidatePointToFrame(new_frame_); + + // optional bundle adjustment + core_kfs_.insert(new_frame_); +#ifdef USE_BUNDLE_ADJUSTMENT + if(Config::lobaNumIter() > 0) + { + SVO_START_TIMER("local_ba"); + setCoreKfs(Config::coreNKfs()); + size_t loba_n_erredges_init, loba_n_erredges_fin; + double loba_err_init, ba_final_error; + ba::localBA(new_frame_.get(), &core_kfs_, &map_, + loba_n_erredges_init, ba_incorrect_edges_2, + ba_init_error, loba_err_fin); + SVO_STOP_TIMER("local_ba"); + SVO_LOG4(loba_n_erredges_init, loba_n_erredges_fin, loba_err_init, loba_err_fin); + SVO_DEBUG_STREAM("Local BA:\t RemovedEdges {"<addKeyframe(new_frame_, depth_mean, 0.5*depth_min); + + // if limited number of keyframes, remove the one furthest apart + if(Config::maxNKfs() > 2 && map_.size() >= Config::maxNKfs()) + { + FramePtr furthest_frame = map_.getFurthestKeyframe(new_frame_->pos()); + depth_filter_->removeKeyframe(furthest_frame); // TODO this interrupts the mapper thread, maybe we can solve this better + map_.safeDeleteFrame(furthest_frame); + } + + // add keyframe to map + new_frame_->setKeyframe(); + map_.addKeyframe(new_frame_); + + return IS_KEYFRAME; +} + +void FrameHandlerMono:: +resetAll() +{ + resetCommon(); + last_frame_.reset(); + new_frame_.reset(); + core_kfs_.clear(); + overlap_kfs_.clear(); +} + +bool FrameHandlerMono:: +needNewKf(double scene_depth_mean) +{ + for(auto it=overlap_kfs_.begin(), ite=overlap_kfs_.end(); it!=ite; ++it) + { + Vector3d relpos = new_frame_->w2f(it->first->pos()); + if(abs(relpos.x())/scene_depth_mean < Config::kfSelectMinDist() && + abs(relpos.y())/scene_depth_mean < Config::kfSelectMinDist()*0.8 && + abs(relpos.z())/scene_depth_mean < Config::kfSelectMinDist()*1.3) + return false; + } + return true; +} + +void FrameHandlerMono:: +setCoreKfs(size_t n_closest) +{ + size_t n = min(n_closest, overlap_kfs_.size()-1); + std::partial_sort(overlap_kfs_.begin(), overlap_kfs_.begin()+n, overlap_kfs_.end(), + boost::bind(&pair::second, _1) > + boost::bind(&pair::second, _2)); + std::for_each(overlap_kfs_.begin(), overlap_kfs_.end(), [&](pair& i){ core_kfs_.insert(i.first); }); +} + +} // namespace svo diff --git a/svo/src/initialization.cpp b/svo/src/initialization.cpp new file mode 100644 index 0000000..1087e61 --- /dev/null +++ b/svo/src/initialization.cpp @@ -0,0 +1,205 @@ +// This file is part of SVO - Semi-direct Visual Odometry. +// +// Copyright (C) 2014 Christian Forster +// (Robotics and Perception Group, University of Zurich, Switzerland). +// +// SVO is free software: you can redistribute it and/or modify it under the +// terms of the GNU General Public License as published by the Free Software +// Foundation, either version 3 of the License, or any later version. +// +// SVO is distributed in the hope that it will be useful, but WITHOUT ANY +// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS +// FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. +// +// You should have received a copy of the GNU General Public License +// along with this program. If not, see . + +#include +#include +#include +#include +#include +#include +#include +#include + +namespace svo { +namespace initialization { + +InitResult KltHomographyInit::addFirstFrame(FramePtr frame_ref) +{ + reset(); + detectFeatures(frame_ref, px_ref_, f_ref_); + if(px_ref_.size() < 100) + { + SVO_WARN_STREAM_THROTTLE(2.0, "First image has less than 100 features. Retry in more textured environment."); + return FAILURE; + } + frame_ref_ = frame_ref; + px_cur_.insert(px_cur_.begin(), px_ref_.begin(), px_ref_.end()); + return SUCCESS; +} + +InitResult KltHomographyInit::addSecondFrame(FramePtr frame_cur) +{ + trackKlt(frame_ref_, frame_cur, px_ref_, px_cur_, f_ref_, f_cur_, disparities_); + SVO_INFO_STREAM("Init: KLT tracked "<< disparities_.size() <<" features"); + + if(disparities_.size() < Config::initMinTracked()) + return FAILURE; + + double disparity = vk::getMedian(disparities_); + SVO_INFO_STREAM("Init: KLT "<cam_->errorMultiplier2(), Config::poseOptimThresh(), + inliers_, xyz_in_cur_, T_cur_from_ref_); + SVO_INFO_STREAM("Init: Homography RANSAC "< depth_vec; + for(size_t i=0; iT_f_w_ = T_cur_from_ref_ * frame_ref_->T_f_w_; + frame_cur->T_f_w_.translation() = + -frame_cur->T_f_w_.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->T_f_w_.inverse(); + for(vector::iterator it=inliers_.begin(); it!=inliers_.end(); ++it) + { + Vector2d px_cur(px_cur_[*it].x, px_cur_[*it].y); + Vector2d px_ref(px_ref_[*it].x, px_ref_[*it].y); + if(frame_ref_->cam_->isInFrame(px_cur.cast(), 10) && frame_ref_->cam_->isInFrame(px_ref.cast(), 10) && xyz_in_cur_[*it].z() > 0) + { + Vector3d pos = T_world_cur * (xyz_in_cur_[*it]*scale); + Point* new_point = new Point(pos, Point::TRIANGULATION); + + Feature* ftr_cur(new Feature(frame_cur.get(), new_point, px_cur, f_cur_[*it], 0)); + frame_cur->addFeature(ftr_cur); + new_point->addFrameRef(ftr_cur); + + Feature* ftr_ref(new Feature(frame_ref_.get(), new_point, px_ref, f_ref_[*it], 0)); + frame_ref_->addFeature(ftr_ref); + new_point->addFrameRef(ftr_ref); + } + } + return SUCCESS; +} + +void KltHomographyInit::reset() +{ + px_cur_.clear(); + frame_ref_.reset(); +} + +void detectFeatures( + FramePtr frame, + vector& px_vec, + vector& f_vec) +{ + feature_detection::Corners corners; + feature_detection::FastDetector detector; + detector.detect(frame->img_pyr_, frame->fts_, Config::gridSize(), + Config::nPyrLevels(), Config::triangMinCornerScore(), + &corners); + + // now for all maximum corners, initialize a new seed + px_vec.clear(); px_vec.reserve(corners.size()); + f_vec.clear(); f_vec.reserve(corners.size()); + for(feature_detection::Corners::iterator it=corners.begin(); it!=corners.end(); ++it) + { + // we must check again if the score is above the threshold because the Corners + // vector is initialized with dummy corners + if(it->score > Config::triangMinCornerScore()) + { + px_vec.push_back(cv::Point2f(it->x, it->y)); + f_vec.push_back(frame->c2f(it->x, it->y)); + } + } +} + +void trackKlt( + FramePtr frame_ref, + FramePtr frame_cur, + vector& px_ref, + vector& px_cur, + vector& f_ref, + vector& f_cur, + vector& disparities) +{ + const double klt_win_size = 30.0; + const int klt_max_iter = 30; + const double klt_eps = 0.001; + vector status; + vector error; + vector min_eig_vec; + cv::TermCriteria termcrit(cv::TermCriteria::COUNT+cv::TermCriteria::EPS, klt_max_iter, klt_eps); + cv::calcOpticalFlowPyrLK(frame_ref->img_pyr_[0], frame_cur->img_pyr_[0], + px_ref, px_cur, + status, error, + cv::Size2i(klt_win_size, klt_win_size), + 4, termcrit); + + vector::iterator px_ref_it = px_ref.begin(); + vector::iterator px_cur_it = px_cur.begin(); + vector::iterator f_ref_it = f_ref.begin(); + f_cur.clear(); f_cur.reserve(px_cur.size()); + disparities.clear(); disparities.reserve(px_cur.size()); + for(size_t i=0; px_ref_it != px_ref.end(); ++i) + { + if(!status[i]) + { + px_ref_it = px_ref.erase(px_ref_it); + px_cur_it = px_cur.erase(px_cur_it); + f_ref_it = f_ref.erase(f_ref_it); + continue; + } + f_cur.push_back(frame_cur->c2f(px_cur_it->x, px_cur_it->y)); + disparities.push_back(Vector2d(px_ref_it->x - px_cur_it->x, px_ref_it->y - px_cur_it->y).norm()); + ++px_ref_it; + ++px_cur_it; + ++f_ref_it; + } +} + +void computeHomography( + const vector& f_ref, + const vector& f_cur, + double focal_length, + double reprojection_threshold, + vector& inliers, + vector& xyz_in_cur, + SE3& T_cur_from_ref) +{ + vector > uv_ref(f_ref.size()); + vector > uv_cur(f_cur.size()); + for(size_t i=0, i_max=f_ref.size(); i outliers; + vk::computeInliers(f_cur, f_ref, + Homography.T_c2_from_c1.rotation_matrix(), Homography.T_c2_from_c1.translation(), + reprojection_threshold, focal_length, + xyz_in_cur, inliers, outliers); + T_cur_from_ref = Homography.T_c2_from_c1; +} + + +} // namespace initialization +} // namespace svo diff --git a/svo/src/map.cpp b/svo/src/map.cpp new file mode 100644 index 0000000..808917c --- /dev/null +++ b/svo/src/map.cpp @@ -0,0 +1,357 @@ +// This file is part of SVO - Semi-direct Visual Odometry. +// +// Copyright (C) 2014 Christian Forster +// (Robotics and Perception Group, University of Zurich, Switzerland). +// +// SVO is free software: you can redistribute it and/or modify it under the +// terms of the GNU General Public License as published by the Free Software +// Foundation, either version 3 of the License, or any later version. +// +// SVO is distributed in the hope that it will be useful, but WITHOUT ANY +// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS +// FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. +// +// You should have received a copy of the GNU General Public License +// along with this program. If not, see . + +#include +#include +#include +#include +#include +#include + +namespace svo { + +Map::Map() {} + +Map::~Map() +{ + reset(); + SVO_INFO_STREAM("Map destructed"); +} + +void Map::reset() +{ + keyframes_.clear(); + point_candidates_.reset(); + emptyTrash(); +} + +bool Map::safeDeleteFrame(FramePtr frame) +{ + bool found = false; + for(auto it=keyframes_.begin(), ite=keyframes_.end(); it!=ite; ++it) + { + if(*it == frame) + { + std::for_each((*it)->fts_.begin(), (*it)->fts_.end(), [&](Feature* ftr){ + removePtFrameRef(it->get(), ftr); + }); + keyframes_.erase(it); + found = true; + break; + } + } + + point_candidates_.removeFrameCandidates(frame); + + if(found) + return true; + + SVO_ERROR_STREAM("Tried to delete Keyframe in map which was not there."); + return false; +} + +void Map::removePtFrameRef(Frame* frame, Feature* ftr) +{ + if(ftr->point == NULL) + return; // mappoint may have been deleted in a previous ref. removal + Point* pt = ftr->point; + ftr->point = NULL; + if(pt->obs_.size() <= 2) + { + // If the references list of mappoint has only size=2, delete mappoint + safeDeletePoint(pt); + return; + } + pt->deleteFrameRef(frame); // Remove reference from map_point + frame->removeKeyPoint(ftr); // Check if mp was keyMp in keyframe +} + +void Map::safeDeletePoint(Point* pt) +{ + // Delete references to mappoints in all keyframes + std::for_each(pt->obs_.begin(), pt->obs_.end(), [&](Feature* ftr){ + ftr->point=NULL; + ftr->frame->removeKeyPoint(ftr); + }); + pt->obs_.clear(); + + // Delete mappoint + deletePoint(pt); +} + +void Map::deletePoint(Point* pt) +{ + pt->type_ = Point::DELETED; + trash_points_.push_back(pt); +} + +void Map::addKeyframe(FramePtr new_keyframe) +{ + keyframes_.push_back(new_keyframe); +} + +void Map::getCloseKeyframes(const FramePtr& frame, list< pair >& close_kfs) const +{ + const Vector3d frame_pos(frame->pos()); + for(auto it_kf=keyframes_.begin(), ite_kf=keyframes_.end(); it_kf!=ite_kf; ++it_kf) + { + // check first if Point is visible in the Keyframe, use therefore KeyPoints + for(auto it=(*it_kf)->key_pts_.begin(), ite=(*it_kf)->key_pts_.end(); it!=ite; ++it) + { + if(*it == NULL) + continue; + + assert((*it)->point != NULL); + + if((*it_kf)->isVisible((*it)->point->pos_)) + { + close_kfs.push_back(pair(*it_kf, + (frame->T_f_w_.translation()-(*it_kf)->T_f_w_.translation()).norm())); + break; // this keyframe has an overlapping field of view -> add to close_kfs + } + } + } +} + +FramePtr Map::getClosestKeyframe(const FramePtr& frame) const +{ + list< pair > close_kfs; + getCloseKeyframes(frame, close_kfs); + + // Sort KFs with overlap according to their closeness + close_kfs.sort(boost::bind(&std::pair::second, _1) < + boost::bind(&std::pair::second, _2)); + + if(close_kfs.front().first != frame) + return close_kfs.front().first; + close_kfs.pop_front(); + return close_kfs.front().first; +} + +FramePtr Map::getFurthestKeyframe(const Vector3d& pos) const +{ + FramePtr furthest_kf; + double maxdist = 0.0; + for(auto it=keyframes_.begin(), ite=keyframes_.end(); it!=ite; ++it) + { + double dist = ((*it)->pos()-pos).norm(); + if(dist > maxdist) { + maxdist = dist; + furthest_kf = *it; + } + } + return furthest_kf; +} + +void Map::transform(const Matrix3d& R, const Vector3d& t, const double& s) +{ + for(auto it=keyframes_.begin(), ite=keyframes_.end(); it!=ite; ++it) + { + Vector3d pos = s*R*(*it)->pos() + t; + Matrix3d rot = R*(*it)->T_f_w_.rotation_matrix().inverse(); + (*it)->T_f_w_ = SE3(rot, pos).inverse(); + for(auto ftr=(*it)->fts_.begin(); ftr!=(*it)->fts_.end(); ++ftr) + { + if((*ftr)->point == NULL) + continue; + if((*ftr)->point->last_published_ts_ == -1000) + continue; + (*ftr)->point->last_published_ts_ = -1000; + (*ftr)->point->pos_ = s*R*(*ftr)->point->pos_ + t; + } + } +} + +void Map::emptyTrash() +{ + std::for_each(trash_points_.begin(), trash_points_.end(), [&](Point*& pt){ + delete pt; + pt=NULL; + }); + trash_points_.clear(); + point_candidates_.emptyTrash(); +} + +MapPointCandidates::MapPointCandidates() +{} + +MapPointCandidates::~MapPointCandidates() +{ + reset(); +} + +void MapPointCandidates::newCandidatePoint(const Seed& seed, const Vector3d& xyz_world) +{ + // initalize a new point + Point* point = new Point(xyz_world, Point::VOGIATZIS); + point->addFrameRef(seed.ftr); + point->type_ = Point::CANDIDATE; + seed.ftr->point = point; + + // add candidate to list + boost::unique_lock lock(mut_); + candidates_.push_back(PointCandidate(point, seed.ftr)); +} + +void MapPointCandidates::addCandidatePointToFrame(FramePtr frame) +{ + boost::unique_lock lock(mut_); + PointCandidateList::iterator it=candidates_.begin(); + while(it != candidates_.end()) + { + if(it->first->obs_.front()->frame == frame.get()) + { + // insert feature in the frame + it->first->type_ = Point::UNKNOWN_QUALITY; + it->first->n_failed_reproj_ = 0; + it->second->frame->addFeature(it->second); + it = candidates_.erase(it); + } + else + ++it; + } +} + +bool MapPointCandidates::deleteCandidatePoint(Point* point) +{ + boost::unique_lock lock(mut_); + for(auto it=candidates_.begin(), ite=candidates_.end(); it!=ite; ++it) + { + if(it->first == point) + { + deleteCandidate(*it); + candidates_.erase(it); + return true; + } + } + return false; +} + +void MapPointCandidates::removeFrameCandidates(FramePtr frame) +{ + boost::unique_lock lock(mut_); + auto it=candidates_.begin(); + while(it!=candidates_.end()) + { + if(it->second->frame == frame.get()) + { + deleteCandidate(*it); + it = candidates_.erase(it); + } + else + ++it; + } +} + +void MapPointCandidates::reset() +{ + boost::unique_lock lock(mut_); + std::for_each(candidates_.begin(), candidates_.end(), [&](PointCandidate& c){ + delete c.first; + delete c.second; + }); + candidates_.clear(); +} + +void MapPointCandidates::deleteCandidate(PointCandidate& c) +{ + // camera-rig: another frame might still be pointing to the candidate point + // therefore, we can't delete it right now. + delete c.second; c.second=NULL; + c.first->type_ = Point::DELETED; + trash_points_.push_back(c.first); +} + +void MapPointCandidates::emptyTrash() +{ + std::for_each(trash_points_.begin(), trash_points_.end(), [&](Point*& p){ + delete p; p=NULL; + }); + trash_points_.clear(); +} + +namespace map_debug { + +void mapValidation(Map* map, int id) +{ + for(auto it=map->keyframes_.begin(); it!=map->keyframes_.end(); ++it) + frameValidation(it->get(), id); +} + +void frameValidation(Frame* frame, int id) +{ + for(auto it = frame->fts_.begin(); it!=frame->fts_.end(); ++it) + { + if((*it)->point==NULL) + continue; + + if((*it)->point->type_ == Point::DELETED) + printf("ERROR DataValidation %i: Referenced point was deleted.\n", id); + + if(!(*it)->point->findFrameRef(frame)) + printf("ERROR DataValidation %i: Frame has reference but point does not have a reference back.\n", id); + + pointValidation((*it)->point, id); + } + for(auto it=frame->key_pts_.begin(); it!=frame->key_pts_.end(); ++it) + if(*it != NULL) + if((*it)->point == NULL) + printf("ERROR DataValidation %i: KeyPoints not correct!\n", id); +} + +void pointValidation(Point* point, int id) +{ + for(auto it=point->obs_.begin(); it!=point->obs_.end(); ++it) + { + bool found=false; + for(auto it_ftr=(*it)->frame->fts_.begin(); it_ftr!=(*it)->frame->fts_.end(); ++it_ftr) + if((*it_ftr)->point == point) { + found=true; break; + } + if(!found) + printf("ERROR DataValidation %i: Point %i has inconsistent reference in frame %i, is candidate = %i\n", id, point->id_, (*it)->frame->id_, (int) point->type_); + } +} + +void mapStatistics(Map* map) +{ + // compute average number of features which each frame observes + size_t n_pt_obs(0); + for(auto it=map->keyframes_.begin(); it!=map->keyframes_.end(); ++it) + n_pt_obs += (*it)->nObs(); + printf("\n\nMap Statistics: Frame avg. point obs = %f\n", (float) n_pt_obs/map->size()); + + // compute average number of observations that each point has + size_t n_frame_obs(0); + size_t n_pts(0); + set points; + for(auto it=map->keyframes_.begin(); it!=map->keyframes_.end(); ++it) + { + for(auto ftr=(*it)->fts_.begin(); ftr!=(*it)->fts_.end(); ++ftr) + { + if((*ftr)->point == NULL) + continue; + if(points.insert((*ftr)->point).second) { + ++n_pts; + n_frame_obs += (*ftr)->point->nRefs(); + } + } + } + printf("Map Statistics: Point avg. frame obs = %f\n\n", (float) n_frame_obs/n_pts); +} + +} // namespace map_debug +} // namespace svo diff --git a/svo/src/matcher.cpp b/svo/src/matcher.cpp new file mode 100644 index 0000000..9587608 --- /dev/null +++ b/svo/src/matcher.cpp @@ -0,0 +1,343 @@ +// This file is part of SVO - Semi-direct Visual Odometry. +// +// Copyright (C) 2014 Christian Forster +// (Robotics and Perception Group, University of Zurich, Switzerland). +// +// SVO is free software: you can redistribute it and/or modify it under the +// terms of the GNU General Public License as published by the Free Software +// Foundation, either version 3 of the License, or any later version. +// +// SVO is distributed in the hope that it will be useful, but WITHOUT ANY +// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS +// FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. +// +// You should have received a copy of the GNU General Public License +// along with this program. If not, see . + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +namespace svo { +namespace matcher { + +PatchData::PatchData(int patch_size) : + patch_size(patch_size) +{ + patch = vk::aligned_mem::aligned_alloc(patch_size*patch_size, 16); + patch_with_border = vk::aligned_mem::aligned_alloc((patch_size+2)*(patch_size+2), 16); +} + +PatchData::~PatchData() +{ + free(patch); + free(patch_with_border); +} + +namespace warp { + +void getWarpMatrixAffine( + const vk::AbstractCamera& cam_ref, + const vk::AbstractCamera& cam_cur, + const Vector2d& px_ref, + const Vector3d& f_ref, + const double depth_ref, + const SE3& T_cur_ref, + const int level_ref, + Matrix2d& A_cur_ref) +{ + // Compute affine warp matrix A_ref_cur + const int halfpatch_size = 5; + const Vector3d xyz_ref(f_ref*depth_ref); + Vector3d xyz_du_ref(cam_ref.cam2world(px_ref + Vector2d(halfpatch_size,0)*(1< 3.0 && level_cur < max_level) + { + level_cur += 1; + D *= 0.25; + } + return level_cur; +} + +void warpAffine( + const Matrix2d& A_cur_ref, + const cv::Mat& img_ref, + const Vector2d& px_ref, + const int level_ref, + const int level_cur, + PatchData& ref_patch) +{ + const int halfpatch_size = ref_patch.patch_size/2+1; + const int patch_size = halfpatch_size*2 ; + Matrix2f A_ref_cur = A_cur_ref.inverse().cast(); + if(isnan(A_ref_cur(0,0))) + { + printf("Affine warp is NaN, probably camera has no translation\n"); // TODO + return; + } + + // Perform the Warp on a larger patch + uint8_t* ref_patch_ptr = ref_patch.patch_with_border; + const Vector2f px_ref_pyr = px_ref.cast() / (1<=img_ref.cols-1 || px[1]>=img_ref.rows-1) + *ref_patch_ptr = 0; + else + *ref_patch_ptr = (uint8_t) vk::interpolateMat_8u(img_ref, px[0], px[1]); + } + } + + ref_patch_ptr = ref_patch.patch; + for(int y=1; yframe->cam_->isInFrame( + ref_ftr->px.cast()/(1<level), g_halfpatch_size+2, ref_ftr->level)) + return false; + + // warp affine + PatchData ref_patch(g_patch_size); + Matrix2d A_cur_ref; + warp::getWarpMatrixAffine( + *ref_ftr->frame->cam_, *cur_frame.cam_, ref_ftr->px, ref_ftr->f, + (ref_ftr->frame->pos() - pt.pos_).norm(), cur_frame.T_f_w_ * ref_ftr->frame->T_f_w_.inverse(), ref_ftr->level, A_cur_ref); + level_cur = 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, level_cur, ref_patch); + + // px_cur should be set + Vector2d px_scaled(px_cur/(1< A; A << T_search_ref.rotation_matrix() * f_ref, f_cur; + const Matrix2d AtA = A.transpose()*A; + if(AtA.determinant() < 0.000001) + return false; + const Vector2d depth2 = - AtA.inverse()*A.transpose()*T_search_ref.translation(); + depth = fabs(depth2[0]); + return true; +} + +bool +findEpipolarMatchDirect( + const Frame& ref_frame, + const Frame& cur_frame, + const Feature& ref_ftr, + const double d_estimate, + const double d_min, + const double d_max, + const bool align_1d, + double& depth, + double& h_inv) +{ + typedef vk::patch_score::ZMSSD PatchScore; + + PatchData ref_patch(g_patch_size); + SE3 T_cur_ref = cur_frame.T_f_w_ * 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 epi_dir = A - B; + + // Compute affine warp matrix + Matrix2d A_cur_ref; + 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); + int level_cur = warp::getBestSearchLevel(A_cur_ref, Config::nPyrLevels()-1); + + // Find length of search range on epipolar line + Vector2d px_A(cur_frame.cam_->world2cam(A)); + Vector2d px_B(cur_frame.cam_->world2cam(B)); + double px_length = (px_A-px_B).norm() / (1<().normalized(), + ref_patch.patch_with_border, ref_patch.patch, 10, px_scaled, h_inv); + else + res = feature_alignment::align2D( + cur_frame.img_pyr_[level_cur], ref_patch.patch_with_border, + ref_patch.patch, 10, px_scaled); + if(res) + { + px = px_scaled*(1<cam2world(px), depth)) + return true; + } + return false; + } + + size_t n_steps = px_length/0.7; // one step per pixel + Vector2d step = epi_dir/n_steps; + + if(n_steps > 1000) + { + printf("WARNING: skip epipolar search: %zu evaluations, px_lenght=%f, d_min=%f, d_max=%f.\n", + n_steps, px_length, d_min, d_max); + return false; + } + + // for matching, precompute sum and sum2 of warped reference patch + int pixel_sum = 0; + int pixel_sum_square = 0; + PatchScore patch_score(ref_patch.patch); + + // now we sample along the epipolar line + Vector2d uv = B-step; + Vector2i last_checked_pxi(0,0); + ++n_steps; + for(size_t i=0; iworld2cam(uv)); + Vector2i pxi(px[0]/(1<isInFrame(pxi, g_patch_size, level_cur)) + continue; + + // TODO interpolation would probably be a good idea + uint8_t* cur_patch_ptr = cur_frame.img_pyr_[level_cur].data + (pxi[1]-g_halfpatch_size)*cur_frame.img_pyr_[level_cur].cols + (pxi[0]-g_halfpatch_size); + int zmssd = patch_score.computeScore(cur_patch_ptr, cur_frame.img_pyr_[level_cur].cols); + + if(zmssd < zmssd_best) { + zmssd_best = zmssd; + uv_best = uv; + } + } + +#ifdef DEBUG_MATCHER_EPISEARCH + if(zmssd_best < g_zmssd_thresh) { + Vector2d px(cur_frame.cam_->world2cam(uv_best)); + Vector2i pxi(px[0]/(1<world2cam(uv_best)); + Vector2d px_scaled(px/(1<().normalized(), + ref_patch.patch_with_border, ref_patch.patch, 10, px_scaled, h_inv); + else + res = feature_alignment::align2D( + cur_frame.img_pyr_[level_cur], ref_patch.patch_with_border, + ref_patch.patch, 10, px_scaled); + if(res) + { + px = px_scaled*(1<cam2world(px), depth)) + return true; + } + return false; + } + + if(depthFromTriangulation(T_cur_ref, ref_ftr.f, vk::unproject2d(uv_best).normalized(), depth)) + return true; + } + return false; +} + +} // namespace matcher +} // namespace svo diff --git a/svo/src/point.cpp b/svo/src/point.cpp new file mode 100644 index 0000000..40aced9 --- /dev/null +++ b/svo/src/point.cpp @@ -0,0 +1,170 @@ +// This file is part of SVO - Semi-direct Visual Odometry. +// +// Copyright (C) 2014 Christian Forster +// (Robotics and Perception Group, University of Zurich, Switzerland). +// +// SVO is free software: you can redistribute it and/or modify it under the +// terms of the GNU General Public License as published by the Free Software +// Foundation, either version 3 of the License, or any later version. +// +// SVO is distributed in the hope that it will be useful, but WITHOUT ANY +// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS +// FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. +// +// You should have received a copy of the GNU General Public License +// along with this program. If not, see . + +#include +#include +#include +#include +#include + +namespace svo { + +int Point::point_counter_ = 0; + +Point::Point(Vector3d pos, PointOrigin origin) : + id_(point_counter_++), + pos_(pos), + n_obs_(0), + v_pt_(NULL), + last_published_ts_(0), + last_projected_kf_id_(-1), + type_(UNKNOWN_QUALITY), + origin_(origin), + n_failed_reproj_(0), + n_succeeded_reproj_(0), + last_structure_optim_(0) +{} + +Point::~Point() +{} + +void Point::addFrameRef(Feature* ftr) +{ + obs_.push_front(ftr); + ++n_obs_; +} + +Feature* Point::findFrameRef(Frame* frame) +{ + for(auto it=obs_.begin(), ite=obs_.end(); it!=ite; ++it) + if((*it)->frame == frame) + return *it; + return NULL; // no keyframe found +} + +bool Point::deleteFrameRef(Frame* frame) +{ + for(auto it=obs_.begin(), ite=obs_.end(); it!=ite; ++it) + { + if((*it)->frame == frame) + { + obs_.erase(it); + return true; + } + } + return false; +} + +bool Point::getCloseViewObs(const Vector3d& framepos, Feature*& ftr) const +{ + // TODO: get frame with same point of view AND same pyramid level! + Vector3d obs_dir(framepos - pos_); obs_dir.normalize(); + auto min_it=obs_.begin(); + double min_cos_angle = 0; + for(auto it=obs_.begin(), ite=obs_.end(); it!=ite; ++it) + { + Vector3d dir((*it)->frame->pos() - pos_); dir.normalize(); + double cos_angle = obs_dir.dot(dir); + if(cos_angle > min_cos_angle) + { + min_cos_angle = cos_angle; + min_it = it; + } + } + ftr = *min_it; + if(min_cos_angle < 0.5) // assume that observations larger than 60° are useless + return false; + return true; +} + +void Point::pointJacobian( + const Vector3d& p_in_f, + const Matrix3d& R_f_w, + Matrix23d& point_jac) const +{ + // we work on the unit plane, therefore focal lenght = 1 + const double z_inv = 1.0/p_in_f[2]; + const double z_inv_sq = z_inv*z_inv; + point_jac(0, 0) = z_inv; + point_jac(0, 1) = 0.0; + point_jac(0, 2) = -p_in_f[0] * z_inv_sq; + point_jac(1, 0) = 0.0; + point_jac(1, 1) = z_inv; + point_jac(1, 2) = -p_in_f[1] * z_inv_sq; + point_jac = - point_jac * R_f_w; +} + +void Point::optimize(const size_t n_iter) +{ + Vector3d old_point = pos_; + double chi2 = 0.0; + Matrix3d A; + Vector3d b; + + for(size_t i=0; iframe->T_f_w_ * pos_); + pointJacobian(p_in_f, (*it)->frame->T_f_w_.rotation_matrix(), J); + const Vector2d e(vk::project2d((*it)->f) - vk::project2d(p_in_f)); + new_chi2 += e.squaredNorm(); + A.noalias() += J.transpose() * J; + b.noalias() -= J.transpose() * e; + } + + // solve linear system + const Vector3d dp(A.ldlt().solve(b)); + + // 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 svo diff --git a/svo/src/pose_optimizer.cpp b/svo/src/pose_optimizer.cpp new file mode 100644 index 0000000..180bb1c --- /dev/null +++ b/svo/src/pose_optimizer.cpp @@ -0,0 +1,164 @@ +// This file is part of SVO - Semi-direct Visual Odometry. +// +// Copyright (C) 2014 Christian Forster +// (Robotics and Perception Group, University of Zurich, Switzerland). +// +// SVO is free software: you can redistribute it and/or modify it under the +// terms of the GNU General Public License as published by the Free Software +// Foundation, either version 3 of the License, or any later version. +// +// SVO is distributed in the hope that it will be useful, but WITHOUT ANY +// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS +// FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. +// +// You should have received a copy of the GNU General Public License +// along with this program. If not, see . + +#include +#include +#include +#include +#include +#include +#include + +namespace svo { +namespace pose_optimizer { + +void optimizeGaussNewton( + const double reproj_thresh, + const size_t n_iter, + const bool verbose, + FramePtr& frame, + double& estimated_scale, + double& error_init, + double& error_final, + size_t& num_obs) +{ + // init + double chi2(0.0); + Vector2d focal_length(1,1); + vector chi2_vec_init, chi2_vec_final; + vk::robust_cost::TukeyWeightFunction weight_function; + SE3 T_old(frame->T_f_w_); + Matrix6d A; + Vector6d b; + + // compute the scale of the error for robust estimation + std::vector errors; errors.reserve(frame->fts_.size()); + for(auto it=frame->fts_.begin(); it!=frame->fts_.end(); ++it) + { + if((*it)->point == NULL) + continue; + Vector2d e = vk::project2d((*it)->f) + - vk::project2d(frame->T_f_w_ * (*it)->point->pos_); + e *= 1.0 / (1<<(*it)->level); + errors.push_back(e.norm()); + } + if(errors.empty()) + return; + vk::robust_cost::MADScaleEstimator scale_estimator; + estimated_scale = scale_estimator.compute(errors); + + num_obs = errors.size(); + chi2_vec_init.reserve(num_obs); + chi2_vec_final.reserve(num_obs); + double scale = estimated_scale; + for(size_t iter=0; itercam_->errorMultiplier2(); + + b.setZero(); + A.setZero(); + double new_chi2(0.0); + + // compute residual + for(auto it=frame->fts_.begin(); it!=frame->fts_.end(); ++it) + { + if((*it)->point == NULL) + continue; + Matrix26d J = frameJac(frame->T_f_w_, (*it)->point->pos_, focal_length); + Vector2d e = vk::project2d((*it)->f) + - vk::project2d(frame->T_f_w_ * (*it)->point->pos_); + double sqrt_inv_cov = 1.0 / (1<<(*it)->level); + e *= sqrt_inv_cov; + if(iter == 0) + chi2_vec_init.push_back(e.squaredNorm()); // just for debug + J *= sqrt_inv_cov; + double weight = weight_function.value(e.norm()/scale); + A.noalias() += J.transpose()*J*weight; + b.noalias() -= J.transpose()*e*weight; + new_chi2 += e.squaredNorm()*weight; + } + + // solve linear system + const Vector6d dT(A.ldlt().solve(b)); + + // check if error increased + if((iter > 0 && new_chi2 > chi2) || (bool) std::isnan((double)dT[0])) + { + if(verbose) + std::cout << "it " << iter + << "\t FAILURE \t new_chi2 = " << new_chi2 << std::endl; + frame->T_f_w_ = T_old; // roll-back + break; + } + + // update the model + SE3 T_new = SE3::exp(dT)*frame->T_f_w_; + T_old = frame->T_f_w_; + frame->T_f_w_ = T_new; + chi2 = new_chi2; + if(verbose) + std::cout << "it " << iter + << "\t Success \t new_chi2 = " << new_chi2 + << "\t norm(dT) = " << vk::norm_max(dT) << std::endl; + + // stop when converged + if(vk::norm_max(dT) <= EPS) + break; + } + + // Set covariance as inverse information matrix. Optimistic estimator! + const double pixel_variance=1.0; + frame->Cov_ = pixel_variance*(A*std::pow(frame->cam_->errorMultiplier2(),2)).inverse(); + + // Remove Measurements with too large reprojection error + double reproj_thresh_scaled = reproj_thresh / frame->cam_->errorMultiplier2(); + size_t n_deleted_refs = 0; + for(Features::iterator it=frame->fts_.begin(); it!=frame->fts_.end(); ++it) + { + if((*it)->point == NULL) + continue; + Vector2d e = vk::project2d((*it)->f) - vk::project2d(frame->T_f_w_ * (*it)->point->pos_); + double sqrt_inv_cov = 1.0 / (1<<(*it)->level); + e *= sqrt_inv_cov; + chi2_vec_final.push_back(e.squaredNorm()); + if(e.norm() > reproj_thresh_scaled) + { + // (*it)->point->deleteFrameRef(frame); + (*it)->point = NULL; + ++n_deleted_refs; + } + } + + error_init=0.0; + error_final=0.0; + if(!chi2_vec_init.empty()) + error_init = sqrt(vk::getMedian(chi2_vec_init))*frame->cam_->errorMultiplier2(); + if(!chi2_vec_final.empty()) + error_final = sqrt(vk::getMedian(chi2_vec_final))*frame->cam_->errorMultiplier2(); + + estimated_scale *= frame->cam_->errorMultiplier2(); + if(verbose) + std::cout << "n deleted obs = " << n_deleted_refs + << "\t scale = " << estimated_scale + << "\t error init = " << error_init + << "\t error end = " << error_final << std::endl; + num_obs -= n_deleted_refs; +} + +} // namespace pose_optimizer +} // namespace svo diff --git a/svo/src/reprojection.cpp b/svo/src/reprojection.cpp new file mode 100644 index 0000000..26de82c --- /dev/null +++ b/svo/src/reprojection.cpp @@ -0,0 +1,214 @@ +// This file is part of SVO - Semi-direct Visual Odometry. +// +// Copyright (C) 2014 Christian Forster +// (Robotics and Perception Group, University of Zurich, Switzerland). +// +// SVO is free software: you can redistribute it and/or modify it under the +// terms of the GNU General Public License as published by the Free Software +// Foundation, either version 3 of the License, or any later version. +// +// SVO is distributed in the hope that it will be useful, but WITHOUT ANY +// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS +// FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. +// +// You should have received a copy of the GNU General Public License +// along with this program. If not, see . + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +namespace svo { +namespace reprojection { + +Grid::Grid() +{} + +void Grid::initialize(vk::AbstractCamera* cam) +{ + cell_size = Config::gridSize(); + grid_n_cols = ceil(static_cast(cam->width())/cell_size); + grid_n_rows = ceil(static_cast(cam->height())/cell_size); + cells.resize(grid_n_cols*grid_n_rows); + std::for_each(cells.begin(), cells.end(), [&](Cell*& c){ c = new Cell; }); + cell_order.resize(cells.size()); + for(size_t i=0; iclear(); }); +} + +void reprojectMap( + Map& map, + FramePtr frame, + Grid& grid, + MapPointCandidates& candidate_points, + std::vector< std::pair >& overlap_kfs, + size_t& n_matches, + size_t& n_trials) +{ + resetGrid(grid); + + // Identify those Keyframes which share a common field of view. + list< pair > close_kfs; + map.getCloseKeyframes(frame, close_kfs); + + // Sort KFs with overlap according to their closeness // TODO is this still necessary? + close_kfs.sort(boost::bind(&std::pair::second, _1) < + boost::bind(&std::pair::second, _2)); + + // Reproject all mappoints of the closest N kfs with overlap. We only store + // in which grid cell the points fall. + size_t n = 0, max_n = 10; + overlap_kfs.reserve(max_n); + for(auto it_frame=close_kfs.begin(), ite_frame=close_kfs.end(); + it_frame!=ite_frame && nfirst; + overlap_kfs.push_back(pair(ref_frame,0)); + + // Try to reproject each mappoint that the other KF observes + for(auto it_ftr=ref_frame->fts_.begin(), ite_ftr=ref_frame->fts_.end(); + it_ftr!=ite_ftr; ++it_ftr) + { + // check if the feature has a mappoint assigned + if((*it_ftr)->point == NULL) + continue; + + // make sure we project a point only once + if((*it_ftr)->point->last_projected_kf_id_ == frame->id_) + continue; + (*it_ftr)->point->last_projected_kf_id_ = frame->id_; + if(reprojectPoint(grid, frame, (*it_ftr)->point)) + overlap_kfs.back().second++; + } + } + + // Now project all point candidates + { + boost::unique_lock lock(candidate_points.mut_); + auto it=candidate_points.candidates_.begin(); + while(it!=candidate_points.candidates_.end()) + { + if(!reprojectPoint(grid, frame, it->first)) + { + it->first->n_failed_reproj_ += 3; + if(it->first->n_failed_reproj_ > 30) + { + candidate_points.deleteCandidate(*it); + it = candidate_points.candidates_.erase(it); + continue; + } + } + ++it; + } + } + + // Now we go through each grid cell and select one point to match. + // At the end, we should have at maximum one reprojected point per cell. + n_matches=0; n_trials=0; + for(size_t i=0; i (size_t) Config::maxFts()) + break; + } +} + +bool pointQualityComparator(Candidate& lhs, Candidate& rhs) +{ + if(lhs.pt->type_ > rhs.pt->type_) + return true; + return false; +} + +bool reprojectCell( + Cell& cell, + FramePtr frame, + Map& map, + MapPointCandidates& candidate_points, + size_t& n_trials) +{ + cell.sort(boost::bind(&pointQualityComparator, _1, _2)); + Cell::iterator it=cell.begin(); + while(it!=cell.end()) + { + ++n_trials; + + if(it->pt->type_ == Point::DELETED) + { + it = cell.erase(it); + continue; + } + + int feature_level; + bool found_match = matcher::findMatchDirect(*it->pt, *frame, it->px, feature_level); + if(!found_match) + { + it->pt->n_failed_reproj_++; + if(it->pt->type_ == Point::UNKNOWN_QUALITY && it->pt->n_failed_reproj_ > 15) + map.safeDeletePoint(it->pt); + if(it->pt->type_ == Point::CANDIDATE && it->pt->n_failed_reproj_ > 30) + candidate_points.deleteCandidatePoint(it->pt); + it = cell.erase(it); + continue; + } + it->pt->n_succeeded_reproj_++; + if(it->pt->type_ == Point::UNKNOWN_QUALITY && it->pt->n_succeeded_reproj_ > 10) + it->pt->type_ = Point::GOOD_QUALITY; + + Feature* new_feature = new Feature(frame.get(), it->px, feature_level); + frame->addFeature(new_feature); + new_feature->point = it->pt; + // note, we add a reference to the point only if the frame is selected as a keyframe + + // If the keyframe is selected and we reproject the rest, we don't have to + // check this point anymore. + it = cell.erase(it); + + // Maximum one point per cell. + return true; + } + return false; +} + +bool reprojectPoint( + Grid& grid, + FramePtr frame, + Point* point) +{ + Vector2d px(frame->w2c(point->pos_)); + if(frame->cam_->isInFrame(px.cast(), 8)) // 8px is the patch size in the matcher + { + const int k = static_cast(px[1]/grid.cell_size)*grid.grid_n_cols + static_cast(px[0]/grid.cell_size); + grid.cells.at(k)->push_back(Candidate(point, px)); + return true; + } + return false; +} + +} // namespace reprojection +} // namespace svo diff --git a/svo/src/sparse_img_align.cpp b/svo/src/sparse_img_align.cpp new file mode 100644 index 0000000..c4a2afd --- /dev/null +++ b/svo/src/sparse_img_align.cpp @@ -0,0 +1,296 @@ +// This file is part of SVO - Semi-direct Visual Odometry. +// +// Copyright (C) 2014 Christian Forster +// (Robotics and Perception Group, University of Zurich, Switzerland). +// +// SVO is free software: you can redistribute it and/or modify it under the +// terms of the GNU General Public License as published by the Free Software +// Foundation, either version 3 of the License, or any later version. +// +// SVO is distributed in the hope that it will be useful, but WITHOUT ANY +// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS +// FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. +// +// You should have received a copy of the GNU General Public License +// along with this program. If not, see . + +#include +#include +#include +#include +#include +#include +#include +#include +#include + +namespace svo { + +SparseImgAlign:: +SparseImgAlign(int max_level, int min_level, int n_iter, + Method method, bool display, bool verbose) : + display_(display), + max_level_(max_level), + min_level_(min_level) +{ + n_iter_ = n_iter; + n_iter_init_ = n_iter_; + method_ = method; + verbose_ = verbose; + eps_ = 0.000001; +} + +size_t SparseImgAlign:: +run(FramePtr ref_frame, FramePtr cur_frame) +{ + reset(); + + if(ref_frame->fts_.empty()) + { + SVO_WARN_STREAM("SparseImgAlign: no features to track!"); + return 0; + } + + ref_frame_ = ref_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); + + SE3 T_cur_from_ref(cur_frame_->T_f_w_ * ref_frame_->T_f_w_.inverse()); + + for(level_=max_level_; level_>=min_level_; --level_) + { + setInitialChi2(1.0); + mu_ = 0.1; + jacobian_cache_.setZero(); + have_ref_patch_cache_ = false; + if(verbose_) + printf("\nPYRAMID LEVEL %i\n---------------\n", level_); + optimize(T_cur_from_ref); + } + cur_frame_->T_f_w_ = T_cur_from_ref * ref_frame_->T_f_w_; + return n_meas_/patch_area_; +} + +// TODO take jacobian from Frame Class! +void +frameJac(const Vector3d & xyz, + Matrix & J) +{ + const double x = xyz[0]; + const double y = xyz[1]; + const double z_inv = 1./xyz[2]; + const double z_inv_2 = z_inv*z_inv; + + J(0,0) = z_inv; // 1/z + J(0,1) = 0.0; // 0 + J(0,2) = -x*z_inv_2; // -x/z^2 + J(0,3) = J(0,2)*y; // -x*y/z^2 + J(0,4) = 1.0 - J(0,2)*x; // 1.0 + x^2/z^2 + J(0,5) = -y*z_inv; // -y/z + + J(1,0) = 0.0; // 0 + J(1,1) = z_inv; // 1/z + J(1,2) = -y*z_inv_2; // -y/z^2 + J(1,3) = -1.0 + J(1,2)*y; // -1.0 - y^2/z^2 + J(1,4) = -J(0,3); // x*y/^2 + J(1,5) = x*z_inv; // x/z +} + +void SparseImgAlign:: +precomputeReferencePatches() +{ + const int border = patch_halfsize_+1; + const cv::Mat& ref_img = ref_frame_->img_pyr_.at(level_); + const int stride = ref_img.cols; + const float scale = 1.0f/(1<pos(); + const double focal_length = ref_frame_->cam_->errorMultiplier2(); + size_t feature_counter = 0; + std::vector::iterator visiblity_it = visible_fts_.begin(); + for(auto it=ref_frame_->fts_.begin(), ite=ref_frame_->fts_.end(); + it!=ite; ++it, ++feature_counter, ++visiblity_it) + { + // check if reference with patch size is within image + const float u_ref = (*it)->px[0]*scale; + const float v_ref = (*it)->px[1]*scale; + const int u_ref_i = floorf(u_ref); + const int v_ref_i = floorf(v_ref); + if((*it)->point == NULL || u_ref_i-border < 0 || v_ref_i-border < 0 || u_ref_i+border >= ref_img.cols || v_ref_i+border >= ref_img.rows) + continue; + *visiblity_it = true; + + // cannot just take the 3d points coordinate because of the reprojection errors in the reference image!!! + const double depth(((*it)->point->pos_ - ref_pos).norm()); + const Vector3d xyz_ref((*it)->f*depth); + + // compute bilateral interpolation weights for reference image + const float subpix_u_ref = u_ref-u_ref_i; + const float subpix_v_ref = v_ref-v_ref_i; + const float w_ref_tl = (1.0-subpix_u_ref) * (1.0-subpix_v_ref); + const float w_ref_tr = subpix_u_ref * (1.0-subpix_v_ref); + const float w_ref_bl = (1.0-subpix_u_ref) * subpix_v_ref; + const float w_ref_br = subpix_u_ref * subpix_v_ref; + size_t pixel_counter = 0; + float* cache_ptr = reinterpret_cast(ref_patch_cache_.data) + patch_area_*feature_counter; + for(int y=0; y frame_jac; + frameJac(xyz_ref, frame_jac); + + // cache the jacobian + jacobian_cache_.col(feature_counter*patch_area_ + pixel_counter) = + (dx*frame_jac.row(0) + dy*frame_jac.row(1))*(focal_length / (1<img_pyr_.at(level_); + const cv::Mat& cur_img = cur_frame_->img_pyr_.at(level_); + + if(linearize_system && display_) + resimg_ = cv::Mat(ref_img.size(), CV_32F, cv::Scalar(0)); + + if(have_ref_patch_cache_ == false) + precomputeReferencePatches(); + + // compute the weights on the first iteration + std::vector errors; + if(compute_weight_scale) + errors.reserve(visible_fts_.size()); + const int stride = ref_img.cols; + const int border = patch_halfsize_+1; + const float scale = 1.0f/(1<pos()); + float chi2 = 0.0; + size_t feature_counter = 0; // is used to compute the index of the cached jacobian + std::vector::iterator visiblity_it = visible_fts_.begin(); + for(auto it=ref_frame_->fts_.begin(); it!=ref_frame_->fts_.end(); + ++it, ++feature_counter, ++visiblity_it) + { + // check if feature is within image + if(!*visiblity_it) + continue; + + // compute pixel location in cur img + const double depth = ((*it)->point->pos_ - ref_pos).norm(); + const Vector3d xyz_ref((*it)->f*depth); + const Vector3d xyz_cur(T_cur_from_ref * xyz_ref); + const Vector2f uv_cur_pyr(cur_frame_->cam_->world2cam(xyz_cur).cast() * scale); + const float u_cur = uv_cur_pyr[0]; + const float v_cur = uv_cur_pyr[1]; + const int u_cur_i = floorf(u_cur); + const int v_cur_i = floorf(v_cur); + + // check if projection is within the image + if(u_cur_i < 0 || v_cur_i < 0 || u_cur_i-border < 0 || v_cur_i-border < 0 || u_cur_i+border >= cur_img.cols || v_cur_i+border >= cur_img.rows) + continue; + + // compute bilateral interpolation weights for the current image + const float subpix_u_cur = u_cur-u_cur_i; + const float subpix_v_cur = v_cur-v_cur_i; + const float w_cur_tl = (1.0-subpix_u_cur) * (1.0-subpix_v_cur); + const float w_cur_tr = subpix_u_cur * (1.0-subpix_v_cur); + const float w_cur_bl = (1.0-subpix_u_cur) * subpix_v_cur; + const float w_cur_br = subpix_u_cur * subpix_v_cur; + float* ref_patch_cache_ptr = reinterpret_cast(ref_patch_cache_.data) + patch_area_*feature_counter; + size_t pixel_counter = 0; // is used to compute the index of the cached jacobian + for(int y=0; yvalue(res/scale_); + } + + chi2 += res*res*weight; + n_meas_++; + + if(linearize_system) + { + // compute Jacobian, weighted Hessian and weighted "steepest descend images" (times error) + const Vector6d J(jacobian_cache_.col(feature_counter*patch_area_ + pixel_counter)); + H_ += J*J.transpose()*weight; + Jres_ -= J*res*weight; + if(display_) + resimg_.at((int) v_cur+y-patch_halfsize_, (int) u_cur+x-patch_halfsize_) = res/255.0; + } + } + } + } + + // compute the weights on the first iteration + if(compute_weight_scale && iter_ == 0) + scale_ = scale_estimator_->compute(errors); + + return chi2/n_meas_; +} + +int SparseImgAlign:: +solve() +{ + x_ = H_.ldlt().solve(Jres_); + if((bool) std::isnan((double) x_[0])) + return 0; + return 1; +} + +void SparseImgAlign:: +update(const ModelType& T_curold_from_ref, ModelType& T_curnew_from_ref) +{ + // the jacobian is computed in the coordinate frame of the reference image + // T_ref_from_curnew = T_ref_from_curold * SE3::exp(x_).inverse(); + // but our state is in the reference frame of the new image, thus using (AB)^-1 = B^-1*A^-1 + T_curnew_from_ref = SE3::exp(x_) * T_curold_from_ref; +} + +void SparseImgAlign:: +startIteration() +{} + +void SparseImgAlign:: +finishIteration() +{ + if(display_) + { + cv::namedWindow("residuals", CV_WINDOW_AUTOSIZE); + cv::imshow("residuals", resimg_*4); + cv::waitKey(0); + } +} + +} // namespace svo + diff --git a/svo/test/README.md b/svo/test/README.md new file mode 100644 index 0000000..ce9f1fd --- /dev/null +++ b/svo/test/README.md @@ -0,0 +1,11 @@ +Download Synthetic Test Data: +----------------------------- + +Downloads and extracts the test data in the folder `data`: + + cd rpg_slam/svo/test/data + wget http://rpg.ifi.uzh.ch/datasets/flying_room_1_rig_1.tar.gz -O - | tar -xz + +If you want to store the data in another location (for instance, if you maintain a special folder with all datasets), then you can move the dataset there and set the environment variable `TEST_DATA_DIR` in your `.bashrc` like this: + + export SVO_DATASET_DIR=${HOME}/Datasets diff --git 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2014 Christian Forster +// (Robotics and Perception Group, University of Zurich, Switzerland). +// +// SVO is free software: you can redistribute it and/or modify it under the +// terms of the GNU General Public License as published by the Free Software +// Foundation, either version 3 of the License, or any later version. +// +// SVO is distributed in the hope that it will be useful, but WITHOUT ANY +// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS +// FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. +// +// You should have received a copy of the GNU General Public License +// along with this program. If not, see . + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +namespace { + +struct ConvergedSeed { + int x_, y_; + double depth_, error_; + ConvergedSeed(int x, int y, double depth, double error) : + x_(x), y_(y), depth_(depth), error_(error) + {} +}; + +/// DepthFilter Test-Fixture +class DepthFilterTest { + public: + DepthFilterTest(); + virtual ~DepthFilterTest(); + void depthFilterCb(const svo::Seed& seed, const Eigen::Vector3d& xyz_world); + void testReconstruction(std::string dataset_dir, std::string experiment_name); + + std::list results_; + std::vector errors_; + double error_sum_; + size_t n_converged_seeds_; + vk::PinholeCamera* cam_; + svo::DepthFilter* depth_filter_; + svo::FramePtr frame_ref_; + svo::FramePtr frame_cur_; + cv::Mat depth_ref_; +}; + +DepthFilterTest::DepthFilterTest() : + n_converged_seeds_(0), + cam_(new vk::PinholeCamera(752, 480, 217.083701215, 217.083701215, 376, 240)), + depth_filter_(NULL) +{ + errors_.reserve(1000); +} + +DepthFilterTest::~DepthFilterTest() +{ + delete cam_; +} + +void DepthFilterTest::depthFilterCb( + const svo::Seed& seed, + const Eigen::Vector3d& xyz_world) +{ + double depth = (frame_ref_->pos() - xyz_world).norm(); + double error = fabs(depth - depth_ref_.at(seed.ftr->px[1], seed.ftr->px[0])); + results_.push_back(ConvergedSeed(seed.ftr->px[0], seed.ftr->px[1], depth, error)); + errors_.push_back(error); + delete seed.ftr; + ++n_converged_seeds_; +} + +void DepthFilterTest::testReconstruction( + std::string dataset_dir, + std::string experiment_name) +{ + vk::FileReader sequence_file_reader(dataset_dir+"/trajectory.txt"); + std::vector sequence; + sequence_file_reader.skipComments(); + if(!sequence_file_reader.next()) + std::runtime_error("Failed to open sequence file"); + sequence_file_reader.readAllEntries(sequence); + std::cout << "RUN EXPERIMENT: read " << sequence.size() << " dataset entries." << std::endl; + std::vector::iterator it = sequence.begin(); + vk::Timer t; + std::list n_converged_per_iteration; + + svo::feature_detection::DetectorPtr feature_detector(new svo::feature_detection::FastDetector()); + svo::DepthFilter::callback_t depth_filter_cb = boost::bind(&DepthFilterTest::depthFilterCb, this, _1, _2); + depth_filter_ = new svo::DepthFilter(feature_detector, depth_filter_cb); + + for(int i=0; it != sequence.end() && i<50; ++it, ++i) + { + std::string img_name(dataset_dir+"/img/" + (*it).image_name_ + "_0.png"); + if(i==0) + printf("reading image: '%s'\n", img_name.c_str()); + cv::Mat img(cv::imread(img_name, 0)); + assert(!img.empty()); + + Sophus::SE3 T_w_f = Sophus::SE3(it->q_.toRotationMatrix(), it->t_); + if(i == 0) + { + // create reference frame and load ground truth depthmap + frame_ref_.reset(new svo::Frame(cam_, img)); + frame_ref_->T_f_w_ = T_w_f.inverse(); + depth_filter_->addKeyframe(frame_ref_, 3, 1); + vk::blender_utils::loadBlenderDepthmap(dataset_dir+"/depth/" + (*it).image_name_ + "_0.depth", *cam_, depth_ref_); + continue; + } + + n_converged_seeds_=0; + frame_cur_ = svo::FramePtr(new svo::Frame(cam_, img)); + frame_cur_->T_f_w_ = T_w_f.inverse(); + depth_filter_->addFrame(frame_cur_); + n_converged_per_iteration.push_back(n_converged_seeds_); + } + printf("Experiment '%s' took %f ms\n", experiment_name.c_str(), t.stop()*1000); + + // compute mean, median and variance of error in converged area + { + printf("# converged: \t %zu (ref: 349)\n", errors_.size()); + double sum_error = 0; + std::for_each(errors_.begin(), errors_.end(), [&](double& e){sum_error+=e;}); + printf("mean error: \t %f cm (ref: 1.510507)\n", sum_error*100/errors_.size()); + std::vector::iterator it = errors_.begin()+0.5*errors_.size(); + std::nth_element(errors_.begin(), it, errors_.end()); + printf("50-percentile: \t %f cm (ref: 0.809308)\n", *it*100); + it = errors_.begin()+0.8*errors_.size(); + std::nth_element(errors_.begin(), it, errors_.end()); + printf("80-percentile: \t %f cm (ref: 1.580725)\n", *it*100); + it = errors_.begin()+0.95*errors_.size(); + std::nth_element(errors_.begin(), it, errors_.end()); + printf("95-percentile: \t %f cm (ref: 2.557531)\n", *it*100); + } + + // trace error + std::string trace_name(std::string(TEST_TRACE_DIR) + "/depth_filter_" + experiment_name + ".txt"); + std::ofstream ofs(trace_name.c_str()); + for(std::list::iterator i=results_.begin(); i!=results_.end(); ++i) + ofs << i->x_ << ", " << i->y_ << ", " << fabs(i->error_) << std::endl; + ofs.close(); + + // trace convergence rate + trace_name = std::string(TEST_TRACE_DIR) + "/depth_filter_" + experiment_name + "_convergence.txt"; + ofs.open(trace_name.c_str()); + for(std::list::iterator it=n_converged_per_iteration.begin(); + it!=n_converged_per_iteration.end(); ++it) + ofs << *it << std::endl; + ofs.close(); + + // write ply file for pointcloud visualization in Meshlab + trace_name = std::string(TEST_TRACE_DIR) + "/depth_filter_" + experiment_name + ".ply"; + ofs.open(trace_name.c_str()); + ofs << "ply" << std::endl + << "format ascii 1.0" << std::endl + << "element vertex " << results_.size() << std::endl + << "property float x" << std::endl + << "property float y" << std::endl + << "property float z" << std::endl + << "property uchar blue" << std::endl + << "property uchar green" << std::endl + << "property uchar red" << std::endl + << "end_header" << std::endl; + + for(std::list::iterator i=results_.begin(); i!=results_.end(); ++i) + { + cv::Vec3b c = frame_ref_->img_pyr_[0].at(i->y_, i->x_); + Eigen::Vector3d p = cam_->cam2world(i->x_, i->y_)*i->depth_; + ofs << p[0] << " " << p[1] << " " << p[2] << " " + << (int) c[0] << " " << (int) c[1] << " " << (int) c[2] << std::endl; + } +} + +} // namespace + +int main(int argc, char** argv) +{ + DepthFilterTest test; + std::string dataset_dir(std::string(TEST_DATA_DIR) + "/flying_room_1_rig_1"); + std::string experiment_name("synth_fast_2d"); + test.testReconstruction(dataset_dir, experiment_name); + return 0; +} diff --git a/svo/test/test_feature_alignment.cpp b/svo/test/test_feature_alignment.cpp new file mode 100644 index 0000000..04bddf7 --- /dev/null +++ b/svo/test/test_feature_alignment.cpp @@ -0,0 +1,122 @@ +// This file is part of SVO - Semi-direct Visual Odometry. +// +// Copyright (C) 2014 Christian Forster +// (Robotics and Perception Group, University of Zurich, Switzerland). +// +// SVO is free software: you can redistribute it and/or modify it under the +// terms of the GNU General Public License as published by the Free Software +// Foundation, either version 3 of the License, or any later version. +// +// SVO is distributed in the hope that it will be useful, but WITHOUT ANY +// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS +// FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. +// +// You should have received a copy of the GNU General Public License +// along with this program. If not, see . + +#include +#include +#include +#include +#include +#if __ARM_NEON__ +#include +#endif + +using namespace Eigen; + +void generateRefPatchNoWarpInterpolate(const cv::Mat& img, const Vector2d& px, + cv::Mat& ref_patch_with_border) +{ + // compute interpolation weights + const int u_r = floor(px[0]); + const int v_r = floor(px[1]); + const float subpix_u = px[0]-u_r; + const float subpix_v = px[1]-v_r; + const float wTL = (1.0-subpix_u)*(1.0-subpix_v); + const float wTR = subpix_u * (1.0-subpix_v); + const float wBL = (1.0-subpix_u)*subpix_v; + const float wBR = subpix_u * subpix_v; + + // loop through search_patch, interpolate + ref_patch_with_border = cv::Mat(10, 10, CV_8UC1); + uint8_t* patch_ptr = ref_patch_with_border.data; + const int stride = img.step.p[0]; + for(int y=0; y<10; ++y) + { + uint8_t* img_ptr = (uint8_t*) img.data + (v_r+y-4-1)*stride + u_r-4-1; + for(int x=0; x<10; ++x, ++patch_ptr, ++img_ptr) + *patch_ptr = wTL*img_ptr[0] + wTR*img_ptr[1] + wBL*img_ptr[stride] + wBR*img_ptr[stride+1]; + } +} + +int main(int argc, char **argv) +{ + std::string img_name(std::string(TEST_DATA_DIR) + "/flying_room_1_rig_1/img/frame_000001_0.png"); + printf("Loading image '%s'\n", img_name.c_str()); + cv::Mat img(cv::imread(img_name, 0)); + assert(img.type() == CV_8UC1); + + // TODO: test on corner/gradient features! + Vector2d px_true(130.2,120.3); + + // create reference patch with border + cv::Mat ref_patch_with_border; + generateRefPatchNoWarpInterpolate(img, px_true, ref_patch_with_border); + + // create reference patch, aligned + uint8_t* ref_patch = vk::aligned_mem::aligned_alloc(64, 16); + uint8_t* ref_patch_ptr = ref_patch; + for(int y=1; y<9; ++y) + { + uint8_t* ref_patch_border_ptr = ref_patch_with_border.data + y*10 + 1; + for(int x=0; x<8; ++x, ++ref_patch_border_ptr, ++ref_patch_ptr) + *ref_patch_ptr = *ref_patch_border_ptr; + } + + Vector2d px_est, px_error(-1.1, -0.8); + double h_inv; + vk::Timer t; + for(int i=0; i<1000; ++i) + { + px_est = px_true-px_error; + Vector2f dir = px_error.normalized().cast(); + svo::feature_alignment::align1D(img, dir, ref_patch_with_border.data, ref_patch, 3, px_est, h_inv); + } + Vector2d e = px_est-px_true; + printf("1000Xalign 1D took %fms, error = %fpx \t (ref i7-W520: 1.637000ms, Odroid-U2: ?, 0.008788px) \n", t.stop()*1000, e.norm()); + + t.start(); + for(int i=0; i<1000; ++i) + { + px_est = px_true-px_error; + svo::feature_alignment::align2D(img, ref_patch_with_border.data, ref_patch, 3, px_est, true); + } + e = px_est-px_true; + printf("1000Xalign 2D took %fms, error = %fpx \t (ref i7-W520: 2.147000ms, Odroid-U2: ?, 0.009632px)\n", t.stop()*1000, e.norm()); + +#ifdef __SSE2__ + // Note, this KLT implementation is not invariant to illuminatino changes! + t.start(); + for(int i=0; i<1000; ++i) + { + px_est = px_true-px_error; + svo::feature_alignment::align2D_SSE2(img, ref_patch_with_border.data, ref_patch, 3, px_est); + } + e = px_est-px_true; + printf("1000Xalign 2D SSE2 %fms, error = %fpx \t (ref i7-W520: 0.548000ms, 0.023032px)\n", t.stop()*1000, e.norm()); +#endif + +#ifdef __ARM_NEON__ + t.start(); + for(int i=0; i<1000; ++i) + { + px_est = px_true-px_error; + svo::feature_alignment::align2D_NEON(img, ref_patch_with_border.data, ref_patch, 3, px_est); + } + e = px_est-px_true; + printf("1000Xalign 2D NEON %fms, error = %fpx \t (ref Odroid-U2: ?, ?)\n", t.stop()*1000, e.norm()); +#endif + + return 0; +} diff --git a/svo/test/test_feature_detection.cpp b/svo/test/test_feature_detection.cpp new file mode 100644 index 0000000..00e21a2 --- /dev/null +++ b/svo/test/test_feature_detection.cpp @@ -0,0 +1,80 @@ +// This file is part of SVO - Semi-direct Visual Odometry. +// +// Copyright (C) 2014 Christian Forster +// (Robotics and Perception Group, University of Zurich, Switzerland). +// +// SVO is free software: you can redistribute it and/or modify it under the +// terms of the GNU General Public License as published by the Free Software +// Foundation, either version 3 of the License, or any later version. +// +// SVO is distributed in the hope that it will be useful, but WITHOUT ANY +// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS +// FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. +// +// You should have received a copy of the GNU General Public License +// along with this program. If not, see . + +#include +#include +#include +#include +#include +#include +#include +#include +#include + +namespace { + +using namespace Eigen; +using namespace std; + +void testCornerDetector() +{ + std::string img_name(std::string(TEST_DATA_DIR) + "/flying_room_1_rig_1/img/frame_000001_0.png"); + printf("Loading image '%s'\n", img_name.c_str()); + cv::Mat img(cv::imread(img_name, 0)); + assert(img.type() == CV_8UC1 && !img.empty()); + + svo::ImgPyr img_pyr; + svo::frame_utils::createImgPyramid( + img, max(svo::Config::nPyrLevels(), svo::Config::kltMaxLevel()+1), img_pyr); + svo::Features fts; + + // Corner detection + vk::Timer t; + svo::feature_detection::Corners corners; + svo::feature_detection::FastDetector fast_detector; + for(int i=0; i<100; ++i) + { + fast_detector.detect(img_pyr, fts, svo::Config::gridSize(), svo::Config::nPyrLevels(), + svo::Config::triangMinCornerScore(), &corners); + } + printf("Fast corner detection took %f ms, %zu corners detected (ref i7-W520: 8.06878ms, 416)\n", t.stop()*10, corners.size()); + + if(false) + { + cv::Mat img_rgb = cv::Mat(img.size(), CV_8UC3); + cv::cvtColor(img, img_rgb, CV_GRAY2RGB); + for(svo::feature_detection::Corners::iterator it=corners.begin(); it!=corners.end(); ++it) + { + // we must check again if the score is above the threshold because the Corners + // vector is initialized with dummy corners + if(it->score > svo::Config::triangMinCornerScore()) + { + cv::circle(img_rgb, cv::Point2f(it->x, it->y), 4*(it->level+1), cv::Scalar(0,255,0), 1); + } + } + cv::imshow("ref_img", img_rgb); + cv::waitKey(0); + } +} + +} // namespace + + +int main(int argc, char **argv) +{ + testCornerDetector(); + return 0; +} diff --git a/svo/test/test_matcher.cpp b/svo/test/test_matcher.cpp new file mode 100644 index 0000000..3138d48 --- /dev/null +++ b/svo/test/test_matcher.cpp @@ -0,0 +1,195 @@ +// This file is part of SVO - Semi-direct Visual Odometry. +// +// Copyright (C) 2014 Christian Forster +// (Robotics and Perception Group, University of Zurich, Switzerland). +// +// SVO is free software: you can redistribute it and/or modify it under the +// terms of the GNU General Public License as published by the Free Software +// Foundation, either version 3 of the License, or any later version. +// +// SVO is distributed in the hope that it will be useful, but WITHOUT ANY +// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS +// FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. +// +// You should have received a copy of the GNU General Public License +// along with this program. If not, see . + +#include +#include +#include +#include +#include +#include +#include +#include + +namespace { + +/// Matcher Test-Fixture +class MatcherTest { + public: + MatcherTest() + { + cam_ = new vk::PinholeCamera(752, 480, 217.083701215, 217.083701215, 376, 240); + + // load images + std::string dataset_dir(std::string(TEST_DATA_DIR) + "/flying_room_1_rig_1"); + std::string img_name(dataset_dir+"/img/frame_000071_0.png"); + printf("Loading image '%s'\n", img_name.c_str()); + cv::Mat img_ref(cv::imread(img_name, 0)); + img_name = std::string(dataset_dir+"/img/frame_000097_0.png"); + printf("Loading image '%s'\n", img_name.c_str()); + cv::Mat img_cur(cv::imread(img_name, 0)); + assert(!img_ref.empty() && !img_cur.empty()); + + // create frame + frame_ref_ = new svo::Frame(cam_, img_ref, 1.0); + frame_cur_ = new svo::Frame(cam_, img_cur, 2.0); + ref_ftr_ = new svo::Feature(frame_ref_, Eigen::Vector2d(300, 260), 0); + + // set poses + Eigen::Vector3d t_w_ref(1.0054399967193604, 1.75655996799469, 4.610799789428711); + Eigen::Vector3d t_w_cur(-0.046640001237392426, 2.163439989089966, 4.6279802322387695); + Eigen::Quaterniond q_w_ref(0.015279541723430157, 0.7095794081687927, 0.7044594287872314, 0.0006494877743534744); + Eigen::Quaterniond q_w_cur(0.004395846277475357, -0.7776520252227783, -0.6286740899085999, -0.0026246386114507914); + frame_ref_->T_f_w_ = Sophus::SE3(q_w_ref.toRotationMatrix(), t_w_ref).inverse(); + frame_cur_->T_f_w_ = Sophus::SE3(q_w_cur.toRotationMatrix(), t_w_cur).inverse(); + + // load ground-truth depth + vk::blender_utils::loadBlenderDepthmap(dataset_dir+"/depth/frame_000071_0.depth", *cam_, depth_ref_); + } + + virtual ~MatcherTest() + { + delete cam_; + delete frame_ref_; + delete frame_cur_; + delete ref_ftr_; + } + + // Individual tests + void testEpipolarSearchFullImg(); + void testWarpAffine(); + + // Objects declared here can be used by all tests + vk::PinholeCamera* cam_; + svo::Frame* frame_ref_; + svo::Frame* frame_cur_; + svo::Feature* ref_ftr_; + cv::Mat depth_ref_; +}; + +void MatcherTest::testEpipolarSearchFullImg() +{ + cv::Mat depthmap(frame_ref_->cam_->height(), frame_ref_->cam_->width(), CV_32FC1, cv::Scalar(0)); + cv::Mat error_map(depthmap.rows, depthmap.cols, CV_32FC1, cv::Scalar(0)); + cv::Mat mask(depthmap.rows, depthmap.cols, CV_8UC1, cv::Scalar(1)); + double depth_range = 0.8; + size_t n_converged = 0; + double sum_error = 0; + std::vector errors; errors.reserve(depthmap.cols*depthmap.rows); + for(int y=4; y(y, x); + double depth_estimate, h_inv; + int res = svo::matcher::findEpipolarMatchDirect( + *frame_ref_, *frame_cur_, ftr, + depth_gt, fmax(depth_gt-depth_range,0.0), depth_gt+depth_range, false, depth_estimate, h_inv); + if(res) + { + depthmap.at(y,x) = depth_estimate; + error_map.at(y,x) = fabsf(depth_estimate-depth_gt); + ++n_converged; + sum_error += error_map.at(y,x); + errors.push_back(error_map.at(y,x)); + } + else + mask.at(y,x) = 0; + } + } + + // compute mean, median and variance of error in converged area + printf("n converged: \t %zu (ref: 194472)\n", n_converged); + printf("mean error: \t %f (ref: 1.0848)\n", sum_error*100/n_converged); + std::vector::iterator it = errors.begin()+0.5*errors.size(); + std::nth_element(errors.begin(), it, errors.end()); + printf("50-percentile: \t %f (ref: 0.1343)\n", *it*100); + it = errors.begin()+0.8*errors.size(); + std::nth_element(errors.begin(), it, errors.end()); + printf("80-percentile: \t %f (ref: 0.3151)\n", *it*100); + it = errors.begin()+0.95*errors.size(); + std::nth_element(errors.begin(), it, errors.end()); + printf("95-percentile: \t %f (ref: 1.3753)\n", *it*100); + + // save results to file + std::ofstream output_stream; + std::string output_filename(std::string(TEST_TRACE_DIR) + "/depthmap.bin"); + output_stream.open(output_filename.c_str(), std::ios::out | std::ios::binary | std::ios::trunc); + output_stream.write((const char *)depthmap.data, depthmap.rows*depthmap.cols*sizeof(float)); + output_stream.close(); + + output_filename.assign(std::string(TEST_TRACE_DIR) + "/depthmap_error.bin"); + output_stream.open(output_filename.c_str(), std::ios::out | std::ios::binary | std::ios::trunc); + output_stream.write((const char *)error_map.data, error_map.rows*error_map.cols*sizeof(float)); + output_stream.close(); + + output_filename.assign(std::string(TEST_TRACE_DIR) + "/depthmap_mask.bin"); + output_stream.open(output_filename.c_str(), std::ios::out | std::ios::binary | std::ios::trunc); + output_stream.write((const char *)mask.data, mask.rows*mask.cols*sizeof(uint8_t)); + output_stream.close(); +} + +void MatcherTest::testWarpAffine() +{ + const int halfpatch_size = 15; + const int patch_size=halfpatch_size*2; + svo::matcher::PatchData md(patch_size); + double depth = 1.0; + + Sophus::SE3 T_cur_ref(frame_cur_->T_f_w_*frame_ref_->T_f_w_.inverse()); + Eigen::Vector2d px_cur(frame_cur_->cam_->world2cam(T_cur_ref*(ref_ftr_->f*depth))); + + // compute reference patch + cv::Mat ref_patch(patch_size, patch_size, CV_8U, md.patch_with_border); + + Eigen::Matrix2d A_cur_ref; + svo::matcher::warp::getWarpMatrixAffine( + *cam_, *cam_, ref_ftr_->px, ref_ftr_->f, 1.0, T_cur_ref, ref_ftr_->level, A_cur_ref); + int level_cur = svo::matcher::warp::getBestSearchLevel(A_cur_ref, svo::Config::nPyrLevels()-1); + svo::matcher::warp::warpAffine( + A_cur_ref, ref_ftr_->frame->img_pyr_[ref_ftr_->level], ref_ftr_->px, ref_ftr_->level, level_cur, md); + + // copy current patch + Eigen::Vector2i pxi(px_cur[0]/(1<img_pyr_.at(level_cur)(cv::Range(pxi[1]-halfpatch_size, + pxi[1]+halfpatch_size), + cv::Range(pxi[0]-halfpatch_size, + pxi[0]+halfpatch_size)).copyTo(cur_patch); + + // display results + cv::circle(frame_cur_->img_pyr_[level_cur], + cv::Point2f(pxi[0], pxi[1]), + patch_size, cv::Scalar(255), 2); + cv::circle(frame_ref_->img_pyr_[ref_ftr_->level], + cv::Point2f(ref_ftr_->px[0]/(1<level), ref_ftr_->px[1]/(1<level)), + patch_size, cv::Scalar(255), 2); + cv::imshow("cur_patch", cur_patch); + cv::imshow("ref_patch", ref_patch); + cv::imshow("ref_img", frame_ref_->img_pyr_[ref_ftr_->level]); + cv::imshow("cur_img", frame_cur_->img_pyr_[level_cur]); + cv::waitKey(0); +} + +} // namespace + +int main(int argc, char** argv) +{ + MatcherTest test; + test.testEpipolarSearchFullImg(); +// test.testWarpAffine(); + return 0; +} diff --git a/svo/test/test_pipeline.cpp b/svo/test/test_pipeline.cpp new file mode 100644 index 0000000..d328bf1 --- /dev/null +++ b/svo/test/test_pipeline.cpp @@ -0,0 +1,94 @@ +// This file is part of SVO - Semi-direct Visual Odometry. +// +// Copyright (C) 2014 Christian Forster +// (Robotics and Perception Group, University of Zurich, Switzerland). +// +// SVO is free software: you can redistribute it and/or modify it under the +// terms of the GNU General Public License as published by the Free Software +// Foundation, either version 3 of the License, or any later version. +// +// SVO is distributed in the hope that it will be useful, but WITHOUT ANY +// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS +// FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. +// +// You should have received a copy of the GNU General Public License +// along with this program. If not, see . + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +namespace svo { + +class BenchmarkNode +{ + vk::AbstractCamera* cam_; + svo::FrameHandlerMono* vo_; + +public: + BenchmarkNode(); + ~BenchmarkNode(); + void runFromFolder(); +}; + +BenchmarkNode::BenchmarkNode() +{ + Config::traceName() = "benchmark"; + Config::traceDir() = std::string(TEST_TRACE_DIR)+"/.."; + cam_ = new vk::PinholeCamera(752, 480, 217.083701215, 217.083701215, 376, 240); + vo_ = new svo::FrameHandlerMono(cam_); + vo_->start(); +} + +BenchmarkNode::~BenchmarkNode() +{ + delete vo_; + delete cam_; +} + +void BenchmarkNode::runFromFolder() +{ + for(int img_id = 1; img_id < 310; ++img_id) + { + // load image + std::stringstream ss; + ss << std::string(TEST_DATA_DIR) << "/flying_room_1_rig_1/img/frame_" << std::setw( 6 ) << std::setfill( '0' ) << img_id << "_0.png"; + if(img_id == 1) + std::cout << "reading image " << ss.str() << std::endl; + cv::Mat img(cv::imread(ss.str().c_str(), 0)); + assert(!img.empty()); + + // process frame + vo_->addImage(img, 0.01*img_id); + + // display tracking quality + if(vo_->lastFrame() != NULL) + std::cout << "Frame-Id: " << vo_->lastFrame()->id_ << " \t" + << "#Features: " << vo_->lastNumObservations() << " \t" + << "Proc. Time: " << vo_->lastProcessingTime()*1000 << "ms \n"; + } +} + +} // namespace svo + +int main(int argc, char** argv) +{ + { + svo::BenchmarkNode benchmark; + benchmark.runFromFolder(); + } + printf("BenchmarkNode finished.\n"); + return 0; +} + diff --git a/svo/test/test_pose_optimizer.cpp b/svo/test/test_pose_optimizer.cpp new file mode 100644 index 0000000..0c9a63f --- /dev/null +++ b/svo/test/test_pose_optimizer.cpp @@ -0,0 +1,119 @@ +// This file is part of SVO - Semi-direct Visual Odometry. +// +// Copyright (C) 2014 Christian Forster +// (Robotics and Perception Group, University of Zurich, Switzerland). +// +// SVO is free software: you can redistribute it and/or modify it under the +// terms of the GNU General Public License as published by the Free Software +// Foundation, either version 3 of the License, or any later version. +// +// SVO is distributed in the hope that it will be useful, but WITHOUT ANY +// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS +// FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. +// +// You should have received a copy of the GNU General Public License +// along with this program. If not, see . + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +namespace { + +using namespace svo; +using namespace Eigen; + +/// Pose Optimizer Test-Fixture +class PoseOptimizerTest { + public: + PoseOptimizerTest() + { + cam_ = new vk::PinholeCamera(752, 480, 217.083701215, 217.083701215, 376, 240); + + // load image + std::string dataset_dir(std::string(TEST_DATA_DIR) + "/flying_room_1_rig_1"); + std::string img_name(dataset_dir+"/img/frame_000001_0.png"); + printf("Loading image '%s'\n", img_name.c_str()); + cv::Mat img(cv::imread(img_name, 0)); + assert(!img.empty()); + + // create frame + frame_.reset(new svo::Frame(cam_, img, 1.0)); + + // set pose + Eigen::Vector3d t_w_ref(2.139359951019287, -1.9544399976730347, 2.8595199584960938 ); + Eigen::Quaterniond q_w_ref(0.0027939670253545046, 0.8382523059844971, 0.5443645715713501, -0.03150530532002449); + frame_->T_f_w_ = Sophus::SE3(q_w_ref.toRotationMatrix(), t_w_ref).inverse(); + + // load ground-truth depth + vk::blender_utils::loadBlenderDepthmap(dataset_dir + "/depth/frame_000001_0.depth", *cam_, depthmap_); + + // detect features + feature_detection::Corners corners; + feature_detection::FastDetector detector; + detector.detect(frame_->img_pyr_, frame_->fts_, Config::gridSize(), + Config::nPyrLevels(), Config::triangMinCornerScore(), &corners); + size_t n_fts = 0; + for(feature_detection::Corners::iterator it=corners.begin(); it!=corners.end(); ++it) + { + // we must check again if the score is above the threshold because the Corners + // vector is initialized with dummy corners + if(it->score > Config::triangMinCornerScore()) + { + Feature* ftr(new Feature(frame_.get(), Vector2d(it->x, it->y), it->level)); + Point* point(new Point(frame_->f2w(ftr->f*depthmap_.at(it->y, it->x)), Point::DEPTH)); + ftr->point = point; + ftr->frame = frame_.get(); + frame_->addFeature(ftr); + ++n_fts; + } + } + printf("Added %zu features to frame.\n", n_fts); + } + + virtual ~PoseOptimizerTest() + { + delete cam_; + } + + // Individual tests + void test(const Vector3d& pose_disturbance, double pixel_sigma2); + + // Objects declared here can be used by all tests + vk::PinholeCamera* cam_; + FramePtr frame_; + cv::Mat depthmap_; +}; + +void PoseOptimizerTest::test(const Vector3d& pose_disturbance, double pixel_sigma2) +{ + printf("Add %f px noise to each observation\n", pixel_sigma2); + for(Features::iterator it=frame_->fts_.begin(); it!=frame_->fts_.end(); ++it) + { + (*it)->px += Vector2d(vk::Sample::gaussian(pixel_sigma2), vk::Sample::gaussian(pixel_sigma2)); + (*it)->f = frame_->c2f((*it)->px); + } + frame_->T_f_w_ = frame_->T_f_w_*SE3(Matrix3d::Identity(), pose_disturbance); + double estimated_scale, error_init, error_final; + size_t num_obs; + pose_optimizer::optimizeGaussNewton( + Config::reprojThresh(), 10, true, frame_, + estimated_scale, error_init, error_final, num_obs); +} + +} // namespace + +int main(int argc, char** argv) +{ + PoseOptimizerTest test; + test.test(Eigen::Vector3d(0.2, 0.2, 0.2), 1.0); + return 0; +} diff --git a/svo/test/test_sparse_img_align.cpp b/svo/test/test_sparse_img_align.cpp new file mode 100644 index 0000000..1c4437c --- /dev/null +++ b/svo/test/test_sparse_img_align.cpp @@ -0,0 +1,165 @@ +// This file is part of SVO - Semi-direct Visual Odometry. +// +// Copyright (C) 2014 Christian Forster +// (Robotics and Perception Group, University of Zurich, Switzerland). +// +// SVO is free software: you can redistribute it and/or modify it under the +// terms of the GNU General Public License as published by the Free Software +// Foundation, either version 3 of the License, or any later version. +// +// SVO is distributed in the hope that it will be useful, but WITHOUT ANY +// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS +// FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. +// +// You should have received a copy of the GNU General Public License +// along with this program. If not, see . + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +namespace { + +/// SparseImgAlign Test-Fixture +class SparseImgAlignTest { + public: + + SparseImgAlignTest(); + virtual ~SparseImgAlignTest(); + void testSequence( + const std::string& dataset_dir, + const std::string& experiment_name, + svo::feature_detection::AbstractDetector* feature_detector); + + vk::PinholeCamera* cam_; + svo::FramePtr frame_ref_; + svo::FramePtr frame_cur_; +}; + +SparseImgAlignTest::SparseImgAlignTest() : + cam_(new vk::PinholeCamera(752, 480, 217.083701215, 217.083701215, 376, 240)) +{} + +SparseImgAlignTest::~SparseImgAlignTest() +{} + +void SparseImgAlignTest::testSequence( + const std::string& dataset_dir, + const std::string& experiment_name, + svo::feature_detection::AbstractDetector* feature_detector) +{ + vk::FileReader sequence_file_reader(dataset_dir+"/trajectory.txt"); + std::vector sequence; + sequence_file_reader.skipComments(); + if(!sequence_file_reader.next()) + std::runtime_error("Failed to open sequence file"); + sequence_file_reader.readAllEntries(sequence); + printf("RUN EXPERIMENT: read %zu dataset entries.\n", sequence.size()); + std::vector::iterator iter = sequence.begin(); + std::list translation_error; + + Sophus::SE3 T_prev_w, T_prevgt_w; + std::string trace_name(std::string(TEST_TRACE_DIR) + "/sparse_img_align_" + experiment_name + "_trans_estimate.txt"); + std::ofstream ofs(trace_name.c_str()); + for(int i=0; iter != sequence.end() && i<30; ++iter, ++i) + { + // load img + // IMPORTANT: We need to flip the image because the Povray dataset has a + // negative focal length in y direction which we didn't set. + std::string img_name(dataset_dir+"/img/" + iter->image_name_ + "_0.png"); + cv::Mat img(cv::imread(img_name, 0)); + assert(!img.empty()); + + // load pose + Sophus::SE3 T_w_gt = Sophus::SE3(iter->q_.toRotationMatrix(), iter->t_); + Sophus::SE3 T_gt_w = T_w_gt.inverse(); // ground-truth + + if(i==0) + { + // set reference frame + frame_ref_.reset(new svo::Frame(cam_, img)); + frame_ref_->T_f_w_ = T_gt_w; + + // load ground-truth depth + cv::Mat depthmap; + vk::blender_utils::loadBlenderDepthmap( + dataset_dir+"/depth/"+iter->image_name_+"_0.depth", *cam_, depthmap); + + // extract features, generate features with 3D points + svo::feature_detection::Corners corners; + feature_detector->detect( + frame_ref_->img_pyr_, frame_ref_->fts_, svo::Config::gridSize(), + svo::Config::nPyrLevels(), svo::Config::triangMinCornerScore(), &corners); + for(svo::feature_detection::Corners::iterator corner=corners.begin(); corner!=corners.end(); ++corner) + { + svo::Feature* ftr = new svo::Feature(frame_ref_.get(), Eigen::Vector2d(corner->x, corner->y), corner->level); + Eigen::Vector3d pt_pos_cur = ftr->f*depthmap.at(corner->y, corner->x); + Eigen::Vector3d pt_pos_w = frame_ref_->T_f_w_.inverse()*pt_pos_cur; + svo::Point* pt = new svo::Point(pt_pos_w, svo::Point::DEPTH); + ftr->point = pt; + frame_ref_->addFeature(ftr); + } + + printf("Added %zu 3d pts to the reference frame.\n", corners.size()); + T_prev_w = frame_ref_->T_f_w_; + T_prevgt_w = T_gt_w; + continue; + } + + frame_cur_.reset(new svo::Frame(cam_, img)); + //frame_cur_->T_f_w_ = frame_ref_->T_f_w_; // start at reference frame + frame_cur_->T_f_w_ = T_prev_w; // start at last frame + + // run image align + vk::Timer t; + svo::SparseImgAlign img_align(svo::Config::kltMaxLevel(), svo::Config::kltMinLevel(), + 30, svo::SparseImgAlign::GaussNewton, false, false); + img_align.run(frame_ref_, frame_cur_); + + // compute error + Sophus::SE3 T_f_gt = frame_cur_->T_f_w_ * T_gt_w.inverse(); + translation_error.push_back(T_f_gt.translation().norm()); + printf("[%3.i] time = %f ms \t |t| = %f \t translation error = %f\n", + i, t.stop()*1000, (frame_ref_->T_f_w_*T_gt_w.inverse()).translation().norm(), + translation_error.back()); + + // save old pose for next iteration + T_prev_w = frame_cur_->T_f_w_; + T_prevgt_w = T_gt_w; + + ofs << frame_cur_->T_f_w_.inverse().translation().transpose() << " " + << T_gt_w.inverse().translation().transpose() << std::endl; + } + ofs.close(); + + // trace error + trace_name = std::string(TEST_TRACE_DIR) + "/sparse_img_align_" + experiment_name + "_trans_error.txt"; + ofs.open(trace_name.c_str()); + for(std::list::iterator it=translation_error.begin(); it!=translation_error.end(); ++it) + ofs << *it << std::endl; + ofs.close(); +} + +} // namespace + + +int main(int argc, char** argv) +{ + std::string experiment_name("flying_room_1_rig_1_fast_minlev0"); + std::string dataset_dir(std::string(TEST_DATA_DIR) + "/flying_room_1_rig_1"); + svo::feature_detection::FastDetector detector; + svo::Config::triangMinCornerScore() = 20; + svo::Config::kltMinLevel() = 0; + SparseImgAlignTest test; + test.testSequence(dataset_dir, experiment_name, &detector); + return 0; +} diff --git a/svo_analysis/benchmark.py b/svo_analysis/benchmark.py new file mode 100755 index 0000000..da32e70 --- /dev/null +++ b/svo_analysis/benchmark.py @@ -0,0 +1,67 @@ +#!/usr/bin/python +""" +Created on Sat Aug 10 18:21:47 2013 + +@author: Christian Forster +""" + +import os +import yaml +import time + +class RosNode: + def __init__(self, package, executable): + self.package = package + self.executable = executable + + def run(self, parameter_dictionary): + parameter_string = '' + for key in parameter_dictionary.keys(): + parameter_string = parameter_string + ' _' + key + ':=' + str(parameter_dictionary[key]) + os.system('rosrun ' + self.package + ' ' + self.executable + ' ' + parameter_string) + +if __name__=="__main__": + + # config: + home_dir = os.getenv("HOME") + dataset_dir = home_dir+'/Datasets/SlamBenchmark/' + algo_dir = home_dir+'/workspace/rpg_slam/svo_ros' + trace_dir = home_dir+'/workspace/rpg_slam/svo_analysis/results' + platform = 'i7' + + # load parameters + experiment_name = 'asl2_fast' + experiment_file = 'experiments/'+experiment_name+'.yaml' + experiment_file_stream = open(experiment_file,'r') + experiment_dict = yaml.load(experiment_file_stream) + + dataset_param_file = dataset_dir+experiment_dict['dataset']+'/dataset_params.yaml' + dataset_param_file_stream = open(dataset_param_file,'r') + dataset_param_dict = yaml.load(dataset_param_file_stream) + + algo_param_file = algo_dir+'/param/'+experiment_dict['param_settings']+'.param' + algo_param_file_stream = open(algo_param_file,'r') + algo_param_dict = yaml.load(algo_param_file_stream) + + params = dict(dataset_param_dict.items() + algo_param_dict.items() + experiment_dict.items()) + localtime = time.localtime() + params['trace_name'] = time.strftime("%Y%m%d_%H%M", localtime)+'_nslam_'+platform+'_'+experiment_name + params['trace_dir'] = trace_dir+'/'+params['trace_name'] + params['run_id'] = 0 + + # create folder for experiment results + if not os.path.exists(params['trace_dir']): + os.makedirs(params['trace_dir']) + + # dump experiment params to file: + params_dump_file = params['trace_dir']+'/params.yaml' + with open(params_dump_file,'w') as outfile: + outfile.write( yaml.dump(params, default_flow_style=False) ) + + # start ros node + print 'starting ros node' + node = RosNode('svo_ros','benchmark') + node.run(params) + print 'ros node finished processing' + + diff --git a/svo_analysis/evaluate.py b/svo_analysis/evaluate.py new file mode 100755 index 0000000..05af1ee --- /dev/null +++ b/svo_analysis/evaluate.py @@ -0,0 +1,47 @@ +#!/usr/bin/python +""" +Created on Sat Aug 10 18:21:47 2013 + +@author: Christian Forster +""" + +import argparse +import csv +import numpy as np +from matplotlib import rc +import scripts.analyse_logs as analyse_logs +import scripts.analyse_timing as analyse_timing + +if __name__=="__main__": + + # parse command line + parser = argparse.ArgumentParser() + parser.add_argument('--trace_name', help='svo tracefile with timings and logs', default='20131121_0930_px7') + args = parser.parse_args() + + # config + results_dir = 'results/'+args.trace_name + trace_file = results_dir+'/'+args.trace_name+'.csv' + + # tracefile + data = csv.reader(open(trace_file)) + fields = data.next() + D = dict() + for field in fields: + D[field] = list() + + # fill dictionary with column values + for row in data: + for (field, value) in zip(fields, row): + D[field].append(float(value)) + + # change dictionary values from list to numpy array for easier manipulation + for field, value in D.items(): + D[field] = np.array(D[field]) + + # tell matplotlib to use latex font + rc('font',**{'family':'serif','serif':['Cardo']}) + rc('text', usetex=True) + + analyse_logs.analyse_logs(D, results_dir+'/'+args.trace_name) + analyse_timing.analyse_timing(D, results_dir+'/'+args.trace_name) \ No newline at end of file diff --git a/svo_analysis/experiments/asl2_acc.yaml b/svo_analysis/experiments/asl2_acc.yaml new file mode 100644 index 0000000..0b5bf3b --- /dev/null +++ b/svo_analysis/experiments/asl2_acc.yaml @@ -0,0 +1,2 @@ +dataset: asl_vicon_d2 +param_settings: vo_accurate \ No newline at end of file diff --git a/svo_analysis/experiments/asl2_fast.yaml b/svo_analysis/experiments/asl2_fast.yaml new file mode 100644 index 0000000..34285b5 --- /dev/null +++ b/svo_analysis/experiments/asl2_fast.yaml @@ -0,0 +1,2 @@ +dataset: asl_vicon_d2 +param_settings: vo_fast \ No newline at end of file diff --git a/svo_analysis/results/.gitignore b/svo_analysis/results/.gitignore new file mode 100644 index 0000000..d6b7ef3 --- /dev/null +++ b/svo_analysis/results/.gitignore @@ -0,0 +1,2 @@ +* +!.gitignore diff --git a/svo_analysis/scripts/__init__.py b/svo_analysis/scripts/__init__.py new file mode 100644 index 0000000..633f866 --- /dev/null +++ b/svo_analysis/scripts/__init__.py @@ -0,0 +1,2 @@ +# -*- coding: utf-8 -*- + diff --git a/svo_analysis/scripts/analyse_dataset.py b/svo_analysis/scripts/analyse_dataset.py new file mode 100644 index 0000000..fa257b8 --- /dev/null +++ b/svo_analysis/scripts/analyse_dataset.py @@ -0,0 +1,42 @@ +# -*- coding: utf-8 -*- + +import associate +import numpy as np +import matplotlib.pyplot as plt +import yaml +import transformations + +def loadDataset(filename): + file = open(filename) + data = file.read() + lines = data.replace(","," ").replace("\t"," ").split("\n") + D = np.array([[v.strip() for v in line.split(" ") if v.strip()!=""] for line in lines if len(line)>0 and line[0]!="#"], dtype=np.float64) + return D + +dataset_dir = '/home/cforster/Datasets/SlamBenchmark/px4_r2' +trajectory_data = dataset_dir+'/groundtruth.txt' +stepsize = 10 + +# load dataset +data = loadDataset(trajectory_data) +n = data.shape[0] +steps = np.arange(0,n,stepsize) + +# compute trajectory length +last_pos = data[0,1:4] +trajectory_length = 0 + +for i in steps[1:]: + new_pos = data[i,1:4] + trajectory_length += np.linalg.norm(new_pos-last_pos) + last_pos = new_pos + + +print 'trajectory lenght = ' + str(trajectory_length) + 'm' +print 'height mean = ' + str(np.mean(data[:,3])) + 'm' +print 'height median = ' + str(np.median(data[:,3])) + 'm' +print 'height std = ' + str(np.std(data[:,3])) + 'm' +print 'duration = ' + str(data[-1,0]-data[0,0]) + 's' +print 'speed = ' + str(trajectory_length/(data[-1,0]-data[0,0])) + 'm/s' + + diff --git a/svo_analysis/scripts/analyse_logs.py b/svo_analysis/scripts/analyse_logs.py new file mode 100755 index 0000000..be14feb --- /dev/null +++ b/svo_analysis/scripts/analyse_logs.py @@ -0,0 +1,132 @@ +#!/usr/bin/python + +import argparse +import csv +import numpy as np +import matplotlib.pyplot as plt +from matplotlib import rc + +def analyse_logs(D, trace_name): + + # identify measurements which result from normal frames and which from keyframes + is_kf = np.argwhere( (D['dropout'] == 1) & (D['repr_n_mps'] >= 0)) + is_frame = np.argwhere(D['repr_n_mps'] >= 0) + is_nokf = np.argwhere( (D['dropout'] == 0) & (D['repr_n_mps'] >= 0)) + n_frames = len(is_frame) + n_kfs = len(is_kf) + n_nokf = len(is_nokf) + fps = 25.0 + + # plot number of reprojected points + mean_n_reproj_points = np.mean(D['repr_n_mps'][is_frame]); + mean_n_reproj_matches = np.mean(D['repr_n_new_references'][is_frame]); + + plt.figure() + plt.plot(np.arange(n_frames), D['repr_n_mps'][is_frame], 'r-', label='reprojected points, avg = %(i).2f'%{'i':mean_n_reproj_points}) + plt.plot(np.arange(n_frames), D['repr_n_new_references'][is_frame], 'b-', label='reprojected matches, avg = %(i).2f'%{'i':mean_n_reproj_matches}) + plt.legend() + plt.tight_layout() + plt.title('Reprojected points asdf') + plt.savefig(trace_name+'_reprojection.pdf', bbox_inches="tight") + + # plot number of triangulations +# plt.figure(3) +# plt.plot(np.arange(n_kfs), D['triang_n_points'][is_kf], 'g-', label='triangulated points, avg %0.2f'%np.mean(D['triang_n_points'][is_kf])) +# plt.plot(np.arange(n_kfs), D['triang_n_refs'][is_kf], 'b-', label='new references, avg %0.2f'%np.mean(D['triang_n_refs'][is_kf])) +# plt.plot(np.arange(n_kfs), D['triang_n_fails'][is_kf], 'r-', label='failures, avg %0.2f'%np.mean(D['triang_n_fails'][is_kf])) +# plt.plot(np.arange(n_kfs), D['triang_n_add_refs'][is_kf], 'm-', label='additional refs, avg %0.2f'%np.mean(D['triang_n_add_refs'][is_kf])) +# plt.legend() +# plt.title('Triangulation') +# plt.savefig(trace_name+'_img_triangulation.png', bbox_inches="tight") + + # plot number of klt tracked and matched points + fig = plt.figure(figsize=(8,2)) + ax = fig.add_subplot(111, xlabel='time [s]', ylabel='no. features') + ax.plot(np.arange(n_frames)/fps, D['repr_n_new_references'][is_frame], 'b-', label='number of successful matches') + fig.tight_layout() + fig.savefig(trace_name+'number_of_features.pdf', bbox_inches="tight") + + # plot median error before and after pose-optimzation and bundle adjustment + init_error_avg = np.mean(D['sfba_error_init'][is_frame]) + opt1_avg = np.mean(D['sfba_error_final'][is_frame]) + + fig = plt.figure(figsize=(8,2)) + ax = fig.add_subplot(111, xlabel='time [s]', ylabel='error [px]') + t_max = n_frames + ax.plot(np.arange(n_frames)[0:t_max]/fps, D['sfba_error_init'][is_frame][0:t_max], 'r-', label='Initial error') + ax.plot(np.arange(n_frames)[0:t_max]/fps, D['sfba_error_final'][is_frame][0:t_max], 'b-', label='Final error') + ax.legend(ncol=2) + ax.set_xlim([0, t_max/fps+4]) + #ax.set_ylim([0, 0.8]) + fig.tight_layout() + fig.savefig(trace_name+'reprojection_error.pdf', bbox_inches="tight") + print 'average reprojection error improvement: ' + str(init_error_avg - opt1_avg) + + # plot number of references + plt.figure() + plt.fill(np.arange(n_frames+1), np.append(D['repr_n_new_references'][is_frame]+D['klt_n_matches'][is_frame],0), 'g-', label='Reprojection') + plt.fill(np.arange(n_frames+1), np.append(D['klt_n_tracked'][is_frame],0), 'b-', label='KLT Matches') + plt.plot(np.arange(n_frames), D['sfba_n_edges_final'][is_frame], 'r-', label='References after Optimization', linewidth=2.0) + plt.legend() + plt.tight_layout() + plt.title('Pose Optimization') + plt.savefig(trace_name+'_img_n_references.pdf', bbox_inches="tight") + + # plot number of seeds + plt.figure() + has_seed = np.argwhere(D['seeds_n_tot'] >= 0) + plt.fill(np.arange(len(has_seed)+1), np.append(D['seeds_n_tot'][has_seed],0), label='nSeeds', edgecolor='none') + plt.fill(np.arange(len(has_seed)+1), np.append(D['seeds_n_updates'][has_seed]+D['seeds_n_failed_matches'][has_seed],0), label='nFailedMatches', edgecolor='none') + plt.fill(np.arange(len(has_seed)+1), np.append(D['seeds_n_updates'][has_seed],0), label='nUpdates', edgecolor='none') + plt.legend() + plt.tight_layout() + plt.title('Seeds') + plt.savefig(trace_name+'_seeds.pdf', bbox_inches="tight") + + + plt.figure() + plt.plot(D['n_candidates']) + plt.title('Candidates') + plt.show() + +# plt.figure() +# plt.plot()) + +if __name__=="__main__": + + dataset='20131003_1937_nslam_i7_asl2_fast' + n_align_frames = 10 + save = True + results_dir = '../results/'+dataset + logfile = results_dir+'/'+dataset+'_0.csv' + + # parse command line + parser = argparse.ArgumentParser(description=''' + This script computes the absolute trajectory error from the ground truth trajectory and the estimated trajectory. + ''') + parser.add_argument('--trace_file', help='nanoslam tracefile with timings and logs', default=logfile) + parser.add_argument('--trace_name', help='name of the tracefile, used for saving figures etc.', default=results_dir+'/') + args = parser.parse_args() + + # tracefile + data = csv.reader(open(args.trace_file)) + fields = data.next() + D = dict() + for field in fields: + D[field] = list() + + # fill dictionary with column values + for row in data: + for (field, value) in zip(fields, row): + D[field].append(float(value)) + + # change dictionary values from list to numpy array for easier manipulation + for field, value in D.items(): + D[field] = np.array(D[field]) + + # tell matplotlib to use latex font + rc('font',**{'family':'serif','serif':['Cardo']}) + rc('text', usetex=True) + + analyse_logs(D, args.trace_name) + diff --git a/svo_analysis/scripts/analyse_timing.py b/svo_analysis/scripts/analyse_timing.py new file mode 100755 index 0000000..b0d2199 --- /dev/null +++ b/svo_analysis/scripts/analyse_timing.py @@ -0,0 +1,97 @@ +#!/usr/bin/python + +import argparse +import csv +import numpy as np +import matplotlib.pyplot as plt +from matplotlib import rc + +def analyse_timing(D, trace_name): + + # identify measurements which result from normal frames and which from keyframes + is_frame = np.argwhere(D['repr_n_mps'] >= 0) + n_frames = len(is_frame) + + # plot total time for frame processing + avg_time = np.mean(D['t_tot_time'][is_frame])*1000; + + fig = plt.figure(figsize=(8, 3)) + ax = fig.add_subplot(111, ylabel='processing time [ms]', xlabel='time [s]') + ax.plot(np.arange(n_frames), D['t_tot_time'][is_frame]*1000, 'g-', label='total time [ms]') + ax.plot(np.arange(n_frames), np.ones(n_frames)*avg_time, 'b--', label=str('%(time).1fms mean time' % {'time': avg_time})) + ax.legend() + fig.tight_layout() + fig.savefig(trace_name+'_img_tot_processing_time.pdf', bbox_inches="tight") + + fig = plt.figure(figsize=(6,2)) + ax = fig.add_subplot(111, xlabel='Processing time [ms]') + ax.boxplot([ + D['t_tot_time'][is_frame]*1000, +# D['t_local_ba'][is_kf]*1000, + D['t_pose_optimizer'][is_frame]*1000 + D['t_point_optimizer'][is_frame]*1000, + D['t_reproject'][is_frame]*1000, + D['t_sparse_img_align'][is_frame]*1000, + D['t_pyramid_creation'][is_frame]*1000 + ], 0,'', vert=0) # + + boxplot_labels = [ + r'\textbf{Total Motion Estimation: %2.2fms}' % np.median(D['t_tot_time'][is_frame]*1000), +# 'Local BA (KF only): %.2fms ' % np.median(D['t_local_ba'][is_kf]*1000), + 'Refinement: %2.2fms' % np.median(D['t_pose_optimizer'][is_frame]*1000 + D['t_point_optimizer'][is_frame]*1000), + 'Feature Alignment: %2.2fms' % np.median(D['t_reproject'][is_frame]*1000), + 'Sparse Image Alignment: %2.2fms' % np.median(D['t_sparse_img_align'][is_frame]*1000), + 'Pyramid Creation: %2.2fms' % np.median(D['t_pyramid_creation'][is_frame]*1000) ] + + ax.set_yticks(np.arange(len(boxplot_labels))+1) + ax.set_yticklabels(boxplot_labels) + fig.tight_layout() + fig.savefig(trace_name+'_timing_boxplot.pdf', bbox_inches="tight") + + fig = plt.figure(figsize=(8, 5)) + ax = fig.add_subplot(111, ylabel='time [ms]') + ax.plot(D['t_reproject']*1000, 'r', label='reproject') + ax.plot(D['t_reproject_find_pts']*1000, 'g', label='reproject find pts') # ok! + ax.plot(D['t_reproject_best']*1000, 'm', label='reproject best') + ax.plot(D['t_reproject_candidates']*1000, 'b', label='reproject candidates') + ax.legend() + fig.tight_layout() + fig.savefig(trace_name+'_reprojection.pdf', bbox_inches="tight") + + +if __name__=="__main__": + + # config + dataset='20131003_1937_nslam_i7_asl2_fast' + results_dir = '../results/'+dataset + tracefile = results_dir + '/'+dataset+'_0.csv' + + # parse command line + parser = argparse.ArgumentParser(description=''' + This script computes the absolute trajectory error from the ground truth trajectory and the estimated trajectory. + ''') + parser.add_argument('--trace_file', help='nanoslam tracefile with timings and logs', default=tracefile) + parser.add_argument('--trace_name', help='name of the tracefile, used for saving figures etc.', default=results_dir) + args = parser.parse_args() + results_dir = args.trace_name + + # tracefile + data = csv.reader(open(args.trace_file)) + fields = data.next() + D = dict() + for field in fields: + D[field] = list() + + # fill dictionary with column values + for row in data: + for (field, value) in zip(fields, row): + D[field].append(float(value)) + + # change dictionary values from list to numpy array for easier manipulation + for field, value in D.items(): + D[field] = np.array(D[field]) + + # tell matplotlib to use latex font + rc('font',**{'family':'serif','serif':['Cardo']}) + rc('text', usetex=True) + + \ No newline at end of file diff --git a/svo_analysis/scripts/analyse_trajectory.py b/svo_analysis/scripts/analyse_trajectory.py new file mode 100644 index 0000000..f70cd62 --- /dev/null +++ b/svo_analysis/scripts/analyse_trajectory.py @@ -0,0 +1,187 @@ +# -*- coding: utf-8 -*- + +import associate +import numpy as np +import matplotlib.pyplot as plt +import yaml +import transformations +from matplotlib import rc + +def alignSim3(model, data, n): + + # select the first n datapoints and remove its mean so their center is zero + M = model[0:n,:] + D = data[0:n,:] + + # substract mean + mu_M = M.mean(0) + mu_D = D.mean(0) + M_zerocentered = M - mu_M + D_zerocentered = D - mu_D + + # correlation + C = 1.0/n*np.dot(M_zerocentered.transpose(), D_zerocentered) + sigma2 = 1.0/n*np.multiply(D_zerocentered,D_zerocentered).sum() + U_svd,D_svd,V_svd = np.linalg.linalg.svd(C) + D_svd = np.diag(D_svd) + V_svd = np.transpose(V_svd) + S = np.eye(3) + + if(np.linalg.det(U_svd)*np.linalg.det(V_svd) < 0): + S[2,2] = -1 + + R = np.dot(U_svd, np.dot(S, np.transpose(V_svd))) + s = 1.0/sigma2*np.trace(np.dot(D_svd, S)) + t = mu_M-s*np.dot(R,mu_D) + + return s, R, t + + +def getRigidBodyTrafo(quat,trans): + T = transformations.quaternion_matrix(quat) + T[0:3,3] = trans + return T + +if __name__ == '__main__': + + # config + dataset='20131003_1937_nslam_i7_asl2_fast' + n_align_frames = 100 + save = True + results_dir = '../results/'+dataset + + # plot options + rc('font',**{'family':'serif','serif':['Cardo']}) + rc('text', usetex=True) + + # load dataset parameters + params_stream = open(results_dir+'/params.yaml') + params = yaml.load(params_stream) + + # set trajectory groundtruth and estimate file + traj_groundtruth = params['dataset_directory']+'/groundtruth_filtered.txt' + traj_estimate = results_dir+'/traj_estimate.txt' + traj_estimate_rotated_filename = results_dir+'/traj_estimate_rotated.txt' + translation_error_filename = results_dir+'/translation_error.txt' + orientation_error_filename = results_dir+'/orientation_error.txt' + scale_drift_filename = results_dir+'/scale_drift.txt' + + # load hand-eye calib: trafo between (m)arker and (c)amera. + dataset_param_file = params['dataset_directory']+'/dataset_params.yaml' + dataset_param_file_stream = open(dataset_param_file,'r') + P = yaml.load(dataset_param_file_stream) + T_cm_quat = np.array([P['calib_Tcm_qx'], P['calib_Tcm_qy'], P['calib_Tcm_qz'], P['calib_Tcm_qw']]) + T_cm_tran = np.array([P['calib_Tcm_tx'], P['calib_Tcm_ty'], P['calib_Tcm_tz']]) + T_cm = getRigidBodyTrafo(T_cm_quat, T_cm_tran) + T_mc = transformations.inverse_matrix(T_cm) + + # load data + data_gt = associate.read_file_list(traj_groundtruth) + data_es = associate.read_file_list(traj_estimate) + + # find matches + matches = associate.associate(data_gt, data_es, -P['cam_delay'], 0.02) + p_gt = np.array([[float(value) for value in data_gt[a][0:3]] for a,b in matches]) + q_gt = np.array([[float(value) for value in data_gt[a][3:7]] for a,b in matches]) + p_es = np.array([[float(value) for value in data_es[b][0:3]] for a,b in matches]) + q_es = np.array([[float(value) for value in data_es[b][3:7]] for a,b in matches]) + t_gt = np.array([float(a) for a,b in matches]) + t_es = np.array([float(b) for a,b in matches]) + start_time = min(t_es[0], t_gt[0]) + t_es -= start_time + t_gt -= start_time + + # align Sim3 to get scale + if(n_align_frames > np.shape(matches)[0]): + raise NameError('n_matches_for_scale is too large') + scale,rot,trans = alignSim3(p_gt, p_es, n_align_frames) + print 'scale = '+str(scale) + + # get trafo between (v)ision and (o)ptitrack frame + T_om = getRigidBodyTrafo(q_gt[0,:], p_gt[0,:]) + T_vc = getRigidBodyTrafo(q_es[0,:], scale*p_es[0,:]) + T_cv = transformations.inverse_matrix(T_vc) + T_ov = np.dot(T_om, np.dot(T_mc, T_cv)) + print 'T_ov = ' + str(T_ov) + + p_es_aligned = np.zeros(np.shape(p_es)) + q_es_aligned = np.zeros(np.shape(q_es)) + rpy_es_aligned = np.zeros(np.shape(p_es)) + rpy_gt = np.zeros(np.shape(p_es)) + + # rotate trajectory + for i in range(np.shape(matches)[0]): + T_vc = getRigidBodyTrafo(q_es[i,:],p_es[i,:]) + T_vc[0:3,3] *= scale + T_om = np.dot(T_ov, np.dot(T_vc, T_cm)) + p_es_aligned[i,:] = T_om[0:3,3] + q_es_aligned[i,:] = transformations.quaternion_from_matrix(T_om) + rpy_es_aligned[i,:] = transformations.euler_from_quaternion(q_es_aligned[i,:], 'rzyx') + rpy_gt[i,:] = transformations.euler_from_quaternion(q_gt[i,:], 'rzyx') + + if save: + f = open(traj_estimate_rotated_filename,'w') + for i in range(np.shape(p_es_aligned)[0]): + f.write('%.7f %.5f %.5f %.5f %.5f %.5f %.5f %.5f\n' % (matches[i][1]-P['cam_delay'], p_es_aligned[i,0], p_es_aligned[i,1], p_es_aligned[i,2], q_es_aligned[i,0], q_es_aligned[i,1], q_es_aligned[i,2], q_es_aligned[i,3])) + f.close() + + # plot trajectory + fig = plt.figure() + ax = fig.add_subplot(111, title='trajectory', aspect='equal', xlabel='x [m]', ylabel='Y [m]') + ax.plot(p_es_aligned[:,0], p_es_aligned[:,1], 'b-', label='estimate') + ax.plot(p_gt[:,0], p_gt[:,1], 'r-', label='groundtruth') + ax.plot(p_es_aligned[0:n_align_frames,0], p_es_aligned[0:n_align_frames,1], 'g-', linewidth=2, label='aligned') + fig.tight_layout() + fig.savefig(results_dir+'/trajectory.pdf') + + # plot position error (drift) + translation_error = (p_gt-p_es_aligned) + fig = plt.figure(figsize=(8, 2.5)) + ax = fig.add_subplot(111, xlabel='time [s]', ylabel='position drift [m]', xlim=[0,t_es[-1]+4]) + ax.plot(t_es, translation_error[:,0], 'r-', label='x') + ax.plot(t_es, translation_error[:,1], 'g-', label='y') + ax.plot(t_es, translation_error[:,2], 'b-', label='z') + fig.tight_layout() + + if save: + fig.savefig(results_dir+'/translation_error.pdf') + f = open(translation_error_filename,'w') + for i in range(translation_error.shape[0]): + f.write('%.7f %.5f %.5f %.5f\n'%(t_es[i], translation_error[i,0], translation_error[i,1], translation_error[i,2])) + f.close() + + # plot orientation error (drift) + orientation_error = (rpy_gt - rpy_es_aligned) + fig = plt.figure(figsize=(8, 2.5)) + ax = fig.add_subplot(111, xlabel='time [s]', ylabel='orientation drift [rad]', xlim=[0,t_es[-1]+4]) + ax.plot(t_es, orientation_error[:,0], 'r--', label='yaw') + ax.plot(t_es, orientation_error[:,1], 'g--', label='pitch') + ax.plot(t_es, orientation_error[:,2], 'b--', label='roll') + ax.legend() + fig.tight_layout() + + if save: + fig.savefig(results_dir+'/orientation_error.pdf') + f = open(orientation_error_filename,'w') + for i in range(orientation_error.shape[0]): + f.write('%.7f %.5f %.5f %.5f\n'%(t_es[i], orientation_error[i,0], orientation_error[i,1], orientation_error[i,2])) + f.close() + + # plot scale drift + motion_gt = np.diff(p_gt, 0) + motion_es = np.diff(p_es_aligned, 0) + dist_gt = np.sqrt(np.sum(np.multiply(motion_gt,motion_gt),1)) + dist_es = np.sqrt(np.sum(np.multiply(motion_es,motion_es),1)) + fig = plt.figure(figsize=(8,2.5)) + ax = fig.add_subplot(111, xlabel='time [s]', ylabel='scale change [\%]', xlim=[0,t_es[-1]+4]) + scale_drift = np.divide(dist_es,dist_gt)*100-100 + ax.plot(t_es, scale_drift, 'b-') + fig.tight_layout() + + if save: + fig.savefig(results_dir+'/scale_drift.pdf') + f = open(scale_drift_filename,'w') + for i in range(orientation_error.shape[0]): + f.write('%.7f %.5f\n'%(t_es[i], scale_drift[i])) + f.close() + diff --git a/svo_analysis/scripts/associate.py b/svo_analysis/scripts/associate.py new file mode 100644 index 0000000..8a7438c --- /dev/null +++ b/svo_analysis/scripts/associate.py @@ -0,0 +1,67 @@ +#!/usr/bin/python +# +# Requirements: +# sudo apt-get install python-argparse + +import argparse +import sys +import os +import numpy + + +def read_file_list(filename): + file = open(filename) + data = file.read() + lines = data.replace(","," ").replace("\t"," ").split("\n") + list = [[v.strip() for v in line.split(" ") if v.strip()!=""] for line in lines if len(line)>0 and line[0]!="#"] + list = [(float(l[0]),l[1:]) for l in list if len(l)>1] + return dict(list) + +def associate(first_list, second_list,offset,max_difference): + # first_list = groundtruth + # second_list = estimate + first_keys = first_list.keys() + second_keys = second_list.keys() + potential_matches = [(abs(a - (b + offset)), a, b) + for a in first_keys + for b in second_keys + if abs(a - (b + offset)) < max_difference] + + potential_matches.sort() + matches = [] + for diff, a, b in potential_matches: + if a in first_keys and b in second_keys: + first_keys.remove(a) + second_keys.remove(b) + matches.append((a, b)) + + matches.sort() + + return matches + +if __name__ == '__main__': + + # parse command line + parser = argparse.ArgumentParser(description=''' + This script takes two data files with timestamps and associates them + ''') + parser.add_argument('first_file', help='first text file (format: timestamp data)') + parser.add_argument('second_file', help='second text file (format: timestamp data)') + parser.add_argument('--first_only', help='only output associated lines from first file', action='store_true') + parser.add_argument('--offset', help='time offset added to the timestamps of the second file (default: 0.0)',default=0.0) + parser.add_argument('--max_difference', help='maximally allowed time difference for matching entries (default: 0.02)',default=0.02) + args = parser.parse_args() + + first_list = read_file_list(args.first_file) + second_list = read_file_list(args.second_file) + + matches = associate(first_list, second_list,float(args.offset),float(args.max_difference)) + + if args.first_only: + for a,b in matches: + print("%f %s"%(a," ".join(first_list[a]))) + else: + for a,b in matches: + print("%f %s %f %s"%(a," ".join(first_list[a]),b-float(args.offset)," ".join(second_list[b]))) + + diff --git a/svo_analysis/scripts/evaluate_rpe.py b/svo_analysis/scripts/evaluate_rpe.py new file mode 100755 index 0000000..1ba24a7 --- /dev/null +++ b/svo_analysis/scripts/evaluate_rpe.py @@ -0,0 +1,355 @@ +#!/usr/bin/python + +import yaml +import argparse +import random +import numpy +import sys +import transformations +import matplotlib +import matplotlib.pyplot as plt +import matplotlib.pylab as pylab +from matplotlib import rc + +def transform44(l): + t = l[1:4] + q = l[4:8] + return numpy.dot(transformations.translation_matrix(t),transformations.quaternion_matrix(q)) + +def read_trajectory(filename, matrix=True): + file = open(filename) + data = file.read() + lines = data.replace(","," ").replace("\t"," ").split("\n") + list = [[float(v.strip()) for v in line.split(" ") if v.strip()!=""] for line in lines if len(line)>0 and line[0]!="#"] + list_ok = [] + for i,l in enumerate(list): + if l[4:8]==[0,0,0,0]: + continue + isnan = False + for v in l: + if numpy.isnan(v): + isnan = True + break + if isnan: + sys.stderr.write("Warning: line %d of file '%s' has NaNs, skipping line\n"%(i,filename)) + continue + list_ok.append(l) + if matrix : + traj = dict([(l[0],transform44(l[0:])) for l in list_ok]) + else: + traj = dict([(l[0],l[1:8]) for l in list_ok]) + return traj + +def find_closest_index(L,t): + beginning = 0 + difference = abs(L[0] - t) + best = 0 + end = len(L) + while beginning < end: + middle = int((end+beginning)/2) + if abs(L[middle] - t) < difference: + difference = abs(L[middle] - t) + best = middle + if t == L[middle]: + return middle + elif L[middle] > t: + end = middle + else: + beginning = middle + 1 + return best + +def ominus(a,b): + return numpy.dot(numpy.linalg.inv(a),b) + +def scale(a,scalar): + return numpy.array( + [[a[0,0], a[0,1], a[0,2], a[0,3]*scalar], + [a[1,0], a[1,1], a[1,2], a[1,3]*scalar], + [a[2,0], a[2,1], a[2,2], a[2,3]*scalar], + [a[3,0], a[3,1], a[3,2], a[3,3]]] + ) + +def compute_distance(transform): + return numpy.linalg.norm(transform[0:3,3]) + +def compute_angle(transform): + # an invitation to 3-d vision, p 27 + return numpy.arccos( min(1,max(-1, (numpy.trace(transform[0:3,0:3]) - 1)/2) )) + +def distances_along_trajectory(traj): + keys = traj.keys() + keys.sort() + motion = [ominus(traj[keys[i+1]],traj[keys[i]]) for i in range(len(keys)-1)] + distances = [0] + sum = 0 + for t in motion: + sum += compute_distance(t) + distances.append(sum) + return distances + +def rotations_along_trajectory(traj,scale): + keys = traj.keys() + keys.sort() + motion = [ominus(traj[keys[i+1]],traj[keys[i]]) for i in range(len(keys)-1)] + distances = [0] + sum = 0 + for t in motion: + sum += compute_angle(t)*scale + distances.append(sum) + return distances + +def interpolate_transformation(alpha,a,b): + qa,ta = transformations.quaternion_from_matrix(a),transformations.translation_from_matrix(a) + qb,tb = transformations.quaternion_from_matrix(b),transformations.translation_from_matrix(b) + qr = transformations.quaternion_slerp(qa,qb,alpha) + tr = (1-alpha) * ta + (alpha) * tb + r = numpy.dot(transformations.translation_matrix(tr),transformations.quaternion_matrix(qr)) + return r + +def interpolate_and_resample(traj_gt,stamps_est,param_offset,gt_max_time_difference): + traj_new = {} + + stamps_gt = list(traj_gt.keys()) + stamps_gt.sort() + + for t_est in stamps_est: + t_new = t_est + param_offset + i_nearest = find_closest_index(stamps_gt,t_est + param_offset) + if stamps_gt[i_nearest] >= t_new and i_nearest>0: + i_low = i_nearest-1 + i_high = i_nearest + else: + i_low = i_nearest + i_high = i_nearest+1 + if i_low<0 or i_high>=len(stamps_gt): + continue + + t_low = stamps_gt[i_low] + t_high = stamps_gt[i_high] + + if(abs( t_new - (t_low + param_offset) ) > gt_max_time_difference or + abs( t_new - (t_high + param_offset) ) > gt_max_time_difference): + continue + + alpha = (t_new - (t_low + param_offset)) / (t_high - t_low) + transform = interpolate_transformation(alpha,traj_gt[t_low],traj_gt[t_high]) + traj_new[t_new] = transform + return traj_new + + +def evaluate_trajectory(traj_gt,traj_est,param_max_pairs=10000,param_fixed_delta=False,param_delta=1.00,param_delta_unit="s",param_offset=0.00,param_scale=1.00,param_interpolation=True): + stamps_est = list(traj_est.keys()) + stamps_est.sort() + stamps_gt = list(traj_gt.keys()) + stamps_gt.sort() + + gt_interval = numpy.median([s-t for s,t in zip(stamps_gt[1:],stamps_gt[:-1])]) + gt_max_time_difference = 2*gt_interval + + if param_interpolation: + traj_gt = interpolate_and_resample(traj_gt,stamps_est,param_offset,gt_max_time_difference) + stamps_gt = list(traj_gt.keys()) + stamps_gt.sort() + + stamps_est_return = [] + for t_est in stamps_est: + t_gt = stamps_gt[find_closest_index(stamps_gt,t_est + param_offset)] + t_est_return = stamps_est[find_closest_index(stamps_est,t_gt - param_offset)] + t_gt_return = stamps_gt[find_closest_index(stamps_gt,t_est_return + param_offset)] + if not t_est_return in stamps_est_return: + stamps_est_return.append(t_est_return) + if(len(stamps_est_return)<2): + raise Exception("Number of overlap in the timestamps is too small. Did you run the evaluation on the right files?") + + if param_delta_unit=="s": + index_est = list(traj_est.keys()) + index_est.sort() + elif param_delta_unit=="m": + index_est = distances_along_trajectory(traj_est) + elif param_delta_unit=="rad": + index_est = rotations_along_trajectory(traj_est,1) + elif param_delta_unit=="deg": + index_est = rotations_along_trajectory(traj_est,180/numpy.pi) + elif param_delta_unit=="f": + index_est = range(len(traj_est)) + else: + raise Exception("Unknown unit for delta: '%s'"%param_delta_unit) + + if not param_fixed_delta: + if(param_max_pairs==0 or len(traj_est)param_max_pairs): + pairs = random.sample(pairs,param_max_pairs) + + result = [] + for i,j in pairs: + stamp_est_0 = stamps_est[i] + stamp_est_1 = stamps_est[j] + + stamp_gt_0 = stamps_gt[ find_closest_index(stamps_gt,stamp_est_0 + param_offset) ] + stamp_gt_1 = stamps_gt[ find_closest_index(stamps_gt,stamp_est_1 + param_offset) ] + + if(abs(stamp_gt_0 - (stamp_est_0 + param_offset)) > gt_max_time_difference or + abs(stamp_gt_1 - (stamp_est_1 + param_offset)) > gt_max_time_difference): + continue + + error44 = ominus( scale( + ominus( traj_est[stamp_est_1], traj_est[stamp_est_0] ),param_scale), + ominus( traj_gt[stamp_gt_1], traj_gt[stamp_gt_0] ) ) + + + trans = compute_distance(error44) + rot = compute_angle(error44) + + motion_gt = ominus( traj_gt[stamp_gt_1], traj_gt[stamp_gt_0] ) + trans_gt = compute_distance(motion_gt) + rot_gt = compute_angle(motion_gt) + + if(rot < 0.07): + result.append([stamp_est_0,stamp_est_1,stamp_gt_0,stamp_gt_1,trans,rot,trans_gt,rot_gt]) + + if len(result)<2: + raise Exception("Couldn't find matching timestamp pairs between groundtruth and estimated trajectory!") + + return result + +def percentile(seq,q): + seq_sorted = list(seq) + seq_sorted.sort() + return seq_sorted[int((len(seq_sorted)-1)*q)] + +if __name__ == '__main__': + random.seed(0) + + # config ------------------------------------------------------------------------- + + dataset='20131003_1937_nslam_i7_asl2_fast' + dataset_dir = '../results/'+dataset + + #--------------------------------------------------------------------------------- + + # load dataset parameters + params_stream = open(dataset_dir+'/params.yaml') + params = yaml.load(params_stream) + + # set trajectory groundtruth and estimate file + traj_groundtruth = params['dataset_directory']+'/groundtruth_filtered.txt' + traj_estimate_rotated = dataset_dir+'/traj_estimate_rotated.txt' + + parser = argparse.ArgumentParser(description=''' + This script computes the relative pose error from the ground truth trajectory and the estimated trajectory. + ''') + parser.add_argument('--groundtruth_file', help='ground-truth trajectory file (format: "timestamp tx ty tz qx qy qz qw")', default=traj_groundtruth) + parser.add_argument('--estimated_file', help='estimated trajectory file (format: "timestamp tx ty tz qx qy qz qw")', default=traj_estimate_rotated) + parser.add_argument('--interpolate', help='interpolate and resample the ground truth trajectory', default=True) + parser.add_argument('--max_pairs', help='maximum number of pose comparisons (default: 10000, set to zero to disable downsampling)', default=10000) + parser.add_argument('--fixed_delta', help='only consider pose pairs that have a distance of delta delta_unit (e.g., for evaluating the drift per second/meter/radian)', default=True) + parser.add_argument('--delta', help='delta for evaluation (default: 1.0)',default=1.0) + parser.add_argument('--delta_unit', help='unit of delta (options: \'s\' for seconds, \'m\' for meters, \'rad\' for radians, \'f\' for frames; default: \'s\')',default='s') + parser.add_argument('--offset', help='time offset between ground-truth and estimated trajectory (default: 0.0)',default=0.0) + parser.add_argument('--scale', help='scaling factor for the estimated trajectory (default: 1.0)',default=1.0) + parser.add_argument('--save', help='text file to which the evaluation will be saved (format: stamp_est0 stamp_est1 stamp_gt0 stamp_gt1 trans_error rot_error)') + parser.add_argument('--plot', help='plot the result to a file (requires --fixed_delta, output format: png)', default=True) + parser.add_argument('--plotname', help='plot the result to a file (requires --fixed_delta, output format: png)', default='rpe.png') + parser.add_argument('--verbose', help='print all evaluation data (otherwise, only the mean translational error measured in meters will be printed)', default=True) + args = parser.parse_args() + + if args.plot and not args.fixed_delta: + sys.exit("The '--plot' option can only be used in combination with '--fixed_delta'") + + traj_gt = read_trajectory(args.groundtruth_file) + traj_est = read_trajectory(args.estimated_file) + + result = evaluate_trajectory(traj_gt, + traj_est, + int(args.max_pairs), + args.fixed_delta, + float(args.delta), + args.delta_unit, + float(args.offset), + float(args.scale), + args.interpolate) + + stamps = numpy.array(result)[:,0] + trans_error = numpy.array(result)[:,4] + rot_error = numpy.array(result)[:,5] + + + results = dict() + results['trans_rmse'] = float(numpy.sqrt(numpy.dot(trans_error,trans_error) / len(trans_error))) + results['trans_mean'] = float(numpy.mean(trans_error)) + results['trans_median'] = float(numpy.median(trans_error)) + results['trans_std'] = float(numpy.std(trans_error)) + results['trans_min'] = float(numpy.min(trans_error)) + results['trans_max'] = float(numpy.max(trans_error)) + results['rot_rmse'] = float((numpy.sqrt(numpy.dot(rot_error,rot_error) / len(rot_error)) * 180.0 / numpy.pi)) + results['rot_mean'] = float((numpy.mean(rot_error) * 180.0 / numpy.pi)) + results['rot_median'] = float(numpy.median(rot_error) * 180.0 / numpy.pi) + results['rot_std'] = float((numpy.std(rot_error) * 180.0 / numpy.pi)) + results['rot_min'] = float((numpy.min(rot_error) * 180.0 / numpy.pi)) + results['rot_max'] = float((numpy.max(rot_error) * 180.0 / numpy.pi)) + + # dump experiment results to file: + results_file = params['trace_dir']+'/rpe_results.yaml' + with open(results_file,'w') as outfile: + outfile.write( yaml.dump(results, default_flow_style=False) ) + + if args.save: + f = open(args.save,"w") + f.write("\n".join([" ".join(["%f"%v for v in line]) for line in result])) + f.close() + + if args.verbose: + print "compared_pose_pairs %d pairs"%(len(trans_error)) + + print "translational_error.rmse %f m"%results['trans_rmse'] + print "translational_error.mean %f m"%results['trans_mean'] + print "translational_error.median %f m"%results['trans_median'] + print "translational_error.std %f m"%results['trans_std'] + print "translational_error.min %f m"%results['trans_min'] + print "translational_error.max %f m"%results['trans_max'] + + print "rotational_error.rmse %f deg"%results['rot_rmse'] + print "rotational_error.mean %f deg"%results['rot_mean'] + print "rotational_error.median %f deg"%results['rot_median'] + print "rotational_error.std %f deg"%results['rot_std'] + print "rotational_error.min %f deg"%results['rot_min'] + print "rotational_error.max %f deg"%results['rot_max'] + else: + print numpy.mean(trans_error) + + if args.plot: + + # tell matplotlib to use latex font + rc('font',**{'family':'serif','serif':['Cardo']}) + rc('text', usetex=True) + + #matplotlib.use('Agg') # no window should appear? + + fig = plt.figure(figsize=(8, 3)) + ax = fig.add_subplot(111) + ax.plot(stamps - stamps[0],trans_error,'-',color="blue") + #ax.plot([t for t,e in err_rot],[e for t,e in err_rot],'-',color="red") + ax.set_xlabel('time [s]') + ax.set_ylabel('translational error [m]') + plt.tight_layout() + plt.savefig(dataset_dir+'/rpe_trans_error.pdf') + plt.show() + + fig = plt.figure(figsize=(8, 3)) + ax = fig.add_subplot(111) + ax.plot(stamps - stamps[0],rot_error* 180.0 / numpy.pi,'-',color="blue") + #ax.plot([t for t,e in err_rot],[e for t,e in err_rot],'-',color="red") + ax.set_xlabel('time [s]') + ax.set_ylabel('rot error [deg]') + plt.tight_layout() + plt.savefig(dataset_dir+'/rpe_rot_error.pdf') + plt.show() \ No newline at end of file diff --git a/svo_analysis/scripts/filter_groundtruth_smooth.py b/svo_analysis/scripts/filter_groundtruth_smooth.py new file mode 100644 index 0000000..d0cc240 --- /dev/null +++ b/svo_analysis/scripts/filter_groundtruth_smooth.py @@ -0,0 +1,60 @@ +#!/usr/bin/python + + +import numpy as np +import matplotlib.pyplot as plt +import transformations +from scipy import signal + +save = True +data_filename = '/home/cforster/Datasets/SlamBenchmark/asl_vicon_d2/groundtruth.txt' +filtered_data_filename = '/home/cforster/Datasets/SlamBenchmark/asl_vicon_d2/groundtruth_filtered.txt' +file = open(data_filename) +data = file.read() +lines = data.replace(","," ").replace("\t"," ").split("\n") +D = np.array([[v.strip() for v in line.split(" ") if v.strip()!=""] for line in lines if len(line)>0 and line[0]!="#"], dtype=np.float64) + +n = np.shape(D)[0] +rpy = np.empty([n,3]) +for i in range(n): + quat = D[i,4:8] + rpy[i,:] = transformations.euler_from_quaternion(quat, axes='sxyz') + +# filter rpy +f_sensor = 200.0; # sampling frequency in hz +f_cut = 15.0; # cutoff frequency in hz +b,a = signal.butter(5,f_cut/(f_sensor/2)); +print a +print b + +rpy_filt = np.empty([n,3]) +rpy_filt[:,0] = signal.filtfilt(b, a, rpy[:,0]) +rpy_filt[:,1] = signal.filtfilt(b, a, rpy[:,1]) +rpy_filt[:,2] = signal.filtfilt(b, a, rpy[:,2]) + +fig = plt.figure() +ax = fig.add_subplot(111, title='orientation filtered') +ax.plot(rpy[:,0], 'r-') +ax.plot(rpy[:,1], 'g-') +ax.plot(rpy[:,2], 'b-') +ax.plot(rpy_filt[:,0], 'k-', linewidth=2) +ax.plot(rpy_filt[:,1], 'k-', linewidth=2) +ax.plot(rpy_filt[:,2], 'k-', linewidth=2) + +fig = plt.figure() +ax = fig.add_subplot(111, title='position') +ax.plot(D[:,1], 'r') +ax.plot(D[:,2], 'g') +ax.plot(D[:,3], 'b') + +fig = plt.figure() +ax = fig.add_subplot(111, title='trajectory from top') +ax.plot(D[:,1], D[:,2]) + +if save: + f = open(filtered_data_filename,'w') + for i in range(np.shape(D)[0]): + quat = transformations.quaternion_from_euler(rpy_filt[i,0], rpy_filt[i,1], rpy_filt[i,2], axes='sxyz') + f.write('%.7f %.5f %.5f %.5f %.5f %.5f %.5f %.5f\n' % (D[i,0], D[i,1], D[i,2], D[i,3], quat[0], quat[1], quat[2], quat[3])) + + f.close() diff --git a/svo_analysis/scripts/hand_eye_calib.py b/svo_analysis/scripts/hand_eye_calib.py new file mode 100644 index 0000000..7a7bb1b --- /dev/null +++ b/svo_analysis/scripts/hand_eye_calib.py @@ -0,0 +1,287 @@ +# -*- coding: utf-8 -*- +""" +Created on Sun Aug 4 15:47:55 2013 + +@author: cforster +""" + +import yaml +import numpy as np +import associate +import rotation_utils as ru +import matplotlib.pyplot as plt + +def alignSim3(model, data, n): + + # select the first n datapoints and remove its mean so their center is zero + M = model[0:n,:] + D = data[0:n,:] + + # substract mean + mu_M = M.mean(0) + mu_D = D.mean(0) + M_zerocentered = M - mu_M + D_zerocentered = D - mu_D + + # correlation + C = 1.0/n*np.dot(M_zerocentered.transpose(), D_zerocentered) + sigma2 = 1.0/n*np.multiply(D_zerocentered,D_zerocentered).sum() + U_svd,D_svd,V_svd = np.linalg.linalg.svd(C) + D_svd = np.diag(D_svd) + V_svd = np.transpose(V_svd) + S = np.eye(3) + + if(np.linalg.det(U_svd)*np.linalg.det(V_svd) < 0): + S[2,2] = -1 + + R = np.dot(U_svd, np.dot(S, np.transpose(V_svd))) + s = 1.0/sigma2*np.trace(np.dot(D_svd, S)) + t = mu_M-s*np.dot(R,mu_D) + + return s, R, t + +def matrixLog(A): + theta = np.arccos((np.trace(A)-1.0)/2.0) + log_theta = 0.5*theta/np.sin(theta) * (A - A.transpose()) + x = np.array([log_theta[2,1], log_theta[0,2], log_theta[1,0]]) + return x + +def handEyeCalib(q_gt, q_es, p_gt, p_es, I, delta=10, verbose=True): + ''' Implementation of the least squares solution described in the paper: + Robot Sensor Calibration: Solving AX=XB on the Euclidean Group + by Frank C. Park and Bryan J. Martin + ''' + n = np.shape(I)[0] + M = np.zeros([3,3]) + C = np.zeros([3*n, 3]) + b_A = np.zeros([3*n,1]) + b_B = np.zeros([3*n,1]) + for ix, i in enumerate(I): + A1 = ru.quat2dcm(q_es[i,:]) + A2 = ru.quat2dcm(q_es[i+delta,:]) + A = np.dot(A1.transpose(), A2) + B1 = ru.quat2dcm(q_gt[i,:]) + B2 = ru.quat2dcm(q_gt[i+delta,:]) + B = np.dot(B1.transpose(), B2) + alpha = matrixLog(A) + beta = matrixLog(B) + M = M + np.dot(np.matrix(beta).transpose(), np.matrix(alpha)) + C[3*ix:3*ix+3,:] = np.eye(3) - A + b_A[3*ix:3*ix+3,0] = np.dot(np.transpose(A1), p_es[i+delta,:]-p_es[i,:]) + b_B[3*ix:3*ix+3,0] = np.dot(np.transpose(B1), p_gt[i+delta,:]-p_gt[i,:]) + + # compute rotation + D,V = np.linalg.linalg.eig(np.dot(M.transpose(), M)) + Lambda = np.diag([np.sqrt(1.0/D[0]), np.sqrt(1.0/D[1]), np.sqrt(1.0/D[2])]) + Vinv = np.linalg.linalg.inv(V) + X = np.dot(V, np.dot(Lambda, np.dot(Vinv, M.transpose()))) + + # compute translation + d = np.zeros([3*n,1]) + for i in range(n): + d[3*i:3*i+3,:] = b_A[3*i:3*i+3,:] - np.dot(X, b_B[3*i:3*i+3,:]) + + b = np.dot(np.linalg.inv(np.dot(np.transpose(C),C)), np.dot(np.transpose(C),d)) + + return np.array(X),b + + +# user config +display = True +dataset = '20130906_2149_ptam_i7_asl2' +n_measurements = 1000 +delta = 20 + +# load dataset parameters +dataset_dir = '../results/'+dataset +params_stream = open(dataset_dir+'/params.yaml') +params = yaml.load(params_stream) + +# set trajectory groundtruth and estimate file +traj_groundtruth = params['dataset_directory']+'/groundtruth_filtered.txt' +traj_estimate = dataset_dir+'/traj_estimate.txt' + +# load dataset params +dataset_param_file_stream = open(params['dataset_directory']+'/dataset_params.yaml','r') +dataset_param = yaml.load(dataset_param_file_stream) + +# load data +data_gt = associate.read_file_list(traj_groundtruth) +data_es = associate.read_file_list(traj_estimate) + +# select matches +#offset = -dataset_param['cam_delay'] +offset = -0.03 +matches = associate.associate(data_gt, data_es, offset, 0.02) +#matches = matches[0:470] +p_gt = np.array([[float(value) for value in data_gt[a][0:3]] for a,b in matches]) +q_gt = np.array([[float(value) for value in data_gt[a][3:7]] for a,b in matches]) +p_es = np.array([[float(value) for value in data_es[b][0:3]] for a,b in matches]) +q_es = np.array([[float(value) for value in data_es[b][3:7]] for a,b in matches]) + +# -------------------------------------------------------------------------------- +# align Sim3 to get scale +scale,rot,trans = alignSim3(p_gt, p_es, np.shape(matches)[0]) +p_es = scale*p_es +#p_es = np.transpose(scale*np.dot(rot,np.transpose(p_es)))+trans + +print 's='+str(scale) +#print 't='+str(trans) +#print 'R='+str(rot) + +# plot sim3 aligned trajectory +if display: + fig = plt.figure() + ax = fig.add_subplot(111, aspect='equal') + ax.plot(p_es[:,0], p_es[:,1], 'r-', label='estimate') + ax.plot(p_gt[:,0], p_gt[:,1], 'b-', label='groundtruth') + ax.legend() + +# -------------------------------------------------------------------------------- +# hand-eye-calib + +# select random measurements +I = np.array(rand(n_measurements,1)*(np.shape(matches)[0]-delta), dtype=int)[:,0] +R,b = handEyeCalib(q_gt, q_es, p_gt, p_es, I, delta, True) + +print 'quat = ' + str(ru.dcm2quat(R)) +print 'b = ' + str(b) + +rpy_es = np.zeros([q_es.shape[0]-1, 3]) +rpy_gt = np.zeros([q_gt.shape[0]-1, 3]) +t_gt = np.zeros([q_es.shape[0]-1,3]) +t_es = np.zeros([q_es.shape[0]-1,3]) + +for i in range(delta,np.shape(q_es)[0]): + A1 = ru.quat2dcm(q_es[i-delta,:]) + A2 = ru.quat2dcm(q_es[i,:]) + A = np.dot(A1.transpose(), A2) + B1 = ru.quat2dcm(q_gt[i-delta,:]) + B2 = ru.quat2dcm(q_gt[i,:]) + B = np.dot(B1.transpose(), B2) + B_es = np.dot(np.transpose(R), np.dot(A, R)) + rpy_gt[i-delta,:] = ru.dcm2rpy(B) + rpy_es[i-delta,:] = ru.dcm2rpy(B_es) + t_B = np.dot(np.transpose(B1),(p_gt[i,:]-p_gt[i-delta,:])) + t_A = np.dot(np.transpose(A1),(p_es[i,:]-p_es[i-delta,:])) + t_gt[i-delta,:] = t_B + t_es[i-delta,:] = np.dot(np.transpose(R), np.dot(A,b[:,0]) + t_A - b[:,0]) + +alignment_error = (t_gt-t_es) +error = np.sqrt(np.sum(np.multiply(alignment_error,alignment_error),1)) +I_accurate = np.argwhere(error < np.percentile(error, 90))[:,0] + +if display: + plt.figure() + plt.plot(rpy_es[:,0], 'r-', label='es roll') + plt.plot(rpy_es[:,1], 'g-', label='es pitch') + plt.plot(rpy_es[:,2], 'b-', label='es yaw') + plt.plot(rpy_gt[:,0], 'r--', label='gt roll') + plt.plot(rpy_gt[:,1], 'g--', label='gt pitch') + plt.plot(rpy_gt[:,2], 'b--', label='gt yaw') + plt.legend() + plt.figure() + plt.plot(t_gt[:,0], 'r-', label='gt x') + plt.plot(t_gt[:,1], 'g-', label='gt y') + plt.plot(t_gt[:,2], 'b-', label='gt z') + plt.plot(t_es[:,0], 'r--', label='es x') + plt.plot(t_es[:,1], 'g--', label='es y') + plt.plot(t_es[:,2], 'b--', label='es z') + plt.legend() + plt.figure() + plt.plot(error,'-g') + + +print 'e_rms = ' + str(np.sqrt(np.dot(error,error) / len(error))) +print 'e_mean = ' + str(np.mean(error)) +print 'e_median = ' + str(np.median(error)) +print 'e_std = ' + str(np.std(error)) + + +# now sample again from the filtered list: +N = 10 +display = False +n_acc_meas = I_accurate.size +n_measurements = 500 + +#for i in range(5): +# print '-------------------------------------' +# i0 = np.array(rand(n_measurements,1)*np.shape(I_accurate)[0], dtype=int)[:,0] +# i1 = np.minimum(i0+N, n_acc_meas-1) +# I = np.empty(i0.size*2, dtype=int) +# I[0::2] = I_accurate[i0] +# I[1::2] = I_accurate[i1] +# R,b = handEyeCalib(q_gt[I,:], q_es[I,:], p_gt[I,:], p_es[I,:], True) +# print 'quat = ' + str(ru.dcm2quat(R)) +# print 'b = ' + str(b) +# rpy_es = np.zeros([q_es.shape[0]-1, 3]) +# rpy_gt = np.zeros([q_gt.shape[0]-1, 3]) +# t_gt = np.zeros([q_es.shape[0]-1,3]) +# t_es = np.zeros([q_es.shape[0]-1,3]) +# +# delta = 10 +# for i in range(delta,np.shape(q_es)[0]): +# A1 = ru.quat2dcm(q_es[i-delta,:]) +# A2 = ru.quat2dcm(q_es[i,:]) +# A = np.dot(A1.transpose(), A2) +# B1 = ru.quat2dcm(q_gt[i-delta,:]) +# B2 = ru.quat2dcm(q_gt[i,:]) +# B = np.dot(B1.transpose(), B2) +# B_es = np.dot(np.transpose(R), np.dot(A, R)) +# rpy_gt[i-delta,:] = ru.dcm2rpy(B) +# rpy_es[i-delta,:] = ru.dcm2rpy(B_es) +# t_B = np.dot(np.transpose(B1),(p_gt[i,:]-p_gt[i-delta,:])) +# t_A = np.dot(np.transpose(A1),(p_es[i,:]-p_es[i-delta,:])) +# t_gt[i-delta,:] = t_B +# t_es[i-delta,:] = np.dot(np.transpose(R), np.dot(A,b[:,0]) + t_A - b[:,0]) +# alignment_error = (t_gt-t_es) +# error = np.sqrt(np.sum(np.multiply(alignment_error,alignment_error),1)) +# +# if display: +# plt.figure() +# plt.plot(rpy_es[:,0], 'r-', label='es roll') +# plt.plot(rpy_es[:,1], 'g-', label='es pitch') +# plt.plot(rpy_es[:,2], 'b-', label='es yaw') +# plt.plot(rpy_gt[:,0], 'r--', label='gt roll') +# plt.plot(rpy_gt[:,1], 'g--', label='gt pitch') +# plt.plot(rpy_gt[:,2], 'b--', label='gt yaw') +# plt.legend() +# plt.figure() +# plt.plot(t_gt[:,0], 'r-', label='es x') +# plt.plot(t_gt[:,1], 'g-', label='es y') +# plt.plot(t_gt[:,2], 'b-', label='es z') +# plt.plot(t_es[:,0], 'r--', label='gt x') +# plt.plot(t_es[:,1], 'g--', label='gt y') +# plt.plot(t_es[:,2], 'b--', label='gt z') +# plt.legend() +# plt.figure() +# plt.plot(error,'-g') +# +# print 'e_rms = ' + str(np.sqrt(np.dot(error,error) / len(error))) +# print 'e_mean = ' + str(np.mean(error)) +# print 'e_median = ' + str(np.median(error)) +# print 'e_std = ' + str(np.std(error)) + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/svo_analysis/scripts/rotation_utils.py b/svo_analysis/scripts/rotation_utils.py new file mode 100644 index 0000000..4c7b711 --- /dev/null +++ b/svo_analysis/scripts/rotation_utils.py @@ -0,0 +1,143 @@ +# -*- coding: utf-8 -*- +""" +Created on Fri Jun 28 10:42:37 2013 + +@author: cforster +""" + +import math +import numpy as np + +# epsilon for testing whether a number is close to zero +_EPS = np.finfo(float).eps * 4.0 + +# axis sequences for Euler angles +_NEXT_AXIS = [1, 2, 0, 1] + +# map axes strings to/from tuples of inner axis, parity, repetition, frame +_AXES2TUPLE = { + 'sxyz': (0, 0, 0, 0), 'sxyx': (0, 0, 1, 0), 'sxzy': (0, 1, 0, 0), + 'sxzx': (0, 1, 1, 0), 'syzx': (1, 0, 0, 0), 'syzy': (1, 0, 1, 0), + 'syxz': (1, 1, 0, 0), 'syxy': (1, 1, 1, 0), 'szxy': (2, 0, 0, 0), + 'szxz': (2, 0, 1, 0), 'szyx': (2, 1, 0, 0), 'szyz': (2, 1, 1, 0), + 'rzyx': (0, 0, 0, 1), 'rxyx': (0, 0, 1, 1), 'ryzx': (0, 1, 0, 1), + 'rxzx': (0, 1, 1, 1), 'rxzy': (1, 0, 0, 1), 'ryzy': (1, 0, 1, 1), + 'rzxy': (1, 1, 0, 1), 'ryxy': (1, 1, 1, 1), 'ryxz': (2, 0, 0, 1), + 'rzxz': (2, 0, 1, 1), 'rxyz': (2, 1, 0, 1), 'rzyz': (2, 1, 1, 1)} + +_TUPLE2AXES = dict((v, k) for k, v in _AXES2TUPLE.items()) + + +def quat2dcm(quaternion): + """Convert Quaternion [x y z w] to Direct Cosine Matrix representation """ + q = np.array(quaternion[:4], dtype=np.float64, copy=True) + nq = np.dot(q, q) + if nq < _EPS: + return np.identity(4) + q *= math.sqrt(2.0 / nq) + q = np.outer(q, q) + return np.array([ [1.0-q[1, 1]-q[2, 2], q[0, 1]-q[2, 3], q[0, 2]+q[1, 3]], + [ q[0, 1]+q[2, 3], 1.0-q[0, 0]-q[2, 2], q[1, 2]-q[0, 3]], + [ q[0, 2]-q[1, 3], q[1, 2]+q[0, 3], 1.0-q[0, 0]-q[1, 1]]], + dtype=np.float64) + +def dcm2quat(matrix): + """Convert Direct Cosine Matrix to Quaternion + + This algorithm comes from "Quaternion Calculus and Fast Animation", + Ken Shoemake, 1987 SIGGRAPH course notes + """ + q = np.empty((4, ), dtype=np.float64) + M = np.array(matrix, dtype=np.float64, copy=False)[:3, :3] + t = np.trace(M) + if (t > 0): + t = math.sqrt(t + 1.0); + q[3] = 0.5*t; + t = 0.5/t; + q[0] = (M[2,1] - M[1,2]) * t; + q[1] = (M[0,2] - M[2,0]) * t; + q[2] = (M[1,0] - M[0,1]) * t; + else: + i = 0; + if (M[1,1] > M[0,0]): + i = 1; + if (M[2,2] > M[i,i]): + i = 2; + j = (i+1)%3; + k = (j+1)%3; + + t = math.sqrt(M[i,i]-M[j,j]-M[k,k] + 1.0); + q[i] = 0.5 * t; + t = 0.5/t; + q[3] = (M[k,j]-M[j,k])*t; + q[j] = (M[j,i]+M[i,j])*t; + q[k] = (M[k,i]+M[i,k])*t; + return q + +def dcm2rpy(matrix, axes='sxyz'): + """Return Euler angles from rotation matrix for specified axis sequence. + + axes : One of 24 axis sequences as string or encoded tuple + + Note that many Euler angle triplets can describe one matrix. + + >>> R0 = euler_matrix(1, 2, 3, 'syxz') + >>> al, be, ga = euler_from_matrix(R0, 'syxz') + >>> R1 = euler_matrix(al, be, ga, 'syxz') + >>> numpy.allclose(R0, R1) + True + >>> angles = (4.0*math.pi) * (numpy.random.random(3) - 0.5) + >>> for axes in _AXES2TUPLE.keys(): + ... R0 = euler_matrix(axes=axes, *angles) + ... R1 = euler_matrix(axes=axes, *euler_from_matrix(R0, axes)) + ... if not numpy.allclose(R0, R1): print axes, "failed" + + """ + try: + firstaxis, parity, repetition, frame = _AXES2TUPLE[axes.lower()] + except (AttributeError, KeyError): + _ = _TUPLE2AXES[axes] + firstaxis, parity, repetition, frame = axes + + i = firstaxis + j = _NEXT_AXIS[i+parity] + k = _NEXT_AXIS[i-parity+1] + + M = np.array(matrix, dtype=np.float64, copy=False)[:3, :3] + if repetition: + sy = math.sqrt(M[i, j]*M[i, j] + M[i, k]*M[i, k]) + if sy > _EPS: + ax = math.atan2( M[i, j], M[i, k]) + ay = math.atan2( sy, M[i, i]) + az = math.atan2( M[j, i], -M[k, i]) + else: + ax = math.atan2(-M[j, k], M[j, j]) + ay = math.atan2( sy, M[i, i]) + az = 0.0 + else: + cy = math.sqrt(M[i, i]*M[i, i] + M[j, i]*M[j, i]) + if cy > _EPS: + ax = math.atan2( M[k, j], M[k, k]) + ay = math.atan2(-M[k, i], cy) + az = math.atan2( M[j, i], M[i, i]) + else: + ax = math.atan2(-M[j, k], M[j, j]) + ay = math.atan2(-M[k, i], cy) + az = 0.0 + + if parity: + ax, ay, az = -ax, -ay, -az + if frame: + ax, az = az, ax + return ax, ay, az + +def quat2rpy(quaternion, axes='sxyz'): + """Return Euler angles from quaternion for specified axis sequence. + + >>> angles = euler_from_quaternion([0.06146124, 0, 0, 0.99810947]) + >>> numpy.allclose(angles, [0.123, 0, 0]) + True + + """ + return dcm2rpy(quat2dcm(quaternion), axes) + diff --git a/svo_analysis/scripts/trajectory_comparison.py b/svo_analysis/scripts/trajectory_comparison.py new file mode 100644 index 0000000..1bc219e --- /dev/null +++ b/svo_analysis/scripts/trajectory_comparison.py @@ -0,0 +1,166 @@ +# -*- coding: utf-8 -*- + +import numpy as np +import matplotlib.pyplot as plt +import yaml +from matplotlib import rc +from mpl_toolkits.axes_grid1.inset_locator import zoomed_inset_axes +from mpl_toolkits.axes_grid1.inset_locator import mark_inset + + +def plotTrajectory(ax, filename, label, color, linewidth): + file = open(filename) + data = file.read() + lines = data.replace(","," ").replace("\t"," ").split("\n") + trajectory = np.array([[v.strip() for v in line.split(" ") if v.strip()!=""] for line in lines if len(line)>0 and line[0]!="#"], dtype=np.float64) + ax.plot(trajectory[:,1], trajectory[:,2], label=label, color=color, linewidth=linewidth) + + +if __name__ == '__main__': + + results_dir = '../results' + experiments = ['20130911_2113_nslam_i7_asl2_acc', + '20130911_2229_nslam_i7_asl2_fast', + '20130906_2149_ptam_i7_asl2'] + + # tell matplotlib to use latex font + rc('font',**{'family':'serif','serif':['Cardo']}) + rc('text', usetex=True) + + # ------------------------------------------------------------------------------ + # position error + fig_poserr = plt.figure(figsize=(8,6)) + ax_poserr_x = fig_poserr.add_subplot(311, ylabel='x-error [m]') + ax_poserr_y = fig_poserr.add_subplot(312, ylabel='y-error [m]') + ax_poserr_z = fig_poserr.add_subplot(313, ylabel='z-error [m]', xlabel='time [s]') + + for exp in experiments: + + # load dataset parameters + params_stream = open(results_dir+'/'+exp+'/params.yaml') + params = yaml.load(params_stream) + + # plot translation error + trans_error_filename = results_dir+'/'+exp+'/translation_error.txt' + file = open(trans_error_filename) + data = file.read() + lines = data.replace(","," ").replace("\t"," ").split("\n") + trans_error = np.array([[v.strip() for v in line.split(" ") if v.strip()!=""] for line in lines if len(line)>0 and line[0]!="#"], dtype=np.float64) + ax_poserr_x.plot(trans_error[:,0], trans_error[:,1], label=params['experiment_label']) + ax_poserr_y.plot(trans_error[:,0], trans_error[:,2]) + ax_poserr_z.plot(trans_error[:,0], trans_error[:,3]) + + ax_poserr_x.set_xlim([0, trans_error[-1,0]+4]) + ax_poserr_y.set_xlim([0, trans_error[-1,0]+4]) + ax_poserr_z.set_xlim([0, trans_error[-1,0]+4]) + ax_poserr_x.legend(bbox_to_anchor=[0, 0], loc='lower left', ncol=3) + ax_poserr_x.grid() + ax_poserr_y.grid() + ax_poserr_z.grid() + fig_poserr.tight_layout() + fig_poserr.savefig('../results/translation_error.pdf') + + # ------------------------------------------------------------------------------ + # orientation error + fig_roterr = plt.figure(figsize=(8,6)) + ax_roterr_r = fig_roterr.add_subplot(311, ylabel='roll-error [rad]') + ax_roterr_p = fig_roterr.add_subplot(312, ylabel='pitch-error [rad]') + ax_roterr_y = fig_roterr.add_subplot(313, ylabel='yaw-error [rad]', xlabel='time [s]') + + for exp in experiments: + + # load dataset parameters + params_stream = open(results_dir+'/'+exp+'/params.yaml') + params = yaml.load(params_stream) + + # plot translation error + rot_error_filename = results_dir+'/'+exp+'/orientation_error.txt' + file = open(rot_error_filename) + data = file.read() + lines = data.replace(","," ").replace("\t"," ").split("\n") + rot_error = np.array([[v.strip() for v in line.split(" ") if v.strip()!=""] for line in lines if len(line)>0 and line[0]!="#"], dtype=np.float64) + ax_roterr_r.plot(rot_error[:,0], rot_error[:,3], label=params['experiment_label']) + ax_roterr_p.plot(rot_error[:,0], rot_error[:,2]) + ax_roterr_y.plot(rot_error[:,0], rot_error[:,1]) + + ax_roterr_r.set_xlim([0, rot_error[-1,0]+4]) + ax_roterr_p.set_xlim([0, rot_error[-1,0]+4]) + ax_roterr_y.set_xlim([0, rot_error[-1,0]+4]) + ax_roterr_r.legend(bbox_to_anchor=[0, 1], loc='upper left', ncol=3) + ax_roterr_r.grid() + ax_roterr_p.grid() + ax_roterr_y.grid() + fig_roterr.tight_layout() + fig_roterr.savefig('../results/orientation_error.pdf') + + # ------------------------------------------------------------------------------ + # scale error + fig_scale = plt.figure(figsize=(8,2.5)) + ax_scale = fig_scale.add_subplot(111, xlabel='time [s]', ylabel='scale change [\%]') + + for exp in experiments: + + # load dataset parameters + params_stream = open(results_dir+'/'+exp+'/params.yaml') + params = yaml.load(params_stream) + + # plot translation error + scale_drift_filename = results_dir+'/'+exp+'/scale_drift.txt' + file = open(scale_drift_filename) + data = file.read() + lines = data.replace(","," ").replace("\t"," ").split("\n") + scale_drift = np.array([[v.strip() for v in line.split(" ") if v.strip()!=""] for line in lines if len(line)>0 and line[0]!="#"], dtype=np.float64) + ax_scale.plot(scale_drift[:,0], scale_drift[:,1], label=params['experiment_label']) + + ax_scale.set_xlim([0, rot_error[-1,0]+4]) + ax_scale.legend(bbox_to_anchor=[0, 1], loc='upper left', ncol=3) + ax_scale.grid() + fig_scale.tight_layout() + fig_scale.savefig('../results/scale_drift.pdf') + + # ------------------------------------------------------------------------------ + # trajectory + + + fig_traj = plt.figure(figsize=(8,4.8)) + ax_traj = fig_traj.add_subplot(111, xlabel='x [m]', ylabel='y [m]', aspect='equal', xlim=[-3.1, 4], ylim=[-1.5, 2.6]) + + plotTrajectory(ax_traj, '/home/cforster/Datasets/asl_vicon_d2/groundtruth_filtered.txt', 'Groundtruth', 'k', 1.5) + plotTrajectory(ax_traj, results_dir+'/20130911_2229_nslam_i7_asl2_fast/traj_estimate_rotated.txt', 'Fast', 'g', 1) + plotTrajectory(ax_traj, results_dir+'/20130906_2149_ptam_i7_asl2/traj_estimate_rotated.txt', 'PTAM', 'r', 1) + + # show detail: + axins = zoomed_inset_axes(ax_traj, 5.0, loc=1) # zoom = 6 + plotTrajectory(axins, '/home/cforster/Datasets/asl_vicon_d2/groundtruth_filtered.txt', 'Groundtruth', 'k', 1.5) + plotTrajectory(axins, results_dir+'/20130911_2229_nslam_i7_asl2_fast/traj_estimate_rotated.txt', 'Fast', 'g', 1) + plotTrajectory(axins, results_dir+'/20130906_2149_ptam_i7_asl2/traj_estimate_rotated.txt', 'PTAM', 'r', 1) + axins.set_xlim(1.2, 1.70) + axins.set_ylim(-0.8, -0.3) + axins.patch.set_facecolor('0.9') + plt.xticks(visible=False) + plt.yticks(visible=False) + + mark_inset(ax_traj, axins, loc1=2, loc2=4, fc="none", ec='b') + plt.draw() + plt.show() + ax_traj.legend(bbox_to_anchor=[1, 0], loc='lower right', ncol=3) + ax_traj.grid() + fig_traj.tight_layout() + fig_traj.savefig('../results/trajectory_asl.pdf') + + + # ------------------------------------------------------------------------------ + # number of matches + + # plot number of klt tracked and matched points +# fig = plt.figure(figsize=(8,2)) +# ax = fig.add_subplot(111, xlabel='time [s]', ylabel='no. features', ylim=[0,220]) +# ax.plot(np.arange(len(n_fts_1))/25.0, n_fts_1, 'b-', label='Accurate') +# ax.plot(np.arange(len(n_fts_2))/25.0, n_fts_2, 'g-', label='Fast') +# ax.legend(bbox_to_anchor=[1, 0], loc='lower right', ncol=2) +# fig.tight_layout() +# fig.savefig('../results/number_of_features2.pdf', bbox_inches="tight") +# + + + \ No newline at end of file diff --git a/svo_analysis/scripts/transformations.py b/svo_analysis/scripts/transformations.py new file mode 100644 index 0000000..6d6f19e --- /dev/null +++ b/svo_analysis/scripts/transformations.py @@ -0,0 +1,1705 @@ +# -*- coding: utf-8 -*- +# transformations.py + +# Copyright (c) 2006, Christoph Gohlke +# Copyright (c) 2006-2009, The Regents of the University of California +# All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions are met: +# +# * Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# * Redistributions in binary form must reproduce the above copyright +# notice, this list of conditions and the following disclaimer in the +# documentation and/or other materials provided with the distribution. +# * Neither the name of the copyright holders nor the names of any +# contributors may be used to endorse or promote products derived +# from this software without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE +# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. + +"""Homogeneous Transformation Matrices and Quaternions. + +A library for calculating 4x4 matrices for translating, rotating, reflecting, +scaling, shearing, projecting, orthogonalizing, and superimposing arrays of +3D homogeneous coordinates as well as for converting between rotation matrices, +Euler angles, and quaternions. Also includes an Arcball control object and +functions to decompose transformation matrices. + +:Authors: + `Christoph Gohlke `__, + Laboratory for Fluorescence Dynamics, University of California, Irvine + +:Version: 20090418 + +Requirements +------------ + +* `Python 2.6 `__ +* `Numpy 1.3 `__ +* `transformations.c 20090418 `__ + (optional implementation of some functions in C) + +Notes +----- + +Matrices (M) can be inverted using numpy.linalg.inv(M), concatenated using +numpy.dot(M0, M1), or used to transform homogeneous coordinates (v) using +numpy.dot(M, v) for shape (4, \*) "point of arrays", respectively +numpy.dot(v, M.T) for shape (\*, 4) "array of points". + +Calculations are carried out with numpy.float64 precision. + +This Python implementation is not optimized for speed. + +Vector, point, quaternion, and matrix function arguments are expected to be +"array like", i.e. tuple, list, or numpy arrays. + +Return types are numpy arrays unless specified otherwise. + +Angles are in radians unless specified otherwise. + +Quaternions ix+jy+kz+w are represented as [x, y, z, w]. + +Use the transpose of transformation matrices for OpenGL glMultMatrixd(). + +A triple of Euler angles can be applied/interpreted in 24 ways, which can +be specified using a 4 character string or encoded 4-tuple: + + *Axes 4-string*: e.g. 'sxyz' or 'ryxy' + + - first character : rotations are applied to 's'tatic or 'r'otating frame + - remaining characters : successive rotation axis 'x', 'y', or 'z' + + *Axes 4-tuple*: e.g. (0, 0, 0, 0) or (1, 1, 1, 1) + + - inner axis: code of axis ('x':0, 'y':1, 'z':2) of rightmost matrix. + - parity : even (0) if inner axis 'x' is followed by 'y', 'y' is followed + by 'z', or 'z' is followed by 'x'. Otherwise odd (1). + - repetition : first and last axis are same (1) or different (0). + - frame : rotations are applied to static (0) or rotating (1) frame. + +References +---------- + +(1) Matrices and transformations. Ronald Goldman. + In "Graphics Gems I", pp 472-475. Morgan Kaufmann, 1990. +(2) More matrices and transformations: shear and pseudo-perspective. + Ronald Goldman. In "Graphics Gems II", pp 320-323. Morgan Kaufmann, 1991. +(3) Decomposing a matrix into simple transformations. Spencer Thomas. + In "Graphics Gems II", pp 320-323. Morgan Kaufmann, 1991. +(4) Recovering the data from the transformation matrix. Ronald Goldman. + In "Graphics Gems II", pp 324-331. Morgan Kaufmann, 1991. +(5) Euler angle conversion. Ken Shoemake. + In "Graphics Gems IV", pp 222-229. Morgan Kaufmann, 1994. +(6) Arcball rotation control. Ken Shoemake. + In "Graphics Gems IV", pp 175-192. Morgan Kaufmann, 1994. +(7) Representing attitude: Euler angles, unit quaternions, and rotation + vectors. James Diebel. 2006. +(8) A discussion of the solution for the best rotation to relate two sets + of vectors. W Kabsch. Acta Cryst. 1978. A34, 827-828. +(9) Closed-form solution of absolute orientation using unit quaternions. + BKP Horn. J Opt Soc Am A. 1987. 4(4), 629-642. +(10) Quaternions. Ken Shoemake. + http://www.sfu.ca/~jwa3/cmpt461/files/quatut.pdf +(11) From quaternion to matrix and back. JMP van Waveren. 2005. + http://www.intel.com/cd/ids/developer/asmo-na/eng/293748.htm +(12) Uniform random rotations. Ken Shoemake. + In "Graphics Gems III", pp 124-132. Morgan Kaufmann, 1992. + + +Examples +-------- + +>>> alpha, beta, gamma = 0.123, -1.234, 2.345 +>>> origin, xaxis, yaxis, zaxis = (0, 0, 0), (1, 0, 0), (0, 1, 0), (0, 0, 1) +>>> I = identity_matrix() +>>> Rx = rotation_matrix(alpha, xaxis) +>>> Ry = rotation_matrix(beta, yaxis) +>>> Rz = rotation_matrix(gamma, zaxis) +>>> R = concatenate_matrices(Rx, Ry, Rz) +>>> euler = euler_from_matrix(R, 'rxyz') +>>> numpy.allclose([alpha, beta, gamma], euler) +True +>>> Re = euler_matrix(alpha, beta, gamma, 'rxyz') +>>> is_same_transform(R, Re) +True +>>> al, be, ga = euler_from_matrix(Re, 'rxyz') +>>> is_same_transform(Re, euler_matrix(al, be, ga, 'rxyz')) +True +>>> qx = quaternion_about_axis(alpha, xaxis) +>>> qy = quaternion_about_axis(beta, yaxis) +>>> qz = quaternion_about_axis(gamma, zaxis) +>>> q = quaternion_multiply(qx, qy) +>>> q = quaternion_multiply(q, qz) +>>> Rq = quaternion_matrix(q) +>>> is_same_transform(R, Rq) +True +>>> S = scale_matrix(1.23, origin) +>>> T = translation_matrix((1, 2, 3)) +>>> Z = shear_matrix(beta, xaxis, origin, zaxis) +>>> R = random_rotation_matrix(numpy.random.rand(3)) +>>> M = concatenate_matrices(T, R, Z, S) +>>> scale, shear, angles, trans, persp = decompose_matrix(M) +>>> numpy.allclose(scale, 1.23) +True +>>> numpy.allclose(trans, (1, 2, 3)) +True +>>> numpy.allclose(shear, (0, math.tan(beta), 0)) +True +>>> is_same_transform(R, euler_matrix(axes='sxyz', *angles)) +True +>>> M1 = compose_matrix(scale, shear, angles, trans, persp) +>>> is_same_transform(M, M1) +True + +""" + +from __future__ import division + +import warnings +import math + +import numpy + +# Documentation in HTML format can be generated with Epydoc +__docformat__ = "restructuredtext en" + + +def identity_matrix(): + """Return 4x4 identity/unit matrix. + + >>> I = identity_matrix() + >>> numpy.allclose(I, numpy.dot(I, I)) + True + >>> numpy.sum(I), numpy.trace(I) + (4.0, 4.0) + >>> numpy.allclose(I, numpy.identity(4, dtype=numpy.float64)) + True + + """ + return numpy.identity(4, dtype=numpy.float64) + + +def translation_matrix(direction): + """Return matrix to translate by direction vector. + + >>> v = numpy.random.random(3) - 0.5 + >>> numpy.allclose(v, translation_matrix(v)[:3, 3]) + True + + """ + M = numpy.identity(4) + M[:3, 3] = direction[:3] + return M + + +def translation_from_matrix(matrix): + """Return translation vector from translation matrix. + + >>> v0 = numpy.random.random(3) - 0.5 + >>> v1 = translation_from_matrix(translation_matrix(v0)) + >>> numpy.allclose(v0, v1) + True + + """ + return numpy.array(matrix, copy=False)[:3, 3].copy() + + +def reflection_matrix(point, normal): + """Return matrix to mirror at plane defined by point and normal vector. + + >>> v0 = numpy.random.random(4) - 0.5 + >>> v0[3] = 1.0 + >>> v1 = numpy.random.random(3) - 0.5 + >>> R = reflection_matrix(v0, v1) + >>> numpy.allclose(2., numpy.trace(R)) + True + >>> numpy.allclose(v0, numpy.dot(R, v0)) + True + >>> v2 = v0.copy() + >>> v2[:3] += v1 + >>> v3 = v0.copy() + >>> v2[:3] -= v1 + >>> numpy.allclose(v2, numpy.dot(R, v3)) + True + + """ + normal = unit_vector(normal[:3]) + M = numpy.identity(4) + M[:3, :3] -= 2.0 * numpy.outer(normal, normal) + M[:3, 3] = (2.0 * numpy.dot(point[:3], normal)) * normal + return M + + +def reflection_from_matrix(matrix): + """Return mirror plane point and normal vector from reflection matrix. + + >>> v0 = numpy.random.random(3) - 0.5 + >>> v1 = numpy.random.random(3) - 0.5 + >>> M0 = reflection_matrix(v0, v1) + >>> point, normal = reflection_from_matrix(M0) + >>> M1 = reflection_matrix(point, normal) + >>> is_same_transform(M0, M1) + True + + """ + M = numpy.array(matrix, dtype=numpy.float64, copy=False) + # normal: unit eigenvector corresponding to eigenvalue -1 + l, V = numpy.linalg.eig(M[:3, :3]) + i = numpy.where(abs(numpy.real(l) + 1.0) < 1e-8)[0] + if not len(i): + raise ValueError("no unit eigenvector corresponding to eigenvalue -1") + normal = numpy.real(V[:, i[0]]).squeeze() + # point: any unit eigenvector corresponding to eigenvalue 1 + l, V = numpy.linalg.eig(M) + i = numpy.where(abs(numpy.real(l) - 1.0) < 1e-8)[0] + if not len(i): + raise ValueError("no unit eigenvector corresponding to eigenvalue 1") + point = numpy.real(V[:, i[-1]]).squeeze() + point /= point[3] + return point, normal + + +def rotation_matrix(angle, direction, point=None): + """Return matrix to rotate about axis defined by point and direction. + + >>> angle = (random.random() - 0.5) * (2*math.pi) + >>> direc = numpy.random.random(3) - 0.5 + >>> point = numpy.random.random(3) - 0.5 + >>> R0 = rotation_matrix(angle, direc, point) + >>> R1 = rotation_matrix(angle-2*math.pi, direc, point) + >>> is_same_transform(R0, R1) + True + >>> R0 = rotation_matrix(angle, direc, point) + >>> R1 = rotation_matrix(-angle, -direc, point) + >>> is_same_transform(R0, R1) + True + >>> I = numpy.identity(4, numpy.float64) + >>> numpy.allclose(I, rotation_matrix(math.pi*2, direc)) + True + >>> numpy.allclose(2., numpy.trace(rotation_matrix(math.pi/2, + ... direc, point))) + True + + """ + sina = math.sin(angle) + cosa = math.cos(angle) + direction = unit_vector(direction[:3]) + # rotation matrix around unit vector + R = numpy.array(((cosa, 0.0, 0.0), + (0.0, cosa, 0.0), + (0.0, 0.0, cosa)), dtype=numpy.float64) + R += numpy.outer(direction, direction) * (1.0 - cosa) + direction *= sina + R += numpy.array((( 0.0, -direction[2], direction[1]), + ( direction[2], 0.0, -direction[0]), + (-direction[1], direction[0], 0.0)), + dtype=numpy.float64) + M = numpy.identity(4) + M[:3, :3] = R + if point is not None: + # rotation not around origin + point = numpy.array(point[:3], dtype=numpy.float64, copy=False) + M[:3, 3] = point - numpy.dot(R, point) + return M + + +def rotation_from_matrix(matrix): + """Return rotation angle and axis from rotation matrix. + + >>> angle = (random.random() - 0.5) * (2*math.pi) + >>> direc = numpy.random.random(3) - 0.5 + >>> point = numpy.random.random(3) - 0.5 + >>> R0 = rotation_matrix(angle, direc, point) + >>> angle, direc, point = rotation_from_matrix(R0) + >>> R1 = rotation_matrix(angle, direc, point) + >>> is_same_transform(R0, R1) + True + + """ + R = numpy.array(matrix, dtype=numpy.float64, copy=False) + R33 = R[:3, :3] + # direction: unit eigenvector of R33 corresponding to eigenvalue of 1 + l, W = numpy.linalg.eig(R33.T) + i = numpy.where(abs(numpy.real(l) - 1.0) < 1e-8)[0] + if not len(i): + raise ValueError("no unit eigenvector corresponding to eigenvalue 1") + direction = numpy.real(W[:, i[-1]]).squeeze() + # point: unit eigenvector of R33 corresponding to eigenvalue of 1 + l, Q = numpy.linalg.eig(R) + i = numpy.where(abs(numpy.real(l) - 1.0) < 1e-8)[0] + if not len(i): + raise ValueError("no unit eigenvector corresponding to eigenvalue 1") + point = numpy.real(Q[:, i[-1]]).squeeze() + point /= point[3] + # rotation angle depending on direction + cosa = (numpy.trace(R33) - 1.0) / 2.0 + if abs(direction[2]) > 1e-8: + sina = (R[1, 0] + (cosa-1.0)*direction[0]*direction[1]) / direction[2] + elif abs(direction[1]) > 1e-8: + sina = (R[0, 2] + (cosa-1.0)*direction[0]*direction[2]) / direction[1] + else: + sina = (R[2, 1] + (cosa-1.0)*direction[1]*direction[2]) / direction[0] + angle = math.atan2(sina, cosa) + return angle, direction, point + + +def scale_matrix(factor, origin=None, direction=None): + """Return matrix to scale by factor around origin in direction. + + Use factor -1 for point symmetry. + + >>> v = (numpy.random.rand(4, 5) - 0.5) * 20.0 + >>> v[3] = 1.0 + >>> S = scale_matrix(-1.234) + >>> numpy.allclose(numpy.dot(S, v)[:3], -1.234*v[:3]) + True + >>> factor = random.random() * 10 - 5 + >>> origin = numpy.random.random(3) - 0.5 + >>> direct = numpy.random.random(3) - 0.5 + >>> S = scale_matrix(factor, origin) + >>> S = scale_matrix(factor, origin, direct) + + """ + if direction is None: + # uniform scaling + M = numpy.array(((factor, 0.0, 0.0, 0.0), + (0.0, factor, 0.0, 0.0), + (0.0, 0.0, factor, 0.0), + (0.0, 0.0, 0.0, 1.0)), dtype=numpy.float64) + if origin is not None: + M[:3, 3] = origin[:3] + M[:3, 3] *= 1.0 - factor + else: + # nonuniform scaling + direction = unit_vector(direction[:3]) + factor = 1.0 - factor + M = numpy.identity(4) + M[:3, :3] -= factor * numpy.outer(direction, direction) + if origin is not None: + M[:3, 3] = (factor * numpy.dot(origin[:3], direction)) * direction + return M + + +def scale_from_matrix(matrix): + """Return scaling factor, origin and direction from scaling matrix. + + >>> factor = random.random() * 10 - 5 + >>> origin = numpy.random.random(3) - 0.5 + >>> direct = numpy.random.random(3) - 0.5 + >>> S0 = scale_matrix(factor, origin) + >>> factor, origin, direction = scale_from_matrix(S0) + >>> S1 = scale_matrix(factor, origin, direction) + >>> is_same_transform(S0, S1) + True + >>> S0 = scale_matrix(factor, origin, direct) + >>> factor, origin, direction = scale_from_matrix(S0) + >>> S1 = scale_matrix(factor, origin, direction) + >>> is_same_transform(S0, S1) + True + + """ + M = numpy.array(matrix, dtype=numpy.float64, copy=False) + M33 = M[:3, :3] + factor = numpy.trace(M33) - 2.0 + try: + # direction: unit eigenvector corresponding to eigenvalue factor + l, V = numpy.linalg.eig(M33) + i = numpy.where(abs(numpy.real(l) - factor) < 1e-8)[0][0] + direction = numpy.real(V[:, i]).squeeze() + direction /= vector_norm(direction) + except IndexError: + # uniform scaling + factor = (factor + 2.0) / 3.0 + direction = None + # origin: any eigenvector corresponding to eigenvalue 1 + l, V = numpy.linalg.eig(M) + i = numpy.where(abs(numpy.real(l) - 1.0) < 1e-8)[0] + if not len(i): + raise ValueError("no eigenvector corresponding to eigenvalue 1") + origin = numpy.real(V[:, i[-1]]).squeeze() + origin /= origin[3] + return factor, origin, direction + + +def projection_matrix(point, normal, direction=None, + perspective=None, pseudo=False): + """Return matrix to project onto plane defined by point and normal. + + Using either perspective point, projection direction, or none of both. + + If pseudo is True, perspective projections will preserve relative depth + such that Perspective = dot(Orthogonal, PseudoPerspective). + + >>> P = projection_matrix((0, 0, 0), (1, 0, 0)) + >>> numpy.allclose(P[1:, 1:], numpy.identity(4)[1:, 1:]) + True + >>> point = numpy.random.random(3) - 0.5 + >>> normal = numpy.random.random(3) - 0.5 + >>> direct = numpy.random.random(3) - 0.5 + >>> persp = numpy.random.random(3) - 0.5 + >>> P0 = projection_matrix(point, normal) + >>> P1 = projection_matrix(point, normal, direction=direct) + >>> P2 = projection_matrix(point, normal, perspective=persp) + >>> P3 = projection_matrix(point, normal, perspective=persp, pseudo=True) + >>> is_same_transform(P2, numpy.dot(P0, P3)) + True + >>> P = projection_matrix((3, 0, 0), (1, 1, 0), (1, 0, 0)) + >>> v0 = (numpy.random.rand(4, 5) - 0.5) * 20.0 + >>> v0[3] = 1.0 + >>> v1 = numpy.dot(P, v0) + >>> numpy.allclose(v1[1], v0[1]) + True + >>> numpy.allclose(v1[0], 3.0-v1[1]) + True + + """ + M = numpy.identity(4) + point = numpy.array(point[:3], dtype=numpy.float64, copy=False) + normal = unit_vector(normal[:3]) + if perspective is not None: + # perspective projection + perspective = numpy.array(perspective[:3], dtype=numpy.float64, + copy=False) + M[0, 0] = M[1, 1] = M[2, 2] = numpy.dot(perspective-point, normal) + M[:3, :3] -= numpy.outer(perspective, normal) + if pseudo: + # preserve relative depth + M[:3, :3] -= numpy.outer(normal, normal) + M[:3, 3] = numpy.dot(point, normal) * (perspective+normal) + else: + M[:3, 3] = numpy.dot(point, normal) * perspective + M[3, :3] = -normal + M[3, 3] = numpy.dot(perspective, normal) + elif direction is not None: + # parallel projection + direction = numpy.array(direction[:3], dtype=numpy.float64, copy=False) + scale = numpy.dot(direction, normal) + M[:3, :3] -= numpy.outer(direction, normal) / scale + M[:3, 3] = direction * (numpy.dot(point, normal) / scale) + else: + # orthogonal projection + M[:3, :3] -= numpy.outer(normal, normal) + M[:3, 3] = numpy.dot(point, normal) * normal + return M + + +def projection_from_matrix(matrix, pseudo=False): + """Return projection plane and perspective point from projection matrix. + + Return values are same as arguments for projection_matrix function: + point, normal, direction, perspective, and pseudo. + + >>> point = numpy.random.random(3) - 0.5 + >>> normal = numpy.random.random(3) - 0.5 + >>> direct = numpy.random.random(3) - 0.5 + >>> persp = numpy.random.random(3) - 0.5 + >>> P0 = projection_matrix(point, normal) + >>> result = projection_from_matrix(P0) + >>> P1 = projection_matrix(*result) + >>> is_same_transform(P0, P1) + True + >>> P0 = projection_matrix(point, normal, direct) + >>> result = projection_from_matrix(P0) + >>> P1 = projection_matrix(*result) + >>> is_same_transform(P0, P1) + True + >>> P0 = projection_matrix(point, normal, perspective=persp, pseudo=False) + >>> result = projection_from_matrix(P0, pseudo=False) + >>> P1 = projection_matrix(*result) + >>> is_same_transform(P0, P1) + True + >>> P0 = projection_matrix(point, normal, perspective=persp, pseudo=True) + >>> result = projection_from_matrix(P0, pseudo=True) + >>> P1 = projection_matrix(*result) + >>> is_same_transform(P0, P1) + True + + """ + M = numpy.array(matrix, dtype=numpy.float64, copy=False) + M33 = M[:3, :3] + l, V = numpy.linalg.eig(M) + i = numpy.where(abs(numpy.real(l) - 1.0) < 1e-8)[0] + if not pseudo and len(i): + # point: any eigenvector corresponding to eigenvalue 1 + point = numpy.real(V[:, i[-1]]).squeeze() + point /= point[3] + # direction: unit eigenvector corresponding to eigenvalue 0 + l, V = numpy.linalg.eig(M33) + i = numpy.where(abs(numpy.real(l)) < 1e-8)[0] + if not len(i): + raise ValueError("no eigenvector corresponding to eigenvalue 0") + direction = numpy.real(V[:, i[0]]).squeeze() + direction /= vector_norm(direction) + # normal: unit eigenvector of M33.T corresponding to eigenvalue 0 + l, V = numpy.linalg.eig(M33.T) + i = numpy.where(abs(numpy.real(l)) < 1e-8)[0] + if len(i): + # parallel projection + normal = numpy.real(V[:, i[0]]).squeeze() + normal /= vector_norm(normal) + return point, normal, direction, None, False + else: + # orthogonal projection, where normal equals direction vector + return point, direction, None, None, False + else: + # perspective projection + i = numpy.where(abs(numpy.real(l)) > 1e-8)[0] + if not len(i): + raise ValueError( + "no eigenvector not corresponding to eigenvalue 0") + point = numpy.real(V[:, i[-1]]).squeeze() + point /= point[3] + normal = - M[3, :3] + perspective = M[:3, 3] / numpy.dot(point[:3], normal) + if pseudo: + perspective -= normal + return point, normal, None, perspective, pseudo + + +def clip_matrix(left, right, bottom, top, near, far, perspective=False): + """Return matrix to obtain normalized device coordinates from frustrum. + + The frustrum bounds are axis-aligned along x (left, right), + y (bottom, top) and z (near, far). + + Normalized device coordinates are in range [-1, 1] if coordinates are + inside the frustrum. + + If perspective is True the frustrum is a truncated pyramid with the + perspective point at origin and direction along z axis, otherwise an + orthographic canonical view volume (a box). + + Homogeneous coordinates transformed by the perspective clip matrix + need to be dehomogenized (devided by w coordinate). + + >>> frustrum = numpy.random.rand(6) + >>> frustrum[1] += frustrum[0] + >>> frustrum[3] += frustrum[2] + >>> frustrum[5] += frustrum[4] + >>> M = clip_matrix(*frustrum, perspective=False) + >>> numpy.dot(M, [frustrum[0], frustrum[2], frustrum[4], 1.0]) + array([-1., -1., -1., 1.]) + >>> numpy.dot(M, [frustrum[1], frustrum[3], frustrum[5], 1.0]) + array([ 1., 1., 1., 1.]) + >>> M = clip_matrix(*frustrum, perspective=True) + >>> v = numpy.dot(M, [frustrum[0], frustrum[2], frustrum[4], 1.0]) + >>> v / v[3] + array([-1., -1., -1., 1.]) + >>> v = numpy.dot(M, [frustrum[1], frustrum[3], frustrum[4], 1.0]) + >>> v / v[3] + array([ 1., 1., -1., 1.]) + + """ + if left >= right or bottom >= top or near >= far: + raise ValueError("invalid frustrum") + if perspective: + if near <= _EPS: + raise ValueError("invalid frustrum: near <= 0") + t = 2.0 * near + M = ((-t/(right-left), 0.0, (right+left)/(right-left), 0.0), + (0.0, -t/(top-bottom), (top+bottom)/(top-bottom), 0.0), + (0.0, 0.0, -(far+near)/(far-near), t*far/(far-near)), + (0.0, 0.0, -1.0, 0.0)) + else: + M = ((2.0/(right-left), 0.0, 0.0, (right+left)/(left-right)), + (0.0, 2.0/(top-bottom), 0.0, (top+bottom)/(bottom-top)), + (0.0, 0.0, 2.0/(far-near), (far+near)/(near-far)), + (0.0, 0.0, 0.0, 1.0)) + return numpy.array(M, dtype=numpy.float64) + + +def shear_matrix(angle, direction, point, normal): + """Return matrix to shear by angle along direction vector on shear plane. + + The shear plane is defined by a point and normal vector. The direction + vector must be orthogonal to the plane's normal vector. + + A point P is transformed by the shear matrix into P" such that + the vector P-P" is parallel to the direction vector and its extent is + given by the angle of P-P'-P", where P' is the orthogonal projection + of P onto the shear plane. + + >>> angle = (random.random() - 0.5) * 4*math.pi + >>> direct = numpy.random.random(3) - 0.5 + >>> point = numpy.random.random(3) - 0.5 + >>> normal = numpy.cross(direct, numpy.random.random(3)) + >>> S = shear_matrix(angle, direct, point, normal) + >>> numpy.allclose(1.0, numpy.linalg.det(S)) + True + + """ + normal = unit_vector(normal[:3]) + direction = unit_vector(direction[:3]) + if abs(numpy.dot(normal, direction)) > 1e-6: + raise ValueError("direction and normal vectors are not orthogonal") + angle = math.tan(angle) + M = numpy.identity(4) + M[:3, :3] += angle * numpy.outer(direction, normal) + M[:3, 3] = -angle * numpy.dot(point[:3], normal) * direction + return M + + +def shear_from_matrix(matrix): + """Return shear angle, direction and plane from shear matrix. + + >>> angle = (random.random() - 0.5) * 4*math.pi + >>> direct = numpy.random.random(3) - 0.5 + >>> point = numpy.random.random(3) - 0.5 + >>> normal = numpy.cross(direct, numpy.random.random(3)) + >>> S0 = shear_matrix(angle, direct, point, normal) + >>> angle, direct, point, normal = shear_from_matrix(S0) + >>> S1 = shear_matrix(angle, direct, point, normal) + >>> is_same_transform(S0, S1) + True + + """ + M = numpy.array(matrix, dtype=numpy.float64, copy=False) + M33 = M[:3, :3] + # normal: cross independent eigenvectors corresponding to the eigenvalue 1 + l, V = numpy.linalg.eig(M33) + i = numpy.where(abs(numpy.real(l) - 1.0) < 1e-4)[0] + if len(i) < 2: + raise ValueError("No two linear independent eigenvectors found %s" % l) + V = numpy.real(V[:, i]).squeeze().T + lenorm = -1.0 + for i0, i1 in ((0, 1), (0, 2), (1, 2)): + n = numpy.cross(V[i0], V[i1]) + l = vector_norm(n) + if l > lenorm: + lenorm = l + normal = n + normal /= lenorm + # direction and angle + direction = numpy.dot(M33 - numpy.identity(3), normal) + angle = vector_norm(direction) + direction /= angle + angle = math.atan(angle) + # point: eigenvector corresponding to eigenvalue 1 + l, V = numpy.linalg.eig(M) + i = numpy.where(abs(numpy.real(l) - 1.0) < 1e-8)[0] + if not len(i): + raise ValueError("no eigenvector corresponding to eigenvalue 1") + point = numpy.real(V[:, i[-1]]).squeeze() + point /= point[3] + return angle, direction, point, normal + + +def decompose_matrix(matrix): + """Return sequence of transformations from transformation matrix. + + matrix : array_like + Non-degenerative homogeneous transformation matrix + + Return tuple of: + scale : vector of 3 scaling factors + shear : list of shear factors for x-y, x-z, y-z axes + angles : list of Euler angles about static x, y, z axes + translate : translation vector along x, y, z axes + perspective : perspective partition of matrix + + Raise ValueError if matrix is of wrong type or degenerative. + + >>> T0 = translation_matrix((1, 2, 3)) + >>> scale, shear, angles, trans, persp = decompose_matrix(T0) + >>> T1 = translation_matrix(trans) + >>> numpy.allclose(T0, T1) + True + >>> S = scale_matrix(0.123) + >>> scale, shear, angles, trans, persp = decompose_matrix(S) + >>> scale[0] + 0.123 + >>> R0 = euler_matrix(1, 2, 3) + >>> scale, shear, angles, trans, persp = decompose_matrix(R0) + >>> R1 = euler_matrix(*angles) + >>> numpy.allclose(R0, R1) + True + + """ + M = numpy.array(matrix, dtype=numpy.float64, copy=True).T + if abs(M[3, 3]) < _EPS: + raise ValueError("M[3, 3] is zero") + M /= M[3, 3] + P = M.copy() + P[:, 3] = 0, 0, 0, 1 + if not numpy.linalg.det(P): + raise ValueError("Matrix is singular") + + scale = numpy.zeros((3, ), dtype=numpy.float64) + shear = [0, 0, 0] + angles = [0, 0, 0] + + if any(abs(M[:3, 3]) > _EPS): + perspective = numpy.dot(M[:, 3], numpy.linalg.inv(P.T)) + M[:, 3] = 0, 0, 0, 1 + else: + perspective = numpy.array((0, 0, 0, 1), dtype=numpy.float64) + + translate = M[3, :3].copy() + M[3, :3] = 0 + + row = M[:3, :3].copy() + scale[0] = vector_norm(row[0]) + row[0] /= scale[0] + shear[0] = numpy.dot(row[0], row[1]) + row[1] -= row[0] * shear[0] + scale[1] = vector_norm(row[1]) + row[1] /= scale[1] + shear[0] /= scale[1] + shear[1] = numpy.dot(row[0], row[2]) + row[2] -= row[0] * shear[1] + shear[2] = numpy.dot(row[1], row[2]) + row[2] -= row[1] * shear[2] + scale[2] = vector_norm(row[2]) + row[2] /= scale[2] + shear[1:] /= scale[2] + + if numpy.dot(row[0], numpy.cross(row[1], row[2])) < 0: + scale *= -1 + row *= -1 + + angles[1] = math.asin(-row[0, 2]) + if math.cos(angles[1]): + angles[0] = math.atan2(row[1, 2], row[2, 2]) + angles[2] = math.atan2(row[0, 1], row[0, 0]) + else: + #angles[0] = math.atan2(row[1, 0], row[1, 1]) + angles[0] = math.atan2(-row[2, 1], row[1, 1]) + angles[2] = 0.0 + + return scale, shear, angles, translate, perspective + + +def compose_matrix(scale=None, shear=None, angles=None, translate=None, + perspective=None): + """Return transformation matrix from sequence of transformations. + + This is the inverse of the decompose_matrix function. + + Sequence of transformations: + scale : vector of 3 scaling factors + shear : list of shear factors for x-y, x-z, y-z axes + angles : list of Euler angles about static x, y, z axes + translate : translation vector along x, y, z axes + perspective : perspective partition of matrix + + >>> scale = numpy.random.random(3) - 0.5 + >>> shear = numpy.random.random(3) - 0.5 + >>> angles = (numpy.random.random(3) - 0.5) * (2*math.pi) + >>> trans = numpy.random.random(3) - 0.5 + >>> persp = numpy.random.random(4) - 0.5 + >>> M0 = compose_matrix(scale, shear, angles, trans, persp) + >>> result = decompose_matrix(M0) + >>> M1 = compose_matrix(*result) + >>> is_same_transform(M0, M1) + True + + """ + M = numpy.identity(4) + if perspective is not None: + P = numpy.identity(4) + P[3, :] = perspective[:4] + M = numpy.dot(M, P) + if translate is not None: + T = numpy.identity(4) + T[:3, 3] = translate[:3] + M = numpy.dot(M, T) + if angles is not None: + R = euler_matrix(angles[0], angles[1], angles[2], 'sxyz') + M = numpy.dot(M, R) + if shear is not None: + Z = numpy.identity(4) + Z[1, 2] = shear[2] + Z[0, 2] = shear[1] + Z[0, 1] = shear[0] + M = numpy.dot(M, Z) + if scale is not None: + S = numpy.identity(4) + S[0, 0] = scale[0] + S[1, 1] = scale[1] + S[2, 2] = scale[2] + M = numpy.dot(M, S) + M /= M[3, 3] + return M + + +def orthogonalization_matrix(lengths, angles): + """Return orthogonalization matrix for crystallographic cell coordinates. + + Angles are expected in degrees. + + The de-orthogonalization matrix is the inverse. + + >>> O = orthogonalization_matrix((10., 10., 10.), (90., 90., 90.)) + >>> numpy.allclose(O[:3, :3], numpy.identity(3, float) * 10) + True + >>> O = orthogonalization_matrix([9.8, 12.0, 15.5], [87.2, 80.7, 69.7]) + >>> numpy.allclose(numpy.sum(O), 43.063229) + True + + """ + a, b, c = lengths + angles = numpy.radians(angles) + sina, sinb, _ = numpy.sin(angles) + cosa, cosb, cosg = numpy.cos(angles) + co = (cosa * cosb - cosg) / (sina * sinb) + return numpy.array(( + ( a*sinb*math.sqrt(1.0-co*co), 0.0, 0.0, 0.0), + (-a*sinb*co, b*sina, 0.0, 0.0), + ( a*cosb, b*cosa, c, 0.0), + ( 0.0, 0.0, 0.0, 1.0)), + dtype=numpy.float64) + + +def superimposition_matrix(v0, v1, scaling=False, usesvd=True): + """Return matrix to transform given vector set into second vector set. + + v0 and v1 are shape (3, \*) or (4, \*) arrays of at least 3 vectors. + + If usesvd is True, the weighted sum of squared deviations (RMSD) is + minimized according to the algorithm by W. Kabsch [8]. Otherwise the + quaternion based algorithm by B. Horn [9] is used (slower when using + this Python implementation). + + The returned matrix performs rotation, translation and uniform scaling + (if specified). + + >>> v0 = numpy.random.rand(3, 10) + >>> M = superimposition_matrix(v0, v0) + >>> numpy.allclose(M, numpy.identity(4)) + True + >>> R = random_rotation_matrix(numpy.random.random(3)) + >>> v0 = ((1,0,0), (0,1,0), (0,0,1), (1,1,1)) + >>> v1 = numpy.dot(R, v0) + >>> M = superimposition_matrix(v0, v1) + >>> numpy.allclose(v1, numpy.dot(M, v0)) + True + >>> v0 = (numpy.random.rand(4, 100) - 0.5) * 20.0 + >>> v0[3] = 1.0 + >>> v1 = numpy.dot(R, v0) + >>> M = superimposition_matrix(v0, v1) + >>> numpy.allclose(v1, numpy.dot(M, v0)) + True + >>> S = scale_matrix(random.random()) + >>> T = translation_matrix(numpy.random.random(3)-0.5) + >>> M = concatenate_matrices(T, R, S) + >>> v1 = numpy.dot(M, v0) + >>> v0[:3] += numpy.random.normal(0.0, 1e-9, 300).reshape(3, -1) + >>> M = superimposition_matrix(v0, v1, scaling=True) + >>> numpy.allclose(v1, numpy.dot(M, v0)) + True + >>> M = superimposition_matrix(v0, v1, scaling=True, usesvd=False) + >>> numpy.allclose(v1, numpy.dot(M, v0)) + True + >>> v = numpy.empty((4, 100, 3), dtype=numpy.float64) + >>> v[:, :, 0] = v0 + >>> M = superimposition_matrix(v0, v1, scaling=True, usesvd=False) + >>> numpy.allclose(v1, numpy.dot(M, v[:, :, 0])) + True + + """ + v0 = numpy.array(v0, dtype=numpy.float64, copy=False)[:3] + v1 = numpy.array(v1, dtype=numpy.float64, copy=False)[:3] + + if v0.shape != v1.shape or v0.shape[1] < 3: + raise ValueError("Vector sets are of wrong shape or type.") + + # move centroids to origin + t0 = numpy.mean(v0, axis=1) + t1 = numpy.mean(v1, axis=1) + v0 = v0 - t0.reshape(3, 1) + v1 = v1 - t1.reshape(3, 1) + + if usesvd: + # Singular Value Decomposition of covariance matrix + u, s, vh = numpy.linalg.svd(numpy.dot(v1, v0.T)) + # rotation matrix from SVD orthonormal bases + R = numpy.dot(u, vh) + if numpy.linalg.det(R) < 0.0: + # R does not constitute right handed system + R -= numpy.outer(u[:, 2], vh[2, :]*2.0) + s[-1] *= -1.0 + # homogeneous transformation matrix + M = numpy.identity(4) + M[:3, :3] = R + else: + # compute symmetric matrix N + xx, yy, zz = numpy.sum(v0 * v1, axis=1) + xy, yz, zx = numpy.sum(v0 * numpy.roll(v1, -1, axis=0), axis=1) + xz, yx, zy = numpy.sum(v0 * numpy.roll(v1, -2, axis=0), axis=1) + N = ((xx+yy+zz, yz-zy, zx-xz, xy-yx), + (yz-zy, xx-yy-zz, xy+yx, zx+xz), + (zx-xz, xy+yx, -xx+yy-zz, yz+zy), + (xy-yx, zx+xz, yz+zy, -xx-yy+zz)) + # quaternion: eigenvector corresponding to most positive eigenvalue + l, V = numpy.linalg.eig(N) + q = V[:, numpy.argmax(l)] + q /= vector_norm(q) # unit quaternion + q = numpy.roll(q, -1) # move w component to end + # homogeneous transformation matrix + M = quaternion_matrix(q) + + # scale: ratio of rms deviations from centroid + if scaling: + v0 *= v0 + v1 *= v1 + M[:3, :3] *= math.sqrt(numpy.sum(v1) / numpy.sum(v0)) + + # translation + M[:3, 3] = t1 + T = numpy.identity(4) + T[:3, 3] = -t0 + M = numpy.dot(M, T) + return M + + +def euler_matrix(ai, aj, ak, axes='sxyz'): + """Return homogeneous rotation matrix from Euler angles and axis sequence. + + ai, aj, ak : Euler's roll, pitch and yaw angles + axes : One of 24 axis sequences as string or encoded tuple + + >>> R = euler_matrix(1, 2, 3, 'syxz') + >>> numpy.allclose(numpy.sum(R[0]), -1.34786452) + True + >>> R = euler_matrix(1, 2, 3, (0, 1, 0, 1)) + >>> numpy.allclose(numpy.sum(R[0]), -0.383436184) + True + >>> ai, aj, ak = (4.0*math.pi) * (numpy.random.random(3) - 0.5) + >>> for axes in _AXES2TUPLE.keys(): + ... R = euler_matrix(ai, aj, ak, axes) + >>> for axes in _TUPLE2AXES.keys(): + ... R = euler_matrix(ai, aj, ak, axes) + + """ + try: + firstaxis, parity, repetition, frame = _AXES2TUPLE[axes] + except (AttributeError, KeyError): + _ = _TUPLE2AXES[axes] + firstaxis, parity, repetition, frame = axes + + i = firstaxis + j = _NEXT_AXIS[i+parity] + k = _NEXT_AXIS[i-parity+1] + + if frame: + ai, ak = ak, ai + if parity: + ai, aj, ak = -ai, -aj, -ak + + si, sj, sk = math.sin(ai), math.sin(aj), math.sin(ak) + ci, cj, ck = math.cos(ai), math.cos(aj), math.cos(ak) + cc, cs = ci*ck, ci*sk + sc, ss = si*ck, si*sk + + M = numpy.identity(4) + if repetition: + M[i, i] = cj + M[i, j] = sj*si + M[i, k] = sj*ci + M[j, i] = sj*sk + M[j, j] = -cj*ss+cc + M[j, k] = -cj*cs-sc + M[k, i] = -sj*ck + M[k, j] = cj*sc+cs + M[k, k] = cj*cc-ss + else: + M[i, i] = cj*ck + M[i, j] = sj*sc-cs + M[i, k] = sj*cc+ss + M[j, i] = cj*sk + M[j, j] = sj*ss+cc + M[j, k] = sj*cs-sc + M[k, i] = -sj + M[k, j] = cj*si + M[k, k] = cj*ci + return M + + +def euler_from_matrix(matrix, axes='sxyz'): + """Return Euler angles from rotation matrix for specified axis sequence. + + axes : One of 24 axis sequences as string or encoded tuple + + Note that many Euler angle triplets can describe one matrix. + + >>> R0 = euler_matrix(1, 2, 3, 'syxz') + >>> al, be, ga = euler_from_matrix(R0, 'syxz') + >>> R1 = euler_matrix(al, be, ga, 'syxz') + >>> numpy.allclose(R0, R1) + True + >>> angles = (4.0*math.pi) * (numpy.random.random(3) - 0.5) + >>> for axes in _AXES2TUPLE.keys(): + ... R0 = euler_matrix(axes=axes, *angles) + ... R1 = euler_matrix(axes=axes, *euler_from_matrix(R0, axes)) + ... if not numpy.allclose(R0, R1): print axes, "failed" + + """ + try: + firstaxis, parity, repetition, frame = _AXES2TUPLE[axes.lower()] + except (AttributeError, KeyError): + _ = _TUPLE2AXES[axes] + firstaxis, parity, repetition, frame = axes + + i = firstaxis + j = _NEXT_AXIS[i+parity] + k = _NEXT_AXIS[i-parity+1] + + M = numpy.array(matrix, dtype=numpy.float64, copy=False)[:3, :3] + if repetition: + sy = math.sqrt(M[i, j]*M[i, j] + M[i, k]*M[i, k]) + if sy > _EPS: + ax = math.atan2( M[i, j], M[i, k]) + ay = math.atan2( sy, M[i, i]) + az = math.atan2( M[j, i], -M[k, i]) + else: + ax = math.atan2(-M[j, k], M[j, j]) + ay = math.atan2( sy, M[i, i]) + az = 0.0 + else: + cy = math.sqrt(M[i, i]*M[i, i] + M[j, i]*M[j, i]) + if cy > _EPS: + ax = math.atan2( M[k, j], M[k, k]) + ay = math.atan2(-M[k, i], cy) + az = math.atan2( M[j, i], M[i, i]) + else: + ax = math.atan2(-M[j, k], M[j, j]) + ay = math.atan2(-M[k, i], cy) + az = 0.0 + + if parity: + ax, ay, az = -ax, -ay, -az + if frame: + ax, az = az, ax + return ax, ay, az + + +def euler_from_quaternion(quaternion, axes='sxyz'): + """Return Euler angles from quaternion for specified axis sequence. + + >>> angles = euler_from_quaternion([0.06146124, 0, 0, 0.99810947]) + >>> numpy.allclose(angles, [0.123, 0, 0]) + True + + """ + return euler_from_matrix(quaternion_matrix(quaternion), axes) + + +def quaternion_from_euler(ai, aj, ak, axes='sxyz'): + """Return quaternion from Euler angles and axis sequence. + + ai, aj, ak : Euler's roll, pitch and yaw angles + axes : One of 24 axis sequences as string or encoded tuple + + >>> q = quaternion_from_euler(1, 2, 3, 'ryxz') + >>> numpy.allclose(q, [0.310622, -0.718287, 0.444435, 0.435953]) + True + + """ + try: + firstaxis, parity, repetition, frame = _AXES2TUPLE[axes.lower()] + except (AttributeError, KeyError): + _ = _TUPLE2AXES[axes] + firstaxis, parity, repetition, frame = axes + + i = firstaxis + j = _NEXT_AXIS[i+parity] + k = _NEXT_AXIS[i-parity+1] + + if frame: + ai, ak = ak, ai + if parity: + aj = -aj + + ai /= 2.0 + aj /= 2.0 + ak /= 2.0 + ci = math.cos(ai) + si = math.sin(ai) + cj = math.cos(aj) + sj = math.sin(aj) + ck = math.cos(ak) + sk = math.sin(ak) + cc = ci*ck + cs = ci*sk + sc = si*ck + ss = si*sk + + quaternion = numpy.empty((4, ), dtype=numpy.float64) + if repetition: + quaternion[i] = cj*(cs + sc) + quaternion[j] = sj*(cc + ss) + quaternion[k] = sj*(cs - sc) + quaternion[3] = cj*(cc - ss) + else: + quaternion[i] = cj*sc - sj*cs + quaternion[j] = cj*ss + sj*cc + quaternion[k] = cj*cs - sj*sc + quaternion[3] = cj*cc + sj*ss + if parity: + quaternion[j] *= -1 + + return quaternion + + +def quaternion_about_axis(angle, axis): + """Return quaternion for rotation about axis. + + >>> q = quaternion_about_axis(0.123, (1, 0, 0)) + >>> numpy.allclose(q, [0.06146124, 0, 0, 0.99810947]) + True + + """ + quaternion = numpy.zeros((4, ), dtype=numpy.float64) + quaternion[:3] = axis[:3] + qlen = vector_norm(quaternion) + if qlen > _EPS: + quaternion *= math.sin(angle/2.0) / qlen + quaternion[3] = math.cos(angle/2.0) + return quaternion + + +def quaternion_matrix(quaternion): + """Return homogeneous rotation matrix from quaternion. + + >>> R = quaternion_matrix([0.06146124, 0, 0, 0.99810947]) + >>> numpy.allclose(R, rotation_matrix(0.123, (1, 0, 0))) + True + + """ + q = numpy.array(quaternion[:4], dtype=numpy.float64, copy=True) + nq = numpy.dot(q, q) + if nq < _EPS: + return numpy.identity(4) + q *= math.sqrt(2.0 / nq) + q = numpy.outer(q, q) + return numpy.array(( + (1.0-q[1, 1]-q[2, 2], q[0, 1]-q[2, 3], q[0, 2]+q[1, 3], 0.0), + ( q[0, 1]+q[2, 3], 1.0-q[0, 0]-q[2, 2], q[1, 2]-q[0, 3], 0.0), + ( q[0, 2]-q[1, 3], q[1, 2]+q[0, 3], 1.0-q[0, 0]-q[1, 1], 0.0), + ( 0.0, 0.0, 0.0, 1.0) + ), dtype=numpy.float64) + + +def quaternion_from_matrix(matrix): + """Return quaternion from rotation matrix. + + >>> R = rotation_matrix(0.123, (1, 2, 3)) + >>> q = quaternion_from_matrix(R) + >>> numpy.allclose(q, [0.0164262, 0.0328524, 0.0492786, 0.9981095]) + True + + """ + q = numpy.empty((4, ), dtype=numpy.float64) + M = numpy.array(matrix, dtype=numpy.float64, copy=False)[:4, :4] + t = numpy.trace(M) + if t > M[3, 3]: + q[3] = t + q[2] = M[1, 0] - M[0, 1] + q[1] = M[0, 2] - M[2, 0] + q[0] = M[2, 1] - M[1, 2] + else: + i, j, k = 0, 1, 2 + if M[1, 1] > M[0, 0]: + i, j, k = 1, 2, 0 + if M[2, 2] > M[i, i]: + i, j, k = 2, 0, 1 + t = M[i, i] - (M[j, j] + M[k, k]) + M[3, 3] + q[i] = t + q[j] = M[i, j] + M[j, i] + q[k] = M[k, i] + M[i, k] + q[3] = M[k, j] - M[j, k] + q *= 0.5 / math.sqrt(t * M[3, 3]) + return q + + +def quaternion_multiply(quaternion1, quaternion0): + """Return multiplication of two quaternions. + + >>> q = quaternion_multiply([1, -2, 3, 4], [-5, 6, 7, 8]) + >>> numpy.allclose(q, [-44, -14, 48, 28]) + True + + """ + x0, y0, z0, w0 = quaternion0 + x1, y1, z1, w1 = quaternion1 + return numpy.array(( + x1*w0 + y1*z0 - z1*y0 + w1*x0, + -x1*z0 + y1*w0 + z1*x0 + w1*y0, + x1*y0 - y1*x0 + z1*w0 + w1*z0, + -x1*x0 - y1*y0 - z1*z0 + w1*w0), dtype=numpy.float64) + + +def quaternion_conjugate(quaternion): + """Return conjugate of quaternion. + + >>> q0 = random_quaternion() + >>> q1 = quaternion_conjugate(q0) + >>> q1[3] == q0[3] and all(q1[:3] == -q0[:3]) + True + + """ + return numpy.array((-quaternion[0], -quaternion[1], + -quaternion[2], quaternion[3]), dtype=numpy.float64) + + +def quaternion_inverse(quaternion): + """Return inverse of quaternion. + + >>> q0 = random_quaternion() + >>> q1 = quaternion_inverse(q0) + >>> numpy.allclose(quaternion_multiply(q0, q1), [0, 0, 0, 1]) + True + + """ + return quaternion_conjugate(quaternion) / numpy.dot(quaternion, quaternion) + + +def quaternion_slerp(quat0, quat1, fraction, spin=0, shortestpath=True): + """Return spherical linear interpolation between two quaternions. + + >>> q0 = random_quaternion() + >>> q1 = random_quaternion() + >>> q = quaternion_slerp(q0, q1, 0.0) + >>> numpy.allclose(q, q0) + True + >>> q = quaternion_slerp(q0, q1, 1.0, 1) + >>> numpy.allclose(q, q1) + True + >>> q = quaternion_slerp(q0, q1, 0.5) + >>> angle = math.acos(numpy.dot(q0, q)) + >>> numpy.allclose(2.0, math.acos(numpy.dot(q0, q1)) / angle) or \ + numpy.allclose(2.0, math.acos(-numpy.dot(q0, q1)) / angle) + True + + """ + q0 = unit_vector(quat0[:4]) + q1 = unit_vector(quat1[:4]) + if fraction == 0.0: + return q0 + elif fraction == 1.0: + return q1 + d = numpy.dot(q0, q1) + if abs(abs(d) - 1.0) < _EPS: + return q0 + if shortestpath and d < 0.0: + # invert rotation + d = -d + q1 *= -1.0 + angle = math.acos(d) + spin * math.pi + if abs(angle) < _EPS: + return q0 + isin = 1.0 / math.sin(angle) + q0 *= math.sin((1.0 - fraction) * angle) * isin + q1 *= math.sin(fraction * angle) * isin + q0 += q1 + return q0 + + +def random_quaternion(rand=None): + """Return uniform random unit quaternion. + + rand: array like or None + Three independent random variables that are uniformly distributed + between 0 and 1. + + >>> q = random_quaternion() + >>> numpy.allclose(1.0, vector_norm(q)) + True + >>> q = random_quaternion(numpy.random.random(3)) + >>> q.shape + (4,) + + """ + if rand is None: + rand = numpy.random.rand(3) + else: + assert len(rand) == 3 + r1 = numpy.sqrt(1.0 - rand[0]) + r2 = numpy.sqrt(rand[0]) + pi2 = math.pi * 2.0 + t1 = pi2 * rand[1] + t2 = pi2 * rand[2] + return numpy.array((numpy.sin(t1)*r1, + numpy.cos(t1)*r1, + numpy.sin(t2)*r2, + numpy.cos(t2)*r2), dtype=numpy.float64) + + +def random_rotation_matrix(rand=None): + """Return uniform random rotation matrix. + + rnd: array like + Three independent random variables that are uniformly distributed + between 0 and 1 for each returned quaternion. + + >>> R = random_rotation_matrix() + >>> numpy.allclose(numpy.dot(R.T, R), numpy.identity(4)) + True + + """ + return quaternion_matrix(random_quaternion(rand)) + + +class Arcball(object): + """Virtual Trackball Control. + + >>> ball = Arcball() + >>> ball = Arcball(initial=numpy.identity(4)) + >>> ball.place([320, 320], 320) + >>> ball.down([500, 250]) + >>> ball.drag([475, 275]) + >>> R = ball.matrix() + >>> numpy.allclose(numpy.sum(R), 3.90583455) + True + >>> ball = Arcball(initial=[0, 0, 0, 1]) + >>> ball.place([320, 320], 320) + >>> ball.setaxes([1,1,0], [-1, 1, 0]) + >>> ball.setconstrain(True) + >>> ball.down([400, 200]) + >>> ball.drag([200, 400]) + >>> R = ball.matrix() + >>> numpy.allclose(numpy.sum(R), 0.2055924) + True + >>> ball.next() + + """ + + def __init__(self, initial=None): + """Initialize virtual trackball control. + + initial : quaternion or rotation matrix + + """ + self._axis = None + self._axes = None + self._radius = 1.0 + self._center = [0.0, 0.0] + self._vdown = numpy.array([0, 0, 1], dtype=numpy.float64) + self._constrain = False + + if initial is None: + self._qdown = numpy.array([0, 0, 0, 1], dtype=numpy.float64) + else: + initial = numpy.array(initial, dtype=numpy.float64) + if initial.shape == (4, 4): + self._qdown = quaternion_from_matrix(initial) + elif initial.shape == (4, ): + initial /= vector_norm(initial) + self._qdown = initial + else: + raise ValueError("initial not a quaternion or matrix.") + + self._qnow = self._qpre = self._qdown + + def place(self, center, radius): + """Place Arcball, e.g. when window size changes. + + center : sequence[2] + Window coordinates of trackball center. + radius : float + Radius of trackball in window coordinates. + + """ + self._radius = float(radius) + self._center[0] = center[0] + self._center[1] = center[1] + + def setaxes(self, *axes): + """Set axes to constrain rotations.""" + if axes is None: + self._axes = None + else: + self._axes = [unit_vector(axis) for axis in axes] + + def setconstrain(self, constrain): + """Set state of constrain to axis mode.""" + self._constrain = constrain == True + + def getconstrain(self): + """Return state of constrain to axis mode.""" + return self._constrain + + def down(self, point): + """Set initial cursor window coordinates and pick constrain-axis.""" + self._vdown = arcball_map_to_sphere(point, self._center, self._radius) + self._qdown = self._qpre = self._qnow + + if self._constrain and self._axes is not None: + self._axis = arcball_nearest_axis(self._vdown, self._axes) + self._vdown = arcball_constrain_to_axis(self._vdown, self._axis) + else: + self._axis = None + + def drag(self, point): + """Update current cursor window coordinates.""" + vnow = arcball_map_to_sphere(point, self._center, self._radius) + + if self._axis is not None: + vnow = arcball_constrain_to_axis(vnow, self._axis) + + self._qpre = self._qnow + + t = numpy.cross(self._vdown, vnow) + if numpy.dot(t, t) < _EPS: + self._qnow = self._qdown + else: + q = [t[0], t[1], t[2], numpy.dot(self._vdown, vnow)] + self._qnow = quaternion_multiply(q, self._qdown) + + def next(self, acceleration=0.0): + """Continue rotation in direction of last drag.""" + q = quaternion_slerp(self._qpre, self._qnow, 2.0+acceleration, False) + self._qpre, self._qnow = self._qnow, q + + def matrix(self): + """Return homogeneous rotation matrix.""" + return quaternion_matrix(self._qnow) + + +def arcball_map_to_sphere(point, center, radius): + """Return unit sphere coordinates from window coordinates.""" + v = numpy.array(((point[0] - center[0]) / radius, + (center[1] - point[1]) / radius, + 0.0), dtype=numpy.float64) + n = v[0]*v[0] + v[1]*v[1] + if n > 1.0: + v /= math.sqrt(n) # position outside of sphere + else: + v[2] = math.sqrt(1.0 - n) + return v + + +def arcball_constrain_to_axis(point, axis): + """Return sphere point perpendicular to axis.""" + v = numpy.array(point, dtype=numpy.float64, copy=True) + a = numpy.array(axis, dtype=numpy.float64, copy=True) + v -= a * numpy.dot(a, v) # on plane + n = vector_norm(v) + if n > _EPS: + if v[2] < 0.0: + v *= -1.0 + v /= n + return v + if a[2] == 1.0: + return numpy.array([1, 0, 0], dtype=numpy.float64) + return unit_vector([-a[1], a[0], 0]) + + +def arcball_nearest_axis(point, axes): + """Return axis, which arc is nearest to point.""" + point = numpy.array(point, dtype=numpy.float64, copy=False) + nearest = None + mx = -1.0 + for axis in axes: + t = numpy.dot(arcball_constrain_to_axis(point, axis), point) + if t > mx: + nearest = axis + mx = t + return nearest + + +# epsilon for testing whether a number is close to zero +_EPS = numpy.finfo(float).eps * 4.0 + +# axis sequences for Euler angles +_NEXT_AXIS = [1, 2, 0, 1] + +# map axes strings to/from tuples of inner axis, parity, repetition, frame +_AXES2TUPLE = { + 'sxyz': (0, 0, 0, 0), 'sxyx': (0, 0, 1, 0), 'sxzy': (0, 1, 0, 0), + 'sxzx': (0, 1, 1, 0), 'syzx': (1, 0, 0, 0), 'syzy': (1, 0, 1, 0), + 'syxz': (1, 1, 0, 0), 'syxy': (1, 1, 1, 0), 'szxy': (2, 0, 0, 0), + 'szxz': (2, 0, 1, 0), 'szyx': (2, 1, 0, 0), 'szyz': (2, 1, 1, 0), + 'rzyx': (0, 0, 0, 1), 'rxyx': (0, 0, 1, 1), 'ryzx': (0, 1, 0, 1), + 'rxzx': (0, 1, 1, 1), 'rxzy': (1, 0, 0, 1), 'ryzy': (1, 0, 1, 1), + 'rzxy': (1, 1, 0, 1), 'ryxy': (1, 1, 1, 1), 'ryxz': (2, 0, 0, 1), + 'rzxz': (2, 0, 1, 1), 'rxyz': (2, 1, 0, 1), 'rzyz': (2, 1, 1, 1)} + +_TUPLE2AXES = dict((v, k) for k, v in _AXES2TUPLE.items()) + +# helper functions + +def vector_norm(data, axis=None, out=None): + """Return length, i.e. eucledian norm, of ndarray along axis. + + >>> v = numpy.random.random(3) + >>> n = vector_norm(v) + >>> numpy.allclose(n, numpy.linalg.norm(v)) + True + >>> v = numpy.random.rand(6, 5, 3) + >>> n = vector_norm(v, axis=-1) + >>> numpy.allclose(n, numpy.sqrt(numpy.sum(v*v, axis=2))) + True + >>> n = vector_norm(v, axis=1) + >>> numpy.allclose(n, numpy.sqrt(numpy.sum(v*v, axis=1))) + True + >>> v = numpy.random.rand(5, 4, 3) + >>> n = numpy.empty((5, 3), dtype=numpy.float64) + >>> vector_norm(v, axis=1, out=n) + >>> numpy.allclose(n, numpy.sqrt(numpy.sum(v*v, axis=1))) + True + >>> vector_norm([]) + 0.0 + >>> vector_norm([1.0]) + 1.0 + + """ + data = numpy.array(data, dtype=numpy.float64, copy=True) + if out is None: + if data.ndim == 1: + return math.sqrt(numpy.dot(data, data)) + data *= data + out = numpy.atleast_1d(numpy.sum(data, axis=axis)) + numpy.sqrt(out, out) + return out + else: + data *= data + numpy.sum(data, axis=axis, out=out) + numpy.sqrt(out, out) + + +def unit_vector(data, axis=None, out=None): + """Return ndarray normalized by length, i.e. eucledian norm, along axis. + + >>> v0 = numpy.random.random(3) + >>> v1 = unit_vector(v0) + >>> numpy.allclose(v1, v0 / numpy.linalg.norm(v0)) + True + >>> v0 = numpy.random.rand(5, 4, 3) + >>> v1 = unit_vector(v0, axis=-1) + >>> v2 = v0 / numpy.expand_dims(numpy.sqrt(numpy.sum(v0*v0, axis=2)), 2) + >>> numpy.allclose(v1, v2) + True + >>> v1 = unit_vector(v0, axis=1) + >>> v2 = v0 / numpy.expand_dims(numpy.sqrt(numpy.sum(v0*v0, axis=1)), 1) + >>> numpy.allclose(v1, v2) + True + >>> v1 = numpy.empty((5, 4, 3), dtype=numpy.float64) + >>> unit_vector(v0, axis=1, out=v1) + >>> numpy.allclose(v1, v2) + True + >>> list(unit_vector([])) + [] + >>> list(unit_vector([1.0])) + [1.0] + + """ + if out is None: + data = numpy.array(data, dtype=numpy.float64, copy=True) + if data.ndim == 1: + data /= math.sqrt(numpy.dot(data, data)) + return data + else: + if out is not data: + out[:] = numpy.array(data, copy=False) + data = out + length = numpy.atleast_1d(numpy.sum(data*data, axis)) + numpy.sqrt(length, length) + if axis is not None: + length = numpy.expand_dims(length, axis) + data /= length + if out is None: + return data + + +def random_vector(size): + """Return array of random doubles in the half-open interval [0.0, 1.0). + + >>> v = random_vector(10000) + >>> numpy.all(v >= 0.0) and numpy.all(v < 1.0) + True + >>> v0 = random_vector(10) + >>> v1 = random_vector(10) + >>> numpy.any(v0 == v1) + False + + """ + return numpy.random.random(size) + + +def inverse_matrix(matrix): + """Return inverse of square transformation matrix. + + >>> M0 = random_rotation_matrix() + >>> M1 = inverse_matrix(M0.T) + >>> numpy.allclose(M1, numpy.linalg.inv(M0.T)) + True + >>> for size in range(1, 7): + ... M0 = numpy.random.rand(size, size) + ... M1 = inverse_matrix(M0) + ... if not numpy.allclose(M1, numpy.linalg.inv(M0)): print size + + """ + return numpy.linalg.inv(matrix) + + +def concatenate_matrices(*matrices): + """Return concatenation of series of transformation matrices. + + >>> M = numpy.random.rand(16).reshape((4, 4)) - 0.5 + >>> numpy.allclose(M, concatenate_matrices(M)) + True + >>> numpy.allclose(numpy.dot(M, M.T), concatenate_matrices(M, M.T)) + True + + """ + M = numpy.identity(4) + for i in matrices: + M = numpy.dot(M, i) + return M + + +def is_same_transform(matrix0, matrix1): + """Return True if two matrices perform same transformation. + + >>> is_same_transform(numpy.identity(4), numpy.identity(4)) + True + >>> is_same_transform(numpy.identity(4), random_rotation_matrix()) + False + + """ + matrix0 = numpy.array(matrix0, dtype=numpy.float64, copy=True) + matrix0 /= matrix0[3, 3] + matrix1 = numpy.array(matrix1, dtype=numpy.float64, copy=True) + matrix1 /= matrix1[3, 3] + return numpy.allclose(matrix0, matrix1) + + +def _import_module(module_name, warn=True, prefix='_py_', ignore='_'): + """Try import all public attributes from module into global namespace. + + Existing attributes with name clashes are renamed with prefix. + Attributes starting with underscore are ignored by default. + + Return True on successful import. + + """ + try: + module = __import__(module_name) + except ImportError: + if warn: + warnings.warn("Failed to import module " + module_name) + else: + for attr in dir(module): + if ignore and attr.startswith(ignore): + continue + if prefix: + if attr in globals(): + globals()[prefix + attr] = globals()[attr] + elif warn: + warnings.warn("No Python implementation of " + attr) + globals()[attr] = getattr(module, attr) + return True diff --git a/svo_msgs/CMakeLists.txt b/svo_msgs/CMakeLists.txt new file mode 100644 index 0000000..23d4e3b --- /dev/null +++ b/svo_msgs/CMakeLists.txt @@ -0,0 +1,35 @@ +cmake_minimum_required(VERSION 2.8.3) +project(svo_msgs) + +# search for everything we need to build the messages, dont forget the message_generation +find_package(catkin REQUIRED COMPONENTS + message_generation + geometry_msgs + sensor_msgs +) + +# search for all msg files +FILE(GLOB messages_to_build RELATIVE "${CMAKE_CURRENT_SOURCE_DIR}/msg" + "${CMAKE_CURRENT_SOURCE_DIR}/msg/*.msg") + +# notify catkin to look at the previously found msg files +add_message_files( + FILES + ${messages_to_build} +) + +# build the header files from the msg files, and notify catkin about the dependencies +generate_messages( + DEPENDENCIES + geometry_msgs + sensor_msgs +) + +# export the dependencis of this package for who ever depends on us +catkin_package( + CATKIN_DEPENDS message_runtime geometry_msgs +) + +include_directories( + ${catkin_INCLUDE_DIRS} +) \ No newline at end of file diff --git a/svo_msgs/msg/DenseInput.msg b/svo_msgs/msg/DenseInput.msg new file mode 100644 index 0000000..d36dee8 --- /dev/null +++ b/svo_msgs/msg/DenseInput.msg @@ -0,0 +1,6 @@ +Header header +uint32 frame_id +geometry_msgs/Pose pose +sensor_msgs/Image image +float32 min_depth +float32 max_depth \ No newline at end of file diff --git a/svo_msgs/msg/Feature.msg b/svo_msgs/msg/Feature.msg new file mode 100644 index 0000000..2972c32 --- /dev/null +++ b/svo_msgs/msg/Feature.msg @@ -0,0 +1,5 @@ +float32 u +float32 v +float32 x +float32 y +float32 z \ No newline at end of file diff --git a/svo_msgs/msg/Info.msg b/svo_msgs/msg/Info.msg new file mode 100644 index 0000000..b962e1b --- /dev/null +++ b/svo_msgs/msg/Info.msg @@ -0,0 +1,6 @@ +Header header +float32 processing_time +int32[] keyframes +int32 num_matches +int32 tracking_quality +int32 stage \ No newline at end of file diff --git a/svo_msgs/msg/NbvTrajectory.msg b/svo_msgs/msg/NbvTrajectory.msg new file mode 100644 index 0000000..03f0792 --- /dev/null +++ b/svo_msgs/msg/NbvTrajectory.msg @@ -0,0 +1,2 @@ +Header header +geometry_msgs/Pose[] trajectory \ No newline at end of file diff --git a/svo_msgs/package.xml b/svo_msgs/package.xml new file mode 100644 index 0000000..b122e2d --- /dev/null +++ b/svo_msgs/package.xml @@ -0,0 +1,19 @@ + + + svo_msgs + 0.0.0 + Custom messages for svo + Christian Forster + BSD + catkin + + message_generation + geometry_msgs + sensor_msgs + + message_runtime + geometry_msgs + sensor_msgs + + + \ No newline at end of file diff --git a/svo_ros/CMakeLists.txt b/svo_ros/CMakeLists.txt new file mode 100644 index 0000000..8fcd739 --- /dev/null +++ b/svo_ros/CMakeLists.txt @@ -0,0 +1,62 @@ +SET(PROJECT_NAME svo_ros) +PROJECT(${PROJECT_NAME}) +CMAKE_MINIMUM_REQUIRED (VERSION 2.8.3) +SET(CMAKE_BUILD_TYPE Release) # Release, RelWithDebInfo +SET(CMAKE_VERBOSE_MAKEFILE OFF) +SET(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${PROJECT_SOURCE_DIR}/CMakeModules/") + +IF(CMAKE_COMPILER_IS_GNUCC) + SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x") +ELSE() + SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11") +ENDIF() + + +# Add catkin and required ROS packages +FIND_PACKAGE(catkin REQUIRED COMPONENTS + roscpp nav_msgs std_msgs visualization_msgs sensor_msgs image_transport cv_bridge tf svo svo_msgs vikit_common vikit_ros +) + +# Add plain cmake packages +FIND_PACKAGE(OpenCV REQUIRED) +FIND_PACKAGE(Eigen REQUIRED) +FIND_PACKAGE(Sophus REQUIRED) +FIND_PACKAGE(Boost REQUIRED COMPONENTS thread signals) + +# Describe catkin Project +catkin_package( + DEPENDS Eigen OpenCV Sophus Boost + CATKIN_DEPENDS roscpp nav_msgs std_msgs visualization_msgs sensor_msgs image_transport cv_bridge tf svo svo_msgs vikit_common vikit_ros + INCLUDE_DIRS include + LIBRARIES svo_visualizer +) + +# Include dirs +INCLUDE_DIRECTORIES( + include + ${Eigen_INCLUDE_DIRS} + ${OpenCV_INCLUDE_DIRS} + ${Sophus_INCLUDE_DIRS} + ${Boost_INCLUDE_DIRS} + ${catkin_INCLUDE_DIRS} +) + +# Set link libraries +LIST(APPEND LINK_LIBS + ${OpenCV_LIBRARIES} + ${Sophus_LIBRARIES} + ${Boost_LIBRARIES} + ${catkin_LIBRARIES} +) + +# Create visualizer library +ADD_LIBRARY(svo_visualizer src/visualizer.cpp) +TARGET_LINK_LIBRARIES(svo_visualizer ${LINK_LIBS}) + +# Create Executables +ADD_EXECUTABLE(vo src/vo_node.cpp) +TARGET_LINK_LIBRARIES(vo svo_visualizer) +ADD_EXECUTABLE(benchmark src/benchmark_node.cpp) +TARGET_LINK_LIBRARIES(benchmark svo_visualizer) +ADD_EXECUTABLE(remote src/remote_node.cpp) +TARGET_LINK_LIBRARIES(remote svo_visualizer) \ No newline at end of file diff --git a/svo_ros/include/svo_ros/dataset_img.h b/svo_ros/include/svo_ros/dataset_img.h new file mode 100644 index 0000000..2d78ef7 --- /dev/null +++ b/svo_ros/include/svo_ros/dataset_img.h @@ -0,0 +1,62 @@ +// This file is part of SVO - Semi-direct Visual Odometry. +// +// Copyright (C) 2014 Christian Forster +// (Robotics and Perception Group, University of Zurich, Switzerland). +// +// SVO is free software: you can redistribute it and/or modify it under the +// terms of the GNU General Public License as published by the Free Software +// Foundation, either version 3 of the License, or any later version. +// +// SVO is distributed in the hope that it will be useful, but WITHOUT ANY +// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS +// FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. +// +// You should have received a copy of the GNU General Public License +// along with this program. If not, see . + +#ifndef DATASET_IMG_H +#define DATASET_IMG_H + +namespace FileType { + +#include +#include +#include + +using ::Eigen::Quaterniond; +using ::Eigen::Vector3d; + +/// Specification of Dataset which contains: Camera Image, Gyroscope Rotation +class DatasetImg +{ +public: + DatasetImg() {} + virtual ~DatasetImg() {} + + double stamp_; + std::string imgname_; + + friend std::ostream& operator <<(std::ostream& out, const DatasetImg& pair); + friend std::istream& operator >>(std::istream& in, DatasetImg& pair); +}; + +std::ostream& operator <<(std::ostream& out, const DatasetImg& gt) +{ + out + << gt.stamp_ << " " + << gt.imgname_ << " " + << std::endl; + return out; +} + +std::istream& operator >>(std::istream& in, DatasetImg& gt) +{ + in >> gt.stamp_; + in >> gt.imgname_; + return in; +} + +} // end namespace FileType + + +#endif /* DATASET_IMG_H */ diff --git a/svo_ros/include/svo_ros/dataset_imu.h b/svo_ros/include/svo_ros/dataset_imu.h new file mode 100644 index 0000000..9ee5e66 --- /dev/null +++ b/svo_ros/include/svo_ros/dataset_imu.h @@ -0,0 +1,70 @@ +// This file is part of SVO - Semi-direct Visual Odometry. +// +// Copyright (C) 2014 Christian Forster +// (Robotics and Perception Group, University of Zurich, Switzerland). +// +// SVO is free software: you can redistribute it and/or modify it under the +// terms of the GNU General Public License as published by the Free Software +// Foundation, either version 3 of the License, or any later version. +// +// SVO is distributed in the hope that it will be useful, but WITHOUT ANY +// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS +// FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. +// +// You should have received a copy of the GNU General Public License +// along with this program. If not, see . + +#ifndef DATASET_IMU_H_ +#define DATASET_IMU_H_ + +namespace FileType { + +#include +#include +#include + +using ::Eigen::Quaterniond; +using ::Eigen::Vector3d; + +/// Specification of Dataset which contains: Camera Image, Gyroscope Rotation +class DatasetImu +{ +public: + DatasetImu() {} + virtual ~DatasetImu() {} + + double stamp_; + Quaterniond q_imu_; + + friend std::ostream& operator <<(std::ostream& out, const DatasetImu& pair); + friend std::istream& operator >>(std::istream& in, DatasetImu& pair); +}; + +std::ostream& operator <<(std::ostream& out, const DatasetImu& gt) +{ + out + << gt.stamp_ << " " + << gt.q_imu_.x() << " " + << gt.q_imu_.y() << " " + << gt.q_imu_.z() << " " + << gt.q_imu_.w() << " " + << std::endl; + return out; +} + +std::istream& operator >>(std::istream& in, DatasetImu& gt) +{ + in >> gt.stamp_; + double x,y,z,w; + in >> x; + in >> y; + in >> z; + in >> w; + gt.q_imu_ = Quaterniond(w, x, y, z); + return in; +} + +} // end namespace FileType + + +#endif /* DATASET_IMU_H_ */ diff --git a/svo_ros/include/svo_ros/visualizer.h b/svo_ros/include/svo_ros/visualizer.h new file mode 100644 index 0000000..1a7df1f --- /dev/null +++ b/svo_ros/include/svo_ros/visualizer.h @@ -0,0 +1,75 @@ +// This file is part of SVO - Semi-direct Visual Odometry. +// +// Copyright (C) 2014 Christian Forster +// (Robotics and Perception Group, University of Zurich, Switzerland). +// +// SVO is free software: you can redistribute it and/or modify it under the +// terms of the GNU General Public License as published by the Free Software +// Foundation, either version 3 of the License, or any later version. +// +// SVO is distributed in the hope that it will be useful, but WITHOUT ANY +// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS +// FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. +// +// You should have received a copy of the GNU General Public License +// along with this program. If not, see . + +#ifndef SVO_VISUALIZER_H_ +#define SVO_VISUALIZER_H_ + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +namespace svo { + +class Frame; +class Point; +class Map; +class FrameHandlerMono; + +typedef boost::shared_ptr FramePtr; + +/// This class bundles all functions to publish visualisation messages, +/// trace data and output debugging information. +class Visualizer +{ +public: + ros::NodeHandle pnh_; + size_t trace_id_; + size_t img_pub_level_; + size_t img_pub_nth_; + size_t dense_pub_nth_; + ros::Publisher pub_frames_; + ros::Publisher pub_points_; + ros::Publisher pub_pose_; + ros::Publisher pub_info_; + ros::Publisher pub_dense_; + image_transport::Publisher pub_images_; + tf::TransformBroadcaster br_; + + Visualizer(); + ~Visualizer() {}; + void visualizeMarkers(const FramePtr& frame, const set& core_kfs, const Map& map); + void publishMinimal(const cv::Mat& img, const FramePtr& frame, const FrameHandlerMono& slam, const double timestamp); + void publishMapRegion(set frames); + void removeDeletedPts(const Map& map); + void displayKeyframeWithMps(const FramePtr& frame, int ts); + void exportToDense(const FramePtr& frame); +}; + +} // end namespace svo + +#endif /* SVO_VISUALIZER_H_ */ diff --git a/svo_ros/launch/live.launch b/svo_ros/launch/live.launch new file mode 100644 index 0000000..738d97a --- /dev/null +++ b/svo_ros/launch/live.launch @@ -0,0 +1,25 @@ + + + + + + + + + + + + + + + + + + + + + diff --git a/svo_ros/launch/test_rig3.launch b/svo_ros/launch/test_rig3.launch new file mode 100644 index 0000000..d03359f --- /dev/null +++ b/svo_ros/launch/test_rig3.launch @@ -0,0 +1,16 @@ + + + + + + + + + + + + + + + + diff --git a/svo_ros/package.xml b/svo_ros/package.xml new file mode 100644 index 0000000..efc72e0 --- /dev/null +++ b/svo_ros/package.xml @@ -0,0 +1,42 @@ + + + svo_ros + 0.1.0 + + Monocular Visual Odometry - ROS Nodes + + Christian Forster + Christian Forster + GPLv3 + + + catkin + + + roscpp + nav_msgs + std_msgs + visualization_msgs + sensor_msgs + image_transport + cv_bridge + tf + svo + svo_msgs + vikit_common + vikit_ros + + + roscpp + nav_msgs + std_msgs + visualization_msgs + sensor_msgs + image_transport + cv_bridge + tf + svo + svo_msgs + vikit_common + vikit_ros + \ No newline at end of file diff --git a/svo_ros/param/vo_accurate.yaml b/svo_ros/param/vo_accurate.yaml new file mode 100644 index 0000000..8446875 --- /dev/null +++ b/svo_ros/param/vo_accurate.yaml @@ -0,0 +1,4 @@ +grid_size: 20 +max_n_kfs: 50 +loba_num_iter: 10 +max_fts: 200 \ No newline at end of file diff --git a/svo_ros/param/vo_fast.yaml b/svo_ros/param/vo_fast.yaml new file mode 100644 index 0000000..3df87dd --- /dev/null +++ b/svo_ros/param/vo_fast.yaml @@ -0,0 +1,3 @@ +grid_size: 30 +max_n_kfs: 10 +loba_num_iter: 0 \ No newline at end of file diff --git a/svo_ros/rqt.perspective b/svo_ros/rqt.perspective new file mode 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Views + Splitter Ratio: 0.5 + - Class: rviz/Time + Experimental: false + Name: Time + SyncMode: 0 + SyncSource: Image +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.03 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: true + - Class: rviz/TF + Enabled: false + Frame Timeout: 15 + Frames: + All Enabled: true + Marker Scale: 1 + Name: TF + Show Arrows: true + Show Axes: true + Show Names: true + Tree: + {} + Update Interval: 0 + Value: false + - Class: rviz/Marker + Enabled: true + Marker Topic: /svo/keyframes + Name: Marker + Namespaces: + cams: true + kfs: true + Queue Size: 100 + Value: true + - Class: rviz/Marker + Enabled: true + Marker Topic: /svo/points + Name: Marker + Namespaces: + pts: true + trajectory: true + Queue Size: 100 + Value: true + - Class: rviz/Image + Enabled: true + Image Topic: /svo/image + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: Image + Normalize Range: true + Queue Size: 2 + Transport Hint: raw + Value: true + Enabled: true + Global Options: + Background Color: 255; 255; 255 + Fixed Frame: /world + Name: root + Tools: + - Class: rviz/Interact + Hide Inactive Objects: true + - Class: rviz/MoveCamera + - Class: rviz/Select + - Class: rviz/FocusCamera + - Class: rviz/Measure + - Class: rviz/SetInitialPose + Topic: /initialpose + - Class: rviz/SetGoal + Topic: /move_base_simple/goal + - Class: rviz/PublishPoint + Single click: true + Topic: /clicked_point + Value: true + Views: + Current: + Class: rviz/Orbit + Distance: 5.48911 + Focal Point: + X: 0.777511 + Y: 0.689927 + Z: -0.445833 + Name: Current View + Near Clip Distance: 0.01 + Pitch: 0.125204 + Target Frame: + Value: Orbit (rviz) + Yaw: 4.45215 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 1416 + Hide Left Dock: false + Hide Right Dock: true + Image: + collapsed: false + QMainWindow State: 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+ Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: true + Width: 2511 + X: 1962 + Y: 24 diff --git a/svo_ros/src/benchmark_node.cpp b/svo_ros/src/benchmark_node.cpp new file mode 100644 index 0000000..2d0ff6e --- /dev/null +++ b/svo_ros/src/benchmark_node.cpp @@ -0,0 +1,155 @@ +// This file is part of SVO - Semi-direct Visual Odometry. +// +// Copyright (C) 2014 Christian Forster +// (Robotics and Perception Group, University of Zurich, Switzerland). +// +// SVO is free software: you can redistribute it and/or modify it under the +// terms of the GNU General Public License as published by the Free Software +// Foundation, either version 3 of the License, or any later version. +// +// SVO is distributed in the hope that it will be useful, but WITHOUT ANY +// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS +// FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. +// +// You should have received a copy of the GNU General Public License +// along with this program. If not, see . + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +namespace svo { + +class BenchmarkNode +{ + svo::FrameHandlerMono* vo_; + svo::Visualizer visualizer_; + vk::UserInputThread user_input_thread_; + int frame_count_; + std::ofstream trace_est_pose_; + vk::AbstractCamera* cam_; + bool quit_; + +public: + BenchmarkNode(ros::NodeHandle& nh); + ~BenchmarkNode(); + void runCamImuBenchmark(); + void processUserActions(); +}; + +BenchmarkNode::BenchmarkNode(ros::NodeHandle& nh) : + vo_(NULL), + frame_count_(0), + quit_(false) +{ + // Create Camera + if(!vk::camera_loader::loadFromRosNs("svo", cam_)) + throw std::runtime_error("Camera model not correctly specified."); + + // Initialize VO + vo_ = new svo::FrameHandlerMono(cam_); + vo_->start(); +} + +BenchmarkNode::~BenchmarkNode() +{ + delete vo_; + delete cam_; +} + +void BenchmarkNode::runCamImuBenchmark() +{ + // create image reader and load dataset + std::string benchmark_dir(vk::getParam("svo/dataset_directory")); + std::string filename_benchmark(benchmark_dir + "/images.txt"); + vk::FileReader dataset_reader(filename_benchmark); + dataset_reader.skipComments(); + if(!dataset_reader.next()) + std::runtime_error("Failed to open images file"); + std::vector dataset; + dataset_reader.readAllEntries(dataset); + + // create pose tracefile + std::string trace_est_name(Config::traceDir() + "/traj_estimate.txt"); + trace_est_pose_.open(trace_est_name.c_str()); + if(trace_est_pose_.fail()) + throw std::runtime_error("ERROR:frame_count_ could not create tracefile. probably the specified folder does not exist."); + + // process dataset + for(vk::vector::iterator it = dataset.begin(); + it != dataset.end(); ++it, ++frame_count_) + { + // Read image + std::string img_filename(benchmark_dir + "/" + it->imgname_); + cv::Mat img(cv::imread(img_filename, 0)); + if(frame_count_ == 0) + SVO_INFO_STREAM("Reading image "<addImage(img, it->stamp_); + + // Visualize + visualizer_.publishMinimal(img, vo_->lastFrame(), *vo_, it->stamp_); + if(vo_->stage() != svo::FrameHandlerMono::PAUSED) + visualizer_.visualizeMarkers(vo_->lastFrame(), vo_->coreKeyframes(), vo_->map()); + + // write pose to tracefile + if(vo_->stage() == svo::FrameHandlerMono::DEFAULT_FRAME) + { + Quaterniond q(vo_->lastFrame()->T_f_w_.inverse().unit_quaternion()); + Vector3d p(vo_->lastFrame()->T_f_w_.inverse().translation()); + trace_est_pose_.precision(15); + trace_est_pose_.setf(std::ios::fixed, std::ios::floatfield ); + trace_est_pose_ << it->stamp_<< " "; + trace_est_pose_.precision(6); + trace_est_pose_ << p.x() << " " << p.y() << " " << p.z() << " " + << q.x() << " " << q.y() << " " << q.z() << " " << q.w() << endl; + } + if (!ros::ok() || quit_) + break; + } +} + +void BenchmarkNode::processUserActions() +{ + char input = user_input_thread_.getInput(); + switch(input) + { + case 'q': quit_ = true; break; + case 'r': vo_->reset(); break; + case 's': vo_->start(); break; + default: ; + } +} + +} // namespace svo + +int main(int argc, char** argv) +{ + ros::init(argc, argv, "svo"); + ros::NodeHandle nh; + { + svo::BenchmarkNode benchmark(nh); + benchmark.runCamImuBenchmark(); + } + printf("BenchmarkNode finished.\n"); + return 0; +} diff --git a/svo_ros/src/remote_node.cpp b/svo_ros/src/remote_node.cpp new file mode 100644 index 0000000..8952b21 --- /dev/null +++ b/svo_ros/src/remote_node.cpp @@ -0,0 +1,169 @@ +// This file is part of SVO - Semi-direct Visual Odometry. +// +// Copyright (C) 2014 Christian Forster +// (Robotics and Perception Group, University of Zurich, Switzerland). +// +// SVO is free software: you can redistribute it and/or modify it under the +// terms of the GNU General Public License as published by the Free Software +// Foundation, either version 3 of the License, or any later version. +// +// SVO is distributed in the hope that it will be useful, but WITHOUT ANY +// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS +// FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. +// +// You should have received a copy of the GNU General Public License +// along with this program. If not, see . + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +class RemoteHandler +{ +public: + ros::NodeHandle& nh_; + vk::UserInputThread input_thread_; + + ros::Publisher pub_key_; + ros::Publisher pub_frames_; + tf::TransformBroadcaster br_; + + vk::RingBuffer acc_timing_; + vk::RingBuffer acc_obs_; + typedef std::map > pose_map_t; + pose_map_t poses_; + std::set published_kfs_; + std::set current_kfs_; + + RemoteHandler(ros::NodeHandle& nh); + ~RemoteHandler(); + void handleUserInput(); + void poseCb(const geometry_msgs::PoseWithCovarianceStampedConstPtr msg); + void infoCb(const svo_msgs::InfoConstPtr msg); +}; + +RemoteHandler::RemoteHandler(ros::NodeHandle& nh) : + nh_(nh), + pub_key_(nh_.advertise ("/svo/remote_key", 10)), + pub_frames_(nh_.advertise("/svo/vis/frame", 100)), + acc_timing_(50), + acc_obs_(50) +{} + +RemoteHandler::~RemoteHandler() +{} + +void RemoteHandler::handleUserInput() +{ + char key = input_thread_.getInput(); + std_msgs::StringPtr msg(new std_msgs::String); + switch(key) + { + case 'q': msg->data = 'q'; pub_key_.publish(msg); break; // quit + case 'r': msg->data = 'r'; pub_key_.publish(msg); break; // reset + case 'p': msg->data = 'p'; pub_key_.publish(msg); break; // pause + case 's': msg->data = 's'; pub_key_.publish(msg); break; // start + default: ; + } +} + +void RemoteHandler::poseCb(const geometry_msgs::PoseWithCovarianceStampedConstPtr msg) +{ + Eigen::Vector3d p(msg->pose.pose.position.x, msg->pose.pose.position.y, msg->pose.pose.position.z); + Eigen::Quaterniond q(msg->pose.pose.orientation.w, msg->pose.pose.orientation.x, msg->pose.pose.orientation.y, msg->pose.pose.orientation.z); + Eigen::Matrix3d R_world_from_frame(q.inverse()); + Eigen::Vector3d p_frame_in_world(-R_world_from_frame*p); + + poses_.insert(std::pair >( + msg->header.seq, + std::pair(p_frame_in_world, R_world_from_frame))); + + // publish trajectory + vk::output_helper::publishPointMarker(pub_frames_, p_frame_in_world, "trajectory_points", + msg->header.stamp, msg->header.seq, 0, 0.006, Eigen::Vector3d(0.,0.,0.5)); + + // publish camera pose tf + tf::StampedTransform transform_msg; + transform_msg.frame_id_ = "cam"; + transform_msg.child_frame_id_ = "world"; + transform_msg.stamp_ = msg->header.stamp; + transform_msg.setOrigin(tf::Vector3(p.x(), p.y(), p.z())); + transform_msg.setRotation(tf::Quaternion(q.x(), q.y(), q.z(), q.w())); + br_.sendTransform(transform_msg); + + // publish keyframes + std::set deleted_kfs; + std::set_difference(published_kfs_.begin(), published_kfs_.end(), current_kfs_.begin(), current_kfs_.end(), std::inserter(deleted_kfs, deleted_kfs.end())); + for(std::set::iterator it=deleted_kfs.begin(); it!=deleted_kfs.end(); ++it) + { + pose_map_t::iterator kf = poses_.find(*it); + if(kf != poses_.end()) + vk::output_helper::publishFrameMarker(pub_frames_, kf->second.second, kf->second.first, "kfs", ros::Time::now(), (*it)*10, 2, 0.015); + } + + std::set unpublished_kfs; + std::set_difference(current_kfs_.begin(), current_kfs_.end(), published_kfs_.begin(), published_kfs_.end(), std::inserter(unpublished_kfs, unpublished_kfs.end())); + for(std::set::iterator it=unpublished_kfs.begin(); it!=unpublished_kfs.end(); ++it) + { + pose_map_t::iterator kf = poses_.find(*it); + if(kf != poses_.end()) + vk::output_helper::publishFrameMarker(pub_frames_, kf->second.second, kf->second.first, "kfs", ros::Time::now(), (*it)*10, 0, 0.015); + } + published_kfs_.swap(current_kfs_); + + + // publish hexacopter + vk::output_helper::publishHexacopterMarker(pub_frames_, "cam", "hexacopter", msg->header.stamp, 1, 0, 0.3, Eigen::Vector3d(0.,0.,1.)); +} + +void RemoteHandler::infoCb(const svo_msgs::InfoConstPtr msg) +{ + std::string kfmsg(""); + current_kfs_.clear(); + for(std::vector::const_iterator it=msg->keyframes.begin(); it!=msg->keyframes.end(); ++it) { + current_kfs_.insert(static_cast(*it)); + if(*it == static_cast(msg->header.seq)) { + kfmsg = "Keyframe!"; + break; + } + } + acc_timing_.push_back(msg->processing_time); + acc_obs_.push_back(msg->num_matches); + + printf("[%i] t=%.2fhz (mean=%.2f) \t n_obs=%i (mean=%i) \t %s\n", + msg->header.seq, 1./msg->processing_time, 1./acc_timing_.getMean(), + msg->num_matches, acc_obs_.getMean(), kfmsg.c_str()); +} + +int main(int argc, char **argv) +{ + ros::init(argc, argv, "svo_remote"); + ros::NodeHandle nh; + RemoteHandler node(nh); + + printf("Listening to User-Input...\n"); + + ros::Subscriber sub_pose = nh.subscribe("/svo/pose", 10, &RemoteHandler::poseCb, &node); + ros::Subscriber sub_info = nh.subscribe("/svo/info", 10, &RemoteHandler::infoCb, &node); + ros::Rate r(100); + while (ros::ok()) + { + node.handleUserInput(); + ros::spinOnce(); + r.sleep(); + } + return 0; +} diff --git a/svo_ros/src/visualizer.cpp b/svo_ros/src/visualizer.cpp new file mode 100644 index 0000000..d8aa72f --- /dev/null +++ b/svo_ros/src/visualizer.cpp @@ -0,0 +1,268 @@ +// This file is part of SVO - Semi-direct Visual Odometry. +// +// Copyright (C) 2014 Christian Forster +// (Robotics and Perception Group, University of Zurich, Switzerland). +// +// SVO is free software: you can redistribute it and/or modify it under the +// terms of the GNU General Public License as published by the Free Software +// Foundation, either version 3 of the License, or any later version. +// +// SVO is distributed in the hope that it will be useful, but WITHOUT ANY +// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS +// FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. +// +// You should have received a copy of the GNU General Public License +// along with this program. If not, see . + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +namespace svo { + +Visualizer:: +Visualizer() : + pnh_("~"), + trace_id_(0), + img_pub_level_(vk::getParam("svo/image_publishing_level", 0)), + img_pub_nth_(vk::getParam("svo/publish_every_nth_img", 1)), + dense_pub_nth_(vk::getParam("svo/publish_every_nth_dense_input", 1)) +{ + // Init ROS Marker Publishers + pub_frames_ = pnh_.advertise("keyframes", 10); + pub_points_ = pnh_.advertise("points", 1000); + pub_pose_ = pnh_.advertise("pose",10); + pub_info_ = pnh_.advertise("info", 10); + pub_dense_ = pnh_.advertise("dense_input",10); + + // create video publisher + image_transport::ImageTransport it(pnh_); + pub_images_ = it.advertise("image", 10); +} + +void Visualizer:: +visualizeMarkers(const FramePtr& frame, const set& core_kfs, const Map& map) +{ + if(frame != NULL) + { + // publish camera pose tf + vk::output_helper::publishTfTransform(frame->T_f_w_, ros::Time(frame->timestamp_), "cam_pos", "world", br_); + if(pub_frames_.getNumSubscribers() > 0 || pub_points_.getNumSubscribers() > 0) + { + vk::output_helper::publishHexacopterMarker(pub_frames_, "cam_pos", "cams", ros::Time(frame->timestamp_), 1, 0, 0.3, Vector3d(0.,0.,1.)); + vk::output_helper::publishPointMarker(pub_points_, frame->pos(), "trajectory", ros::Time::now(), trace_id_, 0, 0.006, Vector3d(0.,0.,0.5)); + publishMapRegion(core_kfs); + removeDeletedPts(map); + } + } +} + +void Visualizer:: +publishMinimal(const cv::Mat& img, const FramePtr& frame, const FrameHandlerMono& slam, const double timestamp) +{ + ++trace_id_; + std_msgs::Header header_msg; + header_msg.frame_id = "/cam"; + header_msg.seq = trace_id_; + header_msg.stamp = ros::Time(timestamp); + + // publish svo info msgs + if(pub_info_.getNumSubscribers() > 0) + { + svo_msgs::Info msg_info; + msg_info.header = header_msg; + msg_info.processing_time = slam.lastProcessingTime(); + msg_info.keyframes.resize(slam.map().keyframes_.size()); + for(list::const_iterator it=slam.map().keyframes_.begin(); it!=slam.map().keyframes_.end(); ++it) + msg_info.keyframes.push_back((*it)->id_); + msg_info.stage = static_cast(slam.stage()); + msg_info.tracking_quality = static_cast(slam.trackingQuality()); + if(frame != NULL) + msg_info.num_matches = slam.lastNumObservations(); + else + msg_info.num_matches = 0; + pub_info_.publish(msg_info); + } + + // publish pyramid-image every nth-frame + if(frame != NULL && img_pub_nth_ > 0 + && trace_id_%img_pub_nth_ == 0 && pub_images_.getNumSubscribers() > 0) + { + const int scale = (1<img_pyr_[img_pub_level_].size(), CV_8UC3); + cv::cvtColor(frame->img_pyr_[img_pub_level_], img_rgb, CV_GRAY2RGB); + + // during initialization, draw lines + if(slam.stage() == FrameHandlerBase::SECOND_FRAME) + { + const vector& px_ref(slam.initFeatureTrackRefPx()); + const vector& px_cur(slam.initFeatureTrackCurPx()); + for(vector::const_iterator it_ref=px_ref.begin(), it_cur=px_cur.begin(); + it_ref != px_ref.end(); ++it_ref, ++it_cur) + cv::line(img_rgb, + cv::Point2f(it_cur->x/scale, it_cur->y/scale), + cv::Point2f(it_ref->x/scale, it_ref->y/scale), cv::Scalar(0,255,0), 2); + } + + // draw features on frame + if(img_pub_level_ == 0) + for(Features::iterator it=frame->fts_.begin(); it!=frame->fts_.end(); ++it) + cv::rectangle(img_rgb, + cv::Point2f((*it)->px[0]-2, (*it)->px[1]-2), + cv::Point2f((*it)->px[0]+2, (*it)->px[1]+2), + cv::Scalar(0,255,0), CV_FILLED); + if(img_pub_level_ == 1) + for(Features::iterator it=frame->fts_.begin(); it!=frame->fts_.end(); ++it) + cv::rectangle(img_rgb, + cv::Point2f((*it)->px[0]/scale-1, (*it)->px[1]/scale-1), + cv::Point2f((*it)->px[0]/scale+1, (*it)->px[1]/scale+1), + cv::Scalar(0,255,0), CV_FILLED); + else + for(Features::iterator it=frame->fts_.begin(); it!=frame->fts_.end(); ++it) + cv::rectangle(img_rgb, + cv::Point2f((*it)->px[0]/scale, (*it)->px[1]/scale), + cv::Point2f((*it)->px[0]/scale, (*it)->px[1]/scale), + cv::Scalar(0,255,0), CV_FILLED); + + // publish image + cv_bridge::CvImage img_msg; + img_msg.header = header_msg; + img_msg.image = img_rgb; + img_msg.encoding = sensor_msgs::image_encodings::BGR8; + pub_images_.publish(img_msg.toImageMsg()); + } + else if(frame == NULL && pub_images_.getNumSubscribers() > 0 && slam.stage() == FrameHandlerBase::PAUSED) + { + // display image when slam is not running + cv_bridge::CvImage img_msg; + img_msg.header.stamp = ros::Time::now(); + img_msg.header.frame_id = "/image"; + img_msg.image = img; + img_msg.encoding = sensor_msgs::image_encodings::MONO8; + pub_images_.publish(img_msg.toImageMsg()); + } + + // publish pose (world in camera frame) + if(pub_pose_.getNumSubscribers() > 0 && frame != NULL) + { + geometry_msgs::PoseWithCovarianceStampedPtr msg_pose(new geometry_msgs::PoseWithCovarianceStamped); + Quaterniond q(frame->T_f_w_.rotation_matrix()); + Vector3d p(frame->T_f_w_.translation()); + msg_pose->header = header_msg; + msg_pose->pose.pose.position.x = p[0]; + msg_pose->pose.pose.position.y = p[1]; + msg_pose->pose.pose.position.z = p[2]; + msg_pose->pose.pose.orientation.x = q.x(); + msg_pose->pose.pose.orientation.y = q.y(); + msg_pose->pose.pose.orientation.z = q.z(); + msg_pose->pose.pose.orientation.w = q.w(); + for(size_t i=0; i<36; ++i) + msg_pose->pose.covariance[i] = frame->Cov_(i%6, i/6); + pub_pose_.publish(msg_pose); + } +} + +void Visualizer:: +publishMapRegion(set frames) +{ + if(pub_points_.getNumSubscribers() > 0) + { + int ts = vk::Timer::getCurrentTime(); + for(set::iterator it=frames.begin(); it!=frames.end(); ++it) + displayKeyframeWithMps(*it, ts); + } +} + +void Visualizer:: +removeDeletedPts(const Map& map) +{ + if(pub_points_.getNumSubscribers() > 0) + { + for(list::const_iterator it=map.trash_points_.begin(); it!=map.trash_points_.end(); ++it) + vk::output_helper::publishPointMarker(pub_points_, Vector3d(), "pts", ros::Time::now(), (*it)->id_, 2, 0.006, Vector3d()); + } +} + +void Visualizer:: +displayKeyframeWithMps(const FramePtr& frame, int ts) +{ + // publish keyframe + vk::output_helper::publishFrameMarker(pub_frames_, frame->T_f_w_.inverse().rotation_matrix(), frame->pos(), "kfs", ros::Time::now(), frame->id_*10, 0, 0.015); + + // publish point cloud and links + for(Features::iterator it=frame->fts_.begin(); it!=frame->fts_.end(); ++it) + { + if((*it)->point == NULL) + continue; + + if((*it)->point->last_published_ts_ == ts) + continue; + + vk::output_helper::publishPointMarker(pub_points_, (*it)->point->pos_, "pts", ros::Time::now(), (*it)->point->id_, 0, 0.005, Vector3d(1.0, 0., 1.0)); + (*it)->point->last_published_ts_ = ts; + } +} + +void Visualizer:: +exportToDense(const FramePtr& frame) +{ + // publish air_ground_msgs + if(frame != NULL && dense_pub_nth_ > 0 + && trace_id_%dense_pub_nth_ == 0 && pub_dense_.getNumSubscribers() > 0) + { + svo_msgs::DenseInput msg; + msg.header.stamp = ros::Time(frame->timestamp_); + msg.header.frame_id = "/world"; + msg.frame_id = frame->id_; + + cv_bridge::CvImage img_msg; + img_msg.header.stamp = msg.header.stamp; + img_msg.header.frame_id = "camera"; + img_msg.image = frame->img(); + img_msg.encoding = sensor_msgs::image_encodings::MONO8; + msg.image = *img_msg.toImageMsg(); + + double min_z = std::numeric_limits::max(); + double max_z = std::numeric_limits::min(); + for(Features::iterator it=frame->fts_.begin(); it!=frame->fts_.end(); ++it) + { + if((*it)->point==NULL) + continue; + Vector3d pos = frame->T_f_w_*(*it)->point->pos_; + min_z = min(pos[2], min_z); + max_z = max(pos[2], max_z); + } + msg.min_depth = (float) min_z; + msg.max_depth = (float) max_z; + + Quaterniond q(frame->T_f_w_.inverse().rotation_matrix()); + Vector3d p(frame->T_f_w_.inverse().translation()); + msg.pose.position.x = p[0]; + msg.pose.position.y = p[1]; + msg.pose.position.z = p[2]; + msg.pose.orientation.w = q.w(); + msg.pose.orientation.x = q.x(); + msg.pose.orientation.y = q.y(); + msg.pose.orientation.z = q.z(); + pub_dense_.publish(msg); + } +} + +} // end namespace svo diff --git a/svo_ros/src/vo_node.cpp b/svo_ros/src/vo_node.cpp new file mode 100644 index 0000000..27b7ef0 --- /dev/null +++ b/svo_ros/src/vo_node.cpp @@ -0,0 +1,181 @@ +// This file is part of SVO - Semi-direct Visual Odometry. +// +// Copyright (C) 2014 Christian Forster +// (Robotics and Perception Group, University of Zurich, Switzerland). +// +// SVO is free software: you can redistribute it and/or modify it under the +// terms of the GNU General Public License as published by the Free Software +// Foundation, either version 3 of the License, or any later version. +// +// SVO is distributed in the hope that it will be useful, but WITHOUT ANY +// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS +// FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. +// +// You should have received a copy of the GNU General Public License +// along with this program. If not, see . + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +namespace svo { + +using namespace std; +using namespace vk; + +/// SVO Interface +class VoNode +{ +public: + svo::FrameHandlerMono* vo_; + svo::Visualizer visualizer_; + bool publish_markers_; //!< publish only the minimal amount of info (choice for embedded devices) + bool publish_dense_input_; + vk::UserInputThread* user_input_thread_; + ros::Subscriber sub_remote_key_; + string remote_input_; + vk::AbstractCamera* cam_; + bool quit_; + VoNode(); + ~VoNode(); + void imgCb(const sensor_msgs::ImageConstPtr& msg); + void processUserActions(); + void remoteKeyCb(const std_msgs::StringConstPtr& key_input); +}; + +VoNode:: +VoNode() : + vo_(NULL), + publish_markers_(vk::getParam("svo/publish_markers", true)), + publish_dense_input_(vk::getParam("svo/publish_dense_input", false)), + user_input_thread_(new vk::UserInputThread()), + remote_input_(""), + cam_(NULL), + quit_(false) +{ + // Create Camera + if(!vk::camera_loader::loadFromRosNs("svo", cam_)) + throw std::runtime_error("Camera model not correctly specified."); + + // Init camera + vo_ = new svo::FrameHandlerMono(cam_); + + // Set initial position and orientation + Sophus::SE3 T_cam_from_world( + vk::rpy2dcm(Vector3d(vk::getParam("svo/init_rx", 0.0), + vk::getParam("svo/init_ry", 0.0), + vk::getParam("svo/init_rz", 0.0))), + Eigen::Vector3d(vk::getParam("svo/init_tx", 0.0), + vk::getParam("svo/init_ty", 0.0), + vk::getParam("svo/init_tz", 0.0))); + vo_->setInitialPose(T_cam_from_world); + vo_->start(); +} + +VoNode:: +~VoNode() +{ + delete vo_; + delete user_input_thread_; + delete cam_; +} + +void VoNode:: +imgCb(const sensor_msgs::ImageConstPtr& msg) +{ + cv::Mat img; + try { + img = cv_bridge::toCvShare(msg, "mono8")->image; + } catch (cv_bridge::Exception& e) { + ROS_ERROR("cv_bridge exception: %s", e.what()); + } + processUserActions(); + vo_->addImage(img, msg->header.stamp.toSec()); + visualizer_.publishMinimal(img, vo_->lastFrame(), *vo_, msg->header.stamp.toSec()); + + if(publish_markers_ && vo_->stage() != FrameHandlerBase::PAUSED) + visualizer_.visualizeMarkers(vo_->lastFrame(), vo_->coreKeyframes(), vo_->map()); + + if(publish_dense_input_) + visualizer_.exportToDense(vo_->lastFrame()); + + if(vo_->stage() == FrameHandlerMono::PAUSED) + usleep(100000); // avoid busy loop when paused +} + +void VoNode::processUserActions() +{ + char input = remote_input_.c_str()[0]; + remote_input_ = ""; + + char console_input = user_input_thread_->getInput(); + if(console_input != 0) + input = console_input; + + switch(input) + { + case 'q': + quit_ = true; + printf("Svo User Input: QUIT\n"); + break; + case 'r': + vo_->reset(); + printf("Svo User Input: RESET\n"); + break; + case 's': + vo_->start(); + printf("Svo User Input: START\n"); + break; + default: ; + } +} + +void VoNode::remoteKeyCb(const std_msgs::StringConstPtr& key_input) +{ + remote_input_ = key_input->data; +} + +} // namespace svo + +int main(int argc, char **argv) +{ + ros::init(argc, argv, "svo"); + ros::NodeHandle nh; + std::cout << "create vo_node" << std::endl; + svo::VoNode vo_node; + + // subscribe to cam msgs + std::string cam_topic(vk::getParam("svo/cam_topic", "camera/image_raw")); + image_transport::ImageTransport it(nh); + image_transport::Subscriber it_sub = it.subscribe(cam_topic, 5, &svo::VoNode::imgCb, &vo_node); + + // subscribe to remote input + vo_node.sub_remote_key_ = nh.subscribe("svo/remote_key", 5, &svo::VoNode::remoteKeyCb, &vo_node); + + // start processing callbacks + while(ros::ok() && !vo_node.quit_) + { + ros::spinOnce(); + // TODO check when last image was processed. when too long ago. publish warning that no msgs are received! + } + + printf("Svo terminated.\n"); + return 0; +} From 9220bea29d40305ea9f330620adb228e23ccf04f Mon Sep 17 00:00:00 2001 From: Christian Forster Date: Wed, 12 Mar 2014 16:45:43 +0100 Subject: [PATCH 002/215] added licence --- LICENCE | 675 ++++++++++++++++++++++++++++++++++++++++++++++++++++++++ 1 file changed, 675 insertions(+) create mode 100644 LICENCE diff --git a/LICENCE b/LICENCE new file mode 100644 index 0000000..70fc6da --- /dev/null +++ b/LICENCE @@ -0,0 +1,675 @@ +GNU GENERAL PUBLIC LICENSE + Version 3, 29 June 2007 + + Copyright (C) 2007 Free Software Foundation, Inc. {http://fsf.org/} + Everyone is permitted to copy and distribute verbatim copies + of this license document, but changing it is not allowed. + + Preamble + + The GNU General Public License is a free, copyleft license for +software and other kinds of works. + + The licenses for most software and other practical works are designed +to take away your freedom to share and change the works. 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Interpretation of Sections 15 and 16. + + If the disclaimer of warranty and limitation of liability provided +above cannot be given local legal effect according to their terms, +reviewing courts shall apply local law that most closely approximates +an absolute waiver of all civil liability in connection with the +Program, unless a warranty or assumption of liability accompanies a +copy of the Program in return for a fee. + + END OF TERMS AND CONDITIONS + + How to Apply These Terms to Your New Programs + + If you develop a new program, and you want it to be of the greatest +possible use to the public, the best way to achieve this is to make it +free software which everyone can redistribute and change under these terms. + + To do so, attach the following notices to the program. It is safest +to attach them to the start of each source file to most effectively +state the exclusion of warranty; and each file should have at least +the "copyright" line and a pointer to where the full notice is found. + + {one line to give the program's name and a brief idea of what it does.} + Copyright (C) {year} {name of author} + + This program is free software: you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation, either version 3 of the License, or + (at your option) any later version. + + This program is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with this program. If not, see {http://www.gnu.org/licenses/}. + +Also add information on how to contact you by electronic and paper mail. + + If the program does terminal interaction, make it output a short +notice like this when it starts in an interactive mode: + + PTAM-GPL Copyright (C) 2013 Oxford-PTAM + This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'. + This is free software, and you are welcome to redistribute it + under certain conditions; type `show c' for details. + +The hypothetical commands `show w' and `show c' should show the appropriate +parts of the General Public License. Of course, your program's commands +might be different; for a GUI interface, you would use an "about box". + + You should also get your employer (if you work as a programmer) or school, +if any, to sign a "copyright disclaimer" for the program, if necessary. +For more information on this, and how to apply and follow the GNU GPL, see +{http://www.gnu.org/licenses/}. + + The GNU General Public License does not permit incorporating your program +into proprietary programs. If your program is a subroutine library, you +may consider it more useful to permit linking proprietary applications with +the library. If this is what you want to do, use the GNU Lesser General +Public License instead of this License. But first, please read +{http://www.gnu.org/philosophy/why-not-lgpl.html}. + From 76c7c6841c928aa6709a995a5e23b1b4fce3fdc3 Mon Sep 17 00:00:00 2001 From: Christian Forster Date: Wed, 12 Mar 2014 16:45:51 +0100 Subject: [PATCH 003/215] comment on citing this work --- README.md | 12 ++++++++++++ 1 file changed, 12 insertions(+) diff --git a/README.md b/README.md index c3bc469..3362683 100644 --- a/README.md +++ b/README.md @@ -135,3 +135,15 @@ Licence ------- The source code is released under GPLv3 licence. A professional edition license for closed-source projects is also available. Please contact `forster at ifi dot uzh dot ch` for further information. + +Citing +------ + +If you use SVO in an academic context, please cite the following publication: + + @article{Pomerleau12comp, + author = {Forster, Christian and Pizzoli, Matia and Scaramuzza, Davide}, + title = {{SVO: Fast Semi-Direct Monocular Visual Odometry}}, + journal = {IEEE International Conference on Robotics and Automation (ICRA)}, + year = {2014} + } \ No newline at end of file From 35c2fee2bde7a55c9a3e356d3a2385e2876d8e1d Mon Sep 17 00:00:00 2001 From: Christian Forster Date: Wed, 12 Mar 2014 18:38:12 +0100 Subject: [PATCH 004/215] set trace flag to false --- svo/CMakeLists.txt | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/svo/CMakeLists.txt b/svo/CMakeLists.txt index 7612a94..16b1cba 100644 --- a/svo/CMakeLists.txt +++ b/svo/CMakeLists.txt @@ -2,7 +2,7 @@ # user build settings SET(DEBUG FALSE) -SET(TRACE TRUE) +SET(TRACE FALSE) SET(HAVE_G2O FALSE) ################################################################################ From 3c65f67676a25f5a7274cf2bc7e79cb0071ebd3f Mon Sep 17 00:00:00 2001 From: Christian Forster Date: Wed, 12 Mar 2014 19:24:55 +0100 Subject: [PATCH 005/215] added info about camera model --- README.md | 53 +++++++++++++++++++++++++++++++++-------------------- 1 file changed, 33 insertions(+), 20 deletions(-) diff --git a/README.md b/README.md index 3362683..4504e49 100644 --- a/README.md +++ b/README.md @@ -4,32 +4,16 @@ SVO Disclaimer ---------- -SVO has been tested under ROS Groovy and Hydro and Ubuntu 12.04 and 13.04. This is research code, expect that it changes often and any fitness for a particular purpose is disclaimed. +SVO has been tested under ROS Groovy and Hydro and Ubuntu 12.04 and 13.04. This is research code, any fitness for a particular purpose is disclaimed. Installation Instructions ------------------------- -#### OPTIONAL: g2o - General Graph Optimization - -Only required if you want to run bundle adjustment. It is not necessary for visual odometry. -g2o requires the following system dependencies: `cmake, libeigen3-dev, libsuitesparse-dev, libqt4-dev, qt4-qmake, libqglviewer-qt4-dev`, install them with `apt-get` - -I suggest an out-of-source build of g2o: - - cd workspace - git clone https://github.com/RainerKuemmerle/g2o.git - cd g2o - mkdir build - cd build - cmake .. - make - sudo make install - -If you don't want to make a system install, then you can replace the cmake command with `cmake .. -DCMAKE_INSTALL_PREFIX:PATH=$HOME/installdir` +We use two workspaces, one for the plain CMake projects `Sophus`, `Fast` and optionally `g2o` and another workspace for the Catkin projects `rpg_vikit` and `rpg_svo`. Make sure to clone in the right folder. #### Sophus - Lie groups -Sophus by Hauke Strasdat implements Lie groups that we need to describe rigid body transformations. +Sophus by Hauke Strasdat implements Lie groups that we need to describe rigid body transformations. Checkout in your workspace for plain CMake projects. cd workspace git clone https://github.com/strasdat/Sophus.git @@ -55,6 +39,24 @@ To simplify installation we provide a CMake package that contains the fast detec cmake .. make +#### OPTIONAL: g2o - General Graph Optimization + +Only required if you want to run bundle adjustment. It is not necessary for visual odometry. In fact, we don't run it on our MAVs. +g2o requires the following system dependencies: `cmake, libeigen3-dev, libsuitesparse-dev, libqt4-dev, qt4-qmake, libqglviewer-qt4-dev`, install them with `apt-get` + +I suggest an out-of-source build of g2o: + + cd workspace + git clone https://github.com/RainerKuemmerle/g2o.git + cd g2o + mkdir build + cd build + cmake .. + make + sudo make install + +If you don't want to make a system install, then you can replace the cmake command with `cmake .. -DCMAKE_INSTALL_PREFIX:PATH=$HOME/installdir` + #### ViKit - Some useful tools that we need ViKit for instance contains camera models, some math and interpolation functions that SVO needs. @@ -96,7 +98,7 @@ Now you are ready to start the rosbag. Open a new console and change to the dire rosbag play airground_rig_s3_2013-03-18_21-38-48.bag -Now you should see the video with tracked features (green) and in RViz how the camera moves. +Now you should see the video with tracked features (green) and in RViz how the camera moves. SVO GUI ------- @@ -112,6 +114,17 @@ Make sure to active the console window when pressing the keys. * `q` Quit * `r` Reset +Camera Calibration +------------------ + +You need a calibrated camera to run SVO. We use the Matrix Vision Bluefox cameras in our lab, which have VGA resolution and global shutter. +SVO supports three camera models: + +1. The `ATAN` model --- our preference --- which is also used by `PTAM`. This model uses the _FOV_ distortion model of "Deverneay and Faugeras, Straight lines have to be straight, 2001". You can calibrate your camera with this model by using the calibration tool in this package: https://github.com/ethz-asl/ethzasl_ptam We prefer this model because the projection and unprojection can be computed faster than with the other models. Further, the industral cameras that we use have neglectable tangential distortion. +2. The `Pinhole` model with three radial and two tangential distortion parameters. This model is standard in OpenCV and ROS. You can use the ROS camera calibration tool: http://wiki.ros.org/camera_calibration +3. The `Ocam` model by Davide Scaramuzza which can be used to model Omnidirectional cameras. Use the OCamCalib toolbox to calibrate your camera: http://rpg.ifi.uzh.ch/software_datasets.html +Although SVO can be used with this camera model, the algorithm does not work yet (!) with omnidirectional cameras. + Parameter Settings ------------------ From 2d24e002f293c9d69472f168c49ca08c84fe7a18 Mon Sep 17 00:00:00 2001 From: Christian Forster Date: Wed, 12 Mar 2014 19:25:08 +0100 Subject: [PATCH 006/215] added comments to launchfile --- svo_ros/launch/test_rig3.launch | 25 +++++++++++++++---------- 1 file changed, 15 insertions(+), 10 deletions(-) diff --git a/svo_ros/launch/test_rig3.launch b/svo_ros/launch/test_rig3.launch index d03359f..31b85f4 100644 --- a/svo_ros/launch/test_rig3.launch +++ b/svo_ros/launch/test_rig3.launch @@ -1,16 +1,21 @@ - + + + + - - - - - - - - - + + + + + + + + + + + From 63bf963e8ad9904fca3a35153dc7b6cdd16b5128 Mon Sep 17 00:00:00 2001 From: Christian Forster Date: Wed, 12 Mar 2014 19:25:27 +0100 Subject: [PATCH 007/215] added template calibration files --- svo_ros/param/camera_atan.yaml | 8 ++++++++ svo_ros/param/camera_pinhole.yaml | 11 +++++++++++ 2 files changed, 19 insertions(+) create mode 100644 svo_ros/param/camera_atan.yaml create mode 100644 svo_ros/param/camera_pinhole.yaml diff --git a/svo_ros/param/camera_atan.yaml b/svo_ros/param/camera_atan.yaml new file mode 100644 index 0000000..e3c625c --- /dev/null +++ b/svo_ros/param/camera_atan.yaml @@ -0,0 +1,8 @@ +cam_model: ATAN +cam_width: 752 +cam_height: 480 +cam_fx: 0.509326 +cam_fy: 0.796651 +cam_cx: 0.45905 +cam_cy: 0.510056 +cam_d0: 0.9320 \ No newline at end of file diff --git a/svo_ros/param/camera_pinhole.yaml b/svo_ros/param/camera_pinhole.yaml new file mode 100644 index 0000000..4898bcd --- /dev/null +++ b/svo_ros/param/camera_pinhole.yaml @@ -0,0 +1,11 @@ +cam_model: Pinhole +cam_width: 752 +cam_height: 480 +cam_fx: 414.536145 +cam_fy: 414.284429 +cam_cx: 348.804988 +cam_cy: 240.076451 +cam_d0: -0.283076 +cam_d1: 0.066674 +cam_d2: 0.000896 +cam_d3: 0.000778 \ No newline at end of file From 6fdc04c883f4bda1f607845c61ef5dfc832ed5d2 Mon Sep 17 00:00:00 2001 From: Christian Forster Date: Wed, 12 Mar 2014 19:28:52 +0100 Subject: [PATCH 008/215] update --- README.md | 12 +++++++++--- 1 file changed, 9 insertions(+), 3 deletions(-) diff --git a/README.md b/README.md index 4504e49..f2605e6 100644 --- a/README.md +++ b/README.md @@ -105,6 +105,12 @@ SVO GUI Type `rosrun rqt_svo rqt_svo` to run the SVO widget that displays the number of tracked features, the frame rate and provides some interface buttons. +If the widget is not found, try this: + + rm ~/.config/ros.org/rqt_gui.ini + rosrun rqt_svo rqt_svo + + Keyboard Shortcuts ------------------ @@ -120,10 +126,10 @@ Camera Calibration You need a calibrated camera to run SVO. We use the Matrix Vision Bluefox cameras in our lab, which have VGA resolution and global shutter. SVO supports three camera models: -1. The `ATAN` model --- our preference --- which is also used by `PTAM`. This model uses the _FOV_ distortion model of "Deverneay and Faugeras, Straight lines have to be straight, 2001". You can calibrate your camera with this model by using the calibration tool in this package: https://github.com/ethz-asl/ethzasl_ptam We prefer this model because the projection and unprojection can be computed faster than with the other models. Further, the industral cameras that we use have neglectable tangential distortion. +1. The `ATAN` model - our preference - which is also used by _PTAM_. This model uses the _FOV_ distortion model of "Deverneay and Faugeras, Straight lines have to be straight, 2001". You can calibrate your camera with this model by using the calibration tool in this package: https://github.com/ethz-asl/ethzasl_ptam We prefer this model because the projection and unprojection can be computed faster than with the other models. Further, the industral cameras that we use have neglectable tangential distortion. 2. The `Pinhole` model with three radial and two tangential distortion parameters. This model is standard in OpenCV and ROS. You can use the ROS camera calibration tool: http://wiki.ros.org/camera_calibration -3. The `Ocam` model by Davide Scaramuzza which can be used to model Omnidirectional cameras. Use the OCamCalib toolbox to calibrate your camera: http://rpg.ifi.uzh.ch/software_datasets.html -Although SVO can be used with this camera model, the algorithm does not work yet (!) with omnidirectional cameras. +3. The `Ocam` model by Davide Scaramuzza which can be used to model cameras with high field of view or even omnidirectional cameras. Use the OCamCalib toolbox to calibrate your camera: http://rpg.ifi.uzh.ch/software_datasets.html +Although SVO can be used with this camera model, the algorithm does not work yet with omnidirectional cameras. Parameter Settings ------------------ From 18a8fe5a6bcd54a50fd26487b9b19bc4c98f53eb Mon Sep 17 00:00:00 2001 From: Christian Forster Date: Wed, 12 Mar 2014 19:32:49 +0100 Subject: [PATCH 009/215] update --- README.md | 15 +++++---------- 1 file changed, 5 insertions(+), 10 deletions(-) diff --git a/README.md b/README.md index f2605e6..ad4d647 100644 --- a/README.md +++ b/README.md @@ -57,10 +57,10 @@ I suggest an out-of-source build of g2o: If you don't want to make a system install, then you can replace the cmake command with `cmake .. -DCMAKE_INSTALL_PREFIX:PATH=$HOME/installdir` -#### ViKit - Some useful tools that we need +#### vikit - Some useful tools that we need -ViKit for instance contains camera models, some math and interpolation functions that SVO needs. -ViKit is a catkin project, therefore, download it into your catkin workspace source folder. +vikit for contains camera models, some math and interpolation functions that SVO needs. +vikit is a catkin project, therefore, download it into your catkin workspace source folder. cd catkin_ws/src git clone https://github.com/uzh-rpg/rpg_vikit.git @@ -88,17 +88,12 @@ Open a new console and start SVO with the prepared launchfile: roslaunch svo_ros test_rig3.launch -Open a new console and start RViz - - rosrun rviz rviz - -In RViz, load the configuration file (File > Open Config) which is stored in `svo_ros/rviz_config.rviz`. - Now you are ready to start the rosbag. Open a new console and change to the directory where you have downloaded the example dataset. Then type: rosbag play airground_rig_s3_2013-03-18_21-38-48.bag Now you should see the video with tracked features (green) and in RViz how the camera moves. +If you want to see the number of tracked features, fps and tracking quality, run the GUI. SVO GUI ------- @@ -109,7 +104,7 @@ If the widget is not found, try this: rm ~/.config/ros.org/rqt_gui.ini rosrun rqt_svo rqt_svo - + Keyboard Shortcuts ------------------ From 0782e271fb796565965ef7294af4818127c9354b Mon Sep 17 00:00:00 2001 From: Christian Forster Date: Wed, 12 Mar 2014 19:35:31 +0100 Subject: [PATCH 010/215] update --- README.md | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/README.md b/README.md index ad4d647..5cb0757 100644 --- a/README.md +++ b/README.md @@ -129,7 +129,7 @@ Although SVO can be used with this camera model, the algorithm does not work yet Parameter Settings ------------------ -A description of all parameters which can be set via the launchfile is provided in `svo/include/config.h`. The default parameters can be viewed in `svo/src/config.cpp`. Moreover, some additional parameters (mainly rostopic names etc.) are read from the ros parameter server in `svo_ros/slam_node.cpp`. +A description of all parameters which can be set via the launchfile is provided in `svo/include/config.h`. The default parameters can be viewed in `svo/src/config.cpp`. Moreover, some additional parameters (mainly rostopic names etc.) are read from the ros parameter server in `svo_ros/vo_node.cpp`. Generating Code Documentation ----------------------------- @@ -142,8 +142,8 @@ You can generate a Doxygen documentation as follows Contributing ------------ -You are very welcome to contribute by opening a pull request via Github. -I try to follow the ROS C++ style guide. +You are very welcome to contribute to SVO by opening a pull request via Github. +I try to follow the ROS C++ style guide http://wiki.ros.org/CppStyleGuide Licence ------- @@ -155,7 +155,7 @@ Citing If you use SVO in an academic context, please cite the following publication: - @article{Pomerleau12comp, + @article{Forster2014ICRA, author = {Forster, Christian and Pizzoli, Matia and Scaramuzza, Davide}, title = {{SVO: Fast Semi-Direct Monocular Visual Odometry}}, journal = {IEEE International Conference on Robotics and Automation (ICRA)}, From 1b2f50614040e1528dd82a4a5c6d831b3d07629b Mon Sep 17 00:00:00 2001 From: Christian Forster Date: Wed, 12 Mar 2014 19:47:36 +0100 Subject: [PATCH 011/215] added paper --- Forster2014ICRA.pdf | Bin 0 -> 1469859 bytes 1 file changed, 0 insertions(+), 0 deletions(-) create mode 100644 Forster2014ICRA.pdf diff --git a/Forster2014ICRA.pdf b/Forster2014ICRA.pdf new file mode 100644 index 0000000000000000000000000000000000000000..9567178028f06f0ec44135b5cca6f32241222f6b GIT binary patch literal 1469859 zcma&tLy#~^v?c1YZQHhO*I%}6+qP}nwr$(C?RRcRztNraY{wpFL`LSf7U@3`F$pNFW)=bl0y{%XC>|bq853JGXLAB(*8f(D^kNp)&L)lo^kUWq&L$!zMs~&~ ze0)$&&WQVJE025Y5f6Ji-B6&D&1`JX1j{-pDPw6FBm8uWDV-7z^1pVkaenSbjZs;Ef9U90 z2M(T$)|+E~JgUogLccbz=<;>-@*V}-mCY5s?VY~UN#)QbGn2=!MDk547mra@KSys9 zTW-)+Y9<+H6IJ-=(&k}88Q+cb?+G2nSYp+#RV=hgZN7T+d22sHC-asvhwMsKvbwG| zZJcZ>_*J{KFf^){L=|C1E5V@JkCt0EKkIw6e7ZlduGR)#l-HFM4r3X*oF~sCi{&Yl z`v_X=7fm{P@J2c<3=y;ji9oIu`mIFFl56lqcj#c3&{m1k=SPa`0n)mv455(|SD#a9 zwH5S7AahkAgY-3tb1$n?6e=Wk>?(RUaeBSV20^EV>J`n?_I{h~Dyb>xrYff)g+HWz z8rnaxKRD0SP1A<_>2!J>i#jwlS{6gNdDUSJb^f-?__b88>;gbMZj8+yDR0KFzyfv1g&UVJ8pj7fsV%-C2 zF7{(noqtPY)j)Ax3?Y{%n-#kSJNrv0X`S07SGJvfcyC_|DkVmBSVI-zX#DrU+Iac> z_m+eDl1m548V`6bR-t3o3|t&>MyD7QGL&!F=)80mR;KJjtXdr!XByH{B8S_Eb3$kR zvtQrF)c!vBFh?z)r*1ttZ@(Ka4TjKSqm;qnc3id$NLd+1R^TLT5@rM>*YOcUu4#;ExuAykc)`(H1-q~g1n>fH4E40BIKltHgdnzK#*;Gh6 zzih9v0;V|B+;Fn6PNqvK8>V*Eh7>q>lp^+m+!g%vX=^0cEoxCZAT}^G6C08+4S>2o zK%p|}0?_(_`D#sb<-b@uA-;H=?e&}$DDmpE>8MPge7%$?vzR+8mKO$Ue`qVBl3^3F ztsrol&C#g

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z2^0?pZr>w;0gnWQ;h}rO1i2#dM}$2ONd5*S4T1R6ANl!MgX;o)sAXjMBn_N{?FpOV ze3JT}o_>6Q62fn>Y90=re1MaLUtHCc_{?P#l#y_Rq6!wJtcb^`z%Yt5L38|!j mQ&t2HTJHahVM+MC*4Gcz1^&GSPuNih86>r!pt6n%_5TAYVeX~? literal 0 HcmV?d00001 From 6277bbfdc49d554e8dd797a3713a29cc81b40a52 Mon Sep 17 00:00:00 2001 From: Christian Forster Date: Wed, 12 Mar 2014 20:51:16 +0100 Subject: [PATCH 012/215] updated readme --- README.md | 8 ++++++++ 1 file changed, 8 insertions(+) diff --git a/README.md b/README.md index 5cb0757..e9c67c5 100644 --- a/README.md +++ b/README.md @@ -1,6 +1,14 @@ SVO === +This code implements a semi-direct visual odometry pipeline that is described in the paper + +C. Forster, M. Pizzoli, D. Scaramuzza, +"SVO: Fast Semi-Direct Monocular Visual Odometry," +IEEE International Conference on Robotics and Automation (ICRA), 2014. + +Video: http://youtu.be/2YnIMfw6bJY + Disclaimer ---------- From c2a52c68adfef57701e90602f20e3d70d9e28633 Mon Sep 17 00:00:00 2001 From: Christian Forster Date: Wed, 12 Mar 2014 22:28:31 +0100 Subject: [PATCH 013/215] removed remote_node --- svo_ros/CMakeLists.txt | 2 - svo_ros/include/svo_ros/dataset_imu.h | 70 ----------- svo_ros/src/remote_node.cpp | 169 -------------------------- 3 files changed, 241 deletions(-) delete mode 100644 svo_ros/include/svo_ros/dataset_imu.h delete mode 100644 svo_ros/src/remote_node.cpp diff --git a/svo_ros/CMakeLists.txt b/svo_ros/CMakeLists.txt index 8fcd739..192de3c 100644 --- a/svo_ros/CMakeLists.txt +++ b/svo_ros/CMakeLists.txt @@ -58,5 +58,3 @@ ADD_EXECUTABLE(vo src/vo_node.cpp) TARGET_LINK_LIBRARIES(vo svo_visualizer) ADD_EXECUTABLE(benchmark src/benchmark_node.cpp) TARGET_LINK_LIBRARIES(benchmark svo_visualizer) -ADD_EXECUTABLE(remote src/remote_node.cpp) -TARGET_LINK_LIBRARIES(remote svo_visualizer) \ No newline at end of file diff --git a/svo_ros/include/svo_ros/dataset_imu.h b/svo_ros/include/svo_ros/dataset_imu.h deleted file mode 100644 index 9ee5e66..0000000 --- a/svo_ros/include/svo_ros/dataset_imu.h +++ /dev/null @@ -1,70 +0,0 @@ -// This file is part of SVO - Semi-direct Visual Odometry. -// -// Copyright (C) 2014 Christian Forster -// (Robotics and Perception Group, University of Zurich, Switzerland). -// -// SVO is free software: you can redistribute it and/or modify it under the -// terms of the GNU General Public License as published by the Free Software -// Foundation, either version 3 of the License, or any later version. -// -// SVO is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. -// -// You should have received a copy of the GNU General Public License -// along with this program. If not, see . - -#ifndef DATASET_IMU_H_ -#define DATASET_IMU_H_ - -namespace FileType { - -#include -#include -#include - -using ::Eigen::Quaterniond; -using ::Eigen::Vector3d; - -/// Specification of Dataset which contains: Camera Image, Gyroscope Rotation -class DatasetImu -{ -public: - DatasetImu() {} - virtual ~DatasetImu() {} - - double stamp_; - Quaterniond q_imu_; - - friend std::ostream& operator <<(std::ostream& out, const DatasetImu& pair); - friend std::istream& operator >>(std::istream& in, DatasetImu& pair); -}; - -std::ostream& operator <<(std::ostream& out, const DatasetImu& gt) -{ - out - << gt.stamp_ << " " - << gt.q_imu_.x() << " " - << gt.q_imu_.y() << " " - << gt.q_imu_.z() << " " - << gt.q_imu_.w() << " " - << std::endl; - return out; -} - -std::istream& operator >>(std::istream& in, DatasetImu& gt) -{ - in >> gt.stamp_; - double x,y,z,w; - in >> x; - in >> y; - in >> z; - in >> w; - gt.q_imu_ = Quaterniond(w, x, y, z); - return in; -} - -} // end namespace FileType - - -#endif /* DATASET_IMU_H_ */ diff --git a/svo_ros/src/remote_node.cpp b/svo_ros/src/remote_node.cpp deleted file mode 100644 index 8952b21..0000000 --- a/svo_ros/src/remote_node.cpp +++ /dev/null @@ -1,169 +0,0 @@ -// This file is part of SVO - Semi-direct Visual Odometry. -// -// Copyright (C) 2014 Christian Forster -// (Robotics and Perception Group, University of Zurich, Switzerland). -// -// SVO is free software: you can redistribute it and/or modify it under the -// terms of the GNU General Public License as published by the Free Software -// Foundation, either version 3 of the License, or any later version. -// -// SVO is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. -// -// You should have received a copy of the GNU General Public License -// along with this program. If not, see . - -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include - -class RemoteHandler -{ -public: - ros::NodeHandle& nh_; - vk::UserInputThread input_thread_; - - ros::Publisher pub_key_; - ros::Publisher pub_frames_; - tf::TransformBroadcaster br_; - - vk::RingBuffer acc_timing_; - vk::RingBuffer acc_obs_; - typedef std::map > pose_map_t; - pose_map_t poses_; - std::set published_kfs_; - std::set current_kfs_; - - RemoteHandler(ros::NodeHandle& nh); - ~RemoteHandler(); - void handleUserInput(); - void poseCb(const geometry_msgs::PoseWithCovarianceStampedConstPtr msg); - void infoCb(const svo_msgs::InfoConstPtr msg); -}; - -RemoteHandler::RemoteHandler(ros::NodeHandle& nh) : - nh_(nh), - pub_key_(nh_.advertise ("/svo/remote_key", 10)), - pub_frames_(nh_.advertise("/svo/vis/frame", 100)), - acc_timing_(50), - acc_obs_(50) -{} - -RemoteHandler::~RemoteHandler() -{} - -void RemoteHandler::handleUserInput() -{ - char key = input_thread_.getInput(); - std_msgs::StringPtr msg(new std_msgs::String); - switch(key) - { - case 'q': msg->data = 'q'; pub_key_.publish(msg); break; // quit - case 'r': msg->data = 'r'; pub_key_.publish(msg); break; // reset - case 'p': msg->data = 'p'; pub_key_.publish(msg); break; // pause - case 's': msg->data = 's'; pub_key_.publish(msg); break; // start - default: ; - } -} - -void RemoteHandler::poseCb(const geometry_msgs::PoseWithCovarianceStampedConstPtr msg) -{ - Eigen::Vector3d p(msg->pose.pose.position.x, msg->pose.pose.position.y, msg->pose.pose.position.z); - Eigen::Quaterniond q(msg->pose.pose.orientation.w, msg->pose.pose.orientation.x, msg->pose.pose.orientation.y, msg->pose.pose.orientation.z); - Eigen::Matrix3d R_world_from_frame(q.inverse()); - Eigen::Vector3d p_frame_in_world(-R_world_from_frame*p); - - poses_.insert(std::pair >( - msg->header.seq, - std::pair(p_frame_in_world, R_world_from_frame))); - - // publish trajectory - vk::output_helper::publishPointMarker(pub_frames_, p_frame_in_world, "trajectory_points", - msg->header.stamp, msg->header.seq, 0, 0.006, Eigen::Vector3d(0.,0.,0.5)); - - // publish camera pose tf - tf::StampedTransform transform_msg; - transform_msg.frame_id_ = "cam"; - transform_msg.child_frame_id_ = "world"; - transform_msg.stamp_ = msg->header.stamp; - transform_msg.setOrigin(tf::Vector3(p.x(), p.y(), p.z())); - transform_msg.setRotation(tf::Quaternion(q.x(), q.y(), q.z(), q.w())); - br_.sendTransform(transform_msg); - - // publish keyframes - std::set deleted_kfs; - std::set_difference(published_kfs_.begin(), published_kfs_.end(), current_kfs_.begin(), current_kfs_.end(), std::inserter(deleted_kfs, deleted_kfs.end())); - for(std::set::iterator it=deleted_kfs.begin(); it!=deleted_kfs.end(); ++it) - { - pose_map_t::iterator kf = poses_.find(*it); - if(kf != poses_.end()) - vk::output_helper::publishFrameMarker(pub_frames_, kf->second.second, kf->second.first, "kfs", ros::Time::now(), (*it)*10, 2, 0.015); - } - - std::set unpublished_kfs; - std::set_difference(current_kfs_.begin(), current_kfs_.end(), published_kfs_.begin(), published_kfs_.end(), std::inserter(unpublished_kfs, unpublished_kfs.end())); - for(std::set::iterator it=unpublished_kfs.begin(); it!=unpublished_kfs.end(); ++it) - { - pose_map_t::iterator kf = poses_.find(*it); - if(kf != poses_.end()) - vk::output_helper::publishFrameMarker(pub_frames_, kf->second.second, kf->second.first, "kfs", ros::Time::now(), (*it)*10, 0, 0.015); - } - published_kfs_.swap(current_kfs_); - - - // publish hexacopter - vk::output_helper::publishHexacopterMarker(pub_frames_, "cam", "hexacopter", msg->header.stamp, 1, 0, 0.3, Eigen::Vector3d(0.,0.,1.)); -} - -void RemoteHandler::infoCb(const svo_msgs::InfoConstPtr msg) -{ - std::string kfmsg(""); - current_kfs_.clear(); - for(std::vector::const_iterator it=msg->keyframes.begin(); it!=msg->keyframes.end(); ++it) { - current_kfs_.insert(static_cast(*it)); - if(*it == static_cast(msg->header.seq)) { - kfmsg = "Keyframe!"; - break; - } - } - acc_timing_.push_back(msg->processing_time); - acc_obs_.push_back(msg->num_matches); - - printf("[%i] t=%.2fhz (mean=%.2f) \t n_obs=%i (mean=%i) \t %s\n", - msg->header.seq, 1./msg->processing_time, 1./acc_timing_.getMean(), - msg->num_matches, acc_obs_.getMean(), kfmsg.c_str()); -} - -int main(int argc, char **argv) -{ - ros::init(argc, argv, "svo_remote"); - ros::NodeHandle nh; - RemoteHandler node(nh); - - printf("Listening to User-Input...\n"); - - ros::Subscriber sub_pose = nh.subscribe("/svo/pose", 10, &RemoteHandler::poseCb, &node); - ros::Subscriber sub_info = nh.subscribe("/svo/info", 10, &RemoteHandler::infoCb, &node); - ros::Rate r(100); - while (ros::ok()) - { - node.handleUserInput(); - ros::spinOnce(); - r.sleep(); - } - return 0; -} From a3eaaac1f9af9b2cad8fe90b80c6faedbc51e454 Mon Sep 17 00:00:00 2001 From: Christian Forster Date: Thu, 13 Mar 2014 09:15:57 +0100 Subject: [PATCH 014/215] Update README.md --- README.md | 29 +++++++++++++++++------------ 1 file changed, 17 insertions(+), 12 deletions(-) diff --git a/README.md b/README.md index e9c67c5..175205e 100644 --- a/README.md +++ b/README.md @@ -3,9 +3,9 @@ SVO This code implements a semi-direct visual odometry pipeline that is described in the paper -C. Forster, M. Pizzoli, D. Scaramuzza, -"SVO: Fast Semi-Direct Monocular Visual Odometry," -IEEE International Conference on Robotics and Automation (ICRA), 2014. +* C. Forster, M. Pizzoli, D. Scaramuzza, + "__SVO: Fast Semi-Direct Monocular Visual Odometry__," + IEEE International Conference on Robotics and Automation (ICRA), 2014. Video: http://youtu.be/2YnIMfw6bJY @@ -14,10 +14,18 @@ Disclaimer SVO has been tested under ROS Groovy and Hydro and Ubuntu 12.04 and 13.04. This is research code, any fitness for a particular purpose is disclaimed. + +Licence +------- + +The source code is released under a GPLv3 licence. A professional edition license for closed-source projects is also available. Please contact `forster at ifi dot uzh dot ch` for further information. + + Installation Instructions ------------------------- -We use two workspaces, one for the plain CMake projects `Sophus`, `Fast` and optionally `g2o` and another workspace for the Catkin projects `rpg_vikit` and `rpg_svo`. Make sure to clone in the right folder. +SVO can be used conveniently with ROS (www.ros.org). +We use two workspaces, one for the plain CMake projects `Sophus`, `Fast` and optionally `g2o` and another workspace for the ROS-Catkin projects `rpg_vikit` and `rpg_svo`. Make sure to clone in the right folder. #### Sophus - Lie groups @@ -34,7 +42,7 @@ Sophus by Hauke Strasdat implements Lie groups that we need to describe rigid bo You don't need to install the library since `cmake ..` writes the package location to `~.cmake/packages/` where CMake can later find it. -#### Fast Detector +#### Fast - Corner Detector The Fast detector by Edward Rosten is used to detect corners. To simplify installation we provide a CMake package that contains the fast detector from the libCVD library (http://www.edwardrosten.com/cvd/). @@ -47,7 +55,7 @@ To simplify installation we provide a CMake package that contains the fast detec cmake .. make -#### OPTIONAL: g2o - General Graph Optimization +#### g2o - General Graph Optimization _OPTIONAL_ Only required if you want to run bundle adjustment. It is not necessary for visual odometry. In fact, we don't run it on our MAVs. g2o requires the following system dependencies: `cmake, libeigen3-dev, libsuitesparse-dev, libqt4-dev, qt4-qmake, libqglviewer-qt4-dev`, install them with `apt-get` @@ -134,6 +142,8 @@ SVO supports three camera models: 3. The `Ocam` model by Davide Scaramuzza which can be used to model cameras with high field of view or even omnidirectional cameras. Use the OCamCalib toolbox to calibrate your camera: http://rpg.ifi.uzh.ch/software_datasets.html Although SVO can be used with this camera model, the algorithm does not work yet with omnidirectional cameras. +We save the calibration in _YAML_ format (see examples in `svo_ros/param`) and include it in the launchfiles (see examples in `svo_ros/launch`). + Parameter Settings ------------------ @@ -153,11 +163,6 @@ Contributing You are very welcome to contribute to SVO by opening a pull request via Github. I try to follow the ROS C++ style guide http://wiki.ros.org/CppStyleGuide -Licence -------- - -The source code is released under GPLv3 licence. A professional edition license for closed-source projects is also available. Please contact `forster at ifi dot uzh dot ch` for further information. - Citing ------ @@ -168,4 +173,4 @@ If you use SVO in an academic context, please cite the following publication: title = {{SVO: Fast Semi-Direct Monocular Visual Odometry}}, journal = {IEEE International Conference on Robotics and Automation (ICRA)}, year = {2014} - } \ No newline at end of file + } From b250b120960e63daaadb34066e2565ebef45f2f3 Mon Sep 17 00:00:00 2001 From: Christian Forster Date: Thu, 13 Mar 2014 09:39:34 +0100 Subject: [PATCH 015/215] Update README.md --- README.md | 11 ++++------- 1 file changed, 4 insertions(+), 7 deletions(-) diff --git a/README.md b/README.md index 175205e..36cf767 100644 --- a/README.md +++ b/README.md @@ -20,6 +20,10 @@ Licence The source code is released under a GPLv3 licence. A professional edition license for closed-source projects is also available. Please contact `forster at ifi dot uzh dot ch` for further information. +Documentation +------------- + +The API is documented here: http://uzh-rpg.github.io/rpg_svo/doc/ Installation Instructions ------------------------- @@ -149,13 +153,6 @@ Parameter Settings A description of all parameters which can be set via the launchfile is provided in `svo/include/config.h`. The default parameters can be viewed in `svo/src/config.cpp`. Moreover, some additional parameters (mainly rostopic names etc.) are read from the ros parameter server in `svo_ros/vo_node.cpp`. -Generating Code Documentation ------------------------------ - -You can generate a Doxygen documentation as follows - - cd svo - doxygen Doxyfile Contributing ------------ From 978763d814c4c52052ca9663da985048744bc499 Mon Sep 17 00:00:00 2001 From: Christian Forster Date: Thu, 13 Mar 2014 17:30:12 +0100 Subject: [PATCH 016/215] formatting test launchfile --- svo_ros/launch/test_rig3.launch | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) diff --git a/svo_ros/launch/test_rig3.launch b/svo_ros/launch/test_rig3.launch index 31b85f4..fc0671d 100644 --- a/svo_ros/launch/test_rig3.launch +++ b/svo_ros/launch/test_rig3.launch @@ -2,17 +2,19 @@ - + - + + + From 24b644d82f2187cdc54ca51a187bbe8b34416ab2 Mon Sep 17 00:00:00 2001 From: Christian Forster Date: Fri, 21 Mar 2014 19:00:47 +0100 Subject: [PATCH 017/215] removed user input and marker visualization in benchmark node --- svo_ros/src/benchmark_node.cpp | 23 ++--------------------- 1 file changed, 2 insertions(+), 21 deletions(-) diff --git a/svo_ros/src/benchmark_node.cpp b/svo_ros/src/benchmark_node.cpp index 2d0ff6e..c919281 100644 --- a/svo_ros/src/benchmark_node.cpp +++ b/svo_ros/src/benchmark_node.cpp @@ -25,7 +25,6 @@ #include #include #include -#include #include #include #include @@ -39,11 +38,9 @@ class BenchmarkNode { svo::FrameHandlerMono* vo_; svo::Visualizer visualizer_; - vk::UserInputThread user_input_thread_; int frame_count_; std::ofstream trace_est_pose_; vk::AbstractCamera* cam_; - bool quit_; public: BenchmarkNode(ros::NodeHandle& nh); @@ -54,8 +51,7 @@ public: BenchmarkNode::BenchmarkNode(ros::NodeHandle& nh) : vo_(NULL), - frame_count_(0), - quit_(false) + frame_count_(0) { // Create Camera if(!vk::camera_loader::loadFromRosNs("svo", cam_)) @@ -103,13 +99,10 @@ void BenchmarkNode::runCamImuBenchmark() throw std::runtime_error("Image could not be loaded."); // Add image to VO - processUserActions(); vo_->addImage(img, it->stamp_); // Visualize visualizer_.publishMinimal(img, vo_->lastFrame(), *vo_, it->stamp_); - if(vo_->stage() != svo::FrameHandlerMono::PAUSED) - visualizer_.visualizeMarkers(vo_->lastFrame(), vo_->coreKeyframes(), vo_->map()); // write pose to tracefile if(vo_->stage() == svo::FrameHandlerMono::DEFAULT_FRAME) @@ -123,23 +116,11 @@ void BenchmarkNode::runCamImuBenchmark() trace_est_pose_ << p.x() << " " << p.y() << " " << p.z() << " " << q.x() << " " << q.y() << " " << q.z() << " " << q.w() << endl; } - if (!ros::ok() || quit_) + if (!ros::ok()) break; } } -void BenchmarkNode::processUserActions() -{ - char input = user_input_thread_.getInput(); - switch(input) - { - case 'q': quit_ = true; break; - case 'r': vo_->reset(); break; - case 's': vo_->start(); break; - default: ; - } -} - } // namespace svo int main(int argc, char** argv) From 0ba17d31994f8fa31172da7cf80b85dd6cd76de1 Mon Sep 17 00:00:00 2001 From: Christian Forster Date: Fri, 21 Mar 2014 19:11:32 +0100 Subject: [PATCH 018/215] cleanup and moved trace to separate function --- svo_ros/src/benchmark_node.cpp | 39 +++++++++++++++++----------------- 1 file changed, 20 insertions(+), 19 deletions(-) diff --git a/svo_ros/src/benchmark_node.cpp b/svo_ros/src/benchmark_node.cpp index c919281..2998c23 100644 --- a/svo_ros/src/benchmark_node.cpp +++ b/svo_ros/src/benchmark_node.cpp @@ -45,8 +45,8 @@ class BenchmarkNode public: BenchmarkNode(ros::NodeHandle& nh); ~BenchmarkNode(); - void runCamImuBenchmark(); - void processUserActions(); + void tracePose(const SE3& T_w_f, const double timestamp); + void runBenchmark(const std::string& benchmark_dir); }; BenchmarkNode::BenchmarkNode(ros::NodeHandle& nh) : @@ -68,10 +68,21 @@ BenchmarkNode::~BenchmarkNode() delete cam_; } -void BenchmarkNode::runCamImuBenchmark() +void BenchmarkNode::tracePose(const SE3& T_w_f, const double timestamp) +{ + Quaterniond q(T_w_f.unit_quaternion()); + Vector3d p(T_w_f.translation()); + trace_est_pose_.precision(15); + trace_est_pose_.setf(std::ios::fixed, std::ios::floatfield ); + trace_est_pose_ << timestamp << " "; + trace_est_pose_.precision(6); + trace_est_pose_ << p.x() << " " << p.y() << " " << p.z() << " " + << q.x() << " " << q.y() << " " << q.z() << " " << q.w() << endl; +} + +void BenchmarkNode::runBenchmark(const std::string& benchmark_dir) { // create image reader and load dataset - std::string benchmark_dir(vk::getParam("svo/dataset_directory")); std::string filename_benchmark(benchmark_dir + "/images.txt"); vk::FileReader dataset_reader(filename_benchmark); dataset_reader.skipComments(); @@ -84,7 +95,7 @@ void BenchmarkNode::runCamImuBenchmark() std::string trace_est_name(Config::traceDir() + "/traj_estimate.txt"); trace_est_pose_.open(trace_est_name.c_str()); if(trace_est_pose_.fail()) - throw std::runtime_error("ERROR:frame_count_ could not create tracefile. probably the specified folder does not exist."); + throw std::runtime_error("Could not create tracefile. Does folder exist?"); // process dataset for(vk::vector::iterator it = dataset.begin(); @@ -106,16 +117,7 @@ void BenchmarkNode::runCamImuBenchmark() // write pose to tracefile if(vo_->stage() == svo::FrameHandlerMono::DEFAULT_FRAME) - { - Quaterniond q(vo_->lastFrame()->T_f_w_.inverse().unit_quaternion()); - Vector3d p(vo_->lastFrame()->T_f_w_.inverse().translation()); - trace_est_pose_.precision(15); - trace_est_pose_.setf(std::ios::fixed, std::ios::floatfield ); - trace_est_pose_ << it->stamp_<< " "; - trace_est_pose_.precision(6); - trace_est_pose_ << p.x() << " " << p.y() << " " << p.z() << " " - << q.x() << " " << q.y() << " " << q.z() << " " << q.w() << endl; - } + tracePose(vo_->lastFrame()->T_f_w_.inverse(), it->stamp_); if (!ros::ok()) break; } @@ -127,10 +129,9 @@ int main(int argc, char** argv) { ros::init(argc, argv, "svo"); ros::NodeHandle nh; - { - svo::BenchmarkNode benchmark(nh); - benchmark.runCamImuBenchmark(); - } + svo::BenchmarkNode benchmark(nh); + std::string benchmark_dir(vk::getParam("svo/dataset_directory")); + benchmark.runBenchmark(benchmark_dir); printf("BenchmarkNode finished.\n"); return 0; } From de6b9da46e56ca09c411413e98124257b745735f Mon Sep 17 00:00:00 2001 From: Christian Forster Date: Fri, 21 Mar 2014 19:24:51 +0100 Subject: [PATCH 019/215] make naming consistent with blender dataset type --- svo_ros/include/svo_ros/dataset_img.h | 12 ++++++------ 1 file changed, 6 insertions(+), 6 deletions(-) diff --git a/svo_ros/include/svo_ros/dataset_img.h b/svo_ros/include/svo_ros/dataset_img.h index 2d78ef7..4bdbc1f 100644 --- a/svo_ros/include/svo_ros/dataset_img.h +++ b/svo_ros/include/svo_ros/dataset_img.h @@ -33,8 +33,8 @@ public: DatasetImg() {} virtual ~DatasetImg() {} - double stamp_; - std::string imgname_; + double timestamp_; + std::string image_name_; friend std::ostream& operator <<(std::ostream& out, const DatasetImg& pair); friend std::istream& operator >>(std::istream& in, DatasetImg& pair); @@ -43,16 +43,16 @@ public: std::ostream& operator <<(std::ostream& out, const DatasetImg& gt) { out - << gt.stamp_ << " " - << gt.imgname_ << " " + << gt.timestamp_ << " " + << gt.image_name_ << " " << std::endl; return out; } std::istream& operator >>(std::istream& in, DatasetImg& gt) { - in >> gt.stamp_; - in >> gt.imgname_; + in >> gt.timestamp_; + in >> gt.image_name_; return in; } From ddc3d6b7e1ec8d513aca73dec0c858b13b7e466a Mon Sep 17 00:00:00 2001 From: Christian Forster Date: Fri, 21 Mar 2014 20:22:22 +0100 Subject: [PATCH 020/215] removed default value for timestamp in frame constructor --- svo/include/svo/frame.h | 4 +--- svo/test/test_depth_filter.cpp | 4 ++-- svo/test/test_sparse_img_align.cpp | 4 ++-- 3 files changed, 5 insertions(+), 7 deletions(-) diff --git a/svo/include/svo/frame.h b/svo/include/svo/frame.h index 68aa548..f4413e7 100644 --- a/svo/include/svo/frame.h +++ b/svo/include/svo/frame.h @@ -17,7 +17,6 @@ #ifndef SVO_FRAME_H_ #define SVO_FRAME_H_ -#include #include #include #include @@ -32,7 +31,6 @@ typedef g2o::VertexSE3Expmap g2oFrameSE3; namespace svo { class Point; -class Frame; struct Feature; typedef list Features; @@ -57,7 +55,7 @@ public: g2oFrameSE3* v_kf_; //!< Temporary pointer to the g2o node object of the keyframe. int last_published_ts_; //!< Timestamp of last publishing. - Frame(vk::AbstractCamera* cam, const cv::Mat& img, double timestamp=0.0); + Frame(vk::AbstractCamera* cam, const cv::Mat& img, double timestamp); ~Frame(); /// Initialize new frame and create image pyramid. diff --git a/svo/test/test_depth_filter.cpp b/svo/test/test_depth_filter.cpp index 09d0034..545d9bc 100644 --- a/svo/test/test_depth_filter.cpp +++ b/svo/test/test_depth_filter.cpp @@ -118,7 +118,7 @@ void DepthFilterTest::testReconstruction( if(i == 0) { // create reference frame and load ground truth depthmap - frame_ref_.reset(new svo::Frame(cam_, img)); + frame_ref_.reset(new svo::Frame(cam_, img, 0.0)); frame_ref_->T_f_w_ = T_w_f.inverse(); depth_filter_->addKeyframe(frame_ref_, 3, 1); vk::blender_utils::loadBlenderDepthmap(dataset_dir+"/depth/" + (*it).image_name_ + "_0.depth", *cam_, depth_ref_); @@ -126,7 +126,7 @@ void DepthFilterTest::testReconstruction( } n_converged_seeds_=0; - frame_cur_ = svo::FramePtr(new svo::Frame(cam_, img)); + frame_cur_ = svo::FramePtr(new svo::Frame(cam_, img, 0.0)); frame_cur_->T_f_w_ = T_w_f.inverse(); depth_filter_->addFrame(frame_cur_); n_converged_per_iteration.push_back(n_converged_seeds_); diff --git a/svo/test/test_sparse_img_align.cpp b/svo/test/test_sparse_img_align.cpp index 1c4437c..51950a8 100644 --- a/svo/test/test_sparse_img_align.cpp +++ b/svo/test/test_sparse_img_align.cpp @@ -86,7 +86,7 @@ void SparseImgAlignTest::testSequence( if(i==0) { // set reference frame - frame_ref_.reset(new svo::Frame(cam_, img)); + frame_ref_.reset(new svo::Frame(cam_, img, 0.0)); frame_ref_->T_f_w_ = T_gt_w; // load ground-truth depth @@ -115,7 +115,7 @@ void SparseImgAlignTest::testSequence( continue; } - frame_cur_.reset(new svo::Frame(cam_, img)); + frame_cur_.reset(new svo::Frame(cam_, img, 0.0)); //frame_cur_->T_f_w_ = frame_ref_->T_f_w_; // start at reference frame frame_cur_->T_f_w_ = T_prev_w; // start at last frame From e9404c4ed8a26e03dfd7b65536d17332391d65a9 Mon Sep 17 00:00:00 2001 From: Christian Forster Date: Fri, 21 Mar 2014 20:22:56 +0100 Subject: [PATCH 021/215] added functionality to set first frame. used for benchmark node --- svo/include/svo/frame_handler_mono.h | 3 +++ svo/src/frame_handler_mono.cpp | 9 +++++++++ 2 files changed, 12 insertions(+) diff --git a/svo/include/svo/frame_handler_mono.h b/svo/include/svo/frame_handler_mono.h index 3dc80ab..f15afaf 100644 --- a/svo/include/svo/frame_handler_mono.h +++ b/svo/include/svo/frame_handler_mono.h @@ -34,6 +34,9 @@ public: /// Provide an image. void addImage(const cv::Mat& img, double timestamp); + /// Set the first frame (used for synthetic datasets in benchmark node) + void setFirstFrame(const FramePtr& first_frame); + /// Get the last frame that has been processed. FramePtr lastFrame() { return last_frame_; } diff --git a/svo/src/frame_handler_mono.cpp b/svo/src/frame_handler_mono.cpp index 95a9787..63672aa 100644 --- a/svo/src/frame_handler_mono.cpp +++ b/svo/src/frame_handler_mono.cpp @@ -74,6 +74,15 @@ addImage(const cv::Mat& img, double timestamp) finishFrameProcessingCommon(last_frame_->id_, res, last_frame_->nObs()); } +void FrameHandlerMono:: +setFirstFrame(const FramePtr& first_frame) +{ + resetAll(); + last_frame_ = first_frame; + map_.addKeyframe(last_frame_); + stage_ = DEFAULT_FRAME; +} + FrameHandlerMono::UpdateResult FrameHandlerMono:: processFirstFrame() { From b25f7c3f5b91ecae992a5f7ffcf66df4b2473a48 Mon Sep 17 00:00:00 2001 From: Christian Forster Date: Fri, 21 Mar 2014 20:23:18 +0100 Subject: [PATCH 022/215] new benchmark for synthetic datasets. sets the first frame and initializes features from the ground-truth depth-map. NOT TESTED --- svo_ros/src/benchmark_node.cpp | 117 ++++++++++++++++++++++++++------- 1 file changed, 94 insertions(+), 23 deletions(-) diff --git a/svo_ros/src/benchmark_node.cpp b/svo_ros/src/benchmark_node.cpp index 2998c23..af929df 100644 --- a/svo_ros/src/benchmark_node.cpp +++ b/svo_ros/src/benchmark_node.cpp @@ -25,10 +25,14 @@ #include #include #include +#include #include #include +#include #include +#include #include +#include #include #include @@ -46,7 +50,8 @@ public: BenchmarkNode(ros::NodeHandle& nh); ~BenchmarkNode(); void tracePose(const SE3& T_w_f, const double timestamp); - void runBenchmark(const std::string& benchmark_dir); + void runBenchmark(const std::string& dataset_dir); + void runBlenderBenchmark(const std::string& dataset_dir); }; BenchmarkNode::BenchmarkNode(ros::NodeHandle& nh) : @@ -57,6 +62,12 @@ BenchmarkNode::BenchmarkNode(ros::NodeHandle& nh) : if(!vk::camera_loader::loadFromRosNs("svo", cam_)) throw std::runtime_error("Camera model not correctly specified."); + // create pose tracefile + std::string trace_est_name(Config::traceDir() + "/traj_estimate.txt"); + trace_est_pose_.open(trace_est_name.c_str()); + if(trace_est_pose_.fail()) + throw std::runtime_error("Could not create tracefile. Does folder exist?"); + // Initialize VO vo_ = new svo::FrameHandlerMono(cam_); vo_->start(); @@ -80,46 +91,106 @@ void BenchmarkNode::tracePose(const SE3& T_w_f, const double timestamp) << q.x() << " " << q.y() << " " << q.z() << " " << q.w() << endl; } -void BenchmarkNode::runBenchmark(const std::string& benchmark_dir) +void BenchmarkNode::runBenchmark(const std::string& dataset_dir) { // create image reader and load dataset - std::string filename_benchmark(benchmark_dir + "/images.txt"); + std::string filename_benchmark(dataset_dir + "/images.txt"); vk::FileReader dataset_reader(filename_benchmark); dataset_reader.skipComments(); - if(!dataset_reader.next()) - std::runtime_error("Failed to open images file"); + if(!dataset_reader.next()) { + SVO_ERROR_STREAM("Failed opening dataset: "< dataset; dataset_reader.readAllEntries(dataset); - // create pose tracefile - std::string trace_est_name(Config::traceDir() + "/traj_estimate.txt"); - trace_est_pose_.open(trace_est_name.c_str()); - if(trace_est_pose_.fail()) - throw std::runtime_error("Could not create tracefile. Does folder exist?"); - // process dataset - for(vk::vector::iterator it = dataset.begin(); - it != dataset.end(); ++it, ++frame_count_) + for(auto it = dataset.begin(); it != dataset.end() && ros::ok(); ++it, ++frame_count_) { // Read image - std::string img_filename(benchmark_dir + "/" + it->imgname_); + std::string img_filename(dataset_dir + "/" + it->image_name_); cv::Mat img(cv::imread(img_filename, 0)); - if(frame_count_ == 0) - SVO_INFO_STREAM("Reading image "<addImage(img, it->stamp_); + vo_->addImage(img, it->timestamp_); // Visualize - visualizer_.publishMinimal(img, vo_->lastFrame(), *vo_, it->stamp_); + visualizer_.publishMinimal(img, vo_->lastFrame(), *vo_, it->timestamp_); // write pose to tracefile if(vo_->stage() == svo::FrameHandlerMono::DEFAULT_FRAME) - tracePose(vo_->lastFrame()->T_f_w_.inverse(), it->stamp_); - if (!ros::ok()) - break; + tracePose(vo_->lastFrame()->T_f_w_.inverse(), it->timestamp_); + } +} + +void BenchmarkNode::runBlenderBenchmark(const std::string& dataset_dir) +{ + // create image reader and load dataset + std::string filename_benchmark(dataset_dir + "/images.txt"); + vk::FileReader dataset_reader(filename_benchmark); + dataset_reader.skipComments(); + if(!dataset_reader.next()) { + SVO_ERROR_STREAM("Failed opening dataset: "< dataset; + dataset_reader.readAllEntries(dataset); + + // process dataset + for(auto it = dataset.begin(); it != dataset.end() && ros::ok(); ++it, ++frame_count_) + { + // Read image + std::string img_filename(dataset_dir + "/" + it->image_name_ + "_0.png"); + cv::Mat img(cv::imread(img_filename, 0)); + if(img.empty()) { + SVO_ERROR_STREAM("Reading image "<timestamp_)); + frame_ref->T_f_w_ = Sophus::SE3(it->q_, it->t_).inverse(); + + // load ground-truth depth + cv::Mat depthmap; + vk::blender_utils::loadBlenderDepthmap( + dataset_dir+"/depth/"+it->image_name_+"_0.depth", *cam_, depthmap); + + // extract features, generate features with 3D points + svo::feature_detection::FastDetector detector; + svo::feature_detection::Corners corners; + detector.detect(frame_ref->img_pyr_, frame_ref->fts_, svo::Config::gridSize(), + svo::Config::nPyrLevels(), svo::Config::triangMinCornerScore(), &corners); + for(auto corner=corners.begin(); corner!=corners.end(); ++corner) + { + if(corner->score < Config::triangMinCornerScore()) + continue; + svo::Feature* ftr = new svo::Feature(frame_ref.get(), Eigen::Vector2d(corner->x, corner->y), corner->level); + Eigen::Vector3d pt_pos_cur = ftr->f*depthmap.at(corner->y, corner->x); + Eigen::Vector3d pt_pos_world = frame_ref->T_f_w_.inverse()*pt_pos_cur; + svo::Point* point = new svo::Point(pt_pos_world, svo::Point::DEPTH); + ftr->point = point; + frame_ref->addFeature(ftr); + } + SVO_INFO_STREAM("Added "<setFirstFrame(frame_ref); + SVO_INFO_STREAM("Set reference frame."); + continue; + } + + // Add image to VO + vo_->addImage(img, it->timestamp_); + + // write pose to tracefile + if(vo_->stage() == svo::FrameHandlerMono::DEFAULT_FRAME) + tracePose(vo_->lastFrame()->T_f_w_.inverse(), it->timestamp_); } } From bbf5b91bc190937f2f4fec849a07380c32e890e0 Mon Sep 17 00:00:00 2001 From: Christian Forster Date: Sun, 23 Mar 2014 22:36:22 +0100 Subject: [PATCH 023/215] make rospy package --- svo_analysis/.gitignore | 1 + svo_analysis/CMakeLists.txt | 8 + svo_analysis/package.xml | 19 + svo_analysis/scripts/associate.py | 67 ---- svo_analysis/{ => scripts}/benchmark.py | 0 ...trajectory_comparison.py => comparison.py} | 0 svo_analysis/{ => scripts}/evaluate.py | 4 +- svo_analysis/setup.py | 12 + .../{scripts => src/svo_analysis}/__init__.py | 0 .../svo_analysis}/analyse_dataset.py | 0 .../svo_analysis}/analyse_logs.py | 0 .../svo_analysis}/analyse_timing.py | 0 .../svo_analysis}/analyse_trajectory.py | 0 .../filter_groundtruth_smooth.py | 0 .../svo_analysis}/hand_eye_calib.py | 0 .../svo_analysis}/rotation_utils.py | 0 .../svo_analysis}/transformations.py | 0 .../tum_benchmark_tools/__init__.py | 2 + .../tum_benchmark_tools/associate.py | 128 +++++++ .../tum_benchmark_tools/evaluate_ate.py | 195 ++++++++++ .../tum_benchmark_tools}/evaluate_rpe.py | 345 ++++++++++-------- 21 files changed, 553 insertions(+), 228 deletions(-) create mode 100644 svo_analysis/.gitignore create mode 100644 svo_analysis/CMakeLists.txt create mode 100644 svo_analysis/package.xml delete mode 100644 svo_analysis/scripts/associate.py rename svo_analysis/{ => scripts}/benchmark.py (100%) rename svo_analysis/scripts/{trajectory_comparison.py => comparison.py} (100%) rename svo_analysis/{ => scripts}/evaluate.py (91%) create mode 100644 svo_analysis/setup.py rename svo_analysis/{scripts => src/svo_analysis}/__init__.py (100%) rename svo_analysis/{scripts => src/svo_analysis}/analyse_dataset.py (100%) rename svo_analysis/{scripts => src/svo_analysis}/analyse_logs.py (100%) rename svo_analysis/{scripts => src/svo_analysis}/analyse_timing.py (100%) rename svo_analysis/{scripts => src/svo_analysis}/analyse_trajectory.py (100%) rename svo_analysis/{scripts => src/svo_analysis}/filter_groundtruth_smooth.py (100%) rename svo_analysis/{scripts => src/svo_analysis}/hand_eye_calib.py (100%) rename svo_analysis/{scripts => src/svo_analysis}/rotation_utils.py (100%) rename svo_analysis/{scripts => src/svo_analysis}/transformations.py (100%) create mode 100644 svo_analysis/src/svo_analysis/tum_benchmark_tools/__init__.py create mode 100755 svo_analysis/src/svo_analysis/tum_benchmark_tools/associate.py create mode 100755 svo_analysis/src/svo_analysis/tum_benchmark_tools/evaluate_ate.py rename svo_analysis/{scripts => src/svo_analysis/tum_benchmark_tools}/evaluate_rpe.py (53%) diff --git a/svo_analysis/.gitignore b/svo_analysis/.gitignore new file mode 100644 index 0000000..7e99e36 --- /dev/null +++ b/svo_analysis/.gitignore @@ -0,0 +1 @@ +*.pyc \ No newline at end of file diff --git a/svo_analysis/CMakeLists.txt b/svo_analysis/CMakeLists.txt new file mode 100644 index 0000000..53ea7dc --- /dev/null +++ b/svo_analysis/CMakeLists.txt @@ -0,0 +1,8 @@ +cmake_minimum_required(VERSION 2.8.3) +project(svo_analysis) + +find_package(catkin REQUIRED COMPONENTS rospy) +include_directories(${catkin_INCLUDE_DIRS}) + +catkin_python_setup() +#catkin_package(CATKIN_DEPENDS sensor_msgs) \ No newline at end of file diff --git a/svo_analysis/package.xml b/svo_analysis/package.xml new file mode 100644 index 0000000..dcc5a62 --- /dev/null +++ b/svo_analysis/package.xml @@ -0,0 +1,19 @@ + + + svo_analysis + 0.0.1 + + Python scripts to analyse performance of SVO. + + Christian Forster + Christian Forster + BSD + catkin + + rospy + + python-rospkg + python-yaml + rospy + + \ No newline at end of file diff --git a/svo_analysis/scripts/associate.py b/svo_analysis/scripts/associate.py deleted file mode 100644 index 8a7438c..0000000 --- a/svo_analysis/scripts/associate.py +++ /dev/null @@ -1,67 +0,0 @@ -#!/usr/bin/python -# -# Requirements: -# sudo apt-get install python-argparse - -import argparse -import sys -import os -import numpy - - -def read_file_list(filename): - file = open(filename) - data = file.read() - lines = data.replace(","," ").replace("\t"," ").split("\n") - list = [[v.strip() for v in line.split(" ") if v.strip()!=""] for line in lines if len(line)>0 and line[0]!="#"] - list = [(float(l[0]),l[1:]) for l in list if len(l)>1] - return dict(list) - -def associate(first_list, second_list,offset,max_difference): - # first_list = groundtruth - # second_list = estimate - first_keys = first_list.keys() - second_keys = second_list.keys() - potential_matches = [(abs(a - (b + offset)), a, b) - for a in first_keys - for b in second_keys - if abs(a - (b + offset)) < max_difference] - - potential_matches.sort() - matches = [] - for diff, a, b in potential_matches: - if a in first_keys and b in second_keys: - first_keys.remove(a) - second_keys.remove(b) - matches.append((a, b)) - - matches.sort() - - return matches - -if __name__ == '__main__': - - # parse command line - parser = argparse.ArgumentParser(description=''' - This script takes two data files with timestamps and associates them - ''') - parser.add_argument('first_file', help='first text file (format: timestamp data)') - parser.add_argument('second_file', help='second text file (format: timestamp data)') - parser.add_argument('--first_only', help='only output associated lines from first file', action='store_true') - parser.add_argument('--offset', help='time offset added to the timestamps of the second file (default: 0.0)',default=0.0) - parser.add_argument('--max_difference', help='maximally allowed time difference for matching entries (default: 0.02)',default=0.02) - args = parser.parse_args() - - first_list = read_file_list(args.first_file) - second_list = read_file_list(args.second_file) - - matches = associate(first_list, second_list,float(args.offset),float(args.max_difference)) - - if args.first_only: - for a,b in matches: - print("%f %s"%(a," ".join(first_list[a]))) - else: - for a,b in matches: - print("%f %s %f %s"%(a," ".join(first_list[a]),b-float(args.offset)," ".join(second_list[b]))) - - diff --git a/svo_analysis/benchmark.py b/svo_analysis/scripts/benchmark.py similarity index 100% rename from svo_analysis/benchmark.py rename to svo_analysis/scripts/benchmark.py diff --git a/svo_analysis/scripts/trajectory_comparison.py b/svo_analysis/scripts/comparison.py similarity index 100% rename from svo_analysis/scripts/trajectory_comparison.py rename to svo_analysis/scripts/comparison.py diff --git a/svo_analysis/evaluate.py b/svo_analysis/scripts/evaluate.py similarity index 91% rename from svo_analysis/evaluate.py rename to svo_analysis/scripts/evaluate.py index 05af1ee..4cff109 100755 --- a/svo_analysis/evaluate.py +++ b/svo_analysis/scripts/evaluate.py @@ -9,8 +9,8 @@ import argparse import csv import numpy as np from matplotlib import rc -import scripts.analyse_logs as analyse_logs -import scripts.analyse_timing as analyse_timing +import svo_analysis.analyse_logs as analyse_logs +import svo_analysis.analyse_timing as analyse_timing if __name__=="__main__": diff --git a/svo_analysis/setup.py b/svo_analysis/setup.py new file mode 100644 index 0000000..0d94673 --- /dev/null +++ b/svo_analysis/setup.py @@ -0,0 +1,12 @@ +#!/usr/bin/env python + +from distutils.core import setup +from catkin_pkg.python_setup import generate_distutils_setup + +d = generate_distutils_setup( + packages=['svo_analysis'], + package_dir={'': 'src'}, + install_requires=['rospkg', 'yaml'], + ) + +setup(**d) \ No newline at end of file diff --git a/svo_analysis/scripts/__init__.py b/svo_analysis/src/svo_analysis/__init__.py similarity index 100% rename from svo_analysis/scripts/__init__.py rename to svo_analysis/src/svo_analysis/__init__.py diff --git a/svo_analysis/scripts/analyse_dataset.py b/svo_analysis/src/svo_analysis/analyse_dataset.py similarity index 100% rename from svo_analysis/scripts/analyse_dataset.py rename to svo_analysis/src/svo_analysis/analyse_dataset.py diff --git a/svo_analysis/scripts/analyse_logs.py b/svo_analysis/src/svo_analysis/analyse_logs.py similarity index 100% rename from svo_analysis/scripts/analyse_logs.py rename to svo_analysis/src/svo_analysis/analyse_logs.py diff --git a/svo_analysis/scripts/analyse_timing.py b/svo_analysis/src/svo_analysis/analyse_timing.py similarity index 100% rename from svo_analysis/scripts/analyse_timing.py rename to svo_analysis/src/svo_analysis/analyse_timing.py diff --git a/svo_analysis/scripts/analyse_trajectory.py b/svo_analysis/src/svo_analysis/analyse_trajectory.py similarity index 100% rename from svo_analysis/scripts/analyse_trajectory.py rename to svo_analysis/src/svo_analysis/analyse_trajectory.py diff --git a/svo_analysis/scripts/filter_groundtruth_smooth.py b/svo_analysis/src/svo_analysis/filter_groundtruth_smooth.py similarity index 100% rename from svo_analysis/scripts/filter_groundtruth_smooth.py rename to svo_analysis/src/svo_analysis/filter_groundtruth_smooth.py diff --git a/svo_analysis/scripts/hand_eye_calib.py b/svo_analysis/src/svo_analysis/hand_eye_calib.py similarity index 100% rename from svo_analysis/scripts/hand_eye_calib.py rename to svo_analysis/src/svo_analysis/hand_eye_calib.py diff --git a/svo_analysis/scripts/rotation_utils.py b/svo_analysis/src/svo_analysis/rotation_utils.py similarity index 100% rename from svo_analysis/scripts/rotation_utils.py rename to svo_analysis/src/svo_analysis/rotation_utils.py diff --git a/svo_analysis/scripts/transformations.py b/svo_analysis/src/svo_analysis/transformations.py similarity index 100% rename from svo_analysis/scripts/transformations.py rename to svo_analysis/src/svo_analysis/transformations.py diff --git a/svo_analysis/src/svo_analysis/tum_benchmark_tools/__init__.py b/svo_analysis/src/svo_analysis/tum_benchmark_tools/__init__.py new file mode 100644 index 0000000..633f866 --- /dev/null +++ b/svo_analysis/src/svo_analysis/tum_benchmark_tools/__init__.py @@ -0,0 +1,2 @@ +# -*- coding: utf-8 -*- + diff --git a/svo_analysis/src/svo_analysis/tum_benchmark_tools/associate.py b/svo_analysis/src/svo_analysis/tum_benchmark_tools/associate.py new file mode 100755 index 0000000..554314a --- /dev/null +++ b/svo_analysis/src/svo_analysis/tum_benchmark_tools/associate.py @@ -0,0 +1,128 @@ +#!/usr/bin/python +# Software License Agreement (BSD License) +# +# Copyright (c) 2013, Juergen Sturm, TUM +# All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# * Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# * Redistributions in binary form must reproduce the above +# copyright notice, this list of conditions and the following +# disclaimer in the documentation and/or other materials provided +# with the distribution. +# * Neither the name of TUM nor the names of its +# contributors may be used to endorse or promote products derived +# from this software without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. +# +# Requirements: +# sudo apt-get install python-argparse + +""" +The Kinect provides the color and depth images in an un-synchronized way. This means that the set of time stamps from the color images do not intersect with those of the depth images. Therefore, we need some way of associating color images to depth images. + +For this purpose, you can use the ''associate.py'' script. It reads the time stamps from the rgb.txt file and the depth.txt file, and joins them by finding the best matches. +""" + +import argparse +import sys +import os +import numpy + + +def read_file_list(filename): + """ + Reads a trajectory from a text file. + + File format: + The file format is "stamp d1 d2 d3 ...", where stamp denotes the time stamp (to be matched) + and "d1 d2 d3.." is arbitary data (e.g., a 3D position and 3D orientation) associated to this timestamp. + + Input: + filename -- File name + + Output: + dict -- dictionary of (stamp,data) tuples + + """ + file = open(filename) + data = file.read() + lines = data.replace(","," ").replace("\t"," ").split("\n") + list = [[v.strip() for v in line.split(" ") if v.strip()!=""] for line in lines if len(line)>0 and line[0]!="#"] + list = [(float(l[0]),l[1:]) for l in list if len(l)>1] + return dict(list) + +def associate(first_list, second_list,offset,max_difference): + """ + Associate two dictionaries of (stamp,data). As the time stamps never match exactly, we aim + to find the closest match for every input tuple. + + Input: + first_list -- first dictionary of (stamp,data) tuples + second_list -- second dictionary of (stamp,data) tuples + offset -- time offset between both dictionaries (e.g., to model the delay between the sensors) + max_difference -- search radius for candidate generation + + Output: + matches -- list of matched tuples ((stamp1,data1),(stamp2,data2)) + + """ + first_keys = first_list.keys() + second_keys = second_list.keys() + potential_matches = [(abs(a - (b + offset)), a, b) + for a in first_keys + for b in second_keys + if abs(a - (b + offset)) < max_difference] + potential_matches.sort() + matches = [] + for diff, a, b in potential_matches: + if a in first_keys and b in second_keys: + first_keys.remove(a) + second_keys.remove(b) + matches.append((a, b)) + + matches.sort() + return matches + +if __name__ == '__main__': + + # parse command line + parser = argparse.ArgumentParser(description=''' + This script takes two data files with timestamps and associates them + ''') + parser.add_argument('first_file', help='first text file (format: timestamp data)') + parser.add_argument('second_file', help='second text file (format: timestamp data)') + parser.add_argument('--first_only', help='only output associated lines from first file', action='store_true') + parser.add_argument('--offset', help='time offset added to the timestamps of the second file (default: 0.0)',default=0.0) + parser.add_argument('--max_difference', help='maximally allowed time difference for matching entries (default: 0.02)',default=0.02) + args = parser.parse_args() + + first_list = read_file_list(args.first_file) + second_list = read_file_list(args.second_file) + + matches = associate(first_list, second_list,float(args.offset),float(args.max_difference)) + + if args.first_only: + for a,b in matches: + print("%f %s"%(a," ".join(first_list[a]))) + else: + for a,b in matches: + print("%f %s %f %s"%(a," ".join(first_list[a]),b-float(args.offset)," ".join(second_list[b]))) + + diff --git a/svo_analysis/src/svo_analysis/tum_benchmark_tools/evaluate_ate.py b/svo_analysis/src/svo_analysis/tum_benchmark_tools/evaluate_ate.py new file mode 100755 index 0000000..683b598 --- /dev/null +++ b/svo_analysis/src/svo_analysis/tum_benchmark_tools/evaluate_ate.py @@ -0,0 +1,195 @@ +#!/usr/bin/python +# Software License Agreement (BSD License) +# +# Copyright (c) 2013, Juergen Sturm, TUM +# All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# * Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# * Redistributions in binary form must reproduce the above +# copyright notice, this list of conditions and the following +# disclaimer in the documentation and/or other materials provided +# with the distribution. +# * Neither the name of TUM nor the names of its +# contributors may be used to endorse or promote products derived +# from this software without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. +# +# Requirements: +# sudo apt-get install python-argparse + +""" +This script computes the absolute trajectory error from the ground truth +trajectory and the estimated trajectory. +""" + +import sys +import numpy +import argparse +import associate + +def align(model,data): + """Align two trajectories using the method of Horn (closed-form). + + Input: + model -- first trajectory (3xn) + data -- second trajectory (3xn) + + Output: + rot -- rotation matrix (3x3) + trans -- translation vector (3x1) + trans_error -- translational error per point (1xn) + + """ + numpy.set_printoptions(precision=3,suppress=True) + model_zerocentered = model - model.mean(1) + data_zerocentered = data - data.mean(1) + + W = numpy.zeros( (3,3) ) + for column in range(model.shape[1]): + W += numpy.outer(model_zerocentered[:,column],data_zerocentered[:,column]) + U,d,Vh = numpy.linalg.linalg.svd(W.transpose()) + S = numpy.matrix(numpy.identity( 3 )) + if(numpy.linalg.det(U) * numpy.linalg.det(Vh)<0): + S[2,2] = -1 + rot = U*S*Vh + trans = data.mean(1) - rot * model.mean(1) + + model_aligned = rot * model + trans + alignment_error = model_aligned - data + + trans_error = numpy.sqrt(numpy.sum(numpy.multiply(alignment_error,alignment_error),0)).A[0] + + return rot,trans,trans_error + +def plot_traj(ax,stamps,traj,style,color,label): + """ + Plot a trajectory using matplotlib. + + Input: + ax -- the plot + stamps -- time stamps (1xn) + traj -- trajectory (3xn) + style -- line style + color -- line color + label -- plot legend + + """ + stamps.sort() + interval = numpy.median([s-t for s,t in zip(stamps[1:],stamps[:-1])]) + x = [] + y = [] + last = stamps[0] + for i in range(len(stamps)): + if stamps[i]-last < 2*interval: + x.append(traj[i][0]) + y.append(traj[i][1]) + elif len(x)>0: + ax.plot(x,y,style,color=color,label=label) + label="" + x=[] + y=[] + last= stamps[i] + if len(x)>0: + ax.plot(x,y,style,color=color,label=label) + + +if __name__=="__main__": + # parse command line + parser = argparse.ArgumentParser(description=''' + This script computes the absolute trajectory error from the ground truth trajectory and the estimated trajectory. + ''') + parser.add_argument('first_file', help='ground truth trajectory (format: timestamp tx ty tz qx qy qz qw)') + parser.add_argument('second_file', help='estimated trajectory (format: timestamp tx ty tz qx qy qz qw)') + parser.add_argument('--offset', help='time offset added to the timestamps of the second file (default: 0.0)',default=0.0) + parser.add_argument('--scale', help='scaling factor for the second trajectory (default: 1.0)',default=1.0) + parser.add_argument('--max_difference', help='maximally allowed time difference for matching entries (default: 0.02)',default=0.02) + parser.add_argument('--save', help='save aligned second trajectory to disk (format: stamp2 x2 y2 z2)') + parser.add_argument('--save_associations', help='save associated first and aligned second trajectory to disk (format: stamp1 x1 y1 z1 stamp2 x2 y2 z2)') + parser.add_argument('--plot', help='plot the first and the aligned second trajectory to an image (format: png)') + parser.add_argument('--verbose', help='print all evaluation data (otherwise, only the RMSE absolute translational error in meters after alignment will be printed)', action='store_true') + args = parser.parse_args() + + first_list = associate.read_file_list(args.first_file) + second_list = associate.read_file_list(args.second_file) + + matches = associate.associate(first_list, second_list,float(args.offset),float(args.max_difference)) + if len(matches)<2: + sys.exit("Couldn't find matching timestamp pairs between groundtruth and estimated trajectory! Did you choose the correct sequence?") + + + first_xyz = numpy.matrix([[float(value) for value in first_list[a][0:3]] for a,b in matches]).transpose() + second_xyz = numpy.matrix([[float(value)*float(args.scale) for value in second_list[b][0:3]] for a,b in matches]).transpose() + rot,trans,trans_error = align(second_xyz,first_xyz) + + second_xyz_aligned = rot * second_xyz + trans + + first_stamps = first_list.keys() + first_stamps.sort() + first_xyz_full = numpy.matrix([[float(value) for value in first_list[b][0:3]] for b in first_stamps]).transpose() + + second_stamps = second_list.keys() + second_stamps.sort() + second_xyz_full = numpy.matrix([[float(value)*float(args.scale) for value in second_list[b][0:3]] for b in second_stamps]).transpose() + second_xyz_full_aligned = rot * second_xyz_full + trans + + if args.verbose: + print "compared_pose_pairs %d pairs"%(len(trans_error)) + + print "absolute_translational_error.rmse %f m"%numpy.sqrt(numpy.dot(trans_error,trans_error) / len(trans_error)) + print "absolute_translational_error.mean %f m"%numpy.mean(trans_error) + print "absolute_translational_error.median %f m"%numpy.median(trans_error) + print "absolute_translational_error.std %f m"%numpy.std(trans_error) + print "absolute_translational_error.min %f m"%numpy.min(trans_error) + print "absolute_translational_error.max %f m"%numpy.max(trans_error) + else: + print "%f"%numpy.sqrt(numpy.dot(trans_error,trans_error) / len(trans_error)) + + if args.save_associations: + file = open(args.save_associations,"w") + file.write("\n".join(["%f %f %f %f %f %f %f %f"%(a,x1,y1,z1,b,x2,y2,z2) for (a,b),(x1,y1,z1),(x2,y2,z2) in zip(matches,first_xyz.transpose().A,second_xyz_aligned.transpose().A)])) + file.close() + + if args.save: + file = open(args.save,"w") + file.write("\n".join(["%f "%stamp+" ".join(["%f"%d for d in line]) for stamp,line in zip(second_stamps,second_xyz_full_aligned.transpose().A)])) + file.close() + + if args.plot: + import matplotlib + matplotlib.use('Agg') + import matplotlib.pyplot as plt + import matplotlib.pylab as pylab + from matplotlib.patches import Ellipse + fig = plt.figure() + ax = fig.add_subplot(111) + plot_traj(ax,first_stamps,first_xyz_full.transpose().A,'-',"black","ground truth") + plot_traj(ax,second_stamps,second_xyz_full_aligned.transpose().A,'-',"blue","estimated") + + label="difference" + for (a,b),(x1,y1,z1),(x2,y2,z2) in zip(matches,first_xyz.transpose().A,second_xyz_aligned.transpose().A): + ax.plot([x1,x2],[y1,y2],'-',color="red",label=label) + label="" + + ax.legend() + + ax.set_xlabel('x [m]') + ax.set_ylabel('y [m]') + plt.savefig(args.plot,dpi=90) + diff --git a/svo_analysis/scripts/evaluate_rpe.py b/svo_analysis/src/svo_analysis/tum_benchmark_tools/evaluate_rpe.py similarity index 53% rename from svo_analysis/scripts/evaluate_rpe.py rename to svo_analysis/src/svo_analysis/tum_benchmark_tools/evaluate_rpe.py index 1ba24a7..fb42e4a 100755 --- a/svo_analysis/scripts/evaluate_rpe.py +++ b/svo_analysis/src/svo_analysis/tum_benchmark_tools/evaluate_rpe.py @@ -1,25 +1,92 @@ #!/usr/bin/python +# Software License Agreement (BSD License) +# +# Copyright (c) 2013, Juergen Sturm, TUM +# All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# * Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# * Redistributions in binary form must reproduce the above +# copyright notice, this list of conditions and the following +# disclaimer in the documentation and/or other materials provided +# with the distribution. +# * Neither the name of TUM nor the names of its +# contributors may be used to endorse or promote products derived +# from this software without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. + +""" +This script computes the relative pose error from the ground truth trajectory +and the estimated trajectory. +""" -import yaml import argparse import random import numpy import sys -import transformations -import matplotlib -import matplotlib.pyplot as plt -import matplotlib.pylab as pylab -from matplotlib import rc + +_EPS = numpy.finfo(float).eps * 4.0 def transform44(l): + """ + Generate a 4x4 homogeneous transformation matrix from a 3D point and unit quaternion. + + Input: + l -- tuple consisting of (stamp,tx,ty,tz,qx,qy,qz,qw) where + (tx,ty,tz) is the 3D position and (qx,qy,qz,qw) is the unit quaternion. + + Output: + matrix -- 4x4 homogeneous transformation matrix + """ t = l[1:4] - q = l[4:8] - return numpy.dot(transformations.translation_matrix(t),transformations.quaternion_matrix(q)) + q = numpy.array(l[4:8], dtype=numpy.float64, copy=True) + nq = numpy.dot(q, q) + if nq < _EPS: + return numpy.array(( + ( 1.0, 0.0, 0.0, t[0]) + ( 0.0, 1.0, 0.0, t[1]) + ( 0.0, 0.0, 1.0, t[2]) + ( 0.0, 0.0, 0.0, 1.0) + ), dtype=numpy.float64) + q *= numpy.sqrt(2.0 / nq) + q = numpy.outer(q, q) + return numpy.array(( + (1.0-q[1, 1]-q[2, 2], q[0, 1]-q[2, 3], q[0, 2]+q[1, 3], t[0]), + ( q[0, 1]+q[2, 3], 1.0-q[0, 0]-q[2, 2], q[1, 2]-q[0, 3], t[1]), + ( q[0, 2]-q[1, 3], q[1, 2]+q[0, 3], 1.0-q[0, 0]-q[1, 1], t[2]), + ( 0.0, 0.0, 0.0, 1.0) + ), dtype=numpy.float64) def read_trajectory(filename, matrix=True): + """ + Read a trajectory from a text file. + + Input: + filename -- file to be read + matrix -- convert poses to 4x4 matrices + + Output: + dictionary of stamped 3D poses + """ file = open(filename) data = file.read() - lines = data.replace(","," ").replace("\t"," ").split("\n") + lines = data.replace(","," ").replace("\t"," ").split("\n") list = [[float(v.strip()) for v in line.split(" ") if v.strip()!=""] for line in lines if len(line)>0 and line[0]!="#"] list_ok = [] for i,l in enumerate(list): @@ -27,7 +94,7 @@ def read_trajectory(filename, matrix=True): continue isnan = False for v in l: - if numpy.isnan(v): + if numpy.isnan(v): isnan = True break if isnan: @@ -41,6 +108,16 @@ def read_trajectory(filename, matrix=True): return traj def find_closest_index(L,t): + """ + Find the index of the closest value in a list. + + Input: + L -- the list + t -- value to be found + + Output: + index of the closest element + """ beginning = 0 difference = abs(L[0] - t) best = 0 @@ -59,9 +136,22 @@ def find_closest_index(L,t): return best def ominus(a,b): + """ + Compute the relative 3D transformation between a and b. + + Input: + a -- first pose (homogeneous 4x4 matrix) + b -- second pose (homogeneous 4x4 matrix) + + Output: + Relative 3D transformation from a to b. + """ return numpy.dot(numpy.linalg.inv(a),b) def scale(a,scalar): + """ + Scale the translational components of a 4x4 homogeneous matrix by a scale factor. + """ return numpy.array( [[a[0,0], a[0,1], a[0,2], a[0,3]*scalar], [a[1,0], a[1,1], a[1,2], a[1,3]*scalar], @@ -70,13 +160,22 @@ def scale(a,scalar): ) def compute_distance(transform): + """ + Compute the distance of the translational component of a 4x4 homogeneous matrix. + """ return numpy.linalg.norm(transform[0:3,3]) def compute_angle(transform): + """ + Compute the rotation angle from a 4x4 homogeneous matrix. + """ # an invitation to 3-d vision, p 27 return numpy.arccos( min(1,max(-1, (numpy.trace(transform[0:3,0:3]) - 1)/2) )) def distances_along_trajectory(traj): + """ + Compute the translational distances along a trajectory. + """ keys = traj.keys() keys.sort() motion = [ominus(traj[keys[i+1]],traj[keys[i]]) for i in range(len(keys)-1)] @@ -86,8 +185,11 @@ def distances_along_trajectory(traj): sum += compute_distance(t) distances.append(sum) return distances - + def rotations_along_trajectory(traj,scale): + """ + Compute the angular rotations along a trajectory. + """ keys = traj.keys() keys.sort() motion = [ominus(traj[keys[i+1]],traj[keys[i]]) for i in range(len(keys)-1)] @@ -97,60 +199,36 @@ def rotations_along_trajectory(traj,scale): sum += compute_angle(t)*scale distances.append(sum) return distances + -def interpolate_transformation(alpha,a,b): - qa,ta = transformations.quaternion_from_matrix(a),transformations.translation_from_matrix(a) - qb,tb = transformations.quaternion_from_matrix(b),transformations.translation_from_matrix(b) - qr = transformations.quaternion_slerp(qa,qb,alpha) - tr = (1-alpha) * ta + (alpha) * tb - r = numpy.dot(transformations.translation_matrix(tr),transformations.quaternion_matrix(qr)) - return r - -def interpolate_and_resample(traj_gt,stamps_est,param_offset,gt_max_time_difference): - traj_new = {} - +def evaluate_trajectory(traj_gt,traj_est,param_max_pairs=10000,param_fixed_delta=False,param_delta=1.00,param_delta_unit="s",param_offset=0.00,param_scale=1.00): + """ + Compute the relative pose error between two trajectories. + + Input: + traj_gt -- the first trajectory (ground truth) + traj_est -- the second trajectory (estimated trajectory) + param_max_pairs -- number of relative poses to be evaluated + param_fixed_delta -- false: evaluate over all possible pairs + true: only evaluate over pairs with a given distance (delta) + param_delta -- distance between the evaluated pairs + param_delta_unit -- unit for comparison: + "s": seconds + "m": meters + "rad": radians + "deg": degrees + "f": frames + param_offset -- time offset between two trajectories (to model the delay) + param_scale -- scale to be applied to the second trajectory + + Output: + list of compared poses and the resulting translation and rotation error + """ stamps_gt = list(traj_gt.keys()) - stamps_gt.sort() - - for t_est in stamps_est: - t_new = t_est + param_offset - i_nearest = find_closest_index(stamps_gt,t_est + param_offset) - if stamps_gt[i_nearest] >= t_new and i_nearest>0: - i_low = i_nearest-1 - i_high = i_nearest - else: - i_low = i_nearest - i_high = i_nearest+1 - if i_low<0 or i_high>=len(stamps_gt): - continue - - t_low = stamps_gt[i_low] - t_high = stamps_gt[i_high] - - if(abs( t_new - (t_low + param_offset) ) > gt_max_time_difference or - abs( t_new - (t_high + param_offset) ) > gt_max_time_difference): - continue - - alpha = (t_new - (t_low + param_offset)) / (t_high - t_low) - transform = interpolate_transformation(alpha,traj_gt[t_low],traj_gt[t_high]) - traj_new[t_new] = transform - return traj_new - - -def evaluate_trajectory(traj_gt,traj_est,param_max_pairs=10000,param_fixed_delta=False,param_delta=1.00,param_delta_unit="s",param_offset=0.00,param_scale=1.00,param_interpolation=True): stamps_est = list(traj_est.keys()) - stamps_est.sort() - stamps_gt = list(traj_gt.keys()) stamps_gt.sort() - - gt_interval = numpy.median([s-t for s,t in zip(stamps_gt[1:],stamps_gt[:-1])]) - gt_max_time_difference = 2*gt_interval - - if param_interpolation: - traj_gt = interpolate_and_resample(traj_gt,stamps_est,param_offset,gt_max_time_difference) - stamps_gt = list(traj_gt.keys()) - stamps_gt.sort() - + stamps_est.sort() + stamps_est_return = [] for t_est in stamps_est: t_gt = stamps_gt[find_closest_index(stamps_gt,t_est + param_offset)] @@ -184,11 +262,14 @@ def evaluate_trajectory(traj_gt,traj_est,param_max_pairs=10000,param_fixed_delta pairs = [] for i in range(len(traj_est)): j = find_closest_index(index_est,index_est[i] + param_delta) - if j!=len(traj_est)-1: + if j!=len(traj_est)-1: pairs.append((i,j)) if(param_max_pairs!=0 and len(pairs)>param_max_pairs): pairs = random.sample(pairs,param_max_pairs) - + + gt_interval = numpy.median([s-t for s,t in zip(stamps_gt[1:],stamps_gt[:-1])]) + gt_max_time_difference = 2*gt_interval + result = [] for i,j in pairs: stamp_est_0 = stamps_est[i] @@ -196,32 +277,29 @@ def evaluate_trajectory(traj_gt,traj_est,param_max_pairs=10000,param_fixed_delta stamp_gt_0 = stamps_gt[ find_closest_index(stamps_gt,stamp_est_0 + param_offset) ] stamp_gt_1 = stamps_gt[ find_closest_index(stamps_gt,stamp_est_1 + param_offset) ] - + if(abs(stamp_gt_0 - (stamp_est_0 + param_offset)) > gt_max_time_difference or abs(stamp_gt_1 - (stamp_est_1 + param_offset)) > gt_max_time_difference): continue - + error44 = ominus( scale( ominus( traj_est[stamp_est_1], traj_est[stamp_est_0] ),param_scale), ominus( traj_gt[stamp_gt_1], traj_gt[stamp_gt_0] ) ) - trans = compute_distance(error44) rot = compute_angle(error44) - - motion_gt = ominus( traj_gt[stamp_gt_1], traj_gt[stamp_gt_0] ) - trans_gt = compute_distance(motion_gt) - rot_gt = compute_angle(motion_gt) - if(rot < 0.07): - result.append([stamp_est_0,stamp_est_1,stamp_gt_0,stamp_gt_1,trans,rot,trans_gt,rot_gt]) - + result.append([stamp_est_0,stamp_est_1,stamp_gt_0,stamp_gt_1,trans,rot]) + if len(result)<2: raise Exception("Couldn't find matching timestamp pairs between groundtruth and estimated trajectory!") - + return result def percentile(seq,q): + """ + Return the q-percentile of a list + """ seq_sorted = list(seq) seq_sorted.sort() return seq_sorted[int((len(seq_sorted)-1)*q)] @@ -229,45 +307,28 @@ def percentile(seq,q): if __name__ == '__main__': random.seed(0) - # config ------------------------------------------------------------------------- - - dataset='20131003_1937_nslam_i7_asl2_fast' - dataset_dir = '../results/'+dataset - - #--------------------------------------------------------------------------------- - - # load dataset parameters - params_stream = open(dataset_dir+'/params.yaml') - params = yaml.load(params_stream) - - # set trajectory groundtruth and estimate file - traj_groundtruth = params['dataset_directory']+'/groundtruth_filtered.txt' - traj_estimate_rotated = dataset_dir+'/traj_estimate_rotated.txt' - parser = argparse.ArgumentParser(description=''' - This script computes the relative pose error from the ground truth trajectory and the estimated trajectory. + This script computes the relative pose error from the ground truth trajectory and the estimated trajectory. ''') - parser.add_argument('--groundtruth_file', help='ground-truth trajectory file (format: "timestamp tx ty tz qx qy qz qw")', default=traj_groundtruth) - parser.add_argument('--estimated_file', help='estimated trajectory file (format: "timestamp tx ty tz qx qy qz qw")', default=traj_estimate_rotated) - parser.add_argument('--interpolate', help='interpolate and resample the ground truth trajectory', default=True) + parser.add_argument('groundtruth_file', help='ground-truth trajectory file (format: "timestamp tx ty tz qx qy qz qw")') + parser.add_argument('estimated_file', help='estimated trajectory file (format: "timestamp tx ty tz qx qy qz qw")') parser.add_argument('--max_pairs', help='maximum number of pose comparisons (default: 10000, set to zero to disable downsampling)', default=10000) - parser.add_argument('--fixed_delta', help='only consider pose pairs that have a distance of delta delta_unit (e.g., for evaluating the drift per second/meter/radian)', default=True) + parser.add_argument('--fixed_delta', help='only consider pose pairs that have a distance of delta delta_unit (e.g., for evaluating the drift per second/meter/radian)', action='store_true') parser.add_argument('--delta', help='delta for evaluation (default: 1.0)',default=1.0) parser.add_argument('--delta_unit', help='unit of delta (options: \'s\' for seconds, \'m\' for meters, \'rad\' for radians, \'f\' for frames; default: \'s\')',default='s') parser.add_argument('--offset', help='time offset between ground-truth and estimated trajectory (default: 0.0)',default=0.0) parser.add_argument('--scale', help='scaling factor for the estimated trajectory (default: 1.0)',default=1.0) parser.add_argument('--save', help='text file to which the evaluation will be saved (format: stamp_est0 stamp_est1 stamp_gt0 stamp_gt1 trans_error rot_error)') - parser.add_argument('--plot', help='plot the result to a file (requires --fixed_delta, output format: png)', default=True) - parser.add_argument('--plotname', help='plot the result to a file (requires --fixed_delta, output format: png)', default='rpe.png') - parser.add_argument('--verbose', help='print all evaluation data (otherwise, only the mean translational error measured in meters will be printed)', default=True) + parser.add_argument('--plot', help='plot the result to a file (requires --fixed_delta, output format: png)') + parser.add_argument('--verbose', help='print all evaluation data (otherwise, only the mean translational error measured in meters will be printed)', action='store_true') args = parser.parse_args() - + if args.plot and not args.fixed_delta: sys.exit("The '--plot' option can only be used in combination with '--fixed_delta'") - + traj_gt = read_trajectory(args.groundtruth_file) traj_est = read_trajectory(args.estimated_file) - + result = evaluate_trajectory(traj_gt, traj_est, int(args.max_pairs), @@ -275,81 +336,47 @@ if __name__ == '__main__': float(args.delta), args.delta_unit, float(args.offset), - float(args.scale), - args.interpolate) - + float(args.scale)) + stamps = numpy.array(result)[:,0] trans_error = numpy.array(result)[:,4] rot_error = numpy.array(result)[:,5] - - results = dict() - results['trans_rmse'] = float(numpy.sqrt(numpy.dot(trans_error,trans_error) / len(trans_error))) - results['trans_mean'] = float(numpy.mean(trans_error)) - results['trans_median'] = float(numpy.median(trans_error)) - results['trans_std'] = float(numpy.std(trans_error)) - results['trans_min'] = float(numpy.min(trans_error)) - results['trans_max'] = float(numpy.max(trans_error)) - results['rot_rmse'] = float((numpy.sqrt(numpy.dot(rot_error,rot_error) / len(rot_error)) * 180.0 / numpy.pi)) - results['rot_mean'] = float((numpy.mean(rot_error) * 180.0 / numpy.pi)) - results['rot_median'] = float(numpy.median(rot_error) * 180.0 / numpy.pi) - results['rot_std'] = float((numpy.std(rot_error) * 180.0 / numpy.pi)) - results['rot_min'] = float((numpy.min(rot_error) * 180.0 / numpy.pi)) - results['rot_max'] = float((numpy.max(rot_error) * 180.0 / numpy.pi)) - - # dump experiment results to file: - results_file = params['trace_dir']+'/rpe_results.yaml' - with open(results_file,'w') as outfile: - outfile.write( yaml.dump(results, default_flow_style=False) ) - - if args.save: + if args.save: f = open(args.save,"w") f.write("\n".join([" ".join(["%f"%v for v in line]) for line in result])) f.close() - + if args.verbose: print "compared_pose_pairs %d pairs"%(len(trans_error)) - print "translational_error.rmse %f m"%results['trans_rmse'] - print "translational_error.mean %f m"%results['trans_mean'] - print "translational_error.median %f m"%results['trans_median'] - print "translational_error.std %f m"%results['trans_std'] - print "translational_error.min %f m"%results['trans_min'] - print "translational_error.max %f m"%results['trans_max'] + print "translational_error.rmse %f m"%numpy.sqrt(numpy.dot(trans_error,trans_error) / len(trans_error)) + print "translational_error.mean %f m"%numpy.mean(trans_error) + print "translational_error.median %f m"%numpy.median(trans_error) + print "translational_error.std %f m"%numpy.std(trans_error) + print "translational_error.min %f m"%numpy.min(trans_error) + print "translational_error.max %f m"%numpy.max(trans_error) - print "rotational_error.rmse %f deg"%results['rot_rmse'] - print "rotational_error.mean %f deg"%results['rot_mean'] - print "rotational_error.median %f deg"%results['rot_median'] - print "rotational_error.std %f deg"%results['rot_std'] - print "rotational_error.min %f deg"%results['rot_min'] - print "rotational_error.max %f deg"%results['rot_max'] + print "rotational_error.rmse %f deg"%(numpy.sqrt(numpy.dot(rot_error,rot_error) / len(rot_error)) * 180.0 / numpy.pi) + print "rotational_error.mean %f deg"%(numpy.mean(rot_error) * 180.0 / numpy.pi) + print "rotational_error.median %f deg"%numpy.median(rot_error) + print "rotational_error.std %f deg"%(numpy.std(rot_error) * 180.0 / numpy.pi) + print "rotational_error.min %f deg"%(numpy.min(rot_error) * 180.0 / numpy.pi) + print "rotational_error.max %f deg"%(numpy.max(rot_error) * 180.0 / numpy.pi) else: print numpy.mean(trans_error) - if args.plot: - - # tell matplotlib to use latex font - rc('font',**{'family':'serif','serif':['Cardo']}) - rc('text', usetex=True) - - #matplotlib.use('Agg') # no window should appear? - - fig = plt.figure(figsize=(8, 3)) - ax = fig.add_subplot(111) + if args.plot: + import matplotlib + matplotlib.use('Agg') + import matplotlib.pyplot as plt + import matplotlib.pylab as pylab + fig = plt.figure() + ax = fig.add_subplot(111) ax.plot(stamps - stamps[0],trans_error,'-',color="blue") #ax.plot([t for t,e in err_rot],[e for t,e in err_rot],'-',color="red") ax.set_xlabel('time [s]') ax.set_ylabel('translational error [m]') - plt.tight_layout() - plt.savefig(dataset_dir+'/rpe_trans_error.pdf') - plt.show() + plt.savefig(args.plot,dpi=300) + - fig = plt.figure(figsize=(8, 3)) - ax = fig.add_subplot(111) - ax.plot(stamps - stamps[0],rot_error* 180.0 / numpy.pi,'-',color="blue") - #ax.plot([t for t,e in err_rot],[e for t,e in err_rot],'-',color="red") - ax.set_xlabel('time [s]') - ax.set_ylabel('rot error [deg]') - plt.tight_layout() - plt.savefig(dataset_dir+'/rpe_rot_error.pdf') - plt.show() \ No newline at end of file From ced00885c55dff9d8ec21119856a686df0488cf2 Mon Sep 17 00:00:00 2001 From: Christian Forster Date: Mon, 24 Mar 2014 10:09:58 +0100 Subject: [PATCH 024/215] refactor --- svo/CMakeLists.txt | 2 +- svo/test/benchmark.csv | 612 +++++++++--------- .../experiments/flying_room_1_fast.yaml | 2 + svo_analysis/scripts/benchmark.py | 72 ++- svo_analysis/src/svo_analysis/cpu_info.py | 10 + 5 files changed, 361 insertions(+), 337 deletions(-) create mode 100644 svo_analysis/experiments/flying_room_1_fast.yaml create mode 100644 svo_analysis/src/svo_analysis/cpu_info.py diff --git a/svo/CMakeLists.txt b/svo/CMakeLists.txt index 16b1cba..7612a94 100644 --- 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+0.000000000000000,0.000036000000000,0.000177000000000,0.000151000000000,0.001530000000000,0.000725000000000,0.002741000000000,0.000000000000000,117.000000000000000,-1.000000000000000,-1.000000000000000,-1.000000000000000,-1.000000000000000,820.000000000000000,168.000000000000000,121.000000000000000,0.155951030020751,0.213023655758012,121.000000000000000,0.315275031106667 +0.000000000000000,0.000030000000000,0.000196000000000,0.000128000000000,0.001426000000000,0.000831000000000,0.002660000000000,0.000000000000000,119.000000000000000,-1.000000000000000,-1.000000000000000,-1.000000000000000,-1.000000000000000,816.000000000000000 \ No newline at end of file diff --git a/svo_analysis/experiments/flying_room_1_fast.yaml b/svo_analysis/experiments/flying_room_1_fast.yaml new file mode 100644 index 0000000..018e1fe --- /dev/null +++ b/svo_analysis/experiments/flying_room_1_fast.yaml @@ -0,0 +1,2 @@ +dataset: flying_room_1_rig_1 +param_settings: vo_fast \ No newline at end of file diff --git a/svo_analysis/scripts/benchmark.py b/svo_analysis/scripts/benchmark.py index da32e70..ce8727a 100755 --- a/svo_analysis/scripts/benchmark.py +++ b/svo_analysis/scripts/benchmark.py @@ -7,7 +7,10 @@ Created on Sat Aug 10 18:21:47 2013 import os import yaml +import rospkg +import argparse import time +import svo_analysis.cpu_info as cpu_info class RosNode: def __init__(self, package, executable): @@ -18,50 +21,59 @@ class RosNode: parameter_string = '' for key in parameter_dictionary.keys(): parameter_string = parameter_string + ' _' + key + ':=' + str(parameter_dictionary[key]) + print('starting ros node') os.system('rosrun ' + self.package + ' ' + self.executable + ' ' + parameter_string) + print('ros node finished processing') if __name__=="__main__": - # config: - home_dir = os.getenv("HOME") - dataset_dir = home_dir+'/Datasets/SlamBenchmark/' - algo_dir = home_dir+'/workspace/rpg_slam/svo_ros' - trace_dir = home_dir+'/workspace/rpg_slam/svo_analysis/results' - platform = 'i7' + # parse command line + parser = argparse.ArgumentParser(description=''' + Runs SVO with the dataset and parameters specified in the provided experiment file. + ''') + parser.add_argument('experiment_file', help='experiment file in svo_analysis/experiments folder') + parser.add_argument('--name', help='experiment name') + parser.add_argument('--evaluate', help='evaluate tracefile after running SVO', action='store_true') + args = parser.parse_args() + + # load experiment parameters + expParamsFile = os.path.join(rospkg.RosPack().get_path('svo_analysis'), + 'experiments', args.experiment_file+'.yaml') + expParams = yaml.load(open(expParamsFile, 'r')) + expParams['time'] = time.strftime("%Y%m%d_%H%M", time.localtime()) + #expParams['platform'] = cpu_info.getCpuInfo() + expParams['experiment_name'] = args.name + if(expParams['experiment_name'] == None): + expParams['experiment_name'] = expParams['time']+'_svo_' + args.experiment_file + + # load dataset parameters + datasetParamsFile = os.path.join(rospkg.RosPack().get_path('Datasets'), + expParams['dataset'], 'dataset_params.yaml') + datasetParams = yaml.load(open(datasetParamsFile,'r')) - # load parameters - experiment_name = 'asl2_fast' - experiment_file = 'experiments/'+experiment_name+'.yaml' - experiment_file_stream = open(experiment_file,'r') - experiment_dict = yaml.load(experiment_file_stream) + # load algorithm parameters + algoParamsFile = os.path.join(rospkg.RosPack().get_path('svo_ros'), + 'param', expParams['param_settings']+'.yaml') + algoParams = yaml.load(open(algoParamsFile,'r')) + + # combine all parameters + params = dict(expParams.items() + datasetParams.items() + algoParams.items()) + params['trace_name'] = 'trace' + params['trace_dir'] = os.path.join(rospkg.RosPack().get_path('svo_analysis'), + 'results', params['experiment_name']) - dataset_param_file = dataset_dir+experiment_dict['dataset']+'/dataset_params.yaml' - dataset_param_file_stream = open(dataset_param_file,'r') - dataset_param_dict = yaml.load(dataset_param_file_stream) - - algo_param_file = algo_dir+'/param/'+experiment_dict['param_settings']+'.param' - algo_param_file_stream = open(algo_param_file,'r') - algo_param_dict = yaml.load(algo_param_file_stream) - - params = dict(dataset_param_dict.items() + algo_param_dict.items() + experiment_dict.items()) - localtime = time.localtime() - params['trace_name'] = time.strftime("%Y%m%d_%H%M", localtime)+'_nslam_'+platform+'_'+experiment_name - params['trace_dir'] = trace_dir+'/'+params['trace_name'] - params['run_id'] = 0 - - # create folder for experiment results + # create folder for tracing if not os.path.exists(params['trace_dir']): os.makedirs(params['trace_dir']) - + # dump experiment params to file: params_dump_file = params['trace_dir']+'/params.yaml' with open(params_dump_file,'w') as outfile: - outfile.write( yaml.dump(params, default_flow_style=False) ) + outfile.write(yaml.dump(params, default_flow_style=False)) # start ros node - print 'starting ros node' node = RosNode('svo_ros','benchmark') node.run(params) - print 'ros node finished processing' + diff --git a/svo_analysis/src/svo_analysis/cpu_info.py b/svo_analysis/src/svo_analysis/cpu_info.py new file mode 100644 index 0000000..48e661f --- /dev/null +++ b/svo_analysis/src/svo_analysis/cpu_info.py @@ -0,0 +1,10 @@ +#!/usr/bin/python + +import subprocess, re + +def getCpuInfo(): + command = "cat /proc/cpuinfo" + all_info = subprocess.check_output(command, shell=True).strip() + for line in all_info.split("\n"): + if "model name" in line: + return re.sub( ".*model name.*:", "", line,1) \ No newline at end of file From c4a26bcb08a44b4ae58b93a4b3eaf3b7b591910e Mon Sep 17 00:00:00 2001 From: Christian Forster Date: Mon, 24 Mar 2014 15:00:09 +0100 Subject: [PATCH 025/215] rename project --- svo/Doxyfile | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/svo/Doxyfile b/svo/Doxyfile index fb60d29..b1b4256 100644 --- a/svo/Doxyfile +++ b/svo/Doxyfile @@ -648,7 +648,7 @@ WARN_LOGFILE = # directories like "/usr/src/myproject". Separate the files or directories # with spaces. -INPUT = "src", "include/nano_slam" +INPUT = "src", "include/svo" # This tag can be used to specify the character encoding of the source files # that doxygen parses. Internally doxygen uses the UTF-8 encoding, which is From 797480a84c9bf93db99ee8f048aadf1ad07fb0ac Mon Sep 17 00:00:00 2001 From: Christian Forster Date: Mon, 24 Mar 2014 15:00:48 +0100 Subject: [PATCH 026/215] no tracing --- svo/CMakeLists.txt | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/svo/CMakeLists.txt b/svo/CMakeLists.txt index 7612a94..16b1cba 100644 --- a/svo/CMakeLists.txt +++ b/svo/CMakeLists.txt @@ -2,7 +2,7 @@ # user build settings SET(DEBUG FALSE) -SET(TRACE TRUE) +SET(TRACE FALSE) SET(HAVE_G2O FALSE) ################################################################################ From 1311ed95a05755d445e6189479105be6b9f65c75 Mon Sep 17 00:00:00 2001 From: Christian Forster Date: Mon, 24 Mar 2014 15:01:33 +0100 Subject: [PATCH 027/215] tested and fixed setFirstFrame() function --- svo/src/frame_handler_base.cpp | 2 +- svo/src/frame_handler_mono.cpp | 1 + 2 files changed, 2 insertions(+), 1 deletion(-) diff --git a/svo/src/frame_handler_base.cpp b/svo/src/frame_handler_base.cpp index 3d530f7..991268c 100644 --- a/svo/src/frame_handler_base.cpp +++ b/svo/src/frame_handler_base.cpp @@ -96,7 +96,6 @@ startFrameProcessingCommon() { resetAll(); stage_ = FIRST_FRAME; - set_start_ = false; } if(stage_ == PAUSED) @@ -145,6 +144,7 @@ resetCommon() map_.reset(); stage_ = PAUSED; set_reset_ = false; + set_start_ = false; tracking_quality_ = BAD; depth_filter_->reset(); num_obs_last_ = 0; diff --git a/svo/src/frame_handler_mono.cpp b/svo/src/frame_handler_mono.cpp index 63672aa..1c4c814 100644 --- a/svo/src/frame_handler_mono.cpp +++ b/svo/src/frame_handler_mono.cpp @@ -79,6 +79,7 @@ setFirstFrame(const FramePtr& first_frame) { resetAll(); last_frame_ = first_frame; + last_frame_->setKeyframe(); map_.addKeyframe(last_frame_); stage_ = DEFAULT_FRAME; } From f65c2b19f08ac3ce8ede9d98345192c7807951a5 Mon Sep 17 00:00:00 2001 From: Christian Forster Date: Mon, 24 Mar 2014 15:02:21 +0100 Subject: [PATCH 028/215] tested and fixed benchmark node on synthetic dataset --- svo_ros/src/benchmark_node.cpp | 10 +++++++--- 1 file changed, 7 insertions(+), 3 deletions(-) diff --git a/svo_ros/src/benchmark_node.cpp b/svo_ros/src/benchmark_node.cpp index af929df..e0235ab 100644 --- a/svo_ros/src/benchmark_node.cpp +++ b/svo_ros/src/benchmark_node.cpp @@ -130,7 +130,7 @@ void BenchmarkNode::runBenchmark(const std::string& dataset_dir) void BenchmarkNode::runBlenderBenchmark(const std::string& dataset_dir) { // create image reader and load dataset - std::string filename_benchmark(dataset_dir + "/images.txt"); + std::string filename_benchmark(dataset_dir + "/trajectory.txt"); vk::FileReader dataset_reader(filename_benchmark); dataset_reader.skipComments(); if(!dataset_reader.next()) { @@ -144,7 +144,7 @@ void BenchmarkNode::runBlenderBenchmark(const std::string& dataset_dir) for(auto it = dataset.begin(); it != dataset.end() && ros::ok(); ++it, ++frame_count_) { // Read image - std::string img_filename(dataset_dir + "/" + it->image_name_ + "_0.png"); + std::string img_filename(dataset_dir + "/img/" + it->image_name_ + "_0.png"); cv::Mat img(cv::imread(img_filename, 0)); if(img.empty()) { SVO_ERROR_STREAM("Reading image "<T_f_w_.inverse()*pt_pos_cur; svo::Point* point = new svo::Point(pt_pos_world, svo::Point::DEPTH); ftr->point = point; + ftr->point->addFrameRef(ftr); frame_ref->addFeature(ftr); } SVO_INFO_STREAM("Added "<("svo/dataset_directory")); - benchmark.runBenchmark(benchmark_dir); + if(vk::getParam("svo/dataset_is_blender", false)) + benchmark.runBlenderBenchmark(benchmark_dir); + else + benchmark.runBenchmark(benchmark_dir); printf("BenchmarkNode finished.\n"); return 0; } From b9a9dd7b7f8bc7a31bd99c40bb90d3c5fa0922d0 Mon Sep 17 00:00:00 2001 From: Christian Forster Date: Mon, 24 Mar 2014 15:03:03 +0100 Subject: [PATCH 029/215] tested and fixed new benchmark node --- svo_analysis/scripts/benchmark.py | 24 +++++++----------------- 1 file changed, 7 insertions(+), 17 deletions(-) diff --git a/svo_analysis/scripts/benchmark.py b/svo_analysis/scripts/benchmark.py index ce8727a..3018d11 100755 --- a/svo_analysis/scripts/benchmark.py +++ b/svo_analysis/scripts/benchmark.py @@ -10,20 +10,8 @@ import yaml import rospkg import argparse import time -import svo_analysis.cpu_info as cpu_info - -class RosNode: - def __init__(self, package, executable): - self.package = package - self.executable = executable - - def run(self, parameter_dictionary): - parameter_string = '' - for key in parameter_dictionary.keys(): - parameter_string = parameter_string + ' _' + key + ':=' + str(parameter_dictionary[key]) - print('starting ros node') - os.system('rosrun ' + self.package + ' ' + self.executable + ' ' + parameter_string) - print('ros node finished processing') +import vikit_py.cpu_info as cpu_info +import vikit_py.ros_node as ros_node if __name__=="__main__": @@ -47,8 +35,10 @@ if __name__=="__main__": expParams['experiment_name'] = expParams['time']+'_svo_' + args.experiment_file # load dataset parameters - datasetParamsFile = os.path.join(rospkg.RosPack().get_path('Datasets'), - expParams['dataset'], 'dataset_params.yaml') + expParams['dataset_directory'] = os.path.join(rospkg.RosPack().get_path('Datasets'), expParams['dataset']) + if not os.path.exists(expParams['dataset_directory']): + raise Exception("Provided dataset folder does not exist.") + datasetParamsFile = os.path.join(expParams['dataset_directory'], 'dataset_params.yaml') datasetParams = yaml.load(open(datasetParamsFile,'r')) # load algorithm parameters @@ -72,7 +62,7 @@ if __name__=="__main__": outfile.write(yaml.dump(params, default_flow_style=False)) # start ros node - node = RosNode('svo_ros','benchmark') + node = ros_node.RosNode('svo_ros','benchmark') node.run(params) From ea7b382a2bedbd97422dcb35145b7bc7f1213845 Mon Sep 17 00:00:00 2001 From: Christian Forster Date: Mon, 24 Mar 2014 15:03:19 +0100 Subject: [PATCH 030/215] moved some python functions to vikit --- svo_analysis/src/svo_analysis/cpu_info.py | 10 ---------- 1 file changed, 10 deletions(-) delete mode 100644 svo_analysis/src/svo_analysis/cpu_info.py diff --git a/svo_analysis/src/svo_analysis/cpu_info.py b/svo_analysis/src/svo_analysis/cpu_info.py deleted file mode 100644 index 48e661f..0000000 --- a/svo_analysis/src/svo_analysis/cpu_info.py +++ /dev/null @@ -1,10 +0,0 @@ -#!/usr/bin/python - -import subprocess, re - -def getCpuInfo(): - command = "cat /proc/cpuinfo" - all_info = subprocess.check_output(command, shell=True).strip() - for line in all_info.split("\n"): - if "model name" in line: - return re.sub( ".*model name.*:", "", line,1) \ No newline at end of file From 0b0a9a51b01ecd4e0e8bcede5c90cbe27c9e1b75 Mon Sep 17 00:00:00 2001 From: Christian Forster Date: Tue, 25 Mar 2014 14:39:35 +0100 Subject: [PATCH 031/215] tracing and plotting of pose error for synthetic datasets --- svo/CMakeLists.txt | 2 +- svo_analysis/scripts/benchmark.py | 14 +- svo_analysis/src/svo_analysis/__init__.py | 2 - .../src/svo_analysis/analyse_dataset.py | 1 - svo_analysis/src/svo_analysis/analyse_logs.py | 8 +- .../src/svo_analysis/analyse_trajectory.py | 110 +- .../src/svo_analysis/hand_eye_calib.py | 79 +- .../src/svo_analysis/rotation_utils.py | 143 -- .../src/svo_analysis/transformations.py | 1705 ----------------- svo_ros/src/benchmark_node.cpp | 39 +- 10 files changed, 105 insertions(+), 1998 deletions(-) delete mode 100644 svo_analysis/src/svo_analysis/rotation_utils.py delete mode 100644 svo_analysis/src/svo_analysis/transformations.py diff --git a/svo/CMakeLists.txt b/svo/CMakeLists.txt index 16b1cba..7612a94 100644 --- a/svo/CMakeLists.txt +++ b/svo/CMakeLists.txt @@ -2,7 +2,7 @@ # user build settings SET(DEBUG FALSE) -SET(TRACE FALSE) +SET(TRACE TRUE) SET(HAVE_G2O FALSE) ################################################################################ diff --git a/svo_analysis/scripts/benchmark.py b/svo_analysis/scripts/benchmark.py index 3018d11..4cebf88 100755 --- a/svo_analysis/scripts/benchmark.py +++ b/svo_analysis/scripts/benchmark.py @@ -10,6 +10,7 @@ import yaml import rospkg import argparse import time +import svo_analysis.analyse_trajectory as analyse_trajectory import vikit_py.cpu_info as cpu_info import vikit_py.ros_node as ros_node @@ -29,7 +30,7 @@ if __name__=="__main__": 'experiments', args.experiment_file+'.yaml') expParams = yaml.load(open(expParamsFile, 'r')) expParams['time'] = time.strftime("%Y%m%d_%H%M", time.localtime()) - #expParams['platform'] = cpu_info.getCpuInfo() + expParams['platform'] = cpu_info.get_cpu_info() expParams['experiment_name'] = args.name if(expParams['experiment_name'] == None): expParams['experiment_name'] = expParams['time']+'_svo_' + args.experiment_file @@ -43,7 +44,7 @@ if __name__=="__main__": # load algorithm parameters algoParamsFile = os.path.join(rospkg.RosPack().get_path('svo_ros'), - 'param', expParams['param_settings']+'.yaml') + 'param', expParams['param_settings']+'.yaml') algoParams = yaml.load(open(algoParamsFile,'r')) # combine all parameters @@ -61,9 +62,16 @@ if __name__=="__main__": with open(params_dump_file,'w') as outfile: outfile.write(yaml.dump(params, default_flow_style=False)) - # start ros node + # execute ros node node = ros_node.RosNode('svo_ros','benchmark') node.run(params) + # TODO: check if it is a synthetic dataset + # plot trajectory error + analyse_trajectory.analyse_trajectory(params['trace_dir']) + + + + diff --git a/svo_analysis/src/svo_analysis/__init__.py b/svo_analysis/src/svo_analysis/__init__.py index 633f866..e69de29 100644 --- a/svo_analysis/src/svo_analysis/__init__.py +++ b/svo_analysis/src/svo_analysis/__init__.py @@ -1,2 +0,0 @@ -# -*- coding: utf-8 -*- - diff --git a/svo_analysis/src/svo_analysis/analyse_dataset.py b/svo_analysis/src/svo_analysis/analyse_dataset.py index fa257b8..53a2501 100644 --- a/svo_analysis/src/svo_analysis/analyse_dataset.py +++ b/svo_analysis/src/svo_analysis/analyse_dataset.py @@ -4,7 +4,6 @@ import associate import numpy as np import matplotlib.pyplot as plt import yaml -import transformations def loadDataset(filename): file = open(filename) diff --git a/svo_analysis/src/svo_analysis/analyse_logs.py b/svo_analysis/src/svo_analysis/analyse_logs.py index be14feb..2f368ec 100755 --- a/svo_analysis/src/svo_analysis/analyse_logs.py +++ b/svo_analysis/src/svo_analysis/analyse_logs.py @@ -6,6 +6,10 @@ import numpy as np import matplotlib.pyplot as plt from matplotlib import rc +# tell matplotlib to use latex font +rc('font',**{'family':'serif','serif':['Cardo']}) +rc('text', usetex=True) + def analyse_logs(D, trace_name): # identify measurements which result from normal frames and which from keyframes @@ -124,9 +128,5 @@ if __name__=="__main__": for field, value in D.items(): D[field] = np.array(D[field]) - # tell matplotlib to use latex font - rc('font',**{'family':'serif','serif':['Cardo']}) - rc('text', usetex=True) - analyse_logs(D, args.trace_name) diff --git a/svo_analysis/src/svo_analysis/analyse_trajectory.py b/svo_analysis/src/svo_analysis/analyse_trajectory.py index f70cd62..f2a800e 100644 --- a/svo_analysis/src/svo_analysis/analyse_trajectory.py +++ b/svo_analysis/src/svo_analysis/analyse_trajectory.py @@ -1,43 +1,52 @@ # -*- coding: utf-8 -*- -import associate -import numpy as np -import matplotlib.pyplot as plt +import os import yaml -import transformations +from .tum_benchmark_tools import associate +import matplotlib.pyplot as plt +import vikit_py.transformations as transformations +import vikit_py.align_trajectory as align_trajectory +import numpy as np + +# plot options from matplotlib import rc +rc('font',**{'family':'serif','serif':['Cardo']}) +rc('text', usetex=True) -def alignSim3(model, data, n): +def plot_translation_error(timestamps, translation_error, results_dir): + fig = plt.figure(figsize=(8, 2.5)) + ax = fig.add_subplot(111, xlabel='time [s]', ylabel='position drift [mm]', xlim=[0,timestamps[-1]-timestamps[0]+4]) + ax.plot(timestamps-timestamps[0], translation_error[:,0]*1000, 'r-', label='x') + ax.plot(timestamps-timestamps[0], translation_error[:,1]*1000, 'g-', label='y') + ax.plot(timestamps-timestamps[0], translation_error[:,2]*1000, 'b-', label='z') + ax.legend() + fig.tight_layout() + fig.savefig(results_dir+'/translation_error.pdf') - # select the first n datapoints and remove its mean so their center is zero - M = model[0:n,:] - D = data[0:n,:] +def plot_rotation_error(timestamps, rotation_error, results_dir): + fig = plt.figure(figsize=(8, 2.5)) + ax = fig.add_subplot(111, xlabel='time [s]', ylabel='orientation drift [rad]', xlim=[0,timestamps[-1]-timestamps[0]+4]) + ax.plot(timestamps-timestamps[0], rotation_error[:,0], 'r-', label='yaw') + ax.plot(timestamps-timestamps[0], rotation_error[:,1], 'g-', label='pitch') + ax.plot(timestamps-timestamps[0], rotation_error[:,2], 'b-', label='roll') + ax.legend() + fig.tight_layout() + fig.savefig(results_dir+'/orientation_error.pdf') - # substract mean - mu_M = M.mean(0) - mu_D = D.mean(0) - M_zerocentered = M - mu_M - D_zerocentered = D - mu_D - - # correlation - C = 1.0/n*np.dot(M_zerocentered.transpose(), D_zerocentered) - sigma2 = 1.0/n*np.multiply(D_zerocentered,D_zerocentered).sum() - U_svd,D_svd,V_svd = np.linalg.linalg.svd(C) - D_svd = np.diag(D_svd) - V_svd = np.transpose(V_svd) - S = np.eye(3) - - if(np.linalg.det(U_svd)*np.linalg.det(V_svd) < 0): - S[2,2] = -1 - - R = np.dot(U_svd, np.dot(S, np.transpose(V_svd))) - s = 1.0/sigma2*np.trace(np.dot(D_svd, S)) - t = mu_M-s*np.dot(R,mu_D) - - return s, R, t - - -def getRigidBodyTrafo(quat,trans): +def analyse_trajectory(results_dir): + # plot translation error + data = np.loadtxt(os.path.join(results_dir, 'translation_error.txt')) + timestamps = data[:,0] + translation_error = data[:,1:4] + plot_translation_error(timestamps, translation_error, results_dir) + + # plot orientation error + data = np.loadtxt(os.path.join(results_dir, 'orientation_error.txt')) + timestamps = data[:,0] + orientation_error = data[:,1:4] + plot_rotation_error(timestamps, orientation_error, results_dir) + +def get_rigid_body_trafo(quat,trans): T = transformations.quaternion_matrix(quat) T[0:3,3] = trans return T @@ -50,10 +59,6 @@ if __name__ == '__main__': save = True results_dir = '../results/'+dataset - # plot options - rc('font',**{'family':'serif','serif':['Cardo']}) - rc('text', usetex=True) - # load dataset parameters params_stream = open(results_dir+'/params.yaml') params = yaml.load(params_stream) @@ -72,7 +77,7 @@ if __name__ == '__main__': P = yaml.load(dataset_param_file_stream) T_cm_quat = np.array([P['calib_Tcm_qx'], P['calib_Tcm_qy'], P['calib_Tcm_qz'], P['calib_Tcm_qw']]) T_cm_tran = np.array([P['calib_Tcm_tx'], P['calib_Tcm_ty'], P['calib_Tcm_tz']]) - T_cm = getRigidBodyTrafo(T_cm_quat, T_cm_tran) + T_cm = get_rigid_body_trafo(T_cm_quat, T_cm_tran) T_mc = transformations.inverse_matrix(T_cm) # load data @@ -94,12 +99,12 @@ if __name__ == '__main__': # align Sim3 to get scale if(n_align_frames > np.shape(matches)[0]): raise NameError('n_matches_for_scale is too large') - scale,rot,trans = alignSim3(p_gt, p_es, n_align_frames) + scale,rot,trans = align_trajectory.align_sim3(p_gt, p_es, n_align_frames) print 'scale = '+str(scale) # get trafo between (v)ision and (o)ptitrack frame - T_om = getRigidBodyTrafo(q_gt[0,:], p_gt[0,:]) - T_vc = getRigidBodyTrafo(q_es[0,:], scale*p_es[0,:]) + T_om = get_rigid_body_trafo(q_gt[0,:], p_gt[0,:]) + T_vc = get_rigid_body_trafo(q_es[0,:], scale*p_es[0,:]) T_cv = transformations.inverse_matrix(T_vc) T_ov = np.dot(T_om, np.dot(T_mc, T_cv)) print 'T_ov = ' + str(T_ov) @@ -111,7 +116,7 @@ if __name__ == '__main__': # rotate trajectory for i in range(np.shape(matches)[0]): - T_vc = getRigidBodyTrafo(q_es[i,:],p_es[i,:]) + T_vc = get_rigid_body_trafo(q_es[i,:],p_es[i,:]) T_vc[0:3,3] *= scale T_om = np.dot(T_ov, np.dot(T_vc, T_cm)) p_es_aligned[i,:] = T_om[0:3,3] @@ -136,15 +141,9 @@ if __name__ == '__main__': # plot position error (drift) translation_error = (p_gt-p_es_aligned) - fig = plt.figure(figsize=(8, 2.5)) - ax = fig.add_subplot(111, xlabel='time [s]', ylabel='position drift [m]', xlim=[0,t_es[-1]+4]) - ax.plot(t_es, translation_error[:,0], 'r-', label='x') - ax.plot(t_es, translation_error[:,1], 'g-', label='y') - ax.plot(t_es, translation_error[:,2], 'b-', label='z') - fig.tight_layout() + plot_translation_error(t_es, translation_error, results_dir) if save: - fig.savefig(results_dir+'/translation_error.pdf') f = open(translation_error_filename,'w') for i in range(translation_error.shape[0]): f.write('%.7f %.5f %.5f %.5f\n'%(t_es[i], translation_error[i,0], translation_error[i,1], translation_error[i,2])) @@ -152,16 +151,9 @@ if __name__ == '__main__': # plot orientation error (drift) orientation_error = (rpy_gt - rpy_es_aligned) - fig = plt.figure(figsize=(8, 2.5)) - ax = fig.add_subplot(111, xlabel='time [s]', ylabel='orientation drift [rad]', xlim=[0,t_es[-1]+4]) - ax.plot(t_es, orientation_error[:,0], 'r--', label='yaw') - ax.plot(t_es, orientation_error[:,1], 'g--', label='pitch') - ax.plot(t_es, orientation_error[:,2], 'b--', label='roll') - ax.legend() - fig.tight_layout() - - if save: - fig.savefig(results_dir+'/orientation_error.pdf') + plot_rotation_error(t_es, orientation_error, results_dir) + + if save: f = open(orientation_error_filename,'w') for i in range(orientation_error.shape[0]): f.write('%.7f %.5f %.5f %.5f\n'%(t_es[i], orientation_error[i,0], orientation_error[i,1], orientation_error[i,2])) diff --git a/svo_analysis/src/svo_analysis/hand_eye_calib.py b/svo_analysis/src/svo_analysis/hand_eye_calib.py index 7a7bb1b..f0eae14 100644 --- a/svo_analysis/src/svo_analysis/hand_eye_calib.py +++ b/svo_analysis/src/svo_analysis/hand_eye_calib.py @@ -11,81 +11,6 @@ import associate import rotation_utils as ru import matplotlib.pyplot as plt -def alignSim3(model, data, n): - - # select the first n datapoints and remove its mean so their center is zero - M = model[0:n,:] - D = data[0:n,:] - - # substract mean - mu_M = M.mean(0) - mu_D = D.mean(0) - M_zerocentered = M - mu_M - D_zerocentered = D - mu_D - - # correlation - C = 1.0/n*np.dot(M_zerocentered.transpose(), D_zerocentered) - sigma2 = 1.0/n*np.multiply(D_zerocentered,D_zerocentered).sum() - U_svd,D_svd,V_svd = np.linalg.linalg.svd(C) - D_svd = np.diag(D_svd) - V_svd = np.transpose(V_svd) - S = np.eye(3) - - if(np.linalg.det(U_svd)*np.linalg.det(V_svd) < 0): - S[2,2] = -1 - - R = np.dot(U_svd, np.dot(S, np.transpose(V_svd))) - s = 1.0/sigma2*np.trace(np.dot(D_svd, S)) - t = mu_M-s*np.dot(R,mu_D) - - return s, R, t - -def matrixLog(A): - theta = np.arccos((np.trace(A)-1.0)/2.0) - log_theta = 0.5*theta/np.sin(theta) * (A - A.transpose()) - x = np.array([log_theta[2,1], log_theta[0,2], log_theta[1,0]]) - return x - -def handEyeCalib(q_gt, q_es, p_gt, p_es, I, delta=10, verbose=True): - ''' Implementation of the least squares solution described in the paper: - Robot Sensor Calibration: Solving AX=XB on the Euclidean Group - by Frank C. Park and Bryan J. Martin - ''' - n = np.shape(I)[0] - M = np.zeros([3,3]) - C = np.zeros([3*n, 3]) - b_A = np.zeros([3*n,1]) - b_B = np.zeros([3*n,1]) - for ix, i in enumerate(I): - A1 = ru.quat2dcm(q_es[i,:]) - A2 = ru.quat2dcm(q_es[i+delta,:]) - A = np.dot(A1.transpose(), A2) - B1 = ru.quat2dcm(q_gt[i,:]) - B2 = ru.quat2dcm(q_gt[i+delta,:]) - B = np.dot(B1.transpose(), B2) - alpha = matrixLog(A) - beta = matrixLog(B) - M = M + np.dot(np.matrix(beta).transpose(), np.matrix(alpha)) - C[3*ix:3*ix+3,:] = np.eye(3) - A - b_A[3*ix:3*ix+3,0] = np.dot(np.transpose(A1), p_es[i+delta,:]-p_es[i,:]) - b_B[3*ix:3*ix+3,0] = np.dot(np.transpose(B1), p_gt[i+delta,:]-p_gt[i,:]) - - # compute rotation - D,V = np.linalg.linalg.eig(np.dot(M.transpose(), M)) - Lambda = np.diag([np.sqrt(1.0/D[0]), np.sqrt(1.0/D[1]), np.sqrt(1.0/D[2])]) - Vinv = np.linalg.linalg.inv(V) - X = np.dot(V, np.dot(Lambda, np.dot(Vinv, M.transpose()))) - - # compute translation - d = np.zeros([3*n,1]) - for i in range(n): - d[3*i:3*i+3,:] = b_A[3*i:3*i+3,:] - np.dot(X, b_B[3*i:3*i+3,:]) - - b = np.dot(np.linalg.inv(np.dot(np.transpose(C),C)), np.dot(np.transpose(C),d)) - - return np.array(X),b - - # user config display = True dataset = '20130906_2149_ptam_i7_asl2' @@ -121,7 +46,7 @@ q_es = np.array([[float(value) for value in data_es[b][3:7]] for a,b in matches] # -------------------------------------------------------------------------------- # align Sim3 to get scale -scale,rot,trans = alignSim3(p_gt, p_es, np.shape(matches)[0]) +scale,rot,trans = align_sim3(p_gt, p_es, np.shape(matches)[0]) p_es = scale*p_es #p_es = np.transpose(scale*np.dot(rot,np.transpose(p_es)))+trans @@ -142,7 +67,7 @@ if display: # select random measurements I = np.array(rand(n_measurements,1)*(np.shape(matches)[0]-delta), dtype=int)[:,0] -R,b = handEyeCalib(q_gt, q_es, p_gt, p_es, I, delta, True) +R,b = hand_eye_calib(q_gt, q_es, p_gt, p_es, I, delta, True) print 'quat = ' + str(ru.dcm2quat(R)) print 'b = ' + str(b) diff --git a/svo_analysis/src/svo_analysis/rotation_utils.py b/svo_analysis/src/svo_analysis/rotation_utils.py deleted file mode 100644 index 4c7b711..0000000 --- a/svo_analysis/src/svo_analysis/rotation_utils.py +++ /dev/null @@ -1,143 +0,0 @@ -# -*- coding: utf-8 -*- -""" -Created on Fri Jun 28 10:42:37 2013 - -@author: cforster -""" - -import math -import numpy as np - -# epsilon for testing whether a number is close to zero -_EPS = np.finfo(float).eps * 4.0 - -# axis sequences for Euler angles -_NEXT_AXIS = [1, 2, 0, 1] - -# map axes strings to/from tuples of inner axis, parity, repetition, frame -_AXES2TUPLE = { - 'sxyz': (0, 0, 0, 0), 'sxyx': (0, 0, 1, 0), 'sxzy': (0, 1, 0, 0), - 'sxzx': (0, 1, 1, 0), 'syzx': (1, 0, 0, 0), 'syzy': (1, 0, 1, 0), - 'syxz': (1, 1, 0, 0), 'syxy': (1, 1, 1, 0), 'szxy': (2, 0, 0, 0), - 'szxz': (2, 0, 1, 0), 'szyx': (2, 1, 0, 0), 'szyz': (2, 1, 1, 0), - 'rzyx': (0, 0, 0, 1), 'rxyx': (0, 0, 1, 1), 'ryzx': (0, 1, 0, 1), - 'rxzx': (0, 1, 1, 1), 'rxzy': (1, 0, 0, 1), 'ryzy': (1, 0, 1, 1), - 'rzxy': (1, 1, 0, 1), 'ryxy': (1, 1, 1, 1), 'ryxz': (2, 0, 0, 1), - 'rzxz': (2, 0, 1, 1), 'rxyz': (2, 1, 0, 1), 'rzyz': (2, 1, 1, 1)} - -_TUPLE2AXES = dict((v, k) for k, v in _AXES2TUPLE.items()) - - -def quat2dcm(quaternion): - """Convert Quaternion [x y z w] to Direct Cosine Matrix representation """ - q = np.array(quaternion[:4], dtype=np.float64, copy=True) - nq = np.dot(q, q) - if nq < _EPS: - return np.identity(4) - q *= math.sqrt(2.0 / nq) - q = np.outer(q, q) - return np.array([ [1.0-q[1, 1]-q[2, 2], q[0, 1]-q[2, 3], q[0, 2]+q[1, 3]], - [ q[0, 1]+q[2, 3], 1.0-q[0, 0]-q[2, 2], q[1, 2]-q[0, 3]], - [ q[0, 2]-q[1, 3], q[1, 2]+q[0, 3], 1.0-q[0, 0]-q[1, 1]]], - dtype=np.float64) - -def dcm2quat(matrix): - """Convert Direct Cosine Matrix to Quaternion - - This algorithm comes from "Quaternion Calculus and Fast Animation", - Ken Shoemake, 1987 SIGGRAPH course notes - """ - q = np.empty((4, ), dtype=np.float64) - M = np.array(matrix, dtype=np.float64, copy=False)[:3, :3] - t = np.trace(M) - if (t > 0): - t = math.sqrt(t + 1.0); - q[3] = 0.5*t; - t = 0.5/t; - q[0] = (M[2,1] - M[1,2]) * t; - q[1] = (M[0,2] - M[2,0]) * t; - q[2] = (M[1,0] - M[0,1]) * t; - else: - i = 0; - if (M[1,1] > M[0,0]): - i = 1; - if (M[2,2] > M[i,i]): - i = 2; - j = (i+1)%3; - k = (j+1)%3; - - t = math.sqrt(M[i,i]-M[j,j]-M[k,k] + 1.0); - q[i] = 0.5 * t; - t = 0.5/t; - q[3] = (M[k,j]-M[j,k])*t; - q[j] = (M[j,i]+M[i,j])*t; - q[k] = (M[k,i]+M[i,k])*t; - return q - -def dcm2rpy(matrix, axes='sxyz'): - """Return Euler angles from rotation matrix for specified axis sequence. - - axes : One of 24 axis sequences as string or encoded tuple - - Note that many Euler angle triplets can describe one matrix. - - >>> R0 = euler_matrix(1, 2, 3, 'syxz') - >>> al, be, ga = euler_from_matrix(R0, 'syxz') - >>> R1 = euler_matrix(al, be, ga, 'syxz') - >>> numpy.allclose(R0, R1) - True - >>> angles = (4.0*math.pi) * (numpy.random.random(3) - 0.5) - >>> for axes in _AXES2TUPLE.keys(): - ... R0 = euler_matrix(axes=axes, *angles) - ... R1 = euler_matrix(axes=axes, *euler_from_matrix(R0, axes)) - ... if not numpy.allclose(R0, R1): print axes, "failed" - - """ - try: - firstaxis, parity, repetition, frame = _AXES2TUPLE[axes.lower()] - except (AttributeError, KeyError): - _ = _TUPLE2AXES[axes] - firstaxis, parity, repetition, frame = axes - - i = firstaxis - j = _NEXT_AXIS[i+parity] - k = _NEXT_AXIS[i-parity+1] - - M = np.array(matrix, dtype=np.float64, copy=False)[:3, :3] - if repetition: - sy = math.sqrt(M[i, j]*M[i, j] + M[i, k]*M[i, k]) - if sy > _EPS: - ax = math.atan2( M[i, j], M[i, k]) - ay = math.atan2( sy, M[i, i]) - az = math.atan2( M[j, i], -M[k, i]) - else: - ax = math.atan2(-M[j, k], M[j, j]) - ay = math.atan2( sy, M[i, i]) - az = 0.0 - else: - cy = math.sqrt(M[i, i]*M[i, i] + M[j, i]*M[j, i]) - if cy > _EPS: - ax = math.atan2( M[k, j], M[k, k]) - ay = math.atan2(-M[k, i], cy) - az = math.atan2( M[j, i], M[i, i]) - else: - ax = math.atan2(-M[j, k], M[j, j]) - ay = math.atan2(-M[k, i], cy) - az = 0.0 - - if parity: - ax, ay, az = -ax, -ay, -az - if frame: - ax, az = az, ax - return ax, ay, az - -def quat2rpy(quaternion, axes='sxyz'): - """Return Euler angles from quaternion for specified axis sequence. - - >>> angles = euler_from_quaternion([0.06146124, 0, 0, 0.99810947]) - >>> numpy.allclose(angles, [0.123, 0, 0]) - True - - """ - return dcm2rpy(quat2dcm(quaternion), axes) - diff --git a/svo_analysis/src/svo_analysis/transformations.py b/svo_analysis/src/svo_analysis/transformations.py deleted file mode 100644 index 6d6f19e..0000000 --- a/svo_analysis/src/svo_analysis/transformations.py +++ /dev/null @@ -1,1705 +0,0 @@ -# -*- coding: utf-8 -*- -# transformations.py - -# Copyright (c) 2006, Christoph Gohlke -# Copyright (c) 2006-2009, The Regents of the University of California -# All rights reserved. -# -# Redistribution and use in source and binary forms, with or without -# modification, are permitted provided that the following conditions are met: -# -# * Redistributions of source code must retain the above copyright -# notice, this list of conditions and the following disclaimer. -# * Redistributions in binary form must reproduce the above copyright -# notice, this list of conditions and the following disclaimer in the -# documentation and/or other materials provided with the distribution. -# * Neither the name of the copyright holders nor the names of any -# contributors may be used to endorse or promote products derived -# from this software without specific prior written permission. -# -# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" -# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE -# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE -# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE -# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR -# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF -# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS -# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN -# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) -# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -# POSSIBILITY OF SUCH DAMAGE. - -"""Homogeneous Transformation Matrices and Quaternions. - -A library for calculating 4x4 matrices for translating, rotating, reflecting, -scaling, shearing, projecting, orthogonalizing, and superimposing arrays of -3D homogeneous coordinates as well as for converting between rotation matrices, -Euler angles, and quaternions. Also includes an Arcball control object and -functions to decompose transformation matrices. - -:Authors: - `Christoph Gohlke `__, - Laboratory for Fluorescence Dynamics, University of California, Irvine - -:Version: 20090418 - -Requirements ------------- - -* `Python 2.6 `__ -* `Numpy 1.3 `__ -* `transformations.c 20090418 `__ - (optional implementation of some functions in C) - -Notes ------ - -Matrices (M) can be inverted using numpy.linalg.inv(M), concatenated using -numpy.dot(M0, M1), or used to transform homogeneous coordinates (v) using -numpy.dot(M, v) for shape (4, \*) "point of arrays", respectively -numpy.dot(v, M.T) for shape (\*, 4) "array of points". - -Calculations are carried out with numpy.float64 precision. - -This Python implementation is not optimized for speed. - -Vector, point, quaternion, and matrix function arguments are expected to be -"array like", i.e. tuple, list, or numpy arrays. - -Return types are numpy arrays unless specified otherwise. - -Angles are in radians unless specified otherwise. - -Quaternions ix+jy+kz+w are represented as [x, y, z, w]. - -Use the transpose of transformation matrices for OpenGL glMultMatrixd(). - -A triple of Euler angles can be applied/interpreted in 24 ways, which can -be specified using a 4 character string or encoded 4-tuple: - - *Axes 4-string*: e.g. 'sxyz' or 'ryxy' - - - first character : rotations are applied to 's'tatic or 'r'otating frame - - remaining characters : successive rotation axis 'x', 'y', or 'z' - - *Axes 4-tuple*: e.g. (0, 0, 0, 0) or (1, 1, 1, 1) - - - inner axis: code of axis ('x':0, 'y':1, 'z':2) of rightmost matrix. - - parity : even (0) if inner axis 'x' is followed by 'y', 'y' is followed - by 'z', or 'z' is followed by 'x'. Otherwise odd (1). - - repetition : first and last axis are same (1) or different (0). - - frame : rotations are applied to static (0) or rotating (1) frame. - -References ----------- - -(1) Matrices and transformations. Ronald Goldman. - In "Graphics Gems I", pp 472-475. Morgan Kaufmann, 1990. -(2) More matrices and transformations: shear and pseudo-perspective. - Ronald Goldman. In "Graphics Gems II", pp 320-323. Morgan Kaufmann, 1991. -(3) Decomposing a matrix into simple transformations. Spencer Thomas. - In "Graphics Gems II", pp 320-323. Morgan Kaufmann, 1991. -(4) Recovering the data from the transformation matrix. Ronald Goldman. - In "Graphics Gems II", pp 324-331. Morgan Kaufmann, 1991. -(5) Euler angle conversion. Ken Shoemake. - In "Graphics Gems IV", pp 222-229. Morgan Kaufmann, 1994. -(6) Arcball rotation control. Ken Shoemake. - In "Graphics Gems IV", pp 175-192. Morgan Kaufmann, 1994. -(7) Representing attitude: Euler angles, unit quaternions, and rotation - vectors. James Diebel. 2006. -(8) A discussion of the solution for the best rotation to relate two sets - of vectors. W Kabsch. Acta Cryst. 1978. A34, 827-828. -(9) Closed-form solution of absolute orientation using unit quaternions. - BKP Horn. J Opt Soc Am A. 1987. 4(4), 629-642. -(10) Quaternions. Ken Shoemake. - http://www.sfu.ca/~jwa3/cmpt461/files/quatut.pdf -(11) From quaternion to matrix and back. JMP van Waveren. 2005. - http://www.intel.com/cd/ids/developer/asmo-na/eng/293748.htm -(12) Uniform random rotations. Ken Shoemake. - In "Graphics Gems III", pp 124-132. Morgan Kaufmann, 1992. - - -Examples --------- - ->>> alpha, beta, gamma = 0.123, -1.234, 2.345 ->>> origin, xaxis, yaxis, zaxis = (0, 0, 0), (1, 0, 0), (0, 1, 0), (0, 0, 1) ->>> I = identity_matrix() ->>> Rx = rotation_matrix(alpha, xaxis) ->>> Ry = rotation_matrix(beta, yaxis) ->>> Rz = rotation_matrix(gamma, zaxis) ->>> R = concatenate_matrices(Rx, Ry, Rz) ->>> euler = euler_from_matrix(R, 'rxyz') ->>> numpy.allclose([alpha, beta, gamma], euler) -True ->>> Re = euler_matrix(alpha, beta, gamma, 'rxyz') ->>> is_same_transform(R, Re) -True ->>> al, be, ga = euler_from_matrix(Re, 'rxyz') ->>> is_same_transform(Re, euler_matrix(al, be, ga, 'rxyz')) -True ->>> qx = quaternion_about_axis(alpha, xaxis) ->>> qy = quaternion_about_axis(beta, yaxis) ->>> qz = quaternion_about_axis(gamma, zaxis) ->>> q = quaternion_multiply(qx, qy) ->>> q = quaternion_multiply(q, qz) ->>> Rq = quaternion_matrix(q) ->>> is_same_transform(R, Rq) -True ->>> S = scale_matrix(1.23, origin) ->>> T = translation_matrix((1, 2, 3)) ->>> Z = shear_matrix(beta, xaxis, origin, zaxis) ->>> R = random_rotation_matrix(numpy.random.rand(3)) ->>> M = concatenate_matrices(T, R, Z, S) ->>> scale, shear, angles, trans, persp = decompose_matrix(M) ->>> numpy.allclose(scale, 1.23) -True ->>> numpy.allclose(trans, (1, 2, 3)) -True ->>> numpy.allclose(shear, (0, math.tan(beta), 0)) -True ->>> is_same_transform(R, euler_matrix(axes='sxyz', *angles)) -True ->>> M1 = compose_matrix(scale, shear, angles, trans, persp) ->>> is_same_transform(M, M1) -True - -""" - -from __future__ import division - -import warnings -import math - -import numpy - -# Documentation in HTML format can be generated with Epydoc -__docformat__ = "restructuredtext en" - - -def identity_matrix(): - """Return 4x4 identity/unit matrix. - - >>> I = identity_matrix() - >>> numpy.allclose(I, numpy.dot(I, I)) - True - >>> numpy.sum(I), numpy.trace(I) - (4.0, 4.0) - >>> numpy.allclose(I, numpy.identity(4, dtype=numpy.float64)) - True - - """ - return numpy.identity(4, dtype=numpy.float64) - - -def translation_matrix(direction): - """Return matrix to translate by direction vector. - - >>> v = numpy.random.random(3) - 0.5 - >>> numpy.allclose(v, translation_matrix(v)[:3, 3]) - True - - """ - M = numpy.identity(4) - M[:3, 3] = direction[:3] - return M - - -def translation_from_matrix(matrix): - """Return translation vector from translation matrix. - - >>> v0 = numpy.random.random(3) - 0.5 - >>> v1 = translation_from_matrix(translation_matrix(v0)) - >>> numpy.allclose(v0, v1) - True - - """ - return numpy.array(matrix, copy=False)[:3, 3].copy() - - -def reflection_matrix(point, normal): - """Return matrix to mirror at plane defined by point and normal vector. - - >>> v0 = numpy.random.random(4) - 0.5 - >>> v0[3] = 1.0 - >>> v1 = numpy.random.random(3) - 0.5 - >>> R = reflection_matrix(v0, v1) - >>> numpy.allclose(2., numpy.trace(R)) - True - >>> numpy.allclose(v0, numpy.dot(R, v0)) - True - >>> v2 = v0.copy() - >>> v2[:3] += v1 - >>> v3 = v0.copy() - >>> v2[:3] -= v1 - >>> numpy.allclose(v2, numpy.dot(R, v3)) - True - - """ - normal = unit_vector(normal[:3]) - M = numpy.identity(4) - M[:3, :3] -= 2.0 * numpy.outer(normal, normal) - M[:3, 3] = (2.0 * numpy.dot(point[:3], normal)) * normal - return M - - -def reflection_from_matrix(matrix): - """Return mirror plane point and normal vector from reflection matrix. - - >>> v0 = numpy.random.random(3) - 0.5 - >>> v1 = numpy.random.random(3) - 0.5 - >>> M0 = reflection_matrix(v0, v1) - >>> point, normal = reflection_from_matrix(M0) - >>> M1 = reflection_matrix(point, normal) - >>> is_same_transform(M0, M1) - True - - """ - M = numpy.array(matrix, dtype=numpy.float64, copy=False) - # normal: unit eigenvector corresponding to eigenvalue -1 - l, V = numpy.linalg.eig(M[:3, :3]) - i = numpy.where(abs(numpy.real(l) + 1.0) < 1e-8)[0] - if not len(i): - raise ValueError("no unit eigenvector corresponding to eigenvalue -1") - normal = numpy.real(V[:, i[0]]).squeeze() - # point: any unit eigenvector corresponding to eigenvalue 1 - l, V = numpy.linalg.eig(M) - i = numpy.where(abs(numpy.real(l) - 1.0) < 1e-8)[0] - if not len(i): - raise ValueError("no unit eigenvector corresponding to eigenvalue 1") - point = numpy.real(V[:, i[-1]]).squeeze() - point /= point[3] - return point, normal - - -def rotation_matrix(angle, direction, point=None): - """Return matrix to rotate about axis defined by point and direction. - - >>> angle = (random.random() - 0.5) * (2*math.pi) - >>> direc = numpy.random.random(3) - 0.5 - >>> point = numpy.random.random(3) - 0.5 - >>> R0 = rotation_matrix(angle, direc, point) - >>> R1 = rotation_matrix(angle-2*math.pi, direc, point) - >>> is_same_transform(R0, R1) - True - >>> R0 = rotation_matrix(angle, direc, point) - >>> R1 = rotation_matrix(-angle, -direc, point) - >>> is_same_transform(R0, R1) - True - >>> I = numpy.identity(4, numpy.float64) - >>> numpy.allclose(I, rotation_matrix(math.pi*2, direc)) - True - >>> numpy.allclose(2., numpy.trace(rotation_matrix(math.pi/2, - ... direc, point))) - True - - """ - sina = math.sin(angle) - cosa = math.cos(angle) - direction = unit_vector(direction[:3]) - # rotation matrix around unit vector - R = numpy.array(((cosa, 0.0, 0.0), - (0.0, cosa, 0.0), - (0.0, 0.0, cosa)), dtype=numpy.float64) - R += numpy.outer(direction, direction) * (1.0 - cosa) - direction *= sina - R += numpy.array((( 0.0, -direction[2], direction[1]), - ( direction[2], 0.0, -direction[0]), - (-direction[1], direction[0], 0.0)), - dtype=numpy.float64) - M = numpy.identity(4) - M[:3, :3] = R - if point is not None: - # rotation not around origin - point = numpy.array(point[:3], dtype=numpy.float64, copy=False) - M[:3, 3] = point - numpy.dot(R, point) - return M - - -def rotation_from_matrix(matrix): - """Return rotation angle and axis from rotation matrix. - - >>> angle = (random.random() - 0.5) * (2*math.pi) - >>> direc = numpy.random.random(3) - 0.5 - >>> point = numpy.random.random(3) - 0.5 - >>> R0 = rotation_matrix(angle, direc, point) - >>> angle, direc, point = rotation_from_matrix(R0) - >>> R1 = rotation_matrix(angle, direc, point) - >>> is_same_transform(R0, R1) - True - - """ - R = numpy.array(matrix, dtype=numpy.float64, copy=False) - R33 = R[:3, :3] - # direction: unit eigenvector of R33 corresponding to eigenvalue of 1 - l, W = numpy.linalg.eig(R33.T) - i = numpy.where(abs(numpy.real(l) - 1.0) < 1e-8)[0] - if not len(i): - raise ValueError("no unit eigenvector corresponding to eigenvalue 1") - direction = numpy.real(W[:, i[-1]]).squeeze() - # point: unit eigenvector of R33 corresponding to eigenvalue of 1 - l, Q = numpy.linalg.eig(R) - i = numpy.where(abs(numpy.real(l) - 1.0) < 1e-8)[0] - if not len(i): - raise ValueError("no unit eigenvector corresponding to eigenvalue 1") - point = numpy.real(Q[:, i[-1]]).squeeze() - point /= point[3] - # rotation angle depending on direction - cosa = (numpy.trace(R33) - 1.0) / 2.0 - if abs(direction[2]) > 1e-8: - sina = (R[1, 0] + (cosa-1.0)*direction[0]*direction[1]) / direction[2] - elif abs(direction[1]) > 1e-8: - sina = (R[0, 2] + (cosa-1.0)*direction[0]*direction[2]) / direction[1] - else: - sina = (R[2, 1] + (cosa-1.0)*direction[1]*direction[2]) / direction[0] - angle = math.atan2(sina, cosa) - return angle, direction, point - - -def scale_matrix(factor, origin=None, direction=None): - """Return matrix to scale by factor around origin in direction. - - Use factor -1 for point symmetry. - - >>> v = (numpy.random.rand(4, 5) - 0.5) * 20.0 - >>> v[3] = 1.0 - >>> S = scale_matrix(-1.234) - >>> numpy.allclose(numpy.dot(S, v)[:3], -1.234*v[:3]) - True - >>> factor = random.random() * 10 - 5 - >>> origin = numpy.random.random(3) - 0.5 - >>> direct = numpy.random.random(3) - 0.5 - >>> S = scale_matrix(factor, origin) - >>> S = scale_matrix(factor, origin, direct) - - """ - if direction is None: - # uniform scaling - M = numpy.array(((factor, 0.0, 0.0, 0.0), - (0.0, factor, 0.0, 0.0), - (0.0, 0.0, factor, 0.0), - (0.0, 0.0, 0.0, 1.0)), dtype=numpy.float64) - if origin is not None: - M[:3, 3] = origin[:3] - M[:3, 3] *= 1.0 - factor - else: - # nonuniform scaling - direction = unit_vector(direction[:3]) - factor = 1.0 - factor - M = numpy.identity(4) - M[:3, :3] -= factor * numpy.outer(direction, direction) - if origin is not None: - M[:3, 3] = (factor * numpy.dot(origin[:3], direction)) * direction - return M - - -def scale_from_matrix(matrix): - """Return scaling factor, origin and direction from scaling matrix. - - >>> factor = random.random() * 10 - 5 - >>> origin = numpy.random.random(3) - 0.5 - >>> direct = numpy.random.random(3) - 0.5 - >>> S0 = scale_matrix(factor, origin) - >>> factor, origin, direction = scale_from_matrix(S0) - >>> S1 = scale_matrix(factor, origin, direction) - >>> is_same_transform(S0, S1) - True - >>> S0 = scale_matrix(factor, origin, direct) - >>> factor, origin, direction = scale_from_matrix(S0) - >>> S1 = scale_matrix(factor, origin, direction) - >>> is_same_transform(S0, S1) - True - - """ - M = numpy.array(matrix, dtype=numpy.float64, copy=False) - M33 = M[:3, :3] - factor = numpy.trace(M33) - 2.0 - try: - # direction: unit eigenvector corresponding to eigenvalue factor - l, V = numpy.linalg.eig(M33) - i = numpy.where(abs(numpy.real(l) - factor) < 1e-8)[0][0] - direction = numpy.real(V[:, i]).squeeze() - direction /= vector_norm(direction) - except IndexError: - # uniform scaling - factor = (factor + 2.0) / 3.0 - direction = None - # origin: any eigenvector corresponding to eigenvalue 1 - l, V = numpy.linalg.eig(M) - i = numpy.where(abs(numpy.real(l) - 1.0) < 1e-8)[0] - if not len(i): - raise ValueError("no eigenvector corresponding to eigenvalue 1") - origin = numpy.real(V[:, i[-1]]).squeeze() - origin /= origin[3] - return factor, origin, direction - - -def projection_matrix(point, normal, direction=None, - perspective=None, pseudo=False): - """Return matrix to project onto plane defined by point and normal. - - Using either perspective point, projection direction, or none of both. - - If pseudo is True, perspective projections will preserve relative depth - such that Perspective = dot(Orthogonal, PseudoPerspective). - - >>> P = projection_matrix((0, 0, 0), (1, 0, 0)) - >>> numpy.allclose(P[1:, 1:], numpy.identity(4)[1:, 1:]) - True - >>> point = numpy.random.random(3) - 0.5 - >>> normal = numpy.random.random(3) - 0.5 - >>> direct = numpy.random.random(3) - 0.5 - >>> persp = numpy.random.random(3) - 0.5 - >>> P0 = projection_matrix(point, normal) - >>> P1 = projection_matrix(point, normal, direction=direct) - >>> P2 = projection_matrix(point, normal, perspective=persp) - >>> P3 = projection_matrix(point, normal, perspective=persp, pseudo=True) - >>> is_same_transform(P2, numpy.dot(P0, P3)) - True - >>> P = projection_matrix((3, 0, 0), (1, 1, 0), (1, 0, 0)) - >>> v0 = (numpy.random.rand(4, 5) - 0.5) * 20.0 - >>> v0[3] = 1.0 - >>> v1 = numpy.dot(P, v0) - >>> numpy.allclose(v1[1], v0[1]) - True - >>> numpy.allclose(v1[0], 3.0-v1[1]) - True - - """ - M = numpy.identity(4) - point = numpy.array(point[:3], dtype=numpy.float64, copy=False) - normal = unit_vector(normal[:3]) - if perspective is not None: - # perspective projection - perspective = numpy.array(perspective[:3], dtype=numpy.float64, - copy=False) - M[0, 0] = M[1, 1] = M[2, 2] = numpy.dot(perspective-point, normal) - M[:3, :3] -= numpy.outer(perspective, normal) - if pseudo: - # preserve relative depth - M[:3, :3] -= numpy.outer(normal, normal) - M[:3, 3] = numpy.dot(point, normal) * (perspective+normal) - else: - M[:3, 3] = numpy.dot(point, normal) * perspective - M[3, :3] = -normal - M[3, 3] = numpy.dot(perspective, normal) - elif direction is not None: - # parallel projection - direction = numpy.array(direction[:3], dtype=numpy.float64, copy=False) - scale = numpy.dot(direction, normal) - M[:3, :3] -= numpy.outer(direction, normal) / scale - M[:3, 3] = direction * (numpy.dot(point, normal) / scale) - else: - # orthogonal projection - M[:3, :3] -= numpy.outer(normal, normal) - M[:3, 3] = numpy.dot(point, normal) * normal - return M - - -def projection_from_matrix(matrix, pseudo=False): - """Return projection plane and perspective point from projection matrix. - - Return values are same as arguments for projection_matrix function: - point, normal, direction, perspective, and pseudo. - - >>> point = numpy.random.random(3) - 0.5 - >>> normal = numpy.random.random(3) - 0.5 - >>> direct = numpy.random.random(3) - 0.5 - >>> persp = numpy.random.random(3) - 0.5 - >>> P0 = projection_matrix(point, normal) - >>> result = projection_from_matrix(P0) - >>> P1 = projection_matrix(*result) - >>> is_same_transform(P0, P1) - True - >>> P0 = projection_matrix(point, normal, direct) - >>> result = projection_from_matrix(P0) - >>> P1 = projection_matrix(*result) - >>> is_same_transform(P0, P1) - True - >>> P0 = projection_matrix(point, normal, perspective=persp, pseudo=False) - >>> result = projection_from_matrix(P0, pseudo=False) - >>> P1 = projection_matrix(*result) - >>> is_same_transform(P0, P1) - True - >>> P0 = projection_matrix(point, normal, perspective=persp, pseudo=True) - >>> result = projection_from_matrix(P0, pseudo=True) - >>> P1 = projection_matrix(*result) - >>> is_same_transform(P0, P1) - True - - """ - M = numpy.array(matrix, dtype=numpy.float64, copy=False) - M33 = M[:3, :3] - l, V = numpy.linalg.eig(M) - i = numpy.where(abs(numpy.real(l) - 1.0) < 1e-8)[0] - if not pseudo and len(i): - # point: any eigenvector corresponding to eigenvalue 1 - point = numpy.real(V[:, i[-1]]).squeeze() - point /= point[3] - # direction: unit eigenvector corresponding to eigenvalue 0 - l, V = numpy.linalg.eig(M33) - i = numpy.where(abs(numpy.real(l)) < 1e-8)[0] - if not len(i): - raise ValueError("no eigenvector corresponding to eigenvalue 0") - direction = numpy.real(V[:, i[0]]).squeeze() - direction /= vector_norm(direction) - # normal: unit eigenvector of M33.T corresponding to eigenvalue 0 - l, V = numpy.linalg.eig(M33.T) - i = numpy.where(abs(numpy.real(l)) < 1e-8)[0] - if len(i): - # parallel projection - normal = numpy.real(V[:, i[0]]).squeeze() - normal /= vector_norm(normal) - return point, normal, direction, None, False - else: - # orthogonal projection, where normal equals direction vector - return point, direction, None, None, False - else: - # perspective projection - i = numpy.where(abs(numpy.real(l)) > 1e-8)[0] - if not len(i): - raise ValueError( - "no eigenvector not corresponding to eigenvalue 0") - point = numpy.real(V[:, i[-1]]).squeeze() - point /= point[3] - normal = - M[3, :3] - perspective = M[:3, 3] / numpy.dot(point[:3], normal) - if pseudo: - perspective -= normal - return point, normal, None, perspective, pseudo - - -def clip_matrix(left, right, bottom, top, near, far, perspective=False): - """Return matrix to obtain normalized device coordinates from frustrum. - - The frustrum bounds are axis-aligned along x (left, right), - y (bottom, top) and z (near, far). - - Normalized device coordinates are in range [-1, 1] if coordinates are - inside the frustrum. - - If perspective is True the frustrum is a truncated pyramid with the - perspective point at origin and direction along z axis, otherwise an - orthographic canonical view volume (a box). - - Homogeneous coordinates transformed by the perspective clip matrix - need to be dehomogenized (devided by w coordinate). - - >>> frustrum = numpy.random.rand(6) - >>> frustrum[1] += frustrum[0] - >>> frustrum[3] += frustrum[2] - >>> frustrum[5] += frustrum[4] - >>> M = clip_matrix(*frustrum, perspective=False) - >>> numpy.dot(M, [frustrum[0], frustrum[2], frustrum[4], 1.0]) - array([-1., -1., -1., 1.]) - >>> numpy.dot(M, [frustrum[1], frustrum[3], frustrum[5], 1.0]) - array([ 1., 1., 1., 1.]) - >>> M = clip_matrix(*frustrum, perspective=True) - >>> v = numpy.dot(M, [frustrum[0], frustrum[2], frustrum[4], 1.0]) - >>> v / v[3] - array([-1., -1., -1., 1.]) - >>> v = numpy.dot(M, [frustrum[1], frustrum[3], frustrum[4], 1.0]) - >>> v / v[3] - array([ 1., 1., -1., 1.]) - - """ - if left >= right or bottom >= top or near >= far: - raise ValueError("invalid frustrum") - if perspective: - if near <= _EPS: - raise ValueError("invalid frustrum: near <= 0") - t = 2.0 * near - M = ((-t/(right-left), 0.0, (right+left)/(right-left), 0.0), - (0.0, -t/(top-bottom), (top+bottom)/(top-bottom), 0.0), - (0.0, 0.0, -(far+near)/(far-near), t*far/(far-near)), - (0.0, 0.0, -1.0, 0.0)) - else: - M = ((2.0/(right-left), 0.0, 0.0, (right+left)/(left-right)), - (0.0, 2.0/(top-bottom), 0.0, (top+bottom)/(bottom-top)), - (0.0, 0.0, 2.0/(far-near), (far+near)/(near-far)), - (0.0, 0.0, 0.0, 1.0)) - return numpy.array(M, dtype=numpy.float64) - - -def shear_matrix(angle, direction, point, normal): - """Return matrix to shear by angle along direction vector on shear plane. - - The shear plane is defined by a point and normal vector. The direction - vector must be orthogonal to the plane's normal vector. - - A point P is transformed by the shear matrix into P" such that - the vector P-P" is parallel to the direction vector and its extent is - given by the angle of P-P'-P", where P' is the orthogonal projection - of P onto the shear plane. - - >>> angle = (random.random() - 0.5) * 4*math.pi - >>> direct = numpy.random.random(3) - 0.5 - >>> point = numpy.random.random(3) - 0.5 - >>> normal = numpy.cross(direct, numpy.random.random(3)) - >>> S = shear_matrix(angle, direct, point, normal) - >>> numpy.allclose(1.0, numpy.linalg.det(S)) - True - - """ - normal = unit_vector(normal[:3]) - direction = unit_vector(direction[:3]) - if abs(numpy.dot(normal, direction)) > 1e-6: - raise ValueError("direction and normal vectors are not orthogonal") - angle = math.tan(angle) - M = numpy.identity(4) - M[:3, :3] += angle * numpy.outer(direction, normal) - M[:3, 3] = -angle * numpy.dot(point[:3], normal) * direction - return M - - -def shear_from_matrix(matrix): - """Return shear angle, direction and plane from shear matrix. - - >>> angle = (random.random() - 0.5) * 4*math.pi - >>> direct = numpy.random.random(3) - 0.5 - >>> point = numpy.random.random(3) - 0.5 - >>> normal = numpy.cross(direct, numpy.random.random(3)) - >>> S0 = shear_matrix(angle, direct, point, normal) - >>> angle, direct, point, normal = shear_from_matrix(S0) - >>> S1 = shear_matrix(angle, direct, point, normal) - >>> is_same_transform(S0, S1) - True - - """ - M = numpy.array(matrix, dtype=numpy.float64, copy=False) - M33 = M[:3, :3] - # normal: cross independent eigenvectors corresponding to the eigenvalue 1 - l, V = numpy.linalg.eig(M33) - i = numpy.where(abs(numpy.real(l) - 1.0) < 1e-4)[0] - if len(i) < 2: - raise ValueError("No two linear independent eigenvectors found %s" % l) - V = numpy.real(V[:, i]).squeeze().T - lenorm = -1.0 - for i0, i1 in ((0, 1), (0, 2), (1, 2)): - n = numpy.cross(V[i0], V[i1]) - l = vector_norm(n) - if l > lenorm: - lenorm = l - normal = n - normal /= lenorm - # direction and angle - direction = numpy.dot(M33 - numpy.identity(3), normal) - angle = vector_norm(direction) - direction /= angle - angle = math.atan(angle) - # point: eigenvector corresponding to eigenvalue 1 - l, V = numpy.linalg.eig(M) - i = numpy.where(abs(numpy.real(l) - 1.0) < 1e-8)[0] - if not len(i): - raise ValueError("no eigenvector corresponding to eigenvalue 1") - point = numpy.real(V[:, i[-1]]).squeeze() - point /= point[3] - return angle, direction, point, normal - - -def decompose_matrix(matrix): - """Return sequence of transformations from transformation matrix. - - matrix : array_like - Non-degenerative homogeneous transformation matrix - - Return tuple of: - scale : vector of 3 scaling factors - shear : list of shear factors for x-y, x-z, y-z axes - angles : list of Euler angles about static x, y, z axes - translate : translation vector along x, y, z axes - perspective : perspective partition of matrix - - Raise ValueError if matrix is of wrong type or degenerative. - - >>> T0 = translation_matrix((1, 2, 3)) - >>> scale, shear, angles, trans, persp = decompose_matrix(T0) - >>> T1 = translation_matrix(trans) - >>> numpy.allclose(T0, T1) - True - >>> S = scale_matrix(0.123) - >>> scale, shear, angles, trans, persp = decompose_matrix(S) - >>> scale[0] - 0.123 - >>> R0 = euler_matrix(1, 2, 3) - >>> scale, shear, angles, trans, persp = decompose_matrix(R0) - >>> R1 = euler_matrix(*angles) - >>> numpy.allclose(R0, R1) - True - - """ - M = numpy.array(matrix, dtype=numpy.float64, copy=True).T - if abs(M[3, 3]) < _EPS: - raise ValueError("M[3, 3] is zero") - M /= M[3, 3] - P = M.copy() - P[:, 3] = 0, 0, 0, 1 - if not numpy.linalg.det(P): - raise ValueError("Matrix is singular") - - scale = numpy.zeros((3, ), dtype=numpy.float64) - shear = [0, 0, 0] - angles = [0, 0, 0] - - if any(abs(M[:3, 3]) > _EPS): - perspective = numpy.dot(M[:, 3], numpy.linalg.inv(P.T)) - M[:, 3] = 0, 0, 0, 1 - else: - perspective = numpy.array((0, 0, 0, 1), dtype=numpy.float64) - - translate = M[3, :3].copy() - M[3, :3] = 0 - - row = M[:3, :3].copy() - scale[0] = vector_norm(row[0]) - row[0] /= scale[0] - shear[0] = numpy.dot(row[0], row[1]) - row[1] -= row[0] * shear[0] - scale[1] = vector_norm(row[1]) - row[1] /= scale[1] - shear[0] /= scale[1] - shear[1] = numpy.dot(row[0], row[2]) - row[2] -= row[0] * shear[1] - shear[2] = numpy.dot(row[1], row[2]) - row[2] -= row[1] * shear[2] - scale[2] = vector_norm(row[2]) - row[2] /= scale[2] - shear[1:] /= scale[2] - - if numpy.dot(row[0], numpy.cross(row[1], row[2])) < 0: - scale *= -1 - row *= -1 - - angles[1] = math.asin(-row[0, 2]) - if math.cos(angles[1]): - angles[0] = math.atan2(row[1, 2], row[2, 2]) - angles[2] = math.atan2(row[0, 1], row[0, 0]) - else: - #angles[0] = math.atan2(row[1, 0], row[1, 1]) - angles[0] = math.atan2(-row[2, 1], row[1, 1]) - angles[2] = 0.0 - - return scale, shear, angles, translate, perspective - - -def compose_matrix(scale=None, shear=None, angles=None, translate=None, - perspective=None): - """Return transformation matrix from sequence of transformations. - - This is the inverse of the decompose_matrix function. - - Sequence of transformations: - scale : vector of 3 scaling factors - shear : list of shear factors for x-y, x-z, y-z axes - angles : list of Euler angles about static x, y, z axes - translate : translation vector along x, y, z axes - perspective : perspective partition of matrix - - >>> scale = numpy.random.random(3) - 0.5 - >>> shear = numpy.random.random(3) - 0.5 - >>> angles = (numpy.random.random(3) - 0.5) * (2*math.pi) - >>> trans = numpy.random.random(3) - 0.5 - >>> persp = numpy.random.random(4) - 0.5 - >>> M0 = compose_matrix(scale, shear, angles, trans, persp) - >>> result = decompose_matrix(M0) - >>> M1 = compose_matrix(*result) - >>> is_same_transform(M0, M1) - True - - """ - M = numpy.identity(4) - if perspective is not None: - P = numpy.identity(4) - P[3, :] = perspective[:4] - M = numpy.dot(M, P) - if translate is not None: - T = numpy.identity(4) - T[:3, 3] = translate[:3] - M = numpy.dot(M, T) - if angles is not None: - R = euler_matrix(angles[0], angles[1], angles[2], 'sxyz') - M = numpy.dot(M, R) - if shear is not None: - Z = numpy.identity(4) - Z[1, 2] = shear[2] - Z[0, 2] = shear[1] - Z[0, 1] = shear[0] - M = numpy.dot(M, Z) - if scale is not None: - S = numpy.identity(4) - S[0, 0] = scale[0] - S[1, 1] = scale[1] - S[2, 2] = scale[2] - M = numpy.dot(M, S) - M /= M[3, 3] - return M - - -def orthogonalization_matrix(lengths, angles): - """Return orthogonalization matrix for crystallographic cell coordinates. - - Angles are expected in degrees. - - The de-orthogonalization matrix is the inverse. - - >>> O = orthogonalization_matrix((10., 10., 10.), (90., 90., 90.)) - >>> numpy.allclose(O[:3, :3], numpy.identity(3, float) * 10) - True - >>> O = orthogonalization_matrix([9.8, 12.0, 15.5], [87.2, 80.7, 69.7]) - >>> numpy.allclose(numpy.sum(O), 43.063229) - True - - """ - a, b, c = lengths - angles = numpy.radians(angles) - sina, sinb, _ = numpy.sin(angles) - cosa, cosb, cosg = numpy.cos(angles) - co = (cosa * cosb - cosg) / (sina * sinb) - return numpy.array(( - ( a*sinb*math.sqrt(1.0-co*co), 0.0, 0.0, 0.0), - (-a*sinb*co, b*sina, 0.0, 0.0), - ( a*cosb, b*cosa, c, 0.0), - ( 0.0, 0.0, 0.0, 1.0)), - dtype=numpy.float64) - - -def superimposition_matrix(v0, v1, scaling=False, usesvd=True): - """Return matrix to transform given vector set into second vector set. - - v0 and v1 are shape (3, \*) or (4, \*) arrays of at least 3 vectors. - - If usesvd is True, the weighted sum of squared deviations (RMSD) is - minimized according to the algorithm by W. Kabsch [8]. Otherwise the - quaternion based algorithm by B. Horn [9] is used (slower when using - this Python implementation). - - The returned matrix performs rotation, translation and uniform scaling - (if specified). - - >>> v0 = numpy.random.rand(3, 10) - >>> M = superimposition_matrix(v0, v0) - >>> numpy.allclose(M, numpy.identity(4)) - True - >>> R = random_rotation_matrix(numpy.random.random(3)) - >>> v0 = ((1,0,0), (0,1,0), (0,0,1), (1,1,1)) - >>> v1 = numpy.dot(R, v0) - >>> M = superimposition_matrix(v0, v1) - >>> numpy.allclose(v1, numpy.dot(M, v0)) - True - >>> v0 = (numpy.random.rand(4, 100) - 0.5) * 20.0 - >>> v0[3] = 1.0 - >>> v1 = numpy.dot(R, v0) - >>> M = superimposition_matrix(v0, v1) - >>> numpy.allclose(v1, numpy.dot(M, v0)) - True - >>> S = scale_matrix(random.random()) - >>> T = translation_matrix(numpy.random.random(3)-0.5) - >>> M = concatenate_matrices(T, R, S) - >>> v1 = numpy.dot(M, v0) - >>> v0[:3] += numpy.random.normal(0.0, 1e-9, 300).reshape(3, -1) - >>> M = superimposition_matrix(v0, v1, scaling=True) - >>> numpy.allclose(v1, numpy.dot(M, v0)) - True - >>> M = superimposition_matrix(v0, v1, scaling=True, usesvd=False) - >>> numpy.allclose(v1, numpy.dot(M, v0)) - True - >>> v = numpy.empty((4, 100, 3), dtype=numpy.float64) - >>> v[:, :, 0] = v0 - >>> M = superimposition_matrix(v0, v1, scaling=True, usesvd=False) - >>> numpy.allclose(v1, numpy.dot(M, v[:, :, 0])) - True - - """ - v0 = numpy.array(v0, dtype=numpy.float64, copy=False)[:3] - v1 = numpy.array(v1, dtype=numpy.float64, copy=False)[:3] - - if v0.shape != v1.shape or v0.shape[1] < 3: - raise ValueError("Vector sets are of wrong shape or type.") - - # move centroids to origin - t0 = numpy.mean(v0, axis=1) - t1 = numpy.mean(v1, axis=1) - v0 = v0 - t0.reshape(3, 1) - v1 = v1 - t1.reshape(3, 1) - - if usesvd: - # Singular Value Decomposition of covariance matrix - u, s, vh = numpy.linalg.svd(numpy.dot(v1, v0.T)) - # rotation matrix from SVD orthonormal bases - R = numpy.dot(u, vh) - if numpy.linalg.det(R) < 0.0: - # R does not constitute right handed system - R -= numpy.outer(u[:, 2], vh[2, :]*2.0) - s[-1] *= -1.0 - # homogeneous transformation matrix - M = numpy.identity(4) - M[:3, :3] = R - else: - # compute symmetric matrix N - xx, yy, zz = numpy.sum(v0 * v1, axis=1) - xy, yz, zx = numpy.sum(v0 * numpy.roll(v1, -1, axis=0), axis=1) - xz, yx, zy = numpy.sum(v0 * numpy.roll(v1, -2, axis=0), axis=1) - N = ((xx+yy+zz, yz-zy, zx-xz, xy-yx), - (yz-zy, xx-yy-zz, xy+yx, zx+xz), - (zx-xz, xy+yx, -xx+yy-zz, yz+zy), - (xy-yx, zx+xz, yz+zy, -xx-yy+zz)) - # quaternion: eigenvector corresponding to most positive eigenvalue - l, V = numpy.linalg.eig(N) - q = V[:, numpy.argmax(l)] - q /= vector_norm(q) # unit quaternion - q = numpy.roll(q, -1) # move w component to end - # homogeneous transformation matrix - M = quaternion_matrix(q) - - # scale: ratio of rms deviations from centroid - if scaling: - v0 *= v0 - v1 *= v1 - M[:3, :3] *= math.sqrt(numpy.sum(v1) / numpy.sum(v0)) - - # translation - M[:3, 3] = t1 - T = numpy.identity(4) - T[:3, 3] = -t0 - M = numpy.dot(M, T) - return M - - -def euler_matrix(ai, aj, ak, axes='sxyz'): - """Return homogeneous rotation matrix from Euler angles and axis sequence. - - ai, aj, ak : Euler's roll, pitch and yaw angles - axes : One of 24 axis sequences as string or encoded tuple - - >>> R = euler_matrix(1, 2, 3, 'syxz') - >>> numpy.allclose(numpy.sum(R[0]), -1.34786452) - True - >>> R = euler_matrix(1, 2, 3, (0, 1, 0, 1)) - >>> numpy.allclose(numpy.sum(R[0]), -0.383436184) - True - >>> ai, aj, ak = (4.0*math.pi) * (numpy.random.random(3) - 0.5) - >>> for axes in _AXES2TUPLE.keys(): - ... R = euler_matrix(ai, aj, ak, axes) - >>> for axes in _TUPLE2AXES.keys(): - ... R = euler_matrix(ai, aj, ak, axes) - - """ - try: - firstaxis, parity, repetition, frame = _AXES2TUPLE[axes] - except (AttributeError, KeyError): - _ = _TUPLE2AXES[axes] - firstaxis, parity, repetition, frame = axes - - i = firstaxis - j = _NEXT_AXIS[i+parity] - k = _NEXT_AXIS[i-parity+1] - - if frame: - ai, ak = ak, ai - if parity: - ai, aj, ak = -ai, -aj, -ak - - si, sj, sk = math.sin(ai), math.sin(aj), math.sin(ak) - ci, cj, ck = math.cos(ai), math.cos(aj), math.cos(ak) - cc, cs = ci*ck, ci*sk - sc, ss = si*ck, si*sk - - M = numpy.identity(4) - if repetition: - M[i, i] = cj - M[i, j] = sj*si - M[i, k] = sj*ci - M[j, i] = sj*sk - M[j, j] = -cj*ss+cc - M[j, k] = -cj*cs-sc - M[k, i] = -sj*ck - M[k, j] = cj*sc+cs - M[k, k] = cj*cc-ss - else: - M[i, i] = cj*ck - M[i, j] = sj*sc-cs - M[i, k] = sj*cc+ss - M[j, i] = cj*sk - M[j, j] = sj*ss+cc - M[j, k] = sj*cs-sc - M[k, i] = -sj - M[k, j] = cj*si - M[k, k] = cj*ci - return M - - -def euler_from_matrix(matrix, axes='sxyz'): - """Return Euler angles from rotation matrix for specified axis sequence. - - axes : One of 24 axis sequences as string or encoded tuple - - Note that many Euler angle triplets can describe one matrix. - - >>> R0 = euler_matrix(1, 2, 3, 'syxz') - >>> al, be, ga = euler_from_matrix(R0, 'syxz') - >>> R1 = euler_matrix(al, be, ga, 'syxz') - >>> numpy.allclose(R0, R1) - True - >>> angles = (4.0*math.pi) * (numpy.random.random(3) - 0.5) - >>> for axes in _AXES2TUPLE.keys(): - ... R0 = euler_matrix(axes=axes, *angles) - ... R1 = euler_matrix(axes=axes, *euler_from_matrix(R0, axes)) - ... if not numpy.allclose(R0, R1): print axes, "failed" - - """ - try: - firstaxis, parity, repetition, frame = _AXES2TUPLE[axes.lower()] - except (AttributeError, KeyError): - _ = _TUPLE2AXES[axes] - firstaxis, parity, repetition, frame = axes - - i = firstaxis - j = _NEXT_AXIS[i+parity] - k = _NEXT_AXIS[i-parity+1] - - M = numpy.array(matrix, dtype=numpy.float64, copy=False)[:3, :3] - if repetition: - sy = math.sqrt(M[i, j]*M[i, j] + M[i, k]*M[i, k]) - if sy > _EPS: - ax = math.atan2( M[i, j], M[i, k]) - ay = math.atan2( sy, M[i, i]) - az = math.atan2( M[j, i], -M[k, i]) - else: - ax = math.atan2(-M[j, k], M[j, j]) - ay = math.atan2( sy, M[i, i]) - az = 0.0 - else: - cy = math.sqrt(M[i, i]*M[i, i] + M[j, i]*M[j, i]) - if cy > _EPS: - ax = math.atan2( M[k, j], M[k, k]) - ay = math.atan2(-M[k, i], cy) - az = math.atan2( M[j, i], M[i, i]) - else: - ax = math.atan2(-M[j, k], M[j, j]) - ay = math.atan2(-M[k, i], cy) - az = 0.0 - - if parity: - ax, ay, az = -ax, -ay, -az - if frame: - ax, az = az, ax - return ax, ay, az - - -def euler_from_quaternion(quaternion, axes='sxyz'): - """Return Euler angles from quaternion for specified axis sequence. - - >>> angles = euler_from_quaternion([0.06146124, 0, 0, 0.99810947]) - >>> numpy.allclose(angles, [0.123, 0, 0]) - True - - """ - return euler_from_matrix(quaternion_matrix(quaternion), axes) - - -def quaternion_from_euler(ai, aj, ak, axes='sxyz'): - """Return quaternion from Euler angles and axis sequence. - - ai, aj, ak : Euler's roll, pitch and yaw angles - axes : One of 24 axis sequences as string or encoded tuple - - >>> q = quaternion_from_euler(1, 2, 3, 'ryxz') - >>> numpy.allclose(q, [0.310622, -0.718287, 0.444435, 0.435953]) - True - - """ - try: - firstaxis, parity, repetition, frame = _AXES2TUPLE[axes.lower()] - except (AttributeError, KeyError): - _ = _TUPLE2AXES[axes] - firstaxis, parity, repetition, frame = axes - - i = firstaxis - j = _NEXT_AXIS[i+parity] - k = _NEXT_AXIS[i-parity+1] - - if frame: - ai, ak = ak, ai - if parity: - aj = -aj - - ai /= 2.0 - aj /= 2.0 - ak /= 2.0 - ci = math.cos(ai) - si = math.sin(ai) - cj = math.cos(aj) - sj = math.sin(aj) - ck = math.cos(ak) - sk = math.sin(ak) - cc = ci*ck - cs = ci*sk - sc = si*ck - ss = si*sk - - quaternion = numpy.empty((4, ), dtype=numpy.float64) - if repetition: - quaternion[i] = cj*(cs + sc) - quaternion[j] = sj*(cc + ss) - quaternion[k] = sj*(cs - sc) - quaternion[3] = cj*(cc - ss) - else: - quaternion[i] = cj*sc - sj*cs - quaternion[j] = cj*ss + sj*cc - quaternion[k] = cj*cs - sj*sc - quaternion[3] = cj*cc + sj*ss - if parity: - quaternion[j] *= -1 - - return quaternion - - -def quaternion_about_axis(angle, axis): - """Return quaternion for rotation about axis. - - >>> q = quaternion_about_axis(0.123, (1, 0, 0)) - >>> numpy.allclose(q, [0.06146124, 0, 0, 0.99810947]) - True - - """ - quaternion = numpy.zeros((4, ), dtype=numpy.float64) - quaternion[:3] = axis[:3] - qlen = vector_norm(quaternion) - if qlen > _EPS: - quaternion *= math.sin(angle/2.0) / qlen - quaternion[3] = math.cos(angle/2.0) - return quaternion - - -def quaternion_matrix(quaternion): - """Return homogeneous rotation matrix from quaternion. - - >>> R = quaternion_matrix([0.06146124, 0, 0, 0.99810947]) - >>> numpy.allclose(R, rotation_matrix(0.123, (1, 0, 0))) - True - - """ - q = numpy.array(quaternion[:4], dtype=numpy.float64, copy=True) - nq = numpy.dot(q, q) - if nq < _EPS: - return numpy.identity(4) - q *= math.sqrt(2.0 / nq) - q = numpy.outer(q, q) - return numpy.array(( - (1.0-q[1, 1]-q[2, 2], q[0, 1]-q[2, 3], q[0, 2]+q[1, 3], 0.0), - ( q[0, 1]+q[2, 3], 1.0-q[0, 0]-q[2, 2], q[1, 2]-q[0, 3], 0.0), - ( q[0, 2]-q[1, 3], q[1, 2]+q[0, 3], 1.0-q[0, 0]-q[1, 1], 0.0), - ( 0.0, 0.0, 0.0, 1.0) - ), dtype=numpy.float64) - - -def quaternion_from_matrix(matrix): - """Return quaternion from rotation matrix. - - >>> R = rotation_matrix(0.123, (1, 2, 3)) - >>> q = quaternion_from_matrix(R) - >>> numpy.allclose(q, [0.0164262, 0.0328524, 0.0492786, 0.9981095]) - True - - """ - q = numpy.empty((4, ), dtype=numpy.float64) - M = numpy.array(matrix, dtype=numpy.float64, copy=False)[:4, :4] - t = numpy.trace(M) - if t > M[3, 3]: - q[3] = t - q[2] = M[1, 0] - M[0, 1] - q[1] = M[0, 2] - M[2, 0] - q[0] = M[2, 1] - M[1, 2] - else: - i, j, k = 0, 1, 2 - if M[1, 1] > M[0, 0]: - i, j, k = 1, 2, 0 - if M[2, 2] > M[i, i]: - i, j, k = 2, 0, 1 - t = M[i, i] - (M[j, j] + M[k, k]) + M[3, 3] - q[i] = t - q[j] = M[i, j] + M[j, i] - q[k] = M[k, i] + M[i, k] - q[3] = M[k, j] - M[j, k] - q *= 0.5 / math.sqrt(t * M[3, 3]) - return q - - -def quaternion_multiply(quaternion1, quaternion0): - """Return multiplication of two quaternions. - - >>> q = quaternion_multiply([1, -2, 3, 4], [-5, 6, 7, 8]) - >>> numpy.allclose(q, [-44, -14, 48, 28]) - True - - """ - x0, y0, z0, w0 = quaternion0 - x1, y1, z1, w1 = quaternion1 - return numpy.array(( - x1*w0 + y1*z0 - z1*y0 + w1*x0, - -x1*z0 + y1*w0 + z1*x0 + w1*y0, - x1*y0 - y1*x0 + z1*w0 + w1*z0, - -x1*x0 - y1*y0 - z1*z0 + w1*w0), dtype=numpy.float64) - - -def quaternion_conjugate(quaternion): - """Return conjugate of quaternion. - - >>> q0 = random_quaternion() - >>> q1 = quaternion_conjugate(q0) - >>> q1[3] == q0[3] and all(q1[:3] == -q0[:3]) - True - - """ - return numpy.array((-quaternion[0], -quaternion[1], - -quaternion[2], quaternion[3]), dtype=numpy.float64) - - -def quaternion_inverse(quaternion): - """Return inverse of quaternion. - - >>> q0 = random_quaternion() - >>> q1 = quaternion_inverse(q0) - >>> numpy.allclose(quaternion_multiply(q0, q1), [0, 0, 0, 1]) - True - - """ - return quaternion_conjugate(quaternion) / numpy.dot(quaternion, quaternion) - - -def quaternion_slerp(quat0, quat1, fraction, spin=0, shortestpath=True): - """Return spherical linear interpolation between two quaternions. - - >>> q0 = random_quaternion() - >>> q1 = random_quaternion() - >>> q = quaternion_slerp(q0, q1, 0.0) - >>> numpy.allclose(q, q0) - True - >>> q = quaternion_slerp(q0, q1, 1.0, 1) - >>> numpy.allclose(q, q1) - True - >>> q = quaternion_slerp(q0, q1, 0.5) - >>> angle = math.acos(numpy.dot(q0, q)) - >>> numpy.allclose(2.0, math.acos(numpy.dot(q0, q1)) / angle) or \ - numpy.allclose(2.0, math.acos(-numpy.dot(q0, q1)) / angle) - True - - """ - q0 = unit_vector(quat0[:4]) - q1 = unit_vector(quat1[:4]) - if fraction == 0.0: - return q0 - elif fraction == 1.0: - return q1 - d = numpy.dot(q0, q1) - if abs(abs(d) - 1.0) < _EPS: - return q0 - if shortestpath and d < 0.0: - # invert rotation - d = -d - q1 *= -1.0 - angle = math.acos(d) + spin * math.pi - if abs(angle) < _EPS: - return q0 - isin = 1.0 / math.sin(angle) - q0 *= math.sin((1.0 - fraction) * angle) * isin - q1 *= math.sin(fraction * angle) * isin - q0 += q1 - return q0 - - -def random_quaternion(rand=None): - """Return uniform random unit quaternion. - - rand: array like or None - Three independent random variables that are uniformly distributed - between 0 and 1. - - >>> q = random_quaternion() - >>> numpy.allclose(1.0, vector_norm(q)) - True - >>> q = random_quaternion(numpy.random.random(3)) - >>> q.shape - (4,) - - """ - if rand is None: - rand = numpy.random.rand(3) - else: - assert len(rand) == 3 - r1 = numpy.sqrt(1.0 - rand[0]) - r2 = numpy.sqrt(rand[0]) - pi2 = math.pi * 2.0 - t1 = pi2 * rand[1] - t2 = pi2 * rand[2] - return numpy.array((numpy.sin(t1)*r1, - numpy.cos(t1)*r1, - numpy.sin(t2)*r2, - numpy.cos(t2)*r2), dtype=numpy.float64) - - -def random_rotation_matrix(rand=None): - """Return uniform random rotation matrix. - - rnd: array like - Three independent random variables that are uniformly distributed - between 0 and 1 for each returned quaternion. - - >>> R = random_rotation_matrix() - >>> numpy.allclose(numpy.dot(R.T, R), numpy.identity(4)) - True - - """ - return quaternion_matrix(random_quaternion(rand)) - - -class Arcball(object): - """Virtual Trackball Control. - - >>> ball = Arcball() - >>> ball = Arcball(initial=numpy.identity(4)) - >>> ball.place([320, 320], 320) - >>> ball.down([500, 250]) - >>> ball.drag([475, 275]) - >>> R = ball.matrix() - >>> numpy.allclose(numpy.sum(R), 3.90583455) - True - >>> ball = Arcball(initial=[0, 0, 0, 1]) - >>> ball.place([320, 320], 320) - >>> ball.setaxes([1,1,0], [-1, 1, 0]) - >>> ball.setconstrain(True) - >>> ball.down([400, 200]) - >>> ball.drag([200, 400]) - >>> R = ball.matrix() - >>> numpy.allclose(numpy.sum(R), 0.2055924) - True - >>> ball.next() - - """ - - def __init__(self, initial=None): - """Initialize virtual trackball control. - - initial : quaternion or rotation matrix - - """ - self._axis = None - self._axes = None - self._radius = 1.0 - self._center = [0.0, 0.0] - self._vdown = numpy.array([0, 0, 1], dtype=numpy.float64) - self._constrain = False - - if initial is None: - self._qdown = numpy.array([0, 0, 0, 1], dtype=numpy.float64) - else: - initial = numpy.array(initial, dtype=numpy.float64) - if initial.shape == (4, 4): - self._qdown = quaternion_from_matrix(initial) - elif initial.shape == (4, ): - initial /= vector_norm(initial) - self._qdown = initial - else: - raise ValueError("initial not a quaternion or matrix.") - - self._qnow = self._qpre = self._qdown - - def place(self, center, radius): - """Place Arcball, e.g. when window size changes. - - center : sequence[2] - Window coordinates of trackball center. - radius : float - Radius of trackball in window coordinates. - - """ - self._radius = float(radius) - self._center[0] = center[0] - self._center[1] = center[1] - - def setaxes(self, *axes): - """Set axes to constrain rotations.""" - if axes is None: - self._axes = None - else: - self._axes = [unit_vector(axis) for axis in axes] - - def setconstrain(self, constrain): - """Set state of constrain to axis mode.""" - self._constrain = constrain == True - - def getconstrain(self): - """Return state of constrain to axis mode.""" - return self._constrain - - def down(self, point): - """Set initial cursor window coordinates and pick constrain-axis.""" - self._vdown = arcball_map_to_sphere(point, self._center, self._radius) - self._qdown = self._qpre = self._qnow - - if self._constrain and self._axes is not None: - self._axis = arcball_nearest_axis(self._vdown, self._axes) - self._vdown = arcball_constrain_to_axis(self._vdown, self._axis) - else: - self._axis = None - - def drag(self, point): - """Update current cursor window coordinates.""" - vnow = arcball_map_to_sphere(point, self._center, self._radius) - - if self._axis is not None: - vnow = arcball_constrain_to_axis(vnow, self._axis) - - self._qpre = self._qnow - - t = numpy.cross(self._vdown, vnow) - if numpy.dot(t, t) < _EPS: - self._qnow = self._qdown - else: - q = [t[0], t[1], t[2], numpy.dot(self._vdown, vnow)] - self._qnow = quaternion_multiply(q, self._qdown) - - def next(self, acceleration=0.0): - """Continue rotation in direction of last drag.""" - q = quaternion_slerp(self._qpre, self._qnow, 2.0+acceleration, False) - self._qpre, self._qnow = self._qnow, q - - def matrix(self): - """Return homogeneous rotation matrix.""" - return quaternion_matrix(self._qnow) - - -def arcball_map_to_sphere(point, center, radius): - """Return unit sphere coordinates from window coordinates.""" - v = numpy.array(((point[0] - center[0]) / radius, - (center[1] - point[1]) / radius, - 0.0), dtype=numpy.float64) - n = v[0]*v[0] + v[1]*v[1] - if n > 1.0: - v /= math.sqrt(n) # position outside of sphere - else: - v[2] = math.sqrt(1.0 - n) - return v - - -def arcball_constrain_to_axis(point, axis): - """Return sphere point perpendicular to axis.""" - v = numpy.array(point, dtype=numpy.float64, copy=True) - a = numpy.array(axis, dtype=numpy.float64, copy=True) - v -= a * numpy.dot(a, v) # on plane - n = vector_norm(v) - if n > _EPS: - if v[2] < 0.0: - v *= -1.0 - v /= n - return v - if a[2] == 1.0: - return numpy.array([1, 0, 0], dtype=numpy.float64) - return unit_vector([-a[1], a[0], 0]) - - -def arcball_nearest_axis(point, axes): - """Return axis, which arc is nearest to point.""" - point = numpy.array(point, dtype=numpy.float64, copy=False) - nearest = None - mx = -1.0 - for axis in axes: - t = numpy.dot(arcball_constrain_to_axis(point, axis), point) - if t > mx: - nearest = axis - mx = t - return nearest - - -# epsilon for testing whether a number is close to zero -_EPS = numpy.finfo(float).eps * 4.0 - -# axis sequences for Euler angles -_NEXT_AXIS = [1, 2, 0, 1] - -# map axes strings to/from tuples of inner axis, parity, repetition, frame -_AXES2TUPLE = { - 'sxyz': (0, 0, 0, 0), 'sxyx': (0, 0, 1, 0), 'sxzy': (0, 1, 0, 0), - 'sxzx': (0, 1, 1, 0), 'syzx': (1, 0, 0, 0), 'syzy': (1, 0, 1, 0), - 'syxz': (1, 1, 0, 0), 'syxy': (1, 1, 1, 0), 'szxy': (2, 0, 0, 0), - 'szxz': (2, 0, 1, 0), 'szyx': (2, 1, 0, 0), 'szyz': (2, 1, 1, 0), - 'rzyx': (0, 0, 0, 1), 'rxyx': (0, 0, 1, 1), 'ryzx': (0, 1, 0, 1), - 'rxzx': (0, 1, 1, 1), 'rxzy': (1, 0, 0, 1), 'ryzy': (1, 0, 1, 1), - 'rzxy': (1, 1, 0, 1), 'ryxy': (1, 1, 1, 1), 'ryxz': (2, 0, 0, 1), - 'rzxz': (2, 0, 1, 1), 'rxyz': (2, 1, 0, 1), 'rzyz': (2, 1, 1, 1)} - -_TUPLE2AXES = dict((v, k) for k, v in _AXES2TUPLE.items()) - -# helper functions - -def vector_norm(data, axis=None, out=None): - """Return length, i.e. eucledian norm, of ndarray along axis. - - >>> v = numpy.random.random(3) - >>> n = vector_norm(v) - >>> numpy.allclose(n, numpy.linalg.norm(v)) - True - >>> v = numpy.random.rand(6, 5, 3) - >>> n = vector_norm(v, axis=-1) - >>> numpy.allclose(n, numpy.sqrt(numpy.sum(v*v, axis=2))) - True - >>> n = vector_norm(v, axis=1) - >>> numpy.allclose(n, numpy.sqrt(numpy.sum(v*v, axis=1))) - True - >>> v = numpy.random.rand(5, 4, 3) - >>> n = numpy.empty((5, 3), dtype=numpy.float64) - >>> vector_norm(v, axis=1, out=n) - >>> numpy.allclose(n, numpy.sqrt(numpy.sum(v*v, axis=1))) - True - >>> vector_norm([]) - 0.0 - >>> vector_norm([1.0]) - 1.0 - - """ - data = numpy.array(data, dtype=numpy.float64, copy=True) - if out is None: - if data.ndim == 1: - return math.sqrt(numpy.dot(data, data)) - data *= data - out = numpy.atleast_1d(numpy.sum(data, axis=axis)) - numpy.sqrt(out, out) - return out - else: - data *= data - numpy.sum(data, axis=axis, out=out) - numpy.sqrt(out, out) - - -def unit_vector(data, axis=None, out=None): - """Return ndarray normalized by length, i.e. eucledian norm, along axis. - - >>> v0 = numpy.random.random(3) - >>> v1 = unit_vector(v0) - >>> numpy.allclose(v1, v0 / numpy.linalg.norm(v0)) - True - >>> v0 = numpy.random.rand(5, 4, 3) - >>> v1 = unit_vector(v0, axis=-1) - >>> v2 = v0 / numpy.expand_dims(numpy.sqrt(numpy.sum(v0*v0, axis=2)), 2) - >>> numpy.allclose(v1, v2) - True - >>> v1 = unit_vector(v0, axis=1) - >>> v2 = v0 / numpy.expand_dims(numpy.sqrt(numpy.sum(v0*v0, axis=1)), 1) - >>> numpy.allclose(v1, v2) - True - >>> v1 = numpy.empty((5, 4, 3), dtype=numpy.float64) - >>> unit_vector(v0, axis=1, out=v1) - >>> numpy.allclose(v1, v2) - True - >>> list(unit_vector([])) - [] - >>> list(unit_vector([1.0])) - [1.0] - - """ - if out is None: - data = numpy.array(data, dtype=numpy.float64, copy=True) - if data.ndim == 1: - data /= math.sqrt(numpy.dot(data, data)) - return data - else: - if out is not data: - out[:] = numpy.array(data, copy=False) - data = out - length = numpy.atleast_1d(numpy.sum(data*data, axis)) - numpy.sqrt(length, length) - if axis is not None: - length = numpy.expand_dims(length, axis) - data /= length - if out is None: - return data - - -def random_vector(size): - """Return array of random doubles in the half-open interval [0.0, 1.0). - - >>> v = random_vector(10000) - >>> numpy.all(v >= 0.0) and numpy.all(v < 1.0) - True - >>> v0 = random_vector(10) - >>> v1 = random_vector(10) - >>> numpy.any(v0 == v1) - False - - """ - return numpy.random.random(size) - - -def inverse_matrix(matrix): - """Return inverse of square transformation matrix. - - >>> M0 = random_rotation_matrix() - >>> M1 = inverse_matrix(M0.T) - >>> numpy.allclose(M1, numpy.linalg.inv(M0.T)) - True - >>> for size in range(1, 7): - ... M0 = numpy.random.rand(size, size) - ... M1 = inverse_matrix(M0) - ... if not numpy.allclose(M1, numpy.linalg.inv(M0)): print size - - """ - return numpy.linalg.inv(matrix) - - -def concatenate_matrices(*matrices): - """Return concatenation of series of transformation matrices. - - >>> M = numpy.random.rand(16).reshape((4, 4)) - 0.5 - >>> numpy.allclose(M, concatenate_matrices(M)) - True - >>> numpy.allclose(numpy.dot(M, M.T), concatenate_matrices(M, M.T)) - True - - """ - M = numpy.identity(4) - for i in matrices: - M = numpy.dot(M, i) - return M - - -def is_same_transform(matrix0, matrix1): - """Return True if two matrices perform same transformation. - - >>> is_same_transform(numpy.identity(4), numpy.identity(4)) - True - >>> is_same_transform(numpy.identity(4), random_rotation_matrix()) - False - - """ - matrix0 = numpy.array(matrix0, dtype=numpy.float64, copy=True) - matrix0 /= matrix0[3, 3] - matrix1 = numpy.array(matrix1, dtype=numpy.float64, copy=True) - matrix1 /= matrix1[3, 3] - return numpy.allclose(matrix0, matrix1) - - -def _import_module(module_name, warn=True, prefix='_py_', ignore='_'): - """Try import all public attributes from module into global namespace. - - Existing attributes with name clashes are renamed with prefix. - Attributes starting with underscore are ignored by default. - - Return True on successful import. - - """ - try: - module = __import__(module_name) - except ImportError: - if warn: - warnings.warn("Failed to import module " + module_name) - else: - for attr in dir(module): - if ignore and attr.startswith(ignore): - continue - if prefix: - if attr in globals(): - globals()[prefix + attr] = globals()[attr] - elif warn: - warnings.warn("No Python implementation of " + attr) - globals()[attr] = getattr(module, attr) - return True diff --git a/svo_ros/src/benchmark_node.cpp b/svo_ros/src/benchmark_node.cpp index e0235ab..561f131 100644 --- a/svo_ros/src/benchmark_node.cpp +++ b/svo_ros/src/benchmark_node.cpp @@ -44,12 +44,15 @@ class BenchmarkNode svo::Visualizer visualizer_; int frame_count_; std::ofstream trace_est_pose_; + std::ofstream trace_trans_error_; + std::ofstream trace_rot_error_; vk::AbstractCamera* cam_; public: BenchmarkNode(ros::NodeHandle& nh); ~BenchmarkNode(); void tracePose(const SE3& T_w_f, const double timestamp); + void tracePoseError(const SE3& T_f_gt, const double timestamp); void runBenchmark(const std::string& dataset_dir); void runBlenderBenchmark(const std::string& dataset_dir); }; @@ -91,6 +94,22 @@ void BenchmarkNode::tracePose(const SE3& T_w_f, const double timestamp) << q.x() << " " << q.y() << " " << q.z() << " " << q.w() << endl; } +void BenchmarkNode::tracePoseError(const SE3& T_f_gt, const double timestamp) +{ + Vector3d et(T_f_gt.translation()); // translation error + trace_trans_error_.precision(15); + trace_trans_error_.setf(std::ios::fixed, std::ios::floatfield ); + trace_trans_error_ << timestamp << " "; + trace_trans_error_.precision(6); + trace_trans_error_ << et.x() << " " << et.y() << " " << et.z() << " " << endl; + Vector3d er(vk::dcm2rpy(T_f_gt.rotation_matrix())); // rotation error in roll-pitch-yaw + trace_rot_error_.precision(15); + trace_rot_error_.setf(std::ios::fixed, std::ios::floatfield ); + trace_rot_error_ << timestamp << " "; + trace_rot_error_.precision(6); + trace_rot_error_ << er.x() << " " << er.y() << " " << er.z() << " " << endl; +} + void BenchmarkNode::runBenchmark(const std::string& dataset_dir) { // create image reader and load dataset @@ -140,6 +159,11 @@ void BenchmarkNode::runBlenderBenchmark(const std::string& dataset_dir) std::vector dataset; dataset_reader.readAllEntries(dataset); + trace_trans_error_.open(Config::traceDir() + "/translation_error.txt"); + trace_rot_error_.open(Config::traceDir() + "/orientation_error.txt"); + if(trace_trans_error_.fail() || trace_rot_error_.fail()) + throw std::runtime_error("Could not create tracefile. Does folder exist?"); + // process dataset for(auto it = dataset.begin(); it != dataset.end() && ros::ok(); ++it, ++frame_count_) { @@ -151,12 +175,15 @@ void BenchmarkNode::runBlenderBenchmark(const std::string& dataset_dir) return; } + // Read ground-truth pose + Sophus::SE3 T_w_gt(it->q_, it->t_); + // Set reference frame with depth if(frame_count_ == 0) { // set reference frame at ground-truth pose FramePtr frame_ref(new Frame(cam_, img, it->timestamp_)); - frame_ref->T_f_w_ = Sophus::SE3(it->q_, it->t_).inverse(); + frame_ref->T_f_w_ = T_w_gt.inverse(); // load ground-truth depth cv::Mat depthmap; @@ -189,9 +216,15 @@ void BenchmarkNode::runBlenderBenchmark(const std::string& dataset_dir) // Add image to VO vo_->addImage(img, it->timestamp_); + if(vo_->stage() != svo::FrameHandlerMono::DEFAULT_FRAME) + continue; + + // Compute pose error and trace to file + Sophus::SE3 T_f_gt(vo_->lastFrame()->T_f_w_*T_w_gt); + tracePoseError(T_f_gt, it->timestamp_); + // write pose to tracefile - if(vo_->stage() == svo::FrameHandlerMono::DEFAULT_FRAME) - tracePose(vo_->lastFrame()->T_f_w_.inverse(), it->timestamp_); + tracePose(vo_->lastFrame()->T_f_w_.inverse(), it->timestamp_); } } From 12451cff17ce3058c7ae1bbf6a0b66fae2116e54 Mon Sep 17 00:00:00 2001 From: Christian Forster Date: Thu, 27 Mar 2014 11:17:47 +0100 Subject: [PATCH 032/215] trace timestamp with logs for plotting --- svo/include/svo/frame_handler_base.h | 8 ++++---- svo/src/frame_handler_base.cpp | 9 +++++++-- svo/src/frame_handler_mono.cpp | 4 ++-- 3 files changed, 13 insertions(+), 8 deletions(-) diff --git a/svo/include/svo/frame_handler_base.h b/svo/include/svo/frame_handler_base.h index 51286c7..d8d8109 100644 --- a/svo/include/svo/frame_handler_base.h +++ b/svo/include/svo/frame_handler_base.h @@ -90,13 +90,13 @@ protected: DepthFilter* depth_filter_; //!< Depth estimation algorithm runs in a parallel thread and is used to initialize new 3D points. /// Before a frame is processed, this function is called. - bool startFrameProcessingCommon(); + bool startFrameProcessingCommon(const double timestamp); /// When a frame is finished processing, this function is called. int finishFrameProcessingCommon( - size_t update_id, - UpdateResult dropout, - size_t num_observations); + const size_t update_id, + const UpdateResult dropout, + const size_t num_observations); /// Reset the map and frame handler to start from scratch. void resetCommon(); diff --git a/svo/src/frame_handler_base.cpp b/svo/src/frame_handler_base.cpp index 991268c..04227ec 100644 --- a/svo/src/frame_handler_base.cpp +++ b/svo/src/frame_handler_base.cpp @@ -56,6 +56,7 @@ FrameHandlerBase() : g_permon->addTimer("point_optimizer"); g_permon->addTimer("local_ba"); g_permon->addTimer("tot_time"); + g_permon->addLog("timestamp"); g_permon->addLog("img_align_n_tracked"); g_permon->addLog("repr_n_mps"); g_permon->addLog("repr_n_new_references"); @@ -90,7 +91,7 @@ FrameHandlerBase:: } bool FrameHandlerBase:: -startFrameProcessingCommon() +startFrameProcessingCommon(const double timestamp) { if(set_start_) { @@ -101,6 +102,7 @@ startFrameProcessingCommon() if(stage_ == PAUSED) return false; + SVO_LOG(timestamp); SVO_DEBUG_STREAM("New Frame"); SVO_START_TIMER("tot_time"); timer_.start(); @@ -111,7 +113,10 @@ startFrameProcessingCommon() } int FrameHandlerBase:: -finishFrameProcessingCommon(size_t update_id, UpdateResult dropout, size_t num_observations) +finishFrameProcessingCommon( + const size_t update_id, + const UpdateResult dropout, + const size_t num_observations) { SVO_DEBUG_STREAM("Frame: "<reset(); num_obs_last_ = 0; SVO_INFO_STREAM("RESET"); @@ -159,22 +160,22 @@ resetCommon() void FrameHandlerBase:: setTrackingQuality(const size_t num_observations) { - tracking_quality_ = GOOD; + tracking_quality_ = TRACKING_GOOD; if(num_observations < Config::qualityMinFts()) { ROS_WARN_STREAM_THROTTLE(0.5, "Tracking less than "<< Config::qualityMinFts() <<" features!"); - tracking_quality_ = BAD; + tracking_quality_ = TRACKING_BAD; } const int feature_drop = static_cast(num_obs_last_) - num_observations; if(feature_drop > Config::qualityMaxFtsDrop()) { ROS_WARN_STREAM("Lost "<< feature_drop <<" features!"); - tracking_quality_ = BAD; + tracking_quality_ = TRACKING_BAD; } if(num_observations < 20) { ROS_ERROR_STREAM("Tracking less than 20 features!"); - tracking_quality_ = INSUFFICIENT; + tracking_quality_ = TRACKING_INSUFFICIENT; } } diff --git a/svo/src/frame_handler_mono.cpp b/svo/src/frame_handler_mono.cpp index 105d546..b0846c0 100644 --- a/svo/src/frame_handler_mono.cpp +++ b/svo/src/frame_handler_mono.cpp @@ -58,12 +58,12 @@ addImage(const cv::Mat& img, const double timestamp) SVO_STOP_TIMER("pyramid_creation"); // process frame - UpdateResult res = FAILURE; - if(stage_ == DEFAULT_FRAME) + UpdateResult res = RESULT_FAILURE; + if(stage_ == STAGE_DEFAULT_FRAME) res = processFrame(); - else if(stage_ == SECOND_FRAME) + else if(stage_ == STAGE_SECOND_FRAME) res = processSecondFrame(); - else if(stage_ == FIRST_FRAME) + else if(stage_ == STAGE_FIRST_FRAME) res = processFirstFrame(); // set last frame @@ -81,7 +81,7 @@ setFirstFrame(const FramePtr& first_frame) last_frame_ = first_frame; last_frame_->setKeyframe(); map_.addKeyframe(last_frame_); - stage_ = DEFAULT_FRAME; + stage_ = STAGE_DEFAULT_FRAME; } FrameHandlerMono::UpdateResult FrameHandlerMono:: @@ -89,12 +89,12 @@ processFirstFrame() { new_frame_->T_f_w_ = T_f_w_init_; if(klt_homography_init_.addFirstFrame(new_frame_) == initialization::FAILURE) - return NO_KEYFRAME; + return RESULT_NO_KEYFRAME; new_frame_->setKeyframe(); map_.addKeyframe(new_frame_); - stage_ = SECOND_FRAME; + stage_ = STAGE_SECOND_FRAME; SVO_INFO_STREAM("Init: Selected first frame."); - return IS_KEYFRAME; + return RESULT_IS_KEYFRAME; } FrameHandlerMono::UpdateResult FrameHandlerMono:: @@ -102,9 +102,9 @@ processSecondFrame() { initialization::InitResult res = klt_homography_init_.addSecondFrame(new_frame_); if(res == initialization::FAILURE) - return FAILURE; + return RESULT_FAILURE; else if(res == initialization::NO_KEYFRAME) - return NO_KEYFRAME; + return RESULT_NO_KEYFRAME; // two-frame bundle adjustment #ifdef USE_BUNDLE_ADJUSTMENT @@ -118,10 +118,10 @@ processSecondFrame() // add frame to map new_frame_->setKeyframe(); map_.addKeyframe(new_frame_); - stage_ = DEFAULT_FRAME; + stage_ = STAGE_DEFAULT_FRAME; klt_homography_init_.reset(); SVO_INFO_STREAM("Init: Selected second frame, triangulated initial map."); - return IS_KEYFRAME; + return RESULT_IS_KEYFRAME; } FrameHandlerMono::UpdateResult FrameHandlerMono:: @@ -150,7 +150,7 @@ processFrame() SVO_DEBUG_STREAM("Reprojection:\t nPoints = "<addFrame(new_frame_); - return NO_KEYFRAME; + return RESULT_NO_KEYFRAME; } // new keyframe selected @@ -224,7 +224,7 @@ processFrame() new_frame_->setKeyframe(); map_.addKeyframe(new_frame_); - return IS_KEYFRAME; + return RESULT_IS_KEYFRAME; } void FrameHandlerMono:: diff --git a/svo_ros/src/benchmark_node.cpp b/svo_ros/src/benchmark_node.cpp index 561f131..fb121cc 100644 --- a/svo_ros/src/benchmark_node.cpp +++ b/svo_ros/src/benchmark_node.cpp @@ -141,7 +141,7 @@ void BenchmarkNode::runBenchmark(const std::string& dataset_dir) visualizer_.publishMinimal(img, vo_->lastFrame(), *vo_, it->timestamp_); // write pose to tracefile - if(vo_->stage() == svo::FrameHandlerMono::DEFAULT_FRAME) + if(vo_->stage() == svo::FrameHandlerMono::STAGE_DEFAULT_FRAME) tracePose(vo_->lastFrame()->T_f_w_.inverse(), it->timestamp_); } } @@ -216,7 +216,7 @@ void BenchmarkNode::runBlenderBenchmark(const std::string& dataset_dir) // Add image to VO vo_->addImage(img, it->timestamp_); - if(vo_->stage() != svo::FrameHandlerMono::DEFAULT_FRAME) + if(vo_->stage() != svo::FrameHandlerMono::STAGE_DEFAULT_FRAME) continue; // Compute pose error and trace to file diff --git a/svo_ros/src/visualizer.cpp b/svo_ros/src/visualizer.cpp index d8aa72f..eda01c6 100644 --- a/svo_ros/src/visualizer.cpp +++ b/svo_ros/src/visualizer.cpp @@ -110,7 +110,7 @@ publishMinimal(const cv::Mat& img, const FramePtr& frame, const FrameHandlerMono cv::cvtColor(frame->img_pyr_[img_pub_level_], img_rgb, CV_GRAY2RGB); // during initialization, draw lines - if(slam.stage() == FrameHandlerBase::SECOND_FRAME) + if(slam.stage() == FrameHandlerBase::STAGE_SECOND_FRAME) { const vector& px_ref(slam.initFeatureTrackRefPx()); const vector& px_cur(slam.initFeatureTrackCurPx()); @@ -148,7 +148,7 @@ publishMinimal(const cv::Mat& img, const FramePtr& frame, const FrameHandlerMono img_msg.encoding = sensor_msgs::image_encodings::BGR8; pub_images_.publish(img_msg.toImageMsg()); } - else if(frame == NULL && pub_images_.getNumSubscribers() > 0 && slam.stage() == FrameHandlerBase::PAUSED) + else if(frame == NULL && pub_images_.getNumSubscribers() > 0 && slam.stage() == FrameHandlerBase::STAGE_PAUSED) { // display image when slam is not running cv_bridge::CvImage img_msg; diff --git a/svo_ros/src/vo_node.cpp b/svo_ros/src/vo_node.cpp index 27b7ef0..9dc31dd 100644 --- a/svo_ros/src/vo_node.cpp +++ b/svo_ros/src/vo_node.cpp @@ -110,13 +110,13 @@ imgCb(const sensor_msgs::ImageConstPtr& msg) vo_->addImage(img, msg->header.stamp.toSec()); visualizer_.publishMinimal(img, vo_->lastFrame(), *vo_, msg->header.stamp.toSec()); - if(publish_markers_ && vo_->stage() != FrameHandlerBase::PAUSED) + if(publish_markers_ && vo_->stage() != FrameHandlerBase::STAGE_PAUSED) visualizer_.visualizeMarkers(vo_->lastFrame(), vo_->coreKeyframes(), vo_->map()); if(publish_dense_input_) visualizer_.exportToDense(vo_->lastFrame()); - if(vo_->stage() == FrameHandlerMono::PAUSED) + if(vo_->stage() == FrameHandlerMono::STAGE_PAUSED) usleep(100000); // avoid busy loop when paused } From ce0e6543aa9a8bc04da2e071aeea8dcfa8f93113 Mon Sep 17 00:00:00 2001 From: Christian Forster Date: Thu, 27 Mar 2014 13:45:47 +0100 Subject: [PATCH 034/215] trace more detailed timings for reprojection --- svo/src/frame_handler_base.cpp | 3 +++ svo/src/reprojection.cpp | 8 +++++++- 2 files changed, 10 insertions(+), 1 deletion(-) diff --git a/svo/src/frame_handler_base.cpp b/svo/src/frame_handler_base.cpp index ac7aaf3..3a8bad7 100644 --- a/svo/src/frame_handler_base.cpp +++ b/svo/src/frame_handler_base.cpp @@ -53,6 +53,9 @@ FrameHandlerBase() : g_permon->addTimer("pyramid_creation"); g_permon->addTimer("sparse_img_align"); g_permon->addTimer("reproject"); + g_permon->addTimer("reproject_kfs"); + g_permon->addTimer("reproject_candidates"); + g_permon->addTimer("feature_align"); g_permon->addTimer("pose_optimizer"); g_permon->addTimer("point_optimizer"); g_permon->addTimer("local_ba"); diff --git a/svo/src/reprojection.cpp b/svo/src/reprojection.cpp index 26de82c..3e27c8b 100644 --- a/svo/src/reprojection.cpp +++ b/svo/src/reprojection.cpp @@ -70,6 +70,7 @@ void reprojectMap( resetGrid(grid); // Identify those Keyframes which share a common field of view. + SVO_START_TIMER("reproject_kfs"); list< pair > close_kfs; map.getCloseKeyframes(frame, close_kfs); @@ -103,8 +104,10 @@ void reprojectMap( overlap_kfs.back().second++; } } + SVO_STOP_TIMER("reproject_kfs"); // Now project all point candidates + SVO_START_TIMER("reproject_candidates"); { boost::unique_lock lock(candidate_points.mut_); auto it=candidate_points.candidates_.begin(); @@ -122,10 +125,12 @@ void reprojectMap( } ++it; } - } + } // unlock the mutex when out of scope + SVO_STOP_TIMER("reproject_candidates"); // Now we go through each grid cell and select one point to match. // At the end, we should have at maximum one reprojected point per cell. + SVO_START_TIMER("feature_align"); n_matches=0; n_trials=0; for(size_t i=0; i (size_t) Config::maxFts()) break; } + SVO_STOP_TIMER("feature_align"); } bool pointQualityComparator(Candidate& lhs, Candidate& rhs) From 674cf55ad309eda25fa16f1e13e08b2afdedb471 Mon Sep 17 00:00:00 2001 From: Christian Forster Date: Thu, 27 Mar 2014 13:46:15 +0100 Subject: [PATCH 035/215] refactored benchmarking --- svo_analysis/scripts/benchmark.py | 5 +- svo_analysis/scripts/evaluate.py | 41 +++--- svo_analysis/src/svo_analysis/analyse_logs.py | 136 +++++------------- .../src/svo_analysis/analyse_timing.py | 109 ++++++-------- 4 files changed, 100 insertions(+), 191 deletions(-) diff --git a/svo_analysis/scripts/benchmark.py b/svo_analysis/scripts/benchmark.py index 4cebf88..326a4d7 100755 --- a/svo_analysis/scripts/benchmark.py +++ b/svo_analysis/scripts/benchmark.py @@ -10,9 +10,9 @@ import yaml import rospkg import argparse import time -import svo_analysis.analyse_trajectory as analyse_trajectory import vikit_py.cpu_info as cpu_info import vikit_py.ros_node as ros_node +import evaluate if __name__=="__main__": @@ -67,8 +67,7 @@ if __name__=="__main__": node.run(params) # TODO: check if it is a synthetic dataset - # plot trajectory error - analyse_trajectory.analyse_trajectory(params['trace_dir']) + evaluate.evaluate_dataset(params['trace_dir']) diff --git a/svo_analysis/scripts/evaluate.py b/svo_analysis/scripts/evaluate.py index 4cff109..eb9fe60 100755 --- a/svo_analysis/scripts/evaluate.py +++ b/svo_analysis/scripts/evaluate.py @@ -5,26 +5,19 @@ Created on Sat Aug 10 18:21:47 2013 @author: Christian Forster """ -import argparse +import os import csv import numpy as np -from matplotlib import rc +import rospkg +import argparse import svo_analysis.analyse_logs as analyse_logs import svo_analysis.analyse_timing as analyse_timing +import svo_analysis.analyse_trajectory as analyse_trajectory -if __name__=="__main__": +def evaluate_dataset(trace_dir): - # parse command line - parser = argparse.ArgumentParser() - parser.add_argument('--trace_name', help='svo tracefile with timings and logs', default='20131121_0930_px7') - args = parser.parse_args() - - # config - results_dir = 'results/'+args.trace_name - trace_file = results_dir+'/'+args.trace_name+'.csv' - - # tracefile - data = csv.reader(open(trace_file)) + # read tracefile + data = csv.reader(open(os.path.join(trace_dir, 'trace.csv'))) fields = data.next() D = dict() for field in fields: @@ -39,9 +32,19 @@ if __name__=="__main__": for field, value in D.items(): D[field] = np.array(D[field]) - # tell matplotlib to use latex font - rc('font',**{'family':'serif','serif':['Cardo']}) - rc('text', usetex=True) + # generate plots + analyse_logs.analyse_logs(D, trace_dir) + analyse_timing.analyse_timing(D, trace_dir) + analyse_trajectory.analyse_trajectory(trace_dir) - analyse_logs.analyse_logs(D, results_dir+'/'+args.trace_name) - analyse_timing.analyse_timing(D, results_dir+'/'+args.trace_name) \ No newline at end of file +if __name__=="__main__": + parser = argparse.ArgumentParser(description=''' + Evaluates tracefiles of SVO and generates the plots. + ''') + parser.add_argument('experiment_name', help='directory name of the tracefiles') + args = parser.parse_args() + + trace_dir = os.path.join(rospkg.RosPack().get_path('svo_analysis'), + 'results', + args.experiment_name) + evaluate_dataset(trace_dir) \ No newline at end of file diff --git a/svo_analysis/src/svo_analysis/analyse_logs.py b/svo_analysis/src/svo_analysis/analyse_logs.py index 2f368ec..4e40bfe 100755 --- a/svo_analysis/src/svo_analysis/analyse_logs.py +++ b/svo_analysis/src/svo_analysis/analyse_logs.py @@ -1,16 +1,10 @@ #!/usr/bin/python -import argparse -import csv +import os import numpy as np import matplotlib.pyplot as plt -from matplotlib import rc - -# tell matplotlib to use latex font -rc('font',**{'family':'serif','serif':['Cardo']}) -rc('text', usetex=True) -def analyse_logs(D, trace_name): +def analyse_logs(D, trace_dir): # identify measurements which result from normal frames and which from keyframes is_kf = np.argwhere( (D['dropout'] == 1) & (D['repr_n_mps'] >= 0)) @@ -19,114 +13,56 @@ def analyse_logs(D, trace_name): n_frames = len(is_frame) n_kfs = len(is_kf) n_nokf = len(is_nokf) - fps = 25.0 + # set initial time to zero + D['timestamp'] = D['timestamp'] - D['timestamp'][0] + + # ---------------------------------------------------------------------------- # plot number of reprojected points mean_n_reproj_points = np.mean(D['repr_n_mps'][is_frame]); mean_n_reproj_matches = np.mean(D['repr_n_new_references'][is_frame]); + mean_n_edges_final = np.mean(D['sfba_n_edges_final'][is_frame]); - plt.figure() - plt.plot(np.arange(n_frames), D['repr_n_mps'][is_frame], 'r-', label='reprojected points, avg = %(i).2f'%{'i':mean_n_reproj_points}) - plt.plot(np.arange(n_frames), D['repr_n_new_references'][is_frame], 'b-', label='reprojected matches, avg = %(i).2f'%{'i':mean_n_reproj_matches}) - plt.legend() - plt.tight_layout() - plt.title('Reprojected points asdf') - plt.savefig(trace_name+'_reprojection.pdf', bbox_inches="tight") - - # plot number of triangulations -# plt.figure(3) -# plt.plot(np.arange(n_kfs), D['triang_n_points'][is_kf], 'g-', label='triangulated points, avg %0.2f'%np.mean(D['triang_n_points'][is_kf])) -# plt.plot(np.arange(n_kfs), D['triang_n_refs'][is_kf], 'b-', label='new references, avg %0.2f'%np.mean(D['triang_n_refs'][is_kf])) -# plt.plot(np.arange(n_kfs), D['triang_n_fails'][is_kf], 'r-', label='failures, avg %0.2f'%np.mean(D['triang_n_fails'][is_kf])) -# plt.plot(np.arange(n_kfs), D['triang_n_add_refs'][is_kf], 'm-', label='additional refs, avg %0.2f'%np.mean(D['triang_n_add_refs'][is_kf])) -# plt.legend() -# plt.title('Triangulation') -# plt.savefig(trace_name+'_img_triangulation.png', bbox_inches="tight") - - # plot number of klt tracked and matched points - fig = plt.figure(figsize=(8,2)) - ax = fig.add_subplot(111, xlabel='time [s]', ylabel='no. features') - ax.plot(np.arange(n_frames)/fps, D['repr_n_new_references'][is_frame], 'b-', label='number of successful matches') + fig = plt.figure(figsize=(8,3)) + ax = fig.add_subplot(111, xlabel='time [s]') + ax.plot(D['timestamp'][is_frame], D['repr_n_mps'][is_frame], 'r-', + label='Reprojected Points, avg = %.2f'%mean_n_reproj_points) + ax.plot(D['timestamp'][is_frame], D['repr_n_new_references'][is_frame], 'b-', + label='Feature Matches, avg = %.2f'%mean_n_reproj_matches) + ax.plot(D['timestamp'][is_frame], D['sfba_n_edges_final'][is_frame], 'g-', + label='Points after Optimization, avg = %.2f'%mean_n_edges_final) + ax.set_ylim(bottom=0) + ax.legend(loc='lower right') fig.tight_layout() - fig.savefig(trace_name+'number_of_features.pdf', bbox_inches="tight") + fig.savefig(os.path.join(trace_dir,'num_reprojected.pdf'), bbox_inches="tight") + # ---------------------------------------------------------------------------- # plot median error before and after pose-optimzation and bundle adjustment init_error_avg = np.mean(D['sfba_error_init'][is_frame]) opt1_avg = np.mean(D['sfba_error_final'][is_frame]) fig = plt.figure(figsize=(8,2)) ax = fig.add_subplot(111, xlabel='time [s]', ylabel='error [px]') - t_max = n_frames - ax.plot(np.arange(n_frames)[0:t_max]/fps, D['sfba_error_init'][is_frame][0:t_max], 'r-', label='Initial error') - ax.plot(np.arange(n_frames)[0:t_max]/fps, D['sfba_error_final'][is_frame][0:t_max], 'b-', label='Final error') + ax.plot(D['timestamp'][is_frame], D['sfba_error_init'][is_frame], 'r-', label='Initial error') + ax.plot(D['timestamp'][is_frame], D['sfba_error_final'][is_frame], 'b-', label='Final error') ax.legend(ncol=2) - ax.set_xlim([0, t_max/fps+4]) - #ax.set_ylim([0, 0.8]) fig.tight_layout() - fig.savefig(trace_name+'reprojection_error.pdf', bbox_inches="tight") + fig.savefig(os.path.join(trace_dir,'reprojection_error.pdf'), bbox_inches="tight") print 'average reprojection error improvement: ' + str(init_error_avg - opt1_avg) - # plot number of references - plt.figure() - plt.fill(np.arange(n_frames+1), np.append(D['repr_n_new_references'][is_frame]+D['klt_n_matches'][is_frame],0), 'g-', label='Reprojection') - plt.fill(np.arange(n_frames+1), np.append(D['klt_n_tracked'][is_frame],0), 'b-', label='KLT Matches') - plt.plot(np.arange(n_frames), D['sfba_n_edges_final'][is_frame], 'r-', label='References after Optimization', linewidth=2.0) - plt.legend() - plt.tight_layout() - plt.title('Pose Optimization') - plt.savefig(trace_name+'_img_n_references.pdf', bbox_inches="tight") + # ---------------------------------------------------------------------------- + # plot number of candidate points + fig = plt.figure(figsize=(8,3)) + ax = fig.add_subplot(111, xlabel='time [s]') + ax.plot(D['timestamp'][is_frame], D['n_candidates'][is_frame], 'r-', label='Candidate Points') + fig.tight_layout() + fig.savefig(os.path.join(trace_dir,'candidate_points.pdf'), bbox_inches="tight") - # plot number of seeds - plt.figure() - has_seed = np.argwhere(D['seeds_n_tot'] >= 0) - plt.fill(np.arange(len(has_seed)+1), np.append(D['seeds_n_tot'][has_seed],0), label='nSeeds', edgecolor='none') - plt.fill(np.arange(len(has_seed)+1), np.append(D['seeds_n_updates'][has_seed]+D['seeds_n_failed_matches'][has_seed],0), label='nFailedMatches', edgecolor='none') - plt.fill(np.arange(len(has_seed)+1), np.append(D['seeds_n_updates'][has_seed],0), label='nUpdates', edgecolor='none') - plt.legend() - plt.tight_layout() - plt.title('Seeds') - plt.savefig(trace_name+'_seeds.pdf', bbox_inches="tight") - - - plt.figure() - plt.plot(D['n_candidates']) - plt.title('Candidates') - plt.show() - -# plt.figure() -# plt.plot()) - -if __name__=="__main__": - - dataset='20131003_1937_nslam_i7_asl2_fast' - n_align_frames = 10 - save = True - results_dir = '../results/'+dataset - logfile = results_dir+'/'+dataset+'_0.csv' - - # parse command line - parser = argparse.ArgumentParser(description=''' - This script computes the absolute trajectory error from the ground truth trajectory and the estimated trajectory. - ''') - parser.add_argument('--trace_file', help='nanoslam tracefile with timings and logs', default=logfile) - parser.add_argument('--trace_name', help='name of the tracefile, used for saving figures etc.', default=results_dir+'/') - args = parser.parse_args() - - # tracefile - data = csv.reader(open(args.trace_file)) - fields = data.next() - D = dict() - for field in fields: - D[field] = list() - - # fill dictionary with column values - for row in data: - for (field, value) in zip(fields, row): - D[field].append(float(value)) - - # change dictionary values from list to numpy array for easier manipulation - for field, value in D.items(): - D[field] = np.array(D[field]) - - analyse_logs(D, args.trace_name) + # ---------------------------------------------------------------------------- + # plot number of candidate points + fig = plt.figure(figsize=(8,2)) + ax = fig.add_subplot(111, xlabel='time [s]', ylabel='px') + ax.plot(D['timestamp'][is_frame], D['sfba_thresh'][is_frame], 'r-', label='Threshold') + fig.tight_layout() + fig.savefig(os.path.join(trace_dir,'optimization_thresh.pdf'), bbox_inches="tight") diff --git a/svo_analysis/src/svo_analysis/analyse_timing.py b/svo_analysis/src/svo_analysis/analyse_timing.py index b0d2199..0dfc1bc 100755 --- a/svo_analysis/src/svo_analysis/analyse_timing.py +++ b/svo_analysis/src/svo_analysis/analyse_timing.py @@ -1,97 +1,68 @@ #!/usr/bin/python -import argparse -import csv +import os import numpy as np import matplotlib.pyplot as plt -from matplotlib import rc -def analyse_timing(D, trace_name): +def analyse_timing(D, trace_dir): # identify measurements which result from normal frames and which from keyframes is_frame = np.argwhere(D['repr_n_mps'] >= 0) n_frames = len(is_frame) + + # set initial time to zero + D['timestamp'] = D['timestamp'] - D['timestamp'][0] + # ---------------------------------------------------------------------------- # plot total time for frame processing - avg_time = np.mean(D['t_tot_time'][is_frame])*1000; - + avg_time = np.mean(D['tot_time'][is_frame])*1000; fig = plt.figure(figsize=(8, 3)) ax = fig.add_subplot(111, ylabel='processing time [ms]', xlabel='time [s]') - ax.plot(np.arange(n_frames), D['t_tot_time'][is_frame]*1000, 'g-', label='total time [ms]') - ax.plot(np.arange(n_frames), np.ones(n_frames)*avg_time, 'b--', label=str('%(time).1fms mean time' % {'time': avg_time})) + ax.plot(D['timestamp'][is_frame], D['tot_time'][is_frame]*1000, 'g-', label='total time [ms]') + ax.plot(D['timestamp'][is_frame], np.ones(n_frames)*avg_time, 'b--', label=str('%(time).1fms mean time' % {'time': avg_time})) ax.legend() fig.tight_layout() - fig.savefig(trace_name+'_img_tot_processing_time.pdf', bbox_inches="tight") + fig.savefig(os.path.join(trace_dir,'timing.pdf'), bbox_inches="tight") + # ---------------------------------------------------------------------------- + # plot boxplot fig = plt.figure(figsize=(6,2)) ax = fig.add_subplot(111, xlabel='Processing time [ms]') ax.boxplot([ - D['t_tot_time'][is_frame]*1000, + D['tot_time'][is_frame]*1000, # D['t_local_ba'][is_kf]*1000, - D['t_pose_optimizer'][is_frame]*1000 + D['t_point_optimizer'][is_frame]*1000, - D['t_reproject'][is_frame]*1000, - D['t_sparse_img_align'][is_frame]*1000, - D['t_pyramid_creation'][is_frame]*1000 - ], 0,'', vert=0) # + D['pose_optimizer'][is_frame]*1000 + D['point_optimizer'][is_frame]*1000, + D['reproject'][is_frame]*1000, + D['sparse_img_align'][is_frame]*1000, + D['pyramid_creation'][is_frame]*1000 + ], 0,'', vert=0) boxplot_labels = [ - r'\textbf{Total Motion Estimation: %2.2fms}' % np.median(D['t_tot_time'][is_frame]*1000), -# 'Local BA (KF only): %.2fms ' % np.median(D['t_local_ba'][is_kf]*1000), - 'Refinement: %2.2fms' % np.median(D['t_pose_optimizer'][is_frame]*1000 + D['t_point_optimizer'][is_frame]*1000), - 'Feature Alignment: %2.2fms' % np.median(D['t_reproject'][is_frame]*1000), - 'Sparse Image Alignment: %2.2fms' % np.median(D['t_sparse_img_align'][is_frame]*1000), - 'Pyramid Creation: %2.2fms' % np.median(D['t_pyramid_creation'][is_frame]*1000) ] + r'\textbf{Total Motion Estimation: %2.2fms}' % np.median(D['tot_time'][is_frame]*1000), +# 'Local BA (KF only): %.2fms ' % np.median(D['local_ba'][is_kf]*1000), + 'Refinement: %2.2fms' % np.median(D['pose_optimizer'][is_frame]*1000 + D['point_optimizer'][is_frame]*1000), + 'Feature Alignment: %2.2fms' % np.median(D['reproject'][is_frame]*1000), + 'Sparse Image Alignment: %2.2fms' % np.median(D['sparse_img_align'][is_frame]*1000), + 'Pyramid Creation: %2.2fms' % np.median(D['pyramid_creation'][is_frame]*1000) ] ax.set_yticks(np.arange(len(boxplot_labels))+1) ax.set_yticklabels(boxplot_labels) fig.tight_layout() - fig.savefig(trace_name+'_timing_boxplot.pdf', bbox_inches="tight") + fig.savefig(os.path.join(trace_dir,'timing_boxplot.pdf'), bbox_inches="tight") - fig = plt.figure(figsize=(8, 5)) - ax = fig.add_subplot(111, ylabel='time [ms]') - ax.plot(D['t_reproject']*1000, 'r', label='reproject') - ax.plot(D['t_reproject_find_pts']*1000, 'g', label='reproject find pts') # ok! - ax.plot(D['t_reproject_best']*1000, 'm', label='reproject best') - ax.plot(D['t_reproject_candidates']*1000, 'b', label='reproject candidates') - ax.legend() + # ---------------------------------------------------------------------------- + # plot boxplot reprojection + fig = plt.figure(figsize=(6,2)) + ax = fig.add_subplot(111, xlabel='Processing time [ms]') + ax.boxplot([ D['reproject'][is_frame]*1000, + D['feature_align'][is_frame]*1000, + D['reproject_candidates'][is_frame]*1000, + D['reproject_kfs'][is_frame]*1000 ], 0, '', vert=0) + boxplot_labels = [r'\textbf{Total Reprojection: %2.2fms}' % np.median(D['reproject'][is_frame]*1000), + 'Feature Alignment: %2.2fms' % np.median(D['feature_align'][is_frame]*1000), + 'Reproject Candidates: %2.2fms' % np.median(D['reproject_candidates'][is_frame]*1000), + 'Reproject Keyframes: %2.2fms' % np.median(D['reproject_kfs'][is_frame]*1000) ] + ax.set_yticks(np.arange(len(boxplot_labels))+1) + ax.set_yticklabels(boxplot_labels) fig.tight_layout() - fig.savefig(trace_name+'_reprojection.pdf', bbox_inches="tight") - - -if __name__=="__main__": - - # config - dataset='20131003_1937_nslam_i7_asl2_fast' - results_dir = '../results/'+dataset - tracefile = results_dir + '/'+dataset+'_0.csv' - - # parse command line - parser = argparse.ArgumentParser(description=''' - This script computes the absolute trajectory error from the ground truth trajectory and the estimated trajectory. - ''') - parser.add_argument('--trace_file', help='nanoslam tracefile with timings and logs', default=tracefile) - parser.add_argument('--trace_name', help='name of the tracefile, used for saving figures etc.', default=results_dir) - args = parser.parse_args() - results_dir = args.trace_name - - # tracefile - data = csv.reader(open(args.trace_file)) - fields = data.next() - D = dict() - for field in fields: - D[field] = list() - - # fill dictionary with column values - for row in data: - for (field, value) in zip(fields, row): - D[field].append(float(value)) - - # change dictionary values from list to numpy array for easier manipulation - for field, value in D.items(): - D[field] = np.array(D[field]) - - # tell matplotlib to use latex font - rc('font',**{'family':'serif','serif':['Cardo']}) - rc('text', usetex=True) - - \ No newline at end of file + fig.savefig(os.path.join(trace_dir,'timing_reprojection.pdf'), bbox_inches="tight") \ No newline at end of file From 575d6dae2a52460532784187a9a10572f2ae2a30 Mon Sep 17 00:00:00 2001 From: Christian Forster Date: Fri, 28 Mar 2014 12:20:31 +0100 Subject: [PATCH 036/215] fixed reference --- README.md | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/README.md b/README.md index 36cf767..ec47e5e 100644 --- a/README.md +++ b/README.md @@ -165,9 +165,9 @@ Citing If you use SVO in an academic context, please cite the following publication: - @article{Forster2014ICRA, + @inproceedings{Forster2014ICRA, author = {Forster, Christian and Pizzoli, Matia and Scaramuzza, Davide}, - title = {{SVO: Fast Semi-Direct Monocular Visual Odometry}}, - journal = {IEEE International Conference on Robotics and Automation (ICRA)}, + title = {{SVO}: Fast Semi-Direct Monocular Visual Odometry}, + booktitle = {IEEE International Conference on Robotics and Automation (ICRA)}, year = {2014} } From 183493c7ce35bb11e8dbb38d87b96f8ce3d7c266 Mon Sep 17 00:00:00 2001 From: Christian Forster Date: Fri, 28 Mar 2014 17:23:25 +0100 Subject: [PATCH 037/215] bug in readme --- README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/README.md b/README.md index ec47e5e..f8e5dae 100644 --- a/README.md +++ b/README.md @@ -91,7 +91,7 @@ Now we are ready to build SVO. Clone it into your catkin workspace cd catkin_ws/src - git clone https://github.com/uzh-rpg/rpg_slam.git + git clone https://github.com/uzh-rpg/rpg_svo.git If you installed g2o then set `HAVE_G2O` in `svo/CMakeLists.txt` to TRUE. Then build From cf4782a63de1111b03dbc7928542dc3928880f8f Mon Sep 17 00:00:00 2001 From: Christian Forster Date: Mon, 31 Mar 2014 10:27:25 +0200 Subject: [PATCH 038/215] make benchmark work with other svo versions --- svo_analysis/scripts/benchmark.py | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) diff --git a/svo_analysis/scripts/benchmark.py b/svo_analysis/scripts/benchmark.py index 326a4d7..19688ce 100755 --- a/svo_analysis/scripts/benchmark.py +++ b/svo_analysis/scripts/benchmark.py @@ -23,6 +23,8 @@ if __name__=="__main__": parser.add_argument('experiment_file', help='experiment file in svo_analysis/experiments folder') parser.add_argument('--name', help='experiment name') parser.add_argument('--evaluate', help='evaluate tracefile after running SVO', action='store_true') + parser.add_argument('--version', help='version of svo to evaluate', default='svo_ros') + parser.add_argument('--executable', help='the executable to be called', default='benchmark') args = parser.parse_args() # load experiment parameters @@ -33,7 +35,7 @@ if __name__=="__main__": expParams['platform'] = cpu_info.get_cpu_info() expParams['experiment_name'] = args.name if(expParams['experiment_name'] == None): - expParams['experiment_name'] = expParams['time']+'_svo_' + args.experiment_file + expParams['experiment_name'] = expParams['time']+'_'+args.version+'_' + args.experiment_file # load dataset parameters expParams['dataset_directory'] = os.path.join(rospkg.RosPack().get_path('Datasets'), expParams['dataset']) @@ -63,7 +65,7 @@ if __name__=="__main__": outfile.write(yaml.dump(params, default_flow_style=False)) # execute ros node - node = ros_node.RosNode('svo_ros','benchmark') + node = ros_node.RosNode(args.version, args.executable) node.run(params) # TODO: check if it is a synthetic dataset From 6a0e376e9089496cf2b161bca27ae35ce048d321 Mon Sep 17 00:00:00 2001 From: Christian Forster Date: Mon, 31 Mar 2014 11:16:47 +0200 Subject: [PATCH 039/215] added utility function to get trace and dataset dir --- svo/CMakeLists.txt | 11 ++----- svo/package.xml | 2 ++ svo/test/test_depth_filter.cpp | 10 +++--- svo/test/test_feature_alignment.cpp | 4 ++- svo/test/test_feature_detection.cpp | 3 +- svo/test/test_matcher.cpp | 20 ++++++------ svo/test/test_pipeline.cpp | 12 ++++---- svo/test/test_pose_optimizer.cpp | 3 +- svo/test/test_sparse_img_align.cpp | 8 +++-- svo/test/test_utils.h | 47 +++++++++++++++++++++++++++++ 10 files changed, 86 insertions(+), 34 deletions(-) create mode 100644 svo/test/test_utils.h diff --git a/svo/CMakeLists.txt b/svo/CMakeLists.txt index 7612a94..08aafe3 100644 --- a/svo/CMakeLists.txt +++ b/svo/CMakeLists.txt @@ -49,7 +49,7 @@ ELSE() ENDIF() # Add catkin and required ROS packages -FIND_PACKAGE(catkin REQUIRED COMPONENTS roscpp vikit_common vikit_ros) +FIND_PACKAGE(catkin REQUIRED COMPONENTS roscpp roslib vikit_common vikit_ros) # Add plain cmake packages FIND_PACKAGE(G2O REQUIRED) @@ -62,7 +62,7 @@ FIND_PACKAGE(Boost REQUIRED COMPONENTS system thread signals) # Describe catkin Project catkin_package( DEPENDS Eigen OpenCV Sophus Boost fast - CATKIN_DEPENDS roscpp vikit_common vikit_ros + CATKIN_DEPENDS roscpp roslib vikit_common vikit_ros INCLUDE_DIRS include LIBRARIES svo ) @@ -127,13 +127,6 @@ TARGET_LINK_LIBRARIES(svo ${LINK_LIBS}) ################################################################################ # TESTS -IF(DEFINED ENV{SVO_DATASET_DIR}) - ADD_DEFINITIONS(-DTEST_DATA_DIR=\"$ENV{SVO_DATASET_DIR}\") -ELSE() - ADD_DEFINITIONS(-DTEST_DATA_DIR=\"${PROJECT_SOURCE_DIR}/test/data\") -ENDIF() -ADD_DEFINITIONS(-DTEST_TRACE_DIR=\"${PROJECT_SOURCE_DIR}/test/results\") - ADD_EXECUTABLE(test_feature_align test/test_feature_alignment.cpp) TARGET_LINK_LIBRARIES(test_feature_align svo) diff --git a/svo/package.xml b/svo/package.xml index c2997c2..d51d015 100644 --- a/svo/package.xml +++ b/svo/package.xml @@ -14,11 +14,13 @@ roscpp + roslib vikit_common vikit_ros roscpp + roslib vikit_common vikit_ros \ No newline at end of file diff --git a/svo/test/test_depth_filter.cpp b/svo/test/test_depth_filter.cpp index 545d9bc..a53947d 100644 --- a/svo/test/test_depth_filter.cpp +++ b/svo/test/test_depth_filter.cpp @@ -32,6 +32,7 @@ #include #include #include +#include "test_utils.h" namespace { @@ -151,14 +152,15 @@ void DepthFilterTest::testReconstruction( } // trace error - std::string trace_name(std::string(TEST_TRACE_DIR) + "/depth_filter_" + experiment_name + ".txt"); + std::string trace_dir(svo::test_utils::getTraceDir()); + std::string trace_name(trace_dir + "/depth_filter_" + experiment_name + ".txt"); std::ofstream ofs(trace_name.c_str()); for(std::list::iterator i=results_.begin(); i!=results_.end(); ++i) ofs << i->x_ << ", " << i->y_ << ", " << fabs(i->error_) << std::endl; ofs.close(); // trace convergence rate - trace_name = std::string(TEST_TRACE_DIR) + "/depth_filter_" + experiment_name + "_convergence.txt"; + trace_name = trace_dir + "/depth_filter_" + experiment_name + "_convergence.txt"; ofs.open(trace_name.c_str()); for(std::list::iterator it=n_converged_per_iteration.begin(); it!=n_converged_per_iteration.end(); ++it) @@ -166,7 +168,7 @@ void DepthFilterTest::testReconstruction( ofs.close(); // write ply file for pointcloud visualization in Meshlab - trace_name = std::string(TEST_TRACE_DIR) + "/depth_filter_" + experiment_name + ".ply"; + trace_name = trace_dir + "/depth_filter_" + experiment_name + ".ply"; ofs.open(trace_name.c_str()); ofs << "ply" << std::endl << "format ascii 1.0" << std::endl @@ -193,7 +195,7 @@ void DepthFilterTest::testReconstruction( int main(int argc, char** argv) { DepthFilterTest test; - std::string dataset_dir(std::string(TEST_DATA_DIR) + "/flying_room_1_rig_1"); + std::string dataset_dir(svo::test_utils::getDatasetDir() + "/flying_room_1_rig_1"); std::string experiment_name("synth_fast_2d"); test.testReconstruction(dataset_dir, experiment_name); return 0; diff --git a/svo/test/test_feature_alignment.cpp b/svo/test/test_feature_alignment.cpp index 04bddf7..a7352e0 100644 --- a/svo/test/test_feature_alignment.cpp +++ b/svo/test/test_feature_alignment.cpp @@ -19,6 +19,7 @@ #include #include #include +#include "test_utils.h" #if __ARM_NEON__ #include #endif @@ -52,7 +53,8 @@ void generateRefPatchNoWarpInterpolate(const cv::Mat& img, const Vector2d& px, int main(int argc, char **argv) { - std::string img_name(std::string(TEST_DATA_DIR) + "/flying_room_1_rig_1/img/frame_000001_0.png"); + + std::string img_name(svo::test_utils::getDatasetDir() + "/flying_room_1_rig_1/img/frame_000001_0.png"); printf("Loading image '%s'\n", img_name.c_str()); cv::Mat img(cv::imread(img_name, 0)); assert(img.type() == CV_8UC1); diff --git a/svo/test/test_feature_detection.cpp b/svo/test/test_feature_detection.cpp index 00e21a2..6fa3723 100644 --- a/svo/test/test_feature_detection.cpp +++ b/svo/test/test_feature_detection.cpp @@ -23,6 +23,7 @@ #include #include #include +#include "test_utils.h" namespace { @@ -31,7 +32,7 @@ using namespace std; void testCornerDetector() { - std::string img_name(std::string(TEST_DATA_DIR) + "/flying_room_1_rig_1/img/frame_000001_0.png"); + std::string img_name(svo::test_utils::getDatasetDir() + "/flying_room_1_rig_1/img/frame_000001_0.png"); printf("Loading image '%s'\n", img_name.c_str()); cv::Mat img(cv::imread(img_name, 0)); assert(img.type() == CV_8UC1 && !img.empty()); diff --git a/svo/test/test_matcher.cpp b/svo/test/test_matcher.cpp index 3138d48..c81c1fe 100644 --- a/svo/test/test_matcher.cpp +++ b/svo/test/test_matcher.cpp @@ -22,6 +22,7 @@ #include #include #include +#include "test_utils.h" namespace { @@ -33,7 +34,7 @@ class MatcherTest { cam_ = new vk::PinholeCamera(752, 480, 217.083701215, 217.083701215, 376, 240); // load images - std::string dataset_dir(std::string(TEST_DATA_DIR) + "/flying_room_1_rig_1"); + std::string dataset_dir(svo::test_utils::getDatasetDir() + "/flying_room_1_rig_1"); std::string img_name(dataset_dir+"/img/frame_000071_0.png"); printf("Loading image '%s'\n", img_name.c_str()); cv::Mat img_ref(cv::imread(img_name, 0)); @@ -112,31 +113,32 @@ void MatcherTest::testEpipolarSearchFullImg() } // compute mean, median and variance of error in converged area - printf("n converged: \t %zu (ref: 194472)\n", n_converged); - printf("mean error: \t %f (ref: 1.0848)\n", sum_error*100/n_converged); + printf("n converged: \t %zu mm (ref: 169936)\n", n_converged); + printf("mean error: \t %f mm (ref: 1.912410)\n", sum_error*100/n_converged); std::vector::iterator it = errors.begin()+0.5*errors.size(); std::nth_element(errors.begin(), it, errors.end()); - printf("50-percentile: \t %f (ref: 0.1343)\n", *it*100); + printf("50-percentile: \t %f mm (ref: 1.462241)\n", *it*100); it = errors.begin()+0.8*errors.size(); std::nth_element(errors.begin(), it, errors.end()); - printf("80-percentile: \t %f (ref: 0.3151)\n", *it*100); + printf("80-percentile: \t %f mm (ref: 2.620957)\n", *it*100); it = errors.begin()+0.95*errors.size(); std::nth_element(errors.begin(), it, errors.end()); - printf("95-percentile: \t %f (ref: 1.3753)\n", *it*100); + printf("95-percentile: \t %f mm (ref: 4.154051)\n", *it*100); // save results to file std::ofstream output_stream; - std::string output_filename(std::string(TEST_TRACE_DIR) + "/depthmap.bin"); + std::string trace_dir(svo::test_utils::getTraceDir()); + std::string output_filename(trace_dir + "/depthmap.bin"); output_stream.open(output_filename.c_str(), std::ios::out | std::ios::binary | std::ios::trunc); output_stream.write((const char *)depthmap.data, depthmap.rows*depthmap.cols*sizeof(float)); output_stream.close(); - output_filename.assign(std::string(TEST_TRACE_DIR) + "/depthmap_error.bin"); + output_filename.assign(trace_dir + "/depthmap_error.bin"); output_stream.open(output_filename.c_str(), std::ios::out | std::ios::binary | std::ios::trunc); output_stream.write((const char *)error_map.data, error_map.rows*error_map.cols*sizeof(float)); output_stream.close(); - output_filename.assign(std::string(TEST_TRACE_DIR) + "/depthmap_mask.bin"); + output_filename.assign(trace_dir + "/depthmap_mask.bin"); output_stream.open(output_filename.c_str(), std::ios::out | std::ios::binary | std::ios::trunc); output_stream.write((const char *)mask.data, mask.rows*mask.cols*sizeof(uint8_t)); output_stream.close(); diff --git a/svo/test/test_pipeline.cpp b/svo/test/test_pipeline.cpp index d328bf1..364b089 100644 --- a/svo/test/test_pipeline.cpp +++ b/svo/test/test_pipeline.cpp @@ -28,6 +28,7 @@ #include #include #include +#include "test_utils.h" namespace svo { @@ -44,8 +45,6 @@ public: BenchmarkNode::BenchmarkNode() { - Config::traceName() = "benchmark"; - Config::traceDir() = std::string(TEST_TRACE_DIR)+"/.."; cam_ = new vk::PinholeCamera(752, 480, 217.083701215, 217.083701215, 376, 240); vo_ = new svo::FrameHandlerMono(cam_); vo_->start(); @@ -62,8 +61,9 @@ void BenchmarkNode::runFromFolder() for(int img_id = 1; img_id < 310; ++img_id) { // load image - std::stringstream ss; - ss << std::string(TEST_DATA_DIR) << "/flying_room_1_rig_1/img/frame_" << std::setw( 6 ) << std::setfill( '0' ) << img_id << "_0.png"; + std::stringstream ss; + ss << svo::test_utils::getDatasetDir() << "/flying_room_1_rig_1/img/frame_" + << std::setw( 6 ) << std::setfill( '0' ) << img_id << "_0.png"; if(img_id == 1) std::cout << "reading image " << ss.str() << std::endl; cv::Mat img(cv::imread(ss.str().c_str(), 0)); @@ -75,8 +75,8 @@ void BenchmarkNode::runFromFolder() // display tracking quality if(vo_->lastFrame() != NULL) std::cout << "Frame-Id: " << vo_->lastFrame()->id_ << " \t" - << "#Features: " << vo_->lastNumObservations() << " \t" - << "Proc. Time: " << vo_->lastProcessingTime()*1000 << "ms \n"; + << "#Features: " << vo_->lastNumObservations() << " \t" + << "Proc. Time: " << vo_->lastProcessingTime()*1000 << "ms \n"; } } diff --git a/svo/test/test_pose_optimizer.cpp b/svo/test/test_pose_optimizer.cpp index 0c9a63f..0f1ea31 100644 --- a/svo/test/test_pose_optimizer.cpp +++ b/svo/test/test_pose_optimizer.cpp @@ -25,6 +25,7 @@ #include #include #include +#include "test_utils.h" namespace { @@ -39,7 +40,7 @@ class PoseOptimizerTest { cam_ = new vk::PinholeCamera(752, 480, 217.083701215, 217.083701215, 376, 240); // load image - std::string dataset_dir(std::string(TEST_DATA_DIR) + "/flying_room_1_rig_1"); + std::string dataset_dir(svo::test_utils::getDatasetDir() + "/flying_room_1_rig_1"); std::string img_name(dataset_dir+"/img/frame_000001_0.png"); printf("Loading image '%s'\n", img_name.c_str()); cv::Mat img(cv::imread(img_name, 0)); diff --git a/svo/test/test_sparse_img_align.cpp b/svo/test/test_sparse_img_align.cpp index 51950a8..dbb4c20 100644 --- a/svo/test/test_sparse_img_align.cpp +++ b/svo/test/test_sparse_img_align.cpp @@ -26,6 +26,7 @@ #include #include #include +#include "test_utils.h" namespace { @@ -68,7 +69,8 @@ void SparseImgAlignTest::testSequence( std::list translation_error; Sophus::SE3 T_prev_w, T_prevgt_w; - std::string trace_name(std::string(TEST_TRACE_DIR) + "/sparse_img_align_" + experiment_name + "_trans_estimate.txt"); + std::string trace_dir(svo::test_utils::getTraceDir()); + std::string trace_name(trace_dir + "/sparse_img_align_" + experiment_name + "_trans_estimate.txt"); std::ofstream ofs(trace_name.c_str()); for(int i=0; iter != sequence.end() && i<30; ++iter, ++i) { @@ -142,7 +144,7 @@ void SparseImgAlignTest::testSequence( ofs.close(); // trace error - trace_name = std::string(TEST_TRACE_DIR) + "/sparse_img_align_" + experiment_name + "_trans_error.txt"; + trace_name = trace_dir + "/sparse_img_align_" + experiment_name + "_trans_error.txt"; ofs.open(trace_name.c_str()); for(std::list::iterator it=translation_error.begin(); it!=translation_error.end(); ++it) ofs << *it << std::endl; @@ -155,7 +157,7 @@ void SparseImgAlignTest::testSequence( int main(int argc, char** argv) { std::string experiment_name("flying_room_1_rig_1_fast_minlev0"); - std::string dataset_dir(std::string(TEST_DATA_DIR) + "/flying_room_1_rig_1"); + std::string dataset_dir(svo::test_utils::getDatasetDir() + "/flying_room_1_rig_1"); svo::feature_detection::FastDetector detector; svo::Config::triangMinCornerScore() = 20; svo::Config::kltMinLevel() = 0; diff --git a/svo/test/test_utils.h b/svo/test/test_utils.h new file mode 100644 index 0000000..5793bb7 --- /dev/null +++ b/svo/test/test_utils.h @@ -0,0 +1,47 @@ +// This file is part of SVO - Semi-direct Visual Odometry. +// +// Copyright (C) 2014 Christian Forster +// (Robotics and Perception Group, University of Zurich, Switzerland). +// +// SVO is free software: you can redistribute it and/or modify it under the +// terms of the GNU General Public License as published by the Free Software +// Foundation, either version 3 of the License, or any later version. +// +// SVO is distributed in the hope that it will be useful, but WITHOUT ANY +// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS +// FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. +// +// You should have received a copy of the GNU General Public License +// along with this program. If not, see . + +#ifndef TEST_UTILS_H_ +#define TEST_UTILS_H_ + +#include +#include // for getenv +#include +#include + +namespace svo { +namespace test_utils { + +std::string getDatasetDir() +{ + std::string dataset_dir(ros::package::getPath("svo")+"/test/data"); + const char* env_dir = std::getenv("SVO_DATASET_DIR"); + if(env_dir != NULL) + dataset_dir = std::string(env_dir); + return dataset_dir; +} + +std::string getTraceDir() +{ + std::string default_dir(ros::package::getPath("svo")+"/test/results"); + return vk::getParam("svo/trace_dir", default_dir); +} + +} // namespace test_utils +} // namespace svo + + +#endif // TEST_UTILS_H_ From f7c5e4ab76e05bee3d875d3923b6dcd5bf163947 Mon Sep 17 00:00:00 2001 From: Christian Forster Date: Mon, 31 Mar 2014 11:38:06 +0200 Subject: [PATCH 040/215] added README to svo_analysis --- svo_analysis/README.md | 27 +++++++++++++++++++++++++++ 1 file changed, 27 insertions(+) create mode 100644 svo_analysis/README.md diff --git a/svo_analysis/README.md b/svo_analysis/README.md new file mode 100644 index 0000000..a6cc2a7 --- /dev/null +++ b/svo_analysis/README.md @@ -0,0 +1,27 @@ +## SVO Analysis + +#### Download Test Data + +Create a folder where you will store all datasets, e.g.: + + mkdir Datasets + +In your `.bashrc` script, create a new environment variable pointing to the dataset folder: + + export SVO_DATASET_DIR=${HOME}/Datasets + +Source your new `.bashrc` script, go to the new dataset folder and download the test data: + + source `~/.bashrc` + cd ${SVO_DATASET_DIR} + wget http://rpg.ifi.uzh.ch/datasets/flying_room_1_rig_1.tar.gz -O - | tar -xz + + +#### Run Benchmark + +In SVO you need to set the `TRACE` flag to `TRUE` and recompile SVO. +Afterwards run + + rosrun svo_analysis benchmark.py flying_room_1_fast + +The script will create a new folder in `svo_analysis/results/`, run svo on the dataset and save the tracefile in this folder and at the end it will run some scripts to generate plots from the tracefile. \ No newline at end of file From ac8b7be117ee6ee0d623c7a06b5fafa256207d92 Mon Sep 17 00:00:00 2001 From: Christian Forster Date: Mon, 31 Mar 2014 11:38:32 +0200 Subject: [PATCH 041/215] set trace flag to FALSE --- svo/CMakeLists.txt | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/svo/CMakeLists.txt b/svo/CMakeLists.txt index 08aafe3..3c55cef 100644 --- a/svo/CMakeLists.txt +++ b/svo/CMakeLists.txt @@ -2,7 +2,7 @@ # user build settings SET(DEBUG FALSE) -SET(TRACE TRUE) +SET(TRACE FALSE) SET(HAVE_G2O FALSE) ################################################################################ From 9f355624d6fe8df0d887aeb8ed4d2dc83f34ffdf Mon Sep 17 00:00:00 2001 From: Christian Forster Date: Mon, 31 Mar 2014 11:40:29 +0200 Subject: [PATCH 042/215] Update README.md --- svo_analysis/README.md | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/svo_analysis/README.md b/svo_analysis/README.md index a6cc2a7..0a4deeb 100644 --- a/svo_analysis/README.md +++ b/svo_analysis/README.md @@ -19,9 +19,9 @@ Source your new `.bashrc` script, go to the new dataset folder and download the #### Run Benchmark -In SVO you need to set the `TRACE` flag to `TRUE` and recompile SVO. +In the _CMakeLists.txt_ of SVO you need to set the `TRACE` flag to `TRUE` and recompile SVO. Afterwards run rosrun svo_analysis benchmark.py flying_room_1_fast -The script will create a new folder in `svo_analysis/results/`, run svo on the dataset and save the tracefile in this folder and at the end it will run some scripts to generate plots from the tracefile. \ No newline at end of file +The script will create a new folder in `svo_analysis/results/`, run svo on the dataset and save the tracefile in this folder and at the end it will run some scripts to generate plots from the tracefile. From 8cf1504f7cca7be288b3d455a5638083a3c21ac1 Mon Sep 17 00:00:00 2001 From: Christian Forster Date: Mon, 31 Mar 2014 19:31:11 +0200 Subject: [PATCH 043/215] combined reprojection functions in new reprojector class --- svo/CMakeLists.txt | 4 +- svo/include/svo/frame_handler_mono.h | 4 +- svo/include/svo/reprojection.h | 98 --------------- svo/include/svo/reprojector.h | 98 +++++++++++++++ svo/src/frame_handler_base.cpp | 1 - svo/src/frame_handler_mono.cpp | 14 +-- svo/src/{reprojection.cpp => reprojector.cpp} | 115 ++++++++---------- 7 files changed, 160 insertions(+), 174 deletions(-) delete mode 100644 svo/include/svo/reprojection.h create mode 100644 svo/include/svo/reprojector.h rename svo/src/{reprojection.cpp => reprojector.cpp} (63%) diff --git a/svo/CMakeLists.txt b/svo/CMakeLists.txt index 3c55cef..ae995f4 100644 --- a/svo/CMakeLists.txt +++ b/svo/CMakeLists.txt @@ -2,7 +2,7 @@ # user build settings SET(DEBUG FALSE) -SET(TRACE FALSE) +SET(TRACE TRUE) SET(HAVE_G2O FALSE) ################################################################################ @@ -109,7 +109,7 @@ LIST(APPEND SOURCEFILES src/pose_optimizer.cpp src/initialization.cpp src/matcher.cpp - src/reprojection.cpp + src/reprojector.cpp src/feature_alignment.cpp src/feature_detection.cpp src/depth_filter.cpp diff --git a/svo/include/svo/frame_handler_mono.h b/svo/include/svo/frame_handler_mono.h index f15afaf..2887713 100644 --- a/svo/include/svo/frame_handler_mono.h +++ b/svo/include/svo/frame_handler_mono.h @@ -19,7 +19,7 @@ #include #include -#include +#include #include namespace svo { @@ -49,7 +49,7 @@ public: protected: vk::AbstractCamera* cam_; //!< Camera model, can be ATAN, Pinhole or Ocam (see vikit). - reprojection::Grid reprojection_grid_; //!< Grid used for reprojection to make sure we have evenly distributed features. + Reprojector reprojector_; //!< Projects points from other keyframes into the current frame FramePtr new_frame_; //!< Current frame. FramePtr last_frame_; //!< Last frame, not necessarily a keyframe. set core_kfs_; //!< Keyframes in the closer neighbourhood. diff --git a/svo/include/svo/reprojection.h b/svo/include/svo/reprojection.h deleted file mode 100644 index a6ce153..0000000 --- a/svo/include/svo/reprojection.h +++ /dev/null @@ -1,98 +0,0 @@ -// This file is part of SVO - Semi-direct Visual Odometry. -// -// Copyright (C) 2014 Christian Forster -// (Robotics and Perception Group, University of Zurich, Switzerland). -// -// SVO is free software: you can redistribute it and/or modify it under the -// terms of the GNU General Public License as published by the Free Software -// Foundation, either version 3 of the License, or any later version. -// -// SVO is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. -// -// You should have received a copy of the GNU General Public License -// along with this program. If not, see . - -#ifndef SVO_REPROJECTION_H_ -#define SVO_REPROJECTION_H_ - -#include -#include - -namespace vk { - class AbstractCamera; -} - -namespace svo { - -class Map; -class Point; -class MapPointCandidates; - -/// Project points from the map into the image and find the corresponding -/// feature (corner). We don't search a match for every point but only for one -/// point per cell. Thereby, we achieve a homogeneously distributed set of -/// matched features and at the same time we can save processing time by not -/// projecting all points. -namespace reprojection { - -/// A candidate is a point that projects into the image plane and for which we -/// will search a maching feature in the image. -struct Candidate { - EIGEN_MAKE_ALIGNED_OPERATOR_NEW - - Point* pt; //!< 3D point. - Vector2d px; //!< projected 2D pixel location. - Candidate(Point* pt, Vector2d& px) - : pt(pt), - px(px) - {} -}; - -typedef std::list > Cell; -typedef std::vector CandidateGrid; - -/// The grid stores a set of candidate matches. For every grid cell we try to find one match. -struct Grid -{ - CandidateGrid cells; - vector cell_order; - int cell_size; - int grid_n_cols; - int grid_n_rows; - Grid(); - void initialize(vk::AbstractCamera* cam); - ~Grid(); -}; - -/// Reset the grid -void resetGrid(Grid& grid); - -/// Project points from the map into the image. First finds keyframes with -/// overlapping field of view and projects only those map-points. -void reprojectMap( - Map& map, - FramePtr frame, - Grid& grid, - MapPointCandidates& candidate_points, - std::vector< std::pair >& overlap_kfs, - size_t& n_matches, - size_t& n_trials); - -bool reprojectCell( - Cell& cell, - FramePtr frame, - Map& map, - MapPointCandidates& candidate_points, - size_t& n_trials); - -bool reprojectPoint( - Grid& grid, - FramePtr frame, - Point* point); - -} // namespace reprojection -} // namespace svo - -#endif // SVO_REPROJECTION_H_ diff --git a/svo/include/svo/reprojector.h b/svo/include/svo/reprojector.h new file mode 100644 index 0000000..b2f4a20 --- /dev/null +++ b/svo/include/svo/reprojector.h @@ -0,0 +1,98 @@ +// This file is part of SVO - Semi-direct Visual Odometry. +// +// Copyright (C) 2014 Christian Forster +// (Robotics and Perception Group, University of Zurich, Switzerland). +// +// SVO is free software: you can redistribute it and/or modify it under the +// terms of the GNU General Public License as published by the Free Software +// Foundation, either version 3 of the License, or any later version. +// +// SVO is distributed in the hope that it will be useful, but WITHOUT ANY +// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS +// FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. +// +// You should have received a copy of the GNU General Public License +// along with this program. If not, see . + +#ifndef SVO_REPROJECTION_H_ +#define SVO_REPROJECTION_H_ + +#include +#include + +namespace vk { +class AbstractCamera; +} + +namespace svo { + +class Map; +class Point; + +/// Project points from the map into the image and find the corresponding +/// feature (corner). We don't search a match for every point but only for one +/// point per cell. Thereby, we achieve a homogeneously distributed set of +/// matched features and at the same time we can save processing time by not +/// projecting all points. +class Reprojector +{ +public: + EIGEN_MAKE_ALIGNED_OPERATOR_NEW + + /// Reprojector config parameters + struct Options { + size_t max_n_kfs; //!< max number of keyframes to reproject from + Options() + : max_n_kfs(10) + {} + } options_; + + size_t n_matches_; + size_t n_trials_; + + Reprojector(vk::AbstractCamera* cam, Map& map); + + ~Reprojector(); + + /// Project points from the map into the image. First finds keyframes with + /// overlapping field of view and projects only those map-points. + void reprojectMap( + FramePtr frame, + std::vector< std::pair >& overlap_kfs); + +private: + + /// A candidate is a point that projects into the image plane and for which we + /// will search a maching feature in the image. + struct Candidate { + EIGEN_MAKE_ALIGNED_OPERATOR_NEW + Point* pt; //!< 3D point. + Vector2d px; //!< projected 2D pixel location. + Candidate(Point* pt, Vector2d& px) : pt(pt), px(px) {} + }; + typedef std::list > Cell; + typedef std::vector CandidateGrid; + + /// The grid stores a set of candidate matches. For every grid cell we try to find one match. + struct Grid + { + CandidateGrid cells; + vector cell_order; + int cell_size; + int grid_n_cols; + int grid_n_rows; + }; + + Grid grid_; + Map& map_; + + static bool pointQualityComparator(Candidate& lhs, Candidate& rhs); + void initializeGrid(vk::AbstractCamera* cam); + void resetGrid(); + bool reprojectCell(Cell& cell, FramePtr frame); + bool reprojectPoint(FramePtr frame, Point* point); +}; + +} // namespace svo + +#endif // SVO_REPROJECTION_H_ diff --git a/svo/src/frame_handler_base.cpp b/svo/src/frame_handler_base.cpp index 3a8bad7..5a36bbc 100644 --- a/svo/src/frame_handler_base.cpp +++ b/svo/src/frame_handler_base.cpp @@ -25,7 +25,6 @@ #include #include #include -#include #include namespace svo diff --git a/svo/src/frame_handler_mono.cpp b/svo/src/frame_handler_mono.cpp index b0846c0..441a262 100644 --- a/svo/src/frame_handler_mono.cpp +++ b/svo/src/frame_handler_mono.cpp @@ -33,10 +33,9 @@ namespace svo { FrameHandlerMono:: FrameHandlerMono(vk::AbstractCamera* cam) : FrameHandlerBase(), - cam_(cam) -{ - reprojection_grid_.initialize(cam_); -} + cam_(cam), + reprojector_(cam_, map_) +{} FrameHandlerMono:: ~FrameHandlerMono() @@ -141,11 +140,10 @@ processFrame() // map reprojection & feature alignment SVO_START_TIMER("reproject"); - size_t repr_n_new_references, repr_n_mps; - reprojection::reprojectMap( - map_, new_frame_, reprojection_grid_, map_.point_candidates_, - overlap_kfs_, repr_n_new_references, repr_n_mps); + reprojector_.reprojectMap(new_frame_, overlap_kfs_); SVO_STOP_TIMER("reproject"); + const size_t repr_n_new_references = reprojector_.n_matches_; + const size_t repr_n_mps = reprojector_.n_trials_; SVO_LOG2(repr_n_mps, repr_n_new_references); SVO_DEBUG_STREAM("Reprojection:\t nPoints = "< > close_kfs; - map.getCloseKeyframes(frame, close_kfs); + map_.getCloseKeyframes(frame, close_kfs); - // Sort KFs with overlap according to their closeness // TODO is this still necessary? + // Sort KFs with overlap according to their closeness close_kfs.sort(boost::bind(&std::pair::second, _1) < boost::bind(&std::pair::second, _2)); // Reproject all mappoints of the closest N kfs with overlap. We only store // in which grid cell the points fall. - size_t n = 0, max_n = 10; - overlap_kfs.reserve(max_n); + size_t n = 0; + overlap_kfs.reserve(options_.max_n_kfs); for(auto it_frame=close_kfs.begin(), ite_frame=close_kfs.end(); - it_frame!=ite_frame && nfirst; overlap_kfs.push_back(pair(ref_frame,0)); @@ -100,7 +98,7 @@ void reprojectMap( if((*it_ftr)->point->last_projected_kf_id_ == frame->id_) continue; (*it_ftr)->point->last_projected_kf_id_ = frame->id_; - if(reprojectPoint(grid, frame, (*it_ftr)->point)) + if(reprojectPoint(frame, (*it_ftr)->point)) overlap_kfs.back().second++; } } @@ -109,17 +107,17 @@ void reprojectMap( // Now project all point candidates SVO_START_TIMER("reproject_candidates"); { - boost::unique_lock lock(candidate_points.mut_); - auto it=candidate_points.candidates_.begin(); - while(it!=candidate_points.candidates_.end()) + boost::unique_lock lock(map_.point_candidates_.mut_); + auto it=map_.point_candidates_.candidates_.begin(); + while(it!=map_.point_candidates_.candidates_.end()) { - if(!reprojectPoint(grid, frame, it->first)) + if(!reprojectPoint(frame, it->first)) { it->first->n_failed_reproj_ += 3; if(it->first->n_failed_reproj_ > 30) { - candidate_points.deleteCandidate(*it); - it = candidate_points.candidates_.erase(it); + map_.point_candidates_.deleteCandidate(*it); + it = map_.point_candidates_.candidates_.erase(it); continue; } } @@ -131,38 +129,32 @@ void reprojectMap( // Now we go through each grid cell and select one point to match. // At the end, we should have at maximum one reprojected point per cell. SVO_START_TIMER("feature_align"); - n_matches=0; n_trials=0; - for(size_t i=0; i (size_t) Config::maxFts()) + if(reprojectCell(*grid_.cells.at(grid_.cell_order[i]), frame)) + ++n_matches_; + if(n_matches_ > (size_t) Config::maxFts()) break; } SVO_STOP_TIMER("feature_align"); } -bool pointQualityComparator(Candidate& lhs, Candidate& rhs) +bool Reprojector::pointQualityComparator(Candidate& lhs, Candidate& rhs) { if(lhs.pt->type_ > rhs.pt->type_) return true; return false; } -bool reprojectCell( - Cell& cell, - FramePtr frame, - Map& map, - MapPointCandidates& candidate_points, - size_t& n_trials) +bool Reprojector::reprojectCell(Cell& cell, FramePtr frame) { - cell.sort(boost::bind(&pointQualityComparator, _1, _2)); + cell.sort(boost::bind(&Reprojector::pointQualityComparator, _1, _2)); Cell::iterator it=cell.begin(); while(it!=cell.end()) { - ++n_trials; + ++n_trials_; if(it->pt->type_ == Point::DELETED) { @@ -176,9 +168,9 @@ bool reprojectCell( { it->pt->n_failed_reproj_++; if(it->pt->type_ == Point::UNKNOWN_QUALITY && it->pt->n_failed_reproj_ > 15) - map.safeDeletePoint(it->pt); + map_.safeDeletePoint(it->pt); if(it->pt->type_ == Point::CANDIDATE && it->pt->n_failed_reproj_ > 30) - candidate_points.deleteCandidatePoint(it->pt); + map_.point_candidates_.deleteCandidatePoint(it->pt); it = cell.erase(it); continue; } @@ -201,20 +193,17 @@ bool reprojectCell( return false; } -bool reprojectPoint( - Grid& grid, - FramePtr frame, - Point* point) +bool Reprojector::reprojectPoint(FramePtr frame, Point* point) { Vector2d px(frame->w2c(point->pos_)); if(frame->cam_->isInFrame(px.cast(), 8)) // 8px is the patch size in the matcher { - const int k = static_cast(px[1]/grid.cell_size)*grid.grid_n_cols + static_cast(px[0]/grid.cell_size); - grid.cells.at(k)->push_back(Candidate(point, px)); + const int k = static_cast(px[1]/grid_.cell_size)*grid_.grid_n_cols + + static_cast(px[0]/grid_.cell_size); + grid_.cells.at(k)->push_back(Candidate(point, px)); return true; } return false; } -} // namespace reprojection } // namespace svo From 6308c10fa2692be457d8c9336ba6f9af9da632ee Mon Sep 17 00:00:00 2001 From: Christian Forster Date: Mon, 31 Mar 2014 19:47:12 +0200 Subject: [PATCH 044/215] added reprojector option to not use feature alignment --- svo/include/svo/reprojector.h | 4 +++- svo/src/reprojector.cpp | 4 +++- 2 files changed, 6 insertions(+), 2 deletions(-) diff --git a/svo/include/svo/reprojector.h b/svo/include/svo/reprojector.h index b2f4a20..cc6df72 100644 --- a/svo/include/svo/reprojector.h +++ b/svo/include/svo/reprojector.h @@ -42,8 +42,10 @@ public: /// Reprojector config parameters struct Options { size_t max_n_kfs; //!< max number of keyframes to reproject from + bool find_match_direct; Options() - : max_n_kfs(10) + : max_n_kfs(10), + find_match_direct(true) {} } options_; diff --git a/svo/src/reprojector.cpp b/svo/src/reprojector.cpp index 94645a6..3604d1a 100644 --- a/svo/src/reprojector.cpp +++ b/svo/src/reprojector.cpp @@ -163,7 +163,9 @@ bool Reprojector::reprojectCell(Cell& cell, FramePtr frame) } int feature_level; - bool found_match = matcher::findMatchDirect(*it->pt, *frame, it->px, feature_level); + bool found_match = true; + if(options_.find_match_direct) + found_match = matcher::findMatchDirect(*it->pt, *frame, it->px, feature_level); if(!found_match) { it->pt->n_failed_reproj_++; From 74a6d3d699caa8f2bfaf404bb9d6216f85f2db71 Mon Sep 17 00:00:00 2001 From: Christian Forster Date: Mon, 31 Mar 2014 21:21:24 +0200 Subject: [PATCH 045/215] refactoring --- svo/src/frame_handler_base.cpp | 24 ++++++++++-------------- svo/src/frame_handler_mono.cpp | 30 ++++++++++-------------------- 2 files changed, 20 insertions(+), 34 deletions(-) diff --git a/svo/src/frame_handler_base.cpp b/svo/src/frame_handler_base.cpp index 5a36bbc..504890a 100644 --- a/svo/src/frame_handler_base.cpp +++ b/svo/src/frame_handler_base.cpp @@ -35,8 +35,7 @@ namespace svo vk::PerformanceMonitor* g_permon = NULL; #endif -FrameHandlerBase:: -FrameHandlerBase() : +FrameHandlerBase::FrameHandlerBase() : stage_(STAGE_PAUSED), set_reset_(false), set_start_(false), @@ -85,16 +84,14 @@ FrameHandlerBase() : SVO_INFO_STREAM("NanoSlam initialized"); } -FrameHandlerBase:: -~FrameHandlerBase() +FrameHandlerBase::~FrameHandlerBase() { SVO_INFO_STREAM("SVO destructor invoked."); delete depth_filter_; SVO_INFO_STREAM("SVO destructed."); } -bool FrameHandlerBase:: -startFrameProcessingCommon(const double timestamp) +bool FrameHandlerBase::startFrameProcessingCommon(const double timestamp) { if(set_start_) { @@ -115,8 +112,7 @@ startFrameProcessingCommon(const double timestamp) return true; } -int FrameHandlerBase:: -finishFrameProcessingCommon( +int FrameHandlerBase::finishFrameProcessingCommon( const size_t update_id, const UpdateResult dropout, const size_t num_observations) @@ -146,8 +142,7 @@ finishFrameProcessingCommon( return 0; } -void FrameHandlerBase:: -resetCommon() +void FrameHandlerBase::resetCommon() { map_.reset(); stage_ = STAGE_PAUSED; @@ -159,8 +154,7 @@ resetCommon() SVO_INFO_STREAM("RESET"); } -void FrameHandlerBase:: -setTrackingQuality(const size_t num_observations) +void FrameHandlerBase::setTrackingQuality(const size_t num_observations) { tracking_quality_ = TRACKING_GOOD; if(num_observations < Config::qualityMinFts()) @@ -186,8 +180,10 @@ bool ptLastOptimComparator(Point* lhs, Point* rhs) return (lhs->last_structure_optim_ < rhs->last_structure_optim_); } -void FrameHandlerBase:: -optimizeStructure(FramePtr frame, size_t max_n_pts, int max_iter) +void FrameHandlerBase::optimizeStructure( + FramePtr frame, + size_t max_n_pts, + int max_iter) { deque pts; for(Features::iterator it=frame->fts_.begin(); it!=frame->fts_.end(); ++it) diff --git a/svo/src/frame_handler_mono.cpp b/svo/src/frame_handler_mono.cpp index 441a262..641bb14 100644 --- a/svo/src/frame_handler_mono.cpp +++ b/svo/src/frame_handler_mono.cpp @@ -30,19 +30,16 @@ namespace svo { -FrameHandlerMono:: -FrameHandlerMono(vk::AbstractCamera* cam) : +FrameHandlerMono::FrameHandlerMono(vk::AbstractCamera* cam) : FrameHandlerBase(), cam_(cam), reprojector_(cam_, map_) {} -FrameHandlerMono:: -~FrameHandlerMono() +FrameHandlerMono::~FrameHandlerMono() {} -void FrameHandlerMono:: -addImage(const cv::Mat& img, const double timestamp) +void FrameHandlerMono::addImage(const cv::Mat& img, const double timestamp) { if(!startFrameProcessingCommon(timestamp)) return; @@ -73,8 +70,7 @@ addImage(const cv::Mat& img, const double timestamp) finishFrameProcessingCommon(last_frame_->id_, res, last_frame_->nObs()); } -void FrameHandlerMono:: -setFirstFrame(const FramePtr& first_frame) +void FrameHandlerMono::setFirstFrame(const FramePtr& first_frame) { resetAll(); last_frame_ = first_frame; @@ -83,8 +79,7 @@ setFirstFrame(const FramePtr& first_frame) stage_ = STAGE_DEFAULT_FRAME; } -FrameHandlerMono::UpdateResult FrameHandlerMono:: -processFirstFrame() +FrameHandlerMono::UpdateResult FrameHandlerMono::processFirstFrame() { new_frame_->T_f_w_ = T_f_w_init_; if(klt_homography_init_.addFirstFrame(new_frame_) == initialization::FAILURE) @@ -96,8 +91,7 @@ processFirstFrame() return RESULT_IS_KEYFRAME; } -FrameHandlerMono::UpdateResult FrameHandlerMono:: -processSecondFrame() +FrameHandlerBase::UpdateResult FrameHandlerMono::processSecondFrame() { initialization::InitResult res = klt_homography_init_.addSecondFrame(new_frame_); if(res == initialization::FAILURE) @@ -123,8 +117,7 @@ processSecondFrame() return RESULT_IS_KEYFRAME; } -FrameHandlerMono::UpdateResult FrameHandlerMono:: -processFrame() +FrameHandlerBase::UpdateResult FrameHandlerMono::processFrame() { // Set initial pose TODO use prior new_frame_->T_f_w_ = last_frame_->T_f_w_; @@ -225,8 +218,7 @@ processFrame() return RESULT_IS_KEYFRAME; } -void FrameHandlerMono:: -resetAll() +void FrameHandlerMono::resetAll() { resetCommon(); last_frame_.reset(); @@ -235,8 +227,7 @@ resetAll() overlap_kfs_.clear(); } -bool FrameHandlerMono:: -needNewKf(double scene_depth_mean) +bool FrameHandlerMono::needNewKf(double scene_depth_mean) { for(auto it=overlap_kfs_.begin(), ite=overlap_kfs_.end(); it!=ite; ++it) { @@ -249,8 +240,7 @@ needNewKf(double scene_depth_mean) return true; } -void FrameHandlerMono:: -setCoreKfs(size_t n_closest) +void FrameHandlerMono::setCoreKfs(size_t n_closest) { size_t n = min(n_closest, overlap_kfs_.size()-1); std::partial_sort(overlap_kfs_.begin(), overlap_kfs_.begin()+n, overlap_kfs_.end(), From d0a240604174a0c016b876b5334e3cb2c5547b4a Mon Sep 17 00:00:00 2001 From: Christian Forster Date: Mon, 31 Mar 2014 21:21:34 +0200 Subject: [PATCH 046/215] updated trajectory comparison --- svo_analysis/experiments/.gitignore | 2 + svo_analysis/experiments/asl2_acc.yaml | 3 +- svo_analysis/experiments/asl2_fast.yaml | 3 +- svo_analysis/scripts/comparison.py | 160 +++++++++++------------- 4 files changed, 78 insertions(+), 90 deletions(-) create mode 100644 svo_analysis/experiments/.gitignore mode change 100644 => 100755 svo_analysis/scripts/comparison.py diff --git a/svo_analysis/experiments/.gitignore b/svo_analysis/experiments/.gitignore new file mode 100644 index 0000000..5b74354 --- /dev/null +++ b/svo_analysis/experiments/.gitignore @@ -0,0 +1,2 @@ +*.yaml +!.gitignore diff --git a/svo_analysis/experiments/asl2_acc.yaml b/svo_analysis/experiments/asl2_acc.yaml index 0b5bf3b..9e05b2e 100644 --- a/svo_analysis/experiments/asl2_acc.yaml +++ b/svo_analysis/experiments/asl2_acc.yaml @@ -1,2 +1,3 @@ dataset: asl_vicon_d2 -param_settings: vo_accurate \ No newline at end of file +param_settings: vo_accurate +experiment_label: 'svo acc' \ No newline at end of file diff --git a/svo_analysis/experiments/asl2_fast.yaml b/svo_analysis/experiments/asl2_fast.yaml index 34285b5..529b6bf 100644 --- a/svo_analysis/experiments/asl2_fast.yaml +++ b/svo_analysis/experiments/asl2_fast.yaml @@ -1,2 +1,3 @@ dataset: asl_vicon_d2 -param_settings: vo_fast \ No newline at end of file +param_settings: vo_fast +experiment_label: 'svo fast' \ No newline at end of file diff --git a/svo_analysis/scripts/comparison.py b/svo_analysis/scripts/comparison.py old mode 100644 new mode 100755 index 1bc219e..5605fe3 --- a/svo_analysis/scripts/comparison.py +++ b/svo_analysis/scripts/comparison.py @@ -1,32 +1,32 @@ -# -*- coding: utf-8 -*- +#!/usr/bin/python +import os +import sys +import time +import rospkg import numpy as np import matplotlib.pyplot as plt import yaml +import argparse from matplotlib import rc + +# tell matplotlib to use latex font +rc('font',**{'family':'serif','serif':['Cardo']}) +rc('text', usetex=True) + from mpl_toolkits.axes_grid1.inset_locator import zoomed_inset_axes from mpl_toolkits.axes_grid1.inset_locator import mark_inset - -def plotTrajectory(ax, filename, label, color, linewidth): +def plot_trajectory(ax, filename, label, color, linewidth): file = open(filename) data = file.read() lines = data.replace(","," ").replace("\t"," ").split("\n") trajectory = np.array([[v.strip() for v in line.split(" ") if v.strip()!=""] for line in lines if len(line)>0 and line[0]!="#"], dtype=np.float64) ax.plot(trajectory[:,1], trajectory[:,2], label=label, color=color, linewidth=linewidth) - -if __name__ == '__main__': +def compare_results(experiments, results_dir, comparison_dir, + plot_scale_drift = False): - results_dir = '../results' - experiments = ['20130911_2113_nslam_i7_asl2_acc', - '20130911_2229_nslam_i7_asl2_fast', - '20130906_2149_ptam_i7_asl2'] - - # tell matplotlib to use latex font - rc('font',**{'family':'serif','serif':['Cardo']}) - rc('text', usetex=True) - # ------------------------------------------------------------------------------ # position error fig_poserr = plt.figure(figsize=(8,6)) @@ -37,28 +37,25 @@ if __name__ == '__main__': for exp in experiments: # load dataset parameters - params_stream = open(results_dir+'/'+exp+'/params.yaml') + params_stream = open(os.path.join(results_dir, exp, 'params.yaml')) params = yaml.load(params_stream) # plot translation error - trans_error_filename = results_dir+'/'+exp+'/translation_error.txt' - file = open(trans_error_filename) - data = file.read() - lines = data.replace(","," ").replace("\t"," ").split("\n") - trans_error = np.array([[v.strip() for v in line.split(" ") if v.strip()!=""] for line in lines if len(line)>0 and line[0]!="#"], dtype=np.float64) + trans_error = np.loadtxt(os.path.join(results_dir, exp, 'translation_error.txt')) + trans_error[:,0] = trans_error[:,0]-trans_error[0,0] ax_poserr_x.plot(trans_error[:,0], trans_error[:,1], label=params['experiment_label']) ax_poserr_y.plot(trans_error[:,0], trans_error[:,2]) ax_poserr_z.plot(trans_error[:,0], trans_error[:,3]) ax_poserr_x.set_xlim([0, trans_error[-1,0]+4]) - ax_poserr_y.set_xlim([0, trans_error[-1,0]+4]) + ax_poserr_y.set_xlim([0, trans_error[-1,0]+4]) ax_poserr_z.set_xlim([0, trans_error[-1,0]+4]) ax_poserr_x.legend(bbox_to_anchor=[0, 0], loc='lower left', ncol=3) ax_poserr_x.grid() ax_poserr_y.grid() ax_poserr_z.grid() fig_poserr.tight_layout() - fig_poserr.savefig('../results/translation_error.pdf') + fig_poserr.savefig(os.path.join(comparison_dir, 'translation_error.pdf')) # ------------------------------------------------------------------------------ # orientation error @@ -70,15 +67,12 @@ if __name__ == '__main__': for exp in experiments: # load dataset parameters - params_stream = open(results_dir+'/'+exp+'/params.yaml') + params_stream = open(os.path.join(results_dir, exp, 'params.yaml')) params = yaml.load(params_stream) # plot translation error - rot_error_filename = results_dir+'/'+exp+'/orientation_error.txt' - file = open(rot_error_filename) - data = file.read() - lines = data.replace(","," ").replace("\t"," ").split("\n") - rot_error = np.array([[v.strip() for v in line.split(" ") if v.strip()!=""] for line in lines if len(line)>0 and line[0]!="#"], dtype=np.float64) + rot_error = np.loadtxt(os.path.join(results_dir, exp, 'orientation_error.txt')) + rot_error[:,0] = rot_error[:,0]-rot_error[0,0] ax_roterr_r.plot(rot_error[:,0], rot_error[:,3], label=params['experiment_label']) ax_roterr_p.plot(rot_error[:,0], rot_error[:,2]) ax_roterr_y.plot(rot_error[:,0], rot_error[:,1]) @@ -91,76 +85,66 @@ if __name__ == '__main__': ax_roterr_p.grid() ax_roterr_y.grid() fig_roterr.tight_layout() - fig_roterr.savefig('../results/orientation_error.pdf') + fig_roterr.savefig(os.path.join(comparison_dir, 'orientation_error.pdf')) # ------------------------------------------------------------------------------ # scale error - fig_scale = plt.figure(figsize=(8,2.5)) - ax_scale = fig_scale.add_subplot(111, xlabel='time [s]', ylabel='scale change [\%]') - - for exp in experiments: + if plot_scale_drift: + fig_scale = plt.figure(figsize=(8,2.5)) + ax_scale = fig_scale.add_subplot(111, xlabel='time [s]', ylabel='scale change [\%]') - # load dataset parameters - params_stream = open(results_dir+'/'+exp+'/params.yaml') - params = yaml.load(params_stream) + for exp in experiments: + + # load dataset parameters + params = yaml.load(open(os.path.join(results_dir, exp, 'params.yaml'))) + + # plot translation error + scale_drift = open(os.path.join(results_dir, exp, 'scale_drift.txt')) + scale_drift[:,0] = scale_drift[:,0]-scale_drift[0,0] + ax_scale.plot(scale_drift[:,0], scale_drift[:,1], label=params['experiment_label']) - # plot translation error - scale_drift_filename = results_dir+'/'+exp+'/scale_drift.txt' - file = open(scale_drift_filename) - data = file.read() - lines = data.replace(","," ").replace("\t"," ").split("\n") - scale_drift = np.array([[v.strip() for v in line.split(" ") if v.strip()!=""] for line in lines if len(line)>0 and line[0]!="#"], dtype=np.float64) - ax_scale.plot(scale_drift[:,0], scale_drift[:,1], label=params['experiment_label']) - - ax_scale.set_xlim([0, rot_error[-1,0]+4]) - ax_scale.legend(bbox_to_anchor=[0, 1], loc='upper left', ncol=3) - ax_scale.grid() - fig_scale.tight_layout() - fig_scale.savefig('../results/scale_drift.pdf') + ax_scale.set_xlim([0, rot_error[-1,0]+4]) + ax_scale.legend(bbox_to_anchor=[0, 1], loc='upper left', ncol=3) + ax_scale.grid() + fig_scale.tight_layout() + fig_scale.savefig(os.path.join(comparison_dir, 'scale_drift.pdf')) # ------------------------------------------------------------------------------ # trajectory - - fig_traj = plt.figure(figsize=(8,4.8)) - ax_traj = fig_traj.add_subplot(111, xlabel='x [m]', ylabel='y [m]', aspect='equal', xlim=[-3.1, 4], ylim=[-1.5, 2.6]) - - plotTrajectory(ax_traj, '/home/cforster/Datasets/asl_vicon_d2/groundtruth_filtered.txt', 'Groundtruth', 'k', 1.5) - plotTrajectory(ax_traj, results_dir+'/20130911_2229_nslam_i7_asl2_fast/traj_estimate_rotated.txt', 'Fast', 'g', 1) - plotTrajectory(ax_traj, results_dir+'/20130906_2149_ptam_i7_asl2/traj_estimate_rotated.txt', 'PTAM', 'r', 1) - - # show detail: - axins = zoomed_inset_axes(ax_traj, 5.0, loc=1) # zoom = 6 - plotTrajectory(axins, '/home/cforster/Datasets/asl_vicon_d2/groundtruth_filtered.txt', 'Groundtruth', 'k', 1.5) - plotTrajectory(axins, results_dir+'/20130911_2229_nslam_i7_asl2_fast/traj_estimate_rotated.txt', 'Fast', 'g', 1) - plotTrajectory(axins, results_dir+'/20130906_2149_ptam_i7_asl2/traj_estimate_rotated.txt', 'PTAM', 'r', 1) - axins.set_xlim(1.2, 1.70) - axins.set_ylim(-0.8, -0.3) - axins.patch.set_facecolor('0.9') - plt.xticks(visible=False) - plt.yticks(visible=False) - - mark_inset(ax_traj, axins, loc1=2, loc2=4, fc="none", ec='b') - plt.draw() - plt.show() - ax_traj.legend(bbox_to_anchor=[1, 0], loc='lower right', ncol=3) - ax_traj.grid() - fig_traj.tight_layout() - fig_traj.savefig('../results/trajectory_asl.pdf') +# fig_traj = plt.figure(figsize=(8,4.8)) +# ax_traj = fig_traj.add_subplot(111, xlabel='x [m]', ylabel='y [m]', aspect='equal', xlim=[-3.1, 4], ylim=[-1.5, 2.6]) +# +# plotTrajectory(ax_traj, '/home/cforster/Datasets/asl_vicon_d2/groundtruth_filtered.txt', 'Groundtruth', 'k', 1.5) +# plotTrajectory(ax_traj, results_dir+'/20130911_2229_nslam_i7_asl2_fast/traj_estimate_rotated.txt', 'Fast', 'g', 1) +# plotTrajectory(ax_traj, results_dir+'/20130906_2149_ptam_i7_asl2/traj_estimate_rotated.txt', 'PTAM', 'r', 1) +# +# mark_inset(ax_traj, axins, loc1=2, loc2=4, fc="none", ec='b') +# plt.draw() +# plt.show() +# ax_traj.legend(bbox_to_anchor=[1, 0], loc='lower right', ncol=3) +# ax_traj.grid() +# fig_traj.tight_layout() +# fig_traj.savefig('../results/trajectory_asl.pdf') - # ------------------------------------------------------------------------------ - # number of matches +if __name__ == '__main__': - # plot number of klt tracked and matched points -# fig = plt.figure(figsize=(8,2)) -# ax = fig.add_subplot(111, xlabel='time [s]', ylabel='no. features', ylim=[0,220]) -# ax.plot(np.arange(len(n_fts_1))/25.0, n_fts_1, 'b-', label='Accurate') -# ax.plot(np.arange(len(n_fts_2))/25.0, n_fts_2, 'g-', label='Fast') -# ax.legend(bbox_to_anchor=[1, 0], loc='lower right', ncol=2) -# fig.tight_layout() -# fig.savefig('../results/number_of_features2.pdf', bbox_inches="tight") -# + default_name = time.strftime("%Y%m%d_%H%M", time.localtime())+'_comparison' + parser = argparse.ArgumentParser(description='Compare results.') + parser.add_argument('result_directories', nargs='+', help='list of result directories to compare') + parser.add_argument('--name', help='name of the comparison', default=default_name) + args = parser.parse_args() + + # create folder for comparison results + results_dir = os.path.join(rospkg.RosPack().get_path('svo_analysis'), 'results') + comparison_dir = os.path.join(results_dir, args.name) + if not os.path.exists(comparison_dir): + os.makedirs(comparison_dir) + + # run comparison + compare_results(args.result_directories, results_dir, comparison_dir) - - \ No newline at end of file + + + From 4c722969a9255ad71dce2a1c8f8d0c0a1e9dc479 Mon Sep 17 00:00:00 2001 From: Christian Forster Date: Mon, 31 Mar 2014 21:44:31 +0200 Subject: [PATCH 047/215] move depth filter ownership to frame handler mono --- svo/include/svo/frame_handler_base.h | 4 ---- svo/include/svo/frame_handler_mono.h | 4 ++++ svo/src/frame_handler_base.cpp | 15 ++------------- svo/src/frame_handler_mono.cpp | 16 +++++++++++++--- 4 files changed, 19 insertions(+), 20 deletions(-) diff --git a/svo/include/svo/frame_handler_base.h b/svo/include/svo/frame_handler_base.h index 50afc14..66d4595 100644 --- a/svo/include/svo/frame_handler_base.h +++ b/svo/include/svo/frame_handler_base.h @@ -87,9 +87,6 @@ public: /// Get the number of feature observations of the last frame. size_t lastNumObservations() const { return num_obs_last_; } - /// Access the depth filter. - DepthFilter* depthFilter() const { return depth_filter_; } - protected: Stage stage_; //!< Current stage of the algorithm. bool set_reset_; //!< Flag that the user can set. Will reset the system before the next iteration. @@ -101,7 +98,6 @@ protected: vk::RingBuffer acc_num_obs_; //!< Number of observed features of the last 10 frames, used to give some user feedback on the tracking performance. size_t num_obs_last_; //!< Number of observations in the previous frame. TrackingQuality tracking_quality_; //!< An estimate of the tracking quality based on the number of tracked features. - DepthFilter* depth_filter_; //!< Depth estimation algorithm runs in a parallel thread and is used to initialize new 3D points. /// Before a frame is processed, this function is called. bool startFrameProcessingCommon(const double timestamp); diff --git a/svo/include/svo/frame_handler_mono.h b/svo/include/svo/frame_handler_mono.h index 2887713..9024394 100644 --- a/svo/include/svo/frame_handler_mono.h +++ b/svo/include/svo/frame_handler_mono.h @@ -47,6 +47,9 @@ public: const vector& initFeatureTrackRefPx() const { return klt_homography_init_.px_ref_; } const vector& initFeatureTrackCurPx() const { return klt_homography_init_.px_cur_; } + /// Access the depth filter. + DepthFilter* depthFilter() const { return depth_filter_; } + protected: vk::AbstractCamera* cam_; //!< Camera model, can be ATAN, Pinhole or Ocam (see vikit). Reprojector reprojector_; //!< Projects points from other keyframes into the current frame @@ -55,6 +58,7 @@ protected: set core_kfs_; //!< Keyframes in the closer neighbourhood. vector< pair > overlap_kfs_; //!< All keyframes with overlapping field of view. the paired number specifies how many common mappoints are observed TODO: why vector!? initialization::KltHomographyInit klt_homography_init_; //!< Used to estimate pose of the first two keyframes by estimating a homography. + DepthFilter* depth_filter_; //!< Depth estimation algorithm runs in a parallel thread and is used to initialize new 3D points. /// Processes the first frame and sets it as a keyframe. UpdateResult processFirstFrame(); diff --git a/svo/src/frame_handler_base.cpp b/svo/src/frame_handler_base.cpp index 504890a..c3568d5 100644 --- a/svo/src/frame_handler_base.cpp +++ b/svo/src/frame_handler_base.cpp @@ -25,8 +25,7 @@ #include #include #include -#include - + namespace svo { @@ -42,8 +41,7 @@ FrameHandlerBase::FrameHandlerBase() : acc_frame_timings_(10), acc_num_obs_(10), num_obs_last_(0), - tracking_quality_(TRACKING_BAD), - depth_filter_(NULL) + tracking_quality_(TRACKING_BAD) { #ifdef SVO_TRACE // Initialize Performance Monitor @@ -75,20 +73,12 @@ FrameHandlerBase::FrameHandlerBase() : g_permon->init(Config::traceName(), Config::traceDir()); #endif - // create depth filter and set callback - feature_detection::DetectorPtr feature_detector(new feature_detection::FastDetector()); - DepthFilter::callback_t depth_filter_cb = boost::bind(&MapPointCandidates::newCandidatePoint, &map_.point_candidates_, _1, _2); - depth_filter_ = new DepthFilter(feature_detector, depth_filter_cb); - depth_filter_->startThread(); - SVO_INFO_STREAM("NanoSlam initialized"); } FrameHandlerBase::~FrameHandlerBase() { SVO_INFO_STREAM("SVO destructor invoked."); - delete depth_filter_; - SVO_INFO_STREAM("SVO destructed."); } bool FrameHandlerBase::startFrameProcessingCommon(const double timestamp) @@ -149,7 +139,6 @@ void FrameHandlerBase::resetCommon() set_reset_ = false; set_start_ = false; tracking_quality_ = TRACKING_BAD; - depth_filter_->reset(); num_obs_last_ = 0; SVO_INFO_STREAM("RESET"); } diff --git a/svo/src/frame_handler_mono.cpp b/svo/src/frame_handler_mono.cpp index 641bb14..5804057 100644 --- a/svo/src/frame_handler_mono.cpp +++ b/svo/src/frame_handler_mono.cpp @@ -33,11 +33,20 @@ namespace svo { FrameHandlerMono::FrameHandlerMono(vk::AbstractCamera* cam) : FrameHandlerBase(), cam_(cam), - reprojector_(cam_, map_) -{} + reprojector_(cam_, map_), + depth_filter_(NULL) +{ + // create depth filter and set callback + feature_detection::DetectorPtr feature_detector(new feature_detection::FastDetector()); + DepthFilter::callback_t depth_filter_cb = boost::bind(&MapPointCandidates::newCandidatePoint, &map_.point_candidates_, _1, _2); + depth_filter_ = new DepthFilter(feature_detector, depth_filter_cb); + depth_filter_->startThread(); +} FrameHandlerMono::~FrameHandlerMono() -{} +{ + delete depth_filter_; +} void FrameHandlerMono::addImage(const cv::Mat& img, const double timestamp) { @@ -225,6 +234,7 @@ void FrameHandlerMono::resetAll() new_frame_.reset(); core_kfs_.clear(); overlap_kfs_.clear(); + depth_filter_->reset(); } bool FrameHandlerMono::needNewKf(double scene_depth_mean) From cc382954052925f3726a29f0233f31159e27c97e Mon Sep 17 00:00:00 2001 From: Christian Forster Date: Tue, 1 Apr 2014 16:32:14 +0200 Subject: [PATCH 048/215] refactor --- svo/include/svo/sparse_img_align.h | 2 +- svo/src/sparse_img_align.cpp | 49 ++++++++++++++---------------- 2 files changed, 23 insertions(+), 28 deletions(-) diff --git a/svo/include/svo/sparse_img_align.h b/svo/include/svo/sparse_img_align.h index 7df0456..17cb3a1 100644 --- a/svo/include/svo/sparse_img_align.h +++ b/svo/include/svo/sparse_img_align.h @@ -60,7 +60,7 @@ protected: int min_level_; //!< finest pyramid level for the alignment. // cache: - Matrix jacobian_cache_; //!< the first row is a flag whether the jacobian has been computed. + Matrix jacobian_cache_; bool have_ref_patch_cache_; cv::Mat ref_patch_cache_; std::vector visible_fts_; diff --git a/svo/src/sparse_img_align.cpp b/svo/src/sparse_img_align.cpp index c4a2afd..8a64833 100644 --- a/svo/src/sparse_img_align.cpp +++ b/svo/src/sparse_img_align.cpp @@ -26,12 +26,12 @@ namespace svo { -SparseImgAlign:: -SparseImgAlign(int max_level, int min_level, int n_iter, - Method method, bool display, bool verbose) : - display_(display), - max_level_(max_level), - min_level_(min_level) +SparseImgAlign::SparseImgAlign( + int max_level, int min_level, int n_iter, + Method method, bool display, bool verbose) : + display_(display), + max_level_(max_level), + min_level_(min_level) { n_iter_ = n_iter; n_iter_init_ = n_iter_; @@ -40,8 +40,7 @@ SparseImgAlign(int max_level, int min_level, int n_iter, eps_ = 0.000001; } -size_t SparseImgAlign:: -run(FramePtr ref_frame, FramePtr cur_frame) +size_t SparseImgAlign::run(FramePtr ref_frame, FramePtr cur_frame) { reset(); @@ -55,7 +54,7 @@ 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); + visible_fts_.resize(ref_patch_cache_.rows, false); // TODO: should it be reset at each level? SE3 T_cur_from_ref(cur_frame_->T_f_w_ * ref_frame_->T_f_w_.inverse()); @@ -74,9 +73,7 @@ run(FramePtr ref_frame, FramePtr cur_frame) } // TODO take jacobian from Frame Class! -void -frameJac(const Vector3d & xyz, - Matrix & J) +void frameJac(const Vector3d & xyz, Matrix & J) { const double x = xyz[0]; const double y = xyz[1]; @@ -98,8 +95,7 @@ frameJac(const Vector3d & xyz, J(1,5) = x*z_inv; // x/z } -void SparseImgAlign:: -precomputeReferencePatches() +void SparseImgAlign::precomputeReferencePatches() { const int border = patch_halfsize_+1; const cv::Mat& ref_img = ref_frame_->img_pyr_.at(level_); @@ -162,15 +158,16 @@ precomputeReferencePatches() have_ref_patch_cache_ = true; } -double SparseImgAlign:: -computeResiduals(const SE3& T_cur_from_ref, bool linearize_system, bool compute_weight_scale) +double SparseImgAlign::computeResiduals( + const SE3& T_cur_from_ref, + bool linearize_system, + bool compute_weight_scale) { // Warp the (cur)rent image such that it aligns with the (ref)erence image - const cv::Mat& ref_img = ref_frame_->img_pyr_.at(level_); const cv::Mat& cur_img = cur_frame_->img_pyr_.at(level_); if(linearize_system && display_) - resimg_ = cv::Mat(ref_img.size(), CV_32F, cv::Scalar(0)); + resimg_ = cv::Mat(cur_img.size(), CV_32F, cv::Scalar(0)); if(have_ref_patch_cache_ == false) precomputeReferencePatches(); @@ -179,7 +176,7 @@ computeResiduals(const SE3& T_cur_from_ref, bool linearize_system, bool compute_ std::vector errors; if(compute_weight_scale) errors.reserve(visible_fts_.size()); - const int stride = ref_img.cols; + const int stride = cur_img.cols; const int border = patch_halfsize_+1; const float scale = 1.0f/(1<pos()); @@ -259,8 +256,7 @@ computeResiduals(const SE3& T_cur_from_ref, bool linearize_system, bool compute_ return chi2/n_meas_; } -int SparseImgAlign:: -solve() +int SparseImgAlign::solve() { x_ = H_.ldlt().solve(Jres_); if((bool) std::isnan((double) x_[0])) @@ -268,8 +264,9 @@ solve() return 1; } -void SparseImgAlign:: -update(const ModelType& T_curold_from_ref, ModelType& T_curnew_from_ref) +void SparseImgAlign::update( + const ModelType& T_curold_from_ref, + ModelType& T_curnew_from_ref) { // the jacobian is computed in the coordinate frame of the reference image // T_ref_from_curnew = T_ref_from_curold * SE3::exp(x_).inverse(); @@ -277,12 +274,10 @@ update(const ModelType& T_curold_from_ref, ModelType& T_curnew_from_ref) T_curnew_from_ref = SE3::exp(x_) * T_curold_from_ref; } -void SparseImgAlign:: -startIteration() +void SparseImgAlign::startIteration() {} -void SparseImgAlign:: -finishIteration() +void SparseImgAlign::finishIteration() { if(display_) { From 231cdf5b3d534854015d8196f7255eb9a3722f51 Mon Sep 17 00:00:00 2001 From: Christian Forster Date: Tue, 1 Apr 2014 18:04:25 +0200 Subject: [PATCH 049/215] changed update formula to correspond with the paper --- svo/src/sparse_img_align.cpp | 9 +++------ 1 file changed, 3 insertions(+), 6 deletions(-) diff --git a/svo/src/sparse_img_align.cpp b/svo/src/sparse_img_align.cpp index 8a64833..3278237 100644 --- a/svo/src/sparse_img_align.cpp +++ b/svo/src/sparse_img_align.cpp @@ -151,7 +151,7 @@ void SparseImgAlign::precomputeReferencePatches() // cache the jacobian jacobian_cache_.col(feature_counter*patch_area_ + pixel_counter) = - (dx*frame_jac.row(0) + dy*frame_jac.row(1))*(focal_length / (1< Date: Tue, 1 Apr 2014 18:04:47 +0200 Subject: [PATCH 050/215] added experiment label --- svo_analysis/experiments/flying_room_1_fast.yaml | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/svo_analysis/experiments/flying_room_1_fast.yaml b/svo_analysis/experiments/flying_room_1_fast.yaml index 018e1fe..20a9f9d 100644 --- a/svo_analysis/experiments/flying_room_1_fast.yaml +++ b/svo_analysis/experiments/flying_room_1_fast.yaml @@ -1,2 +1,3 @@ dataset: flying_room_1_rig_1 -param_settings: vo_fast \ No newline at end of file +param_settings: vo_fast +experiment_label: 'svo fast' \ No newline at end of file From 1f446108587a473370e61fae40ee679363dd11cd Mon Sep 17 00:00:00 2001 From: Christian Forster Date: Tue, 1 Apr 2014 18:52:46 +0200 Subject: [PATCH 051/215] exp(x).inverse is the same as exp(-x) --- svo/src/sparse_img_align.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/svo/src/sparse_img_align.cpp b/svo/src/sparse_img_align.cpp index 3278237..6dc97c8 100644 --- a/svo/src/sparse_img_align.cpp +++ b/svo/src/sparse_img_align.cpp @@ -268,7 +268,7 @@ void SparseImgAlign::update( const ModelType& T_curold_from_ref, ModelType& T_curnew_from_ref) { - T_curnew_from_ref = T_curold_from_ref * SE3::exp(x_).inverse(); + T_curnew_from_ref = T_curold_from_ref * SE3::exp(-x_); } void SparseImgAlign::startIteration() From a1e014c77cbfda1aaed33407daedd0404bfecd17 Mon Sep 17 00:00:00 2001 From: Christian Forster Date: Thu, 3 Apr 2014 10:08:18 +0200 Subject: [PATCH 052/215] refactoring Point, added point normal as member --- svo/include/svo/point.h | 15 +++++++++------ svo/src/initialization.cpp | 2 +- svo/src/map.cpp | 12 ++++++------ svo/src/point.cpp | 6 +++--- svo/src/reprojection.cpp | 10 +++++----- svo/test/test_pose_optimizer.cpp | 2 +- svo/test/test_sparse_img_align.cpp | 2 +- svo_ros/src/benchmark_node.cpp | 2 +- 8 files changed, 27 insertions(+), 24 deletions(-) diff --git a/svo/include/svo/point.h b/svo/include/svo/point.h index 1fa26f0..933b8bc 100644 --- a/svo/include/svo/point.h +++ b/svo/include/svo/point.h @@ -36,24 +36,27 @@ class Point : boost::noncopyable { public: - enum PointType {DELETED, CANDIDATE, UNKNOWN_QUALITY, GOOD_QUALITY }; - enum PointOrigin { TRIANGULATION, DEPTH, VOGIATZIS, IDFILTER }; + enum PointType { + TYPE_DELETED, + TYPE_CANDIDATE, + TYPE_UNKNOWN, + TYPE_GOOD }; static int point_counter_; //!< Counts the number of created points. Used to set the unique id. int id_; //!< Unique ID of the point. Vector3d pos_; //!< 3d pos of the point in the world coordinate frame. + Vector3d normal_; //!< Normal of the point list obs_; //!< References to keyframes which observe the point. - size_t n_obs_; //!< Number of obervations, not only keyframes. + size_t n_obs_; //!< Number of obervations: Keyframes AND successful reprojections in intermediate frames. g2oPoint* v_pt_; //!< Temporary pointer to the point-vertex in g2o during bundle adjustment. int last_published_ts_; //!< Timestamp of last publishing. int last_projected_kf_id_; //!< Flag for the reprojection: don't reproject a pt twice. PointType type_; //!< Quality of the point. - PointOrigin origin_; //!< What is the source of the point, i.e. DEPTH if a kinect is used. int n_failed_reproj_; //!< Number of failed reprojections. Used to assess the quality of the point. int n_succeeded_reproj_; //!< Number of succeeded reprojections. Used to assess the quality of the point. - int last_structure_optim_; + int last_structure_optim_; //!< Timestamp of last point optimization - Point(Vector3d pos, PointOrigin origin); + Point(Vector3d pos); ~Point(); /// Add a reference to a frame. diff --git a/svo/src/initialization.cpp b/svo/src/initialization.cpp index 1087e61..2aa3931 100644 --- a/svo/src/initialization.cpp +++ b/svo/src/initialization.cpp @@ -84,7 +84,7 @@ InitResult KltHomographyInit::addSecondFrame(FramePtr frame_cur) if(frame_ref_->cam_->isInFrame(px_cur.cast(), 10) && frame_ref_->cam_->isInFrame(px_ref.cast(), 10) && xyz_in_cur_[*it].z() > 0) { Vector3d pos = T_world_cur * (xyz_in_cur_[*it]*scale); - Point* new_point = new Point(pos, Point::TRIANGULATION); + Point* new_point = new Point(pos); Feature* ftr_cur(new Feature(frame_cur.get(), new_point, px_cur, f_cur_[*it], 0)); frame_cur->addFeature(ftr_cur); diff --git a/svo/src/map.cpp b/svo/src/map.cpp index 808917c..1decc22 100644 --- a/svo/src/map.cpp +++ b/svo/src/map.cpp @@ -94,7 +94,7 @@ void Map::safeDeletePoint(Point* pt) void Map::deletePoint(Point* pt) { - pt->type_ = Point::DELETED; + pt->type_ = Point::TYPE_DELETED; trash_points_.push_back(pt); } @@ -196,9 +196,9 @@ MapPointCandidates::~MapPointCandidates() void MapPointCandidates::newCandidatePoint(const Seed& seed, const Vector3d& xyz_world) { // initalize a new point - Point* point = new Point(xyz_world, Point::VOGIATZIS); + Point* point = new Point(xyz_world); point->addFrameRef(seed.ftr); - point->type_ = Point::CANDIDATE; + point->type_ = Point::TYPE_CANDIDATE; seed.ftr->point = point; // add candidate to list @@ -215,7 +215,7 @@ void MapPointCandidates::addCandidatePointToFrame(FramePtr frame) if(it->first->obs_.front()->frame == frame.get()) { // insert feature in the frame - it->first->type_ = Point::UNKNOWN_QUALITY; + it->first->type_ = Point::TYPE_UNKNOWN; it->first->n_failed_reproj_ = 0; it->second->frame->addFeature(it->second); it = candidates_.erase(it); @@ -271,7 +271,7 @@ void MapPointCandidates::deleteCandidate(PointCandidate& c) // camera-rig: another frame might still be pointing to the candidate point // therefore, we can't delete it right now. delete c.second; c.second=NULL; - c.first->type_ = Point::DELETED; + c.first->type_ = Point::TYPE_DELETED; trash_points_.push_back(c.first); } @@ -298,7 +298,7 @@ void frameValidation(Frame* frame, int id) if((*it)->point==NULL) continue; - if((*it)->point->type_ == Point::DELETED) + if((*it)->point->type_ == Point::TYPE_DELETED) printf("ERROR DataValidation %i: Referenced point was deleted.\n", id); if(!(*it)->point->findFrameRef(frame)) diff --git a/svo/src/point.cpp b/svo/src/point.cpp index 40aced9..75f14a0 100644 --- a/svo/src/point.cpp +++ b/svo/src/point.cpp @@ -24,15 +24,15 @@ namespace svo { int Point::point_counter_ = 0; -Point::Point(Vector3d pos, PointOrigin origin) : +Point::Point(Vector3d pos) : id_(point_counter_++), pos_(pos), + normal_(Vector3d::Zero()), n_obs_(0), v_pt_(NULL), last_published_ts_(0), last_projected_kf_id_(-1), - type_(UNKNOWN_QUALITY), - origin_(origin), + type_(TYPE_UNKNOWN), n_failed_reproj_(0), n_succeeded_reproj_(0), last_structure_optim_(0) diff --git a/svo/src/reprojection.cpp b/svo/src/reprojection.cpp index 26de82c..61de512 100644 --- a/svo/src/reprojection.cpp +++ b/svo/src/reprojection.cpp @@ -158,7 +158,7 @@ bool reprojectCell( { ++n_trials; - if(it->pt->type_ == Point::DELETED) + if(it->pt->type_ == Point::TYPE_DELETED) { it = cell.erase(it); continue; @@ -169,16 +169,16 @@ bool reprojectCell( if(!found_match) { it->pt->n_failed_reproj_++; - if(it->pt->type_ == Point::UNKNOWN_QUALITY && it->pt->n_failed_reproj_ > 15) + if(it->pt->type_ == Point::TYPE_UNKNOWN && it->pt->n_failed_reproj_ > 15) map.safeDeletePoint(it->pt); - if(it->pt->type_ == Point::CANDIDATE && it->pt->n_failed_reproj_ > 30) + if(it->pt->type_ == Point::TYPE_CANDIDATE && it->pt->n_failed_reproj_ > 30) candidate_points.deleteCandidatePoint(it->pt); it = cell.erase(it); continue; } it->pt->n_succeeded_reproj_++; - if(it->pt->type_ == Point::UNKNOWN_QUALITY && it->pt->n_succeeded_reproj_ > 10) - it->pt->type_ = Point::GOOD_QUALITY; + if(it->pt->type_ == Point::TYPE_UNKNOWN && it->pt->n_succeeded_reproj_ > 10) + it->pt->type_ = Point::TYPE_GOOD; Feature* new_feature = new Feature(frame.get(), it->px, feature_level); frame->addFeature(new_feature); diff --git a/svo/test/test_pose_optimizer.cpp b/svo/test/test_pose_optimizer.cpp index 0c9a63f..16f3dfc 100644 --- a/svo/test/test_pose_optimizer.cpp +++ b/svo/test/test_pose_optimizer.cpp @@ -69,7 +69,7 @@ class PoseOptimizerTest { if(it->score > Config::triangMinCornerScore()) { Feature* ftr(new Feature(frame_.get(), Vector2d(it->x, it->y), it->level)); - Point* point(new Point(frame_->f2w(ftr->f*depthmap_.at(it->y, it->x)), Point::DEPTH)); + Point* point(new Point(frame_->f2w(ftr->f*depthmap_.at(it->y, it->x)))); ftr->point = point; ftr->frame = frame_.get(); frame_->addFeature(ftr); diff --git a/svo/test/test_sparse_img_align.cpp b/svo/test/test_sparse_img_align.cpp index 51950a8..b4f5f3b 100644 --- a/svo/test/test_sparse_img_align.cpp +++ b/svo/test/test_sparse_img_align.cpp @@ -104,7 +104,7 @@ void SparseImgAlignTest::testSequence( svo::Feature* ftr = new svo::Feature(frame_ref_.get(), Eigen::Vector2d(corner->x, corner->y), corner->level); Eigen::Vector3d pt_pos_cur = ftr->f*depthmap.at(corner->y, corner->x); Eigen::Vector3d pt_pos_w = frame_ref_->T_f_w_.inverse()*pt_pos_cur; - svo::Point* pt = new svo::Point(pt_pos_w, svo::Point::DEPTH); + svo::Point* pt = new svo::Point(pt_pos_w); ftr->point = pt; frame_ref_->addFeature(ftr); } diff --git a/svo_ros/src/benchmark_node.cpp b/svo_ros/src/benchmark_node.cpp index 561f131..13ee94b 100644 --- a/svo_ros/src/benchmark_node.cpp +++ b/svo_ros/src/benchmark_node.cpp @@ -202,7 +202,7 @@ void BenchmarkNode::runBlenderBenchmark(const std::string& dataset_dir) svo::Feature* ftr = new svo::Feature(frame_ref.get(), Eigen::Vector2d(corner->x, corner->y), corner->level); Eigen::Vector3d pt_pos_cur = ftr->f*depthmap.at(corner->y, corner->x); Eigen::Vector3d pt_pos_world = frame_ref->T_f_w_.inverse()*pt_pos_cur; - svo::Point* point = new svo::Point(pt_pos_world, svo::Point::DEPTH); + svo::Point* point = new svo::Point(pt_pos_world); ftr->point = point; ftr->point->addFrameRef(ftr); frame_ref->addFeature(ftr); From c6b308ca14ecee1fc2a28f1f9e00aa5bc36ec4af Mon Sep 17 00:00:00 2001 From: Christian Forster Date: Fri, 4 Apr 2014 20:10:39 +0200 Subject: [PATCH 053/215] changed compile-flag name USE_ROS to SVO_USE_ROS because PCL uses the same flag --- svo/CMakeLists.txt | 2 +- svo/include/svo/global.h | 2 +- svo/src/config.cpp | 4 ++-- 3 files changed, 4 insertions(+), 4 deletions(-) diff --git a/svo/CMakeLists.txt b/svo/CMakeLists.txt index ae995f4..066b751 100644 --- a/svo/CMakeLists.txt +++ b/svo/CMakeLists.txt @@ -32,7 +32,7 @@ ENDIF() IF(HAVE_G2O) ADD_DEFINITIONS(-DUSE_BUNDLE_ADJUSTMENT) ENDIF() -ADD_DEFINITIONS(-DUSE_ROS) +ADD_DEFINITIONS(-DSVO_USE_ROS) # Set build flags SET(CMAKE_CXX_FLAGS "-Wall -Werror -D_LINUX -D_REENTRANT -march=native -Wno-unused-variable -Wno-unused-but-set-variable -Wno-unknown-pragmas") diff --git a/svo/include/svo/global.h b/svo/include/svo/global.h index 01d8d52..c118377 100644 --- a/svo/include/svo/global.h +++ b/svo/include/svo/global.h @@ -30,7 +30,7 @@ #include #include -#ifdef USE_ROS +#ifdef SVO_USE_ROS #include #define SVO_DEBUG_STREAM(x) ROS_DEBUG_STREAM(x) #define SVO_INFO_STREAM(x) ROS_INFO_STREAM(x) diff --git a/svo/src/config.cpp b/svo/src/config.cpp index c8593c4..f6820f4 100644 --- a/svo/src/config.cpp +++ b/svo/src/config.cpp @@ -14,7 +14,7 @@ // You should have received a copy of the GNU General Public License // along with this program. If not, see . -#ifdef USE_ROS +#ifdef SVO_USE_ROS #include #endif #include @@ -22,7 +22,7 @@ namespace svo { Config::Config() : -#ifdef USE_ROS +#ifdef SVO_USE_ROS trace_name(vk::getParam("svo/trace_name", "svo")), trace_dir(vk::getParam("svo/trace_dir", "/tmp")), n_pyr_levels(vk::getParam("svo/n_pyr_levels", 3)), From 2e46802a5b29eacf6a83679def0442676cd9b673 Mon Sep 17 00:00:00 2001 From: Christian Forster Date: Fri, 4 Apr 2014 21:04:30 +0200 Subject: [PATCH 054/215] set trace flag to false --- svo/CMakeLists.txt | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/svo/CMakeLists.txt b/svo/CMakeLists.txt index 066b751..70a5583 100644 --- a/svo/CMakeLists.txt +++ b/svo/CMakeLists.txt @@ -2,7 +2,7 @@ # user build settings SET(DEBUG FALSE) -SET(TRACE TRUE) +SET(TRACE FALSE) SET(HAVE_G2O FALSE) ################################################################################ From c460e3bf853085c076f77772ffef4ef787ee27e4 Mon Sep 17 00:00:00 2001 From: Christian Forster Date: Tue, 8 Apr 2014 20:13:57 +0200 Subject: [PATCH 055/215] adapt for new datasets --- svo_analysis/scripts/benchmark.py | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) diff --git a/svo_analysis/scripts/benchmark.py b/svo_analysis/scripts/benchmark.py index 19688ce..3be6916 100755 --- a/svo_analysis/scripts/benchmark.py +++ b/svo_analysis/scripts/benchmark.py @@ -38,7 +38,7 @@ if __name__=="__main__": expParams['experiment_name'] = expParams['time']+'_'+args.version+'_' + args.experiment_file # load dataset parameters - expParams['dataset_directory'] = os.path.join(rospkg.RosPack().get_path('Datasets'), expParams['dataset']) + expParams['dataset_directory'] = os.path.join(os.environ['SVO_DATASET_DIR'], expParams['dataset']) if not os.path.exists(expParams['dataset_directory']): raise Exception("Provided dataset folder does not exist.") datasetParamsFile = os.path.join(expParams['dataset_directory'], 'dataset_params.yaml') @@ -50,10 +50,12 @@ if __name__=="__main__": algoParams = yaml.load(open(algoParamsFile,'r')) # combine all parameters - params = dict(expParams.items() + datasetParams.items() + algoParams.items()) + params = dict(expParams.items() + datasetParams.items() + datasetParams['rig']['cam0'].items() + algoParams.items()) params['trace_name'] = 'trace' params['trace_dir'] = os.path.join(rospkg.RosPack().get_path('svo_analysis'), 'results', params['experiment_name']) + + # create folder for tracing if not os.path.exists(params['trace_dir']): From 225f2ea71c2cc7884c2fc71441bfc10eefaa6977 Mon Sep 17 00:00:00 2001 From: Christian Forster Date: Wed, 9 Apr 2014 11:29:14 +0200 Subject: [PATCH 056/215] use SVO_WARN_STREAM() instead of ROS_WARN_STREAM() --- svo/src/frame_handler_base.cpp | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/svo/src/frame_handler_base.cpp b/svo/src/frame_handler_base.cpp index c3568d5..c478a8a 100644 --- a/svo/src/frame_handler_base.cpp +++ b/svo/src/frame_handler_base.cpp @@ -148,18 +148,18 @@ void FrameHandlerBase::setTrackingQuality(const size_t num_observations) tracking_quality_ = TRACKING_GOOD; if(num_observations < Config::qualityMinFts()) { - ROS_WARN_STREAM_THROTTLE(0.5, "Tracking less than "<< Config::qualityMinFts() <<" features!"); + SVO_WARN_STREAM_THROTTLE(0.5, "Tracking less than "<< Config::qualityMinFts() <<" features!"); tracking_quality_ = TRACKING_BAD; } const int feature_drop = static_cast(num_obs_last_) - num_observations; if(feature_drop > Config::qualityMaxFtsDrop()) { - ROS_WARN_STREAM("Lost "<< feature_drop <<" features!"); + SVO_WARN_STREAM("Lost "<< feature_drop <<" features!"); tracking_quality_ = TRACKING_BAD; } if(num_observations < 20) { - ROS_ERROR_STREAM("Tracking less than 20 features!"); + SVO_ERROR_STREAM("Tracking less than 20 features!"); tracking_quality_ = TRACKING_INSUFFICIENT; } } From c7e87f188e946edfa082b06b8af5373162399f83 Mon Sep 17 00:00:00 2001 From: Christian Forster Date: Wed, 9 Apr 2014 17:59:19 +0200 Subject: [PATCH 057/215] using fabs() instead of abs() --- svo/src/frame_handler_mono.cpp | 8 +++++--- 1 file changed, 5 insertions(+), 3 deletions(-) diff --git a/svo/src/frame_handler_mono.cpp b/svo/src/frame_handler_mono.cpp index 5804057..34417f5 100644 --- a/svo/src/frame_handler_mono.cpp +++ b/svo/src/frame_handler_mono.cpp @@ -183,6 +183,7 @@ FrameHandlerBase::UpdateResult FrameHandlerMono::processFrame() depth_filter_->addFrame(new_frame_); return RESULT_NO_KEYFRAME; } + SVO_DEBUG_STREAM("New keyframe selected."); // new keyframe selected for(Features::iterator it=new_frame_->fts_.begin(); it!=new_frame_->fts_.end(); ++it) @@ -242,9 +243,10 @@ bool FrameHandlerMono::needNewKf(double scene_depth_mean) for(auto it=overlap_kfs_.begin(), ite=overlap_kfs_.end(); it!=ite; ++it) { Vector3d relpos = new_frame_->w2f(it->first->pos()); - if(abs(relpos.x())/scene_depth_mean < Config::kfSelectMinDist() && - abs(relpos.y())/scene_depth_mean < Config::kfSelectMinDist()*0.8 && - abs(relpos.z())/scene_depth_mean < Config::kfSelectMinDist()*1.3) + std::cout << relpos.transpose() << std::endl; + if(fabs(relpos.x())/scene_depth_mean < Config::kfSelectMinDist() && + fabs(relpos.y())/scene_depth_mean < Config::kfSelectMinDist()*0.8 && + fabs(relpos.z())/scene_depth_mean < Config::kfSelectMinDist()*1.3) return false; } return true; From bc4ad77fe5e167baa6541872f980d8e4a091b628 Mon Sep 17 00:00:00 2001 From: Christian Forster Date: Wed, 9 Apr 2014 18:00:26 +0200 Subject: [PATCH 058/215] publish markers and images also in benchmark node --- svo_ros/src/benchmark_node.cpp | 14 +++++++------- 1 file changed, 7 insertions(+), 7 deletions(-) diff --git a/svo_ros/src/benchmark_node.cpp b/svo_ros/src/benchmark_node.cpp index d8cc31e..4083bf2 100644 --- a/svo_ros/src/benchmark_node.cpp +++ b/svo_ros/src/benchmark_node.cpp @@ -134,13 +134,10 @@ void BenchmarkNode::runBenchmark(const std::string& dataset_dir) return; } - // Add image to VO vo_->addImage(img, it->timestamp_); - // Visualize visualizer_.publishMinimal(img, vo_->lastFrame(), *vo_, it->timestamp_); - // write pose to tracefile if(vo_->stage() == svo::FrameHandlerMono::STAGE_DEFAULT_FRAME) tracePose(vo_->lastFrame()->T_f_w_.inverse(), it->timestamp_); } @@ -213,17 +210,20 @@ void BenchmarkNode::runBlenderBenchmark(const std::string& dataset_dir) continue; } - // Add image to VO + SVO_DEBUG_STREAM("Processing image "<image_name_<<"."); vo_->addImage(img, it->timestamp_); + visualizer_.publishMinimal(img, vo_->lastFrame(), *vo_, it->timestamp_); + visualizer_.visualizeMarkers(vo_->lastFrame(), vo_->coreKeyframes(), vo_->map()); if(vo_->stage() != svo::FrameHandlerMono::STAGE_DEFAULT_FRAME) - continue; + { + SVO_ERROR_STREAM("SVO failed before entire dataset could be processed."); + break; + } // Compute pose error and trace to file Sophus::SE3 T_f_gt(vo_->lastFrame()->T_f_w_*T_w_gt); tracePoseError(T_f_gt, it->timestamp_); - - // write pose to tracefile tracePose(vo_->lastFrame()->T_f_w_.inverse(), it->timestamp_); } } From 42a5535fdcd1aa16fda686dcd6f9bd873abec178 Mon Sep 17 00:00:00 2001 From: Christian Forster Date: Wed, 9 Apr 2014 18:04:57 +0200 Subject: [PATCH 059/215] changed output level of debug msgs --- svo/src/depth_filter.cpp | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/svo/src/depth_filter.cpp b/svo/src/depth_filter.cpp index 8acd71d..ce34e69 100644 --- a/svo/src/depth_filter.cpp +++ b/svo/src/depth_filter.cpp @@ -238,7 +238,7 @@ void DepthFilter::updateSeeds(FramePtr frame) if(!it->ftr->frame->cam_->isInFrame(px.cast())) { ++it; if(options_.verbose) - SVO_INFO_STREAM("not visible"); + SVO_DEBUG_STREAM("not visible"); continue; } @@ -263,11 +263,11 @@ void DepthFilter::updateSeeds(FramePtr frame) px_noise = fmax(2.0*options_.sigma_i_sq*h_inv, 1.0); px_error_angle = atan(px_noise/(2.0*focal_length))*2.0; // law of chord (sehnensatz) if(options_.verbose) - SVO_INFO_STREAM("Photometric disparity error "<ftr->f, z, px_error_angle); @@ -285,7 +285,7 @@ void DepthFilter::updateSeeds(FramePtr frame) Vector3d xyz_world(it->ftr->frame->T_f_w_.inverse() * (it->ftr->f * (1.0/it->mu))); seed_converged_cb_(*it, xyz_world); if(options_.verbose) - SVO_INFO_STREAM("seed converged"); + SVO_DEBUG_STREAM("seed converged"); } it = seeds_.erase(it); } From 0137f64c229da9ebb75e1a5bbeb168412c6d0ec5 Mon Sep 17 00:00:00 2001 From: Christian Forster Date: Wed, 9 Apr 2014 19:52:16 +0200 Subject: [PATCH 060/215] remove cout --- svo/src/frame_handler_mono.cpp | 1 - 1 file changed, 1 deletion(-) diff --git a/svo/src/frame_handler_mono.cpp b/svo/src/frame_handler_mono.cpp index 34417f5..fbd8638 100644 --- a/svo/src/frame_handler_mono.cpp +++ b/svo/src/frame_handler_mono.cpp @@ -243,7 +243,6 @@ bool FrameHandlerMono::needNewKf(double scene_depth_mean) for(auto it=overlap_kfs_.begin(), ite=overlap_kfs_.end(); it!=ite; ++it) { Vector3d relpos = new_frame_->w2f(it->first->pos()); - std::cout << relpos.transpose() << std::endl; if(fabs(relpos.x())/scene_depth_mean < Config::kfSelectMinDist() && fabs(relpos.y())/scene_depth_mean < Config::kfSelectMinDist()*0.8 && fabs(relpos.z())/scene_depth_mean < Config::kfSelectMinDist()*1.3) From 8be2d1cb353ade9f7b2e473153fb1a7a597924ea Mon Sep 17 00:00:00 2001 From: Christian Forster Date: Wed, 9 Apr 2014 20:09:01 +0200 Subject: [PATCH 061/215] benchmark multiple scenes in one go --- svo_analysis/experiments/synthetic.yaml | 7 ++ svo_analysis/scripts/benchmark.py | 115 ++++++++++++------------ 2 files changed, 66 insertions(+), 56 deletions(-) create mode 100644 svo_analysis/experiments/synthetic.yaml diff --git a/svo_analysis/experiments/synthetic.yaml b/svo_analysis/experiments/synthetic.yaml new file mode 100644 index 0000000..5eb0402 --- /dev/null +++ b/svo_analysis/experiments/synthetic.yaml @@ -0,0 +1,7 @@ +experiment_label: 'svo fast' +param_settings: vo_fast +datasets: + - 1404091756_fr1_straight + - 1404091807_fr1_straight_rot + - 1404091819_fr1_sine_2d + - 1404091831_fr1_sine_3d \ No newline at end of file diff --git a/svo_analysis/scripts/benchmark.py b/svo_analysis/scripts/benchmark.py index 3be6916..9611350 100755 --- a/svo_analysis/scripts/benchmark.py +++ b/svo_analysis/scripts/benchmark.py @@ -14,67 +14,70 @@ import vikit_py.cpu_info as cpu_info import vikit_py.ros_node as ros_node import evaluate +def run_experiment(dataset, params): + # load dataset parameters + params['dataset_directory'] = os.path.join(os.environ['SVO_DATASET_DIR'], dataset) + if not os.path.exists(params['dataset_directory']): + raise Exception("Provided dataset folder does not exist.") + dataset_params_file = os.path.join(params['dataset_directory'], 'dataset_params.yaml') + dataset_params = yaml.load(open(dataset_params_file,'r')) + + # load algorithm parameters + algo_params_file = os.path.join(rospkg.RosPack().get_path('svo_ros'), + 'param', params['param_settings']+'.yaml') + algo_params = yaml.load(open(algo_params_file,'r')) + + # combine all parameters + params = dict(params.items() + algo_params.items() + dataset_params['rig']['cam0'].items()) + + # dump experiment params to file: + params_dump_file = params['trace_dir']+'/params.yaml' + with open(params_dump_file,'w') as outfile: + outfile.write(yaml.dump(params, default_flow_style=False)) + + # execute ros node + node = ros_node.RosNode(args.version, args.executable) + node.run(params) + if __name__=="__main__": - # parse command line - parser = argparse.ArgumentParser(description=''' - Runs SVO with the dataset and parameters specified in the provided experiment file. - ''') - parser.add_argument('experiment_file', help='experiment file in svo_analysis/experiments folder') - parser.add_argument('--name', help='experiment name') - parser.add_argument('--evaluate', help='evaluate tracefile after running SVO', action='store_true') - parser.add_argument('--version', help='version of svo to evaluate', default='svo_ros') - parser.add_argument('--executable', help='the executable to be called', default='benchmark') - args = parser.parse_args() - - # load experiment parameters - expParamsFile = os.path.join(rospkg.RosPack().get_path('svo_analysis'), + # parse command line + parser = argparse.ArgumentParser(description=''' + Runs SVO with the dataset and parameters specified in the provided experiment file. + ''') + parser.add_argument('experiment_file', help='experiment file in svo_analysis/experiments folder') + parser.add_argument('--evaluate', help='evaluate tracefile after running SVO', action='store_true') + parser.add_argument('--version', help='version of svo to evaluate', default='svo_ros') + parser.add_argument('--executable', help='the executable to be called', default='benchmark') + args = parser.parse_args() + + # load experiment parameters + experiment_params_file = os.path.join(rospkg.RosPack().get_path('svo_analysis'), 'experiments', args.experiment_file+'.yaml') - expParams = yaml.load(open(expParamsFile, 'r')) - expParams['time'] = time.strftime("%Y%m%d_%H%M", time.localtime()) - expParams['platform'] = cpu_info.get_cpu_info() - expParams['experiment_name'] = args.name - if(expParams['experiment_name'] == None): - expParams['experiment_name'] = expParams['time']+'_'+args.version+'_' + args.experiment_file - - # load dataset parameters - expParams['dataset_directory'] = os.path.join(os.environ['SVO_DATASET_DIR'], expParams['dataset']) - if not os.path.exists(expParams['dataset_directory']): - raise Exception("Provided dataset folder does not exist.") - datasetParamsFile = os.path.join(expParams['dataset_directory'], 'dataset_params.yaml') - datasetParams = yaml.load(open(datasetParamsFile,'r')) - - # load algorithm parameters - algoParamsFile = os.path.join(rospkg.RosPack().get_path('svo_ros'), - 'param', expParams['param_settings']+'.yaml') - algoParams = yaml.load(open(algoParamsFile,'r')) - - # combine all parameters - params = dict(expParams.items() + datasetParams.items() + datasetParams['rig']['cam0'].items() + algoParams.items()) - params['trace_name'] = 'trace' - params['trace_dir'] = os.path.join(rospkg.RosPack().get_path('svo_analysis'), - 'results', params['experiment_name']) - + experiment_params = yaml.load(open(experiment_params_file, 'r')) + params = dict() + params['experiment_label'] = experiment_params['experiment_label'] + params['param_settings'] = experiment_params['param_settings'] + params['time'] = time.strftime("%Y%m%d_%H%M", time.localtime()) + params['platform'] = cpu_info.get_cpu_info() + params['trace_name'] = 'trace' + + trace_dirs = list() + for dataset in experiment_params['datasets']: + params['experiment_name'] = params['time']+'_'+args.version+'_'+args.experiment_file+'_'+dataset + params['trace_dir'] = os.path.join(rospkg.RosPack().get_path('svo_analysis'), + 'results', params['experiment_name']) + if not os.path.exists(params['trace_dir']): + os.makedirs(params['trace_dir']) + trace_dirs.append(params['trace_dir']) + run_experiment(dataset, params) + + # TODO: check if it is a synthetic dataset + for trace in trace_dirs: + evaluate.evaluate_dataset(trace) + - # create folder for tracing - if not os.path.exists(params['trace_dir']): - os.makedirs(params['trace_dir']) - - # dump experiment params to file: - params_dump_file = params['trace_dir']+'/params.yaml' - with open(params_dump_file,'w') as outfile: - outfile.write(yaml.dump(params, default_flow_style=False)) - - # execute ros node - node = ros_node.RosNode(args.version, args.executable) - node.run(params) - - # TODO: check if it is a synthetic dataset - evaluate.evaluate_dataset(params['trace_dir']) - - - From fedd9f250e0135bf7b6c4deba8909022922a4c86 Mon Sep 17 00:00:00 2001 From: Christian Forster Date: Wed, 9 Apr 2014 20:10:51 +0200 Subject: [PATCH 062/215] delete heap variable --- svo/src/frame_handler_base.cpp | 3 +++ 1 file changed, 3 insertions(+) diff --git a/svo/src/frame_handler_base.cpp b/svo/src/frame_handler_base.cpp index c478a8a..8b18872 100644 --- a/svo/src/frame_handler_base.cpp +++ b/svo/src/frame_handler_base.cpp @@ -79,6 +79,9 @@ FrameHandlerBase::FrameHandlerBase() : FrameHandlerBase::~FrameHandlerBase() { SVO_INFO_STREAM("SVO destructor invoked."); +#ifdef SVO_TRACE + delete g_permon; +#endif } bool FrameHandlerBase::startFrameProcessingCommon(const double timestamp) From 415ada6d2bae8af908e5ded4945f318ba1c6e21a Mon Sep 17 00:00:00 2001 From: Christian Forster Date: Thu, 10 Apr 2014 22:49:24 +0200 Subject: [PATCH 063/215] copy dataset parameters to the trace folder --- svo_analysis/scripts/benchmark.py | 10 +++++++--- 1 file changed, 7 insertions(+), 3 deletions(-) diff --git a/svo_analysis/scripts/benchmark.py b/svo_analysis/scripts/benchmark.py index 9611350..4b11148 100755 --- a/svo_analysis/scripts/benchmark.py +++ b/svo_analysis/scripts/benchmark.py @@ -13,6 +13,7 @@ import time import vikit_py.cpu_info as cpu_info import vikit_py.ros_node as ros_node import evaluate +import shutil def run_experiment(dataset, params): # load dataset parameters @@ -29,11 +30,14 @@ def run_experiment(dataset, params): # combine all parameters params = dict(params.items() + algo_params.items() + dataset_params['rig']['cam0'].items()) - - # dump experiment params to file: - params_dump_file = params['trace_dir']+'/params.yaml' + if 'dataset_is_blender' in dataset_params: + params['dataset_is_blender'] = True + + # dump experiment params to file and copy the other parameter files: + params_dump_file = os.path.join(params['trace_dir'],'params.yaml') with open(params_dump_file,'w') as outfile: outfile.write(yaml.dump(params, default_flow_style=False)) + shutil.copyfile(dataset_params_file, os.path.join(params['trace_dir'], 'dataset_params.yaml')) # execute ros node node = ros_node.RosNode(args.version, args.executable) From 0fe457265da75bb833dc5fce3c3c2de8c023c479 Mon Sep 17 00:00:00 2001 From: Christian Forster Date: Sun, 13 Apr 2014 19:22:24 +0200 Subject: [PATCH 064/215] remove necessity to create experiment file for every dataset --- svo_analysis/scripts/benchmark.py | 13 +++++++++++-- 1 file changed, 11 insertions(+), 2 deletions(-) diff --git a/svo_analysis/scripts/benchmark.py b/svo_analysis/scripts/benchmark.py index 4b11148..a544ba2 100755 --- a/svo_analysis/scripts/benchmark.py +++ b/svo_analysis/scripts/benchmark.py @@ -29,7 +29,10 @@ def run_experiment(dataset, params): algo_params = yaml.load(open(algo_params_file,'r')) # combine all parameters - params = dict(params.items() + algo_params.items() + dataset_params['rig']['cam0'].items()) + if dataset_params['rig_size'] == 1: + params = dict(params.items() + algo_params.items() + dataset_params['cam0'].items()) + else: + params = dict(params.items() + algo_params.items() + dataset_params.items()) if 'dataset_is_blender' in dataset_params: params['dataset_is_blender'] = True @@ -56,9 +59,15 @@ if __name__=="__main__": args = parser.parse_args() # load experiment parameters + args.experiment_file = args.experiment_file.replace('.yaml','') experiment_params_file = os.path.join(rospkg.RosPack().get_path('svo_analysis'), 'experiments', args.experiment_file+'.yaml') - experiment_params = yaml.load(open(experiment_params_file, 'r')) + if os.path.exists(experiment_params_file): + experiment_params = yaml.load(open(experiment_params_file, 'r')) + else: + print('experiment file does not exist. run with default setttings') + experiment_params = dict({'experiment_label':'default','param_settings':'vo_fast', + 'datasets':list([args.experiment_file])}) params = dict() params['experiment_label'] = experiment_params['experiment_label'] params['param_settings'] = experiment_params['param_settings'] From d150ef56159cc79afd8d3e592fed89ef8347004d Mon Sep 17 00:00:00 2001 From: Christian Forster Date: Sun, 13 Apr 2014 19:29:06 +0200 Subject: [PATCH 065/215] changed project name in output message --- svo/src/frame_handler_base.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/svo/src/frame_handler_base.cpp b/svo/src/frame_handler_base.cpp index 8b18872..91bf5f0 100644 --- a/svo/src/frame_handler_base.cpp +++ b/svo/src/frame_handler_base.cpp @@ -73,12 +73,12 @@ FrameHandlerBase::FrameHandlerBase() : g_permon->init(Config::traceName(), Config::traceDir()); #endif - SVO_INFO_STREAM("NanoSlam initialized"); + SVO_INFO_STREAM("SVO initialized"); } FrameHandlerBase::~FrameHandlerBase() { - SVO_INFO_STREAM("SVO destructor invoked."); + SVO_INFO_STREAM("SVO destructor invoked"); #ifdef SVO_TRACE delete g_permon; #endif From 38b7d0b9bcf101fda1ea08c22730d390b7bb53da Mon Sep 17 00:00:00 2001 From: Christian Forster Date: Sun, 13 Apr 2014 22:04:16 +0200 Subject: [PATCH 066/215] changed interface of feature extractor --- svo/CMakeLists.txt | 4 +- svo/include/svo/feature_detection.h | 42 +++++++++---- svo/src/depth_filter.cpp | 4 +- svo/src/feature_detection.cpp | 81 ++++++++++++++++++------- svo/src/frame_handler_mono.cpp | 5 +- svo/src/initialization.cpp | 7 +-- svo/test/test_depth_filter.cpp | 5 +- svo/test/test_feature_detection.cpp | 6 +- svo/test/test_pose_optimizer.cpp | 6 +- svo/test/test_sparse_img_align.cpp | 6 +- svo_analysis/experiments/synthetic.yaml | 5 +- svo_ros/src/benchmark_node.cpp | 6 +- 12 files changed, 119 insertions(+), 58 deletions(-) diff --git a/svo/CMakeLists.txt b/svo/CMakeLists.txt index 70a5583..678cd96 100644 --- a/svo/CMakeLists.txt +++ b/svo/CMakeLists.txt @@ -1,8 +1,8 @@ ################################################################################ # user build settings -SET(DEBUG FALSE) -SET(TRACE FALSE) +SET(DEBUG TRUE) +SET(TRACE TRUE) SET(HAVE_G2O FALSE) ################################################################################ diff --git a/svo/include/svo/feature_detection.h b/svo/include/svo/feature_detection.h index a84586a..85e57c6 100644 --- a/svo/include/svo/feature_detection.h +++ b/svo/include/svo/feature_detection.h @@ -26,7 +26,6 @@ namespace svo { namespace feature_detection { /// Temporary container used for corner detection. Features are initialized from these. -// TODO: why not use feature struct? struct Corner { int x; //!< x-coordinate of corner in the image. @@ -44,14 +43,31 @@ typedef vector Corners; class AbstractDetector { public: + AbstractDetector( + const int img_width, + const int img_height, + const int cell_size, + const int n_pyr_levels); + virtual ~AbstractDetector() {}; + virtual void detect( const ImgPyr& img_pyr, const Features& fts, - const int cell_size, - const int n_levels, const double detection_threshold, - Corners* corners) const = 0; + Corners* corners) = 0; + + /// Notify the detector that a cell already has a feature before detection. + void setGridOccpuancy(const Vector2d& px); + +protected: + const int cell_size_; + const int n_pyr_levels_; + const int grid_n_cols_; + const int grid_n_rows_; + vector grid_occupancy_; + void resetGrid(); + void setExistingFeatures(const Features& fts); }; typedef boost::shared_ptr DetectorPtr; @@ -59,15 +75,19 @@ typedef boost::shared_ptr DetectorPtr; class FastDetector : public AbstractDetector { public: - FastDetector() {} + FastDetector( + const int img_width, + const int img_height, + const int cell_size, + const int n_pyr_levels); + virtual ~FastDetector() {} + virtual void detect( - const ImgPyr& img_pyr, - const Features& fts, - const int cell_size, - const int n_levels, - const double detection_threshold, - Corners* corners) const; + const ImgPyr& img_pyr, + const Features& fts, + const double detection_threshold, + Corners* corners); }; } // namespace feature_detection diff --git a/svo/src/depth_filter.cpp b/svo/src/depth_filter.cpp index ce34e69..5e26a5e 100644 --- a/svo/src/depth_filter.cpp +++ b/svo/src/depth_filter.cpp @@ -114,9 +114,7 @@ void DepthFilter::addKeyframe(FramePtr frame, double depth_mean, double depth_mi void DepthFilter::initializeSeeds(FramePtr frame) { feature_detection::Corners corners; - feature_detector_->detect(frame->img_pyr_, frame->fts_, svo::Config::gridSize(), - svo::Config::nPyrLevels(), Config::triangMinCornerScore(), - &corners); + feature_detector_->detect(frame->img_pyr_, frame->fts_, Config::triangMinCornerScore(), &corners); seeds_updating_halt_ = true; lock_t lock(seeds_mut_); // by locking the updateSeeds function stops diff --git a/svo/src/feature_detection.cpp b/svo/src/feature_detection.cpp index be0ca02..dff5da8 100644 --- a/svo/src/feature_detection.cpp +++ b/svo/src/feature_detection.cpp @@ -22,54 +22,91 @@ namespace svo { namespace feature_detection { +AbstractDetector::AbstractDetector( + const int img_width, + const int img_height, + const int cell_size, + const int n_pyr_levels) : + cell_size_(cell_size), + n_pyr_levels_(n_pyr_levels), + grid_n_cols_(ceil(static_cast(img_width)/cell_size_)), + grid_n_rows_(ceil(static_cast(img_height)/cell_size_)), + grid_occupancy_(grid_n_cols_*grid_n_rows_, false) +{} + +void AbstractDetector::resetGrid() +{ + std::fill(grid_occupancy_.begin(), grid_occupancy_.end(), false); +} + +void AbstractDetector::setExistingFeatures(const Features& fts) +{ + std::for_each(fts.begin(), fts.end(), [&](Feature* i){ + grid_occupancy_.at( + static_cast(i->px[1]/cell_size_)*grid_n_cols_ + + static_cast(i->px[0]/cell_size_)) = true; + }); +} + +void AbstractDetector::setGridOccpuancy(const Vector2d& px) +{ + grid_occupancy_.at( + static_cast(px[1]/cell_size_)*grid_n_cols_ + + static_cast(px[0]/cell_size_)) = true; +} + +FastDetector::FastDetector( + const int img_width, + const int img_height, + const int cell_size, + const int n_pyr_levels) : + AbstractDetector(img_width, img_height, cell_size, n_pyr_levels) +{} + void FastDetector::detect( const ImgPyr& img_pyr, const Features& existing_fts, - const int cell_size, - const int n_levels, const double detection_threshold, - Corners* corners) const + Corners* corners) { - // first, find which parts of the image already have a matched feature - const int grid_n_cols = ceil(static_cast(img_pyr[0].cols)/cell_size); - const int grid_n_rows = ceil(static_cast(img_pyr[0].rows)/cell_size); - vector occupancy(grid_n_cols*grid_n_rows, false); - for(Features::const_iterator it=existing_fts.begin(); it!=existing_fts.end(); ++it) - { - if((*it)->point == false) - continue; - const int k = static_cast((*it)->px[1]/cell_size)*grid_n_cols + static_cast((*it)->px[0]/cell_size); - occupancy.at(k) = true; - } + setExistingFeatures(existing_fts); // now, detect features and perform nonmax suppression - corners->resize(grid_n_cols*grid_n_rows, Corner(0,0,detection_threshold,0,0.0f)); - for(int L=0; Lresize(grid_n_cols_*grid_n_rows_, Corner(0,0,detection_threshold,0,0.0f)); + for(int L=0; L fast_corners; #if __SSE2__ - fast::fast_corner_detect_10_sse2((fast::fast_byte*) img_pyr[L].data, img_pyr[L].cols, img_pyr[L].rows, img_pyr[L].cols, 20, fast_corners); + fast::fast_corner_detect_10_sse2( + (fast::fast_byte*) img_pyr[L].data, img_pyr[L].cols, + img_pyr[L].rows, img_pyr[L].cols, 20, fast_corners); #elif HAVE_FAST_NEON - fast::fast_corner_detect_9_neon((fast::fast_byte*) img_pyr[L].data, img_pyr[L].cols, img_pyr[L].rows, img_pyr[L].cols, 20, fast_corners); + fast::fast_corner_detect_9_neon( + (fast::fast_byte*) img_pyr[L].data, img_pyr[L].cols, + img_pyr[L].rows, img_pyr[L].cols, 20, fast_corners); #else - fast::fast_corner_detect_10((fast::fast_byte*) img_pyr[L].data, img_pyr[L].cols, img_pyr[L].rows, img_pyr[L].cols, 20, fast_corners); + fast::fast_corner_detect_10( + (fast::fast_byte*) img_pyr[L].data, img_pyr[L].cols, + img_pyr[L].rows, img_pyr[L].cols, 20, fast_corners); #endif vector scores, nm_corners; fast::fast_corner_score_10((fast::fast_byte*) img_pyr[L].data, img_pyr[L].cols, fast_corners, 20, scores); fast::fast_nonmax_3x3(fast_corners, scores, nm_corners); - for(vector::iterator it=nm_corners.begin(); it!=nm_corners.end(); ++it) + for(auto it=nm_corners.begin(), ite=nm_corners.end(); it!=ite; ++it) { fast::fast_xy& xy = fast_corners.at(*it); - const int k = static_cast((xy.y*scale)/cell_size)*grid_n_cols + static_cast((xy.x*scale)/cell_size); - if(occupancy[k]) + const int k = static_cast((xy.y*scale)/cell_size_)*grid_n_cols_ + + static_cast((xy.x*scale)/cell_size_); + if(grid_occupancy_[k]) continue; const float score = vk::shiTomasiScore(img_pyr[L], xy.x, xy.y); if(score > corners->at(k).score) corners->at(k) = Corner(xy.x*scale, xy.y*scale, score, L, 0.0f); } } + resetGrid(); } } // namespace feature_detection diff --git a/svo/src/frame_handler_mono.cpp b/svo/src/frame_handler_mono.cpp index fbd8638..d3ce965 100644 --- a/svo/src/frame_handler_mono.cpp +++ b/svo/src/frame_handler_mono.cpp @@ -37,7 +37,8 @@ FrameHandlerMono::FrameHandlerMono(vk::AbstractCamera* cam) : depth_filter_(NULL) { // create depth filter and set callback - feature_detection::DetectorPtr feature_detector(new feature_detection::FastDetector()); + feature_detection::DetectorPtr feature_detector( + new feature_detection::FastDetector(cam_->width(), cam_->height(), Config::gridSize(), Config::nPyrLevels())); DepthFilter::callback_t depth_filter_cb = boost::bind(&MapPointCandidates::newCandidatePoint, &map_.point_candidates_, _1, _2); depth_filter_ = new DepthFilter(feature_detector, depth_filter_cb); depth_filter_->startThread(); @@ -183,6 +184,7 @@ FrameHandlerBase::UpdateResult FrameHandlerMono::processFrame() depth_filter_->addFrame(new_frame_); return RESULT_NO_KEYFRAME; } + new_frame_->setKeyframe(); SVO_DEBUG_STREAM("New keyframe selected."); // new keyframe selected @@ -222,7 +224,6 @@ FrameHandlerBase::UpdateResult FrameHandlerMono::processFrame() } // add keyframe to map - new_frame_->setKeyframe(); map_.addKeyframe(new_frame_); return RESULT_IS_KEYFRAME; diff --git a/svo/src/initialization.cpp b/svo/src/initialization.cpp index 2aa3931..49a7640 100644 --- a/svo/src/initialization.cpp +++ b/svo/src/initialization.cpp @@ -110,10 +110,9 @@ void detectFeatures( vector& f_vec) { feature_detection::Corners corners; - feature_detection::FastDetector detector; - detector.detect(frame->img_pyr_, frame->fts_, Config::gridSize(), - Config::nPyrLevels(), Config::triangMinCornerScore(), - &corners); + feature_detection::FastDetector detector( + frame->img().cols, frame->img().rows, Config::gridSize(), Config::nPyrLevels()); + detector.detect(frame->img_pyr_, frame->fts_, Config::triangMinCornerScore(), &corners); // now for all maximum corners, initialize a new seed px_vec.clear(); px_vec.reserve(corners.size()); diff --git a/svo/test/test_depth_filter.cpp b/svo/test/test_depth_filter.cpp index a53947d..6072218 100644 --- a/svo/test/test_depth_filter.cpp +++ b/svo/test/test_depth_filter.cpp @@ -90,6 +90,7 @@ void DepthFilterTest::depthFilterCb( void DepthFilterTest::testReconstruction( std::string dataset_dir, + std::string experiment_name) { vk::FileReader sequence_file_reader(dataset_dir+"/trajectory.txt"); @@ -103,7 +104,9 @@ void DepthFilterTest::testReconstruction( vk::Timer t; std::list n_converged_per_iteration; - svo::feature_detection::DetectorPtr feature_detector(new svo::feature_detection::FastDetector()); + svo::feature_detection::DetectorPtr feature_detector( + new svo::feature_detection::FastDetector( + cam_->width(), cam_->height(), svo::Config::gridSize(), svo::Config::nPyrLevels())); svo::DepthFilter::callback_t depth_filter_cb = boost::bind(&DepthFilterTest::depthFilterCb, this, _1, _2); depth_filter_ = new svo::DepthFilter(feature_detector, depth_filter_cb); diff --git a/svo/test/test_feature_detection.cpp b/svo/test/test_feature_detection.cpp index 6fa3723..df28508 100644 --- a/svo/test/test_feature_detection.cpp +++ b/svo/test/test_feature_detection.cpp @@ -45,11 +45,11 @@ void testCornerDetector() // Corner detection vk::Timer t; svo::feature_detection::Corners corners; - svo::feature_detection::FastDetector fast_detector; + svo::feature_detection::FastDetector fast_detector( + img.cols, img.rows, svo::Config::gridSize(), svo::Config::nPyrLevels()); for(int i=0; i<100; ++i) { - fast_detector.detect(img_pyr, fts, svo::Config::gridSize(), svo::Config::nPyrLevels(), - svo::Config::triangMinCornerScore(), &corners); + fast_detector.detect(img_pyr, fts, svo::Config::triangMinCornerScore(), &corners); } printf("Fast corner detection took %f ms, %zu corners detected (ref i7-W520: 8.06878ms, 416)\n", t.stop()*10, corners.size()); diff --git a/svo/test/test_pose_optimizer.cpp b/svo/test/test_pose_optimizer.cpp index 8e98eac..88035b4 100644 --- a/svo/test/test_pose_optimizer.cpp +++ b/svo/test/test_pose_optimizer.cpp @@ -59,9 +59,9 @@ class PoseOptimizerTest { // detect features feature_detection::Corners corners; - feature_detection::FastDetector detector; - detector.detect(frame_->img_pyr_, frame_->fts_, Config::gridSize(), - Config::nPyrLevels(), Config::triangMinCornerScore(), &corners); + feature_detection::FastDetector detector( + cam_->width(), cam_->height(), Config::gridSize(), Config::nPyrLevels()); + detector.detect(frame_->img_pyr_, frame_->fts_, Config::triangMinCornerScore(), &corners); size_t n_fts = 0; for(feature_detection::Corners::iterator it=corners.begin(); it!=corners.end(); ++it) { diff --git a/svo/test/test_sparse_img_align.cpp b/svo/test/test_sparse_img_align.cpp index f719f72..9b7fa9e 100644 --- a/svo/test/test_sparse_img_align.cpp +++ b/svo/test/test_sparse_img_align.cpp @@ -99,8 +99,7 @@ void SparseImgAlignTest::testSequence( // extract features, generate features with 3D points svo::feature_detection::Corners corners; feature_detector->detect( - frame_ref_->img_pyr_, frame_ref_->fts_, svo::Config::gridSize(), - svo::Config::nPyrLevels(), svo::Config::triangMinCornerScore(), &corners); + frame_ref_->img_pyr_, frame_ref_->fts_, svo::Config::triangMinCornerScore(), &corners); for(svo::feature_detection::Corners::iterator corner=corners.begin(); corner!=corners.end(); ++corner) { svo::Feature* ftr = new svo::Feature(frame_ref_.get(), Eigen::Vector2d(corner->x, corner->y), corner->level); @@ -158,10 +157,11 @@ int main(int argc, char** argv) { std::string experiment_name("flying_room_1_rig_1_fast_minlev0"); std::string dataset_dir(svo::test_utils::getDatasetDir() + "/flying_room_1_rig_1"); - svo::feature_detection::FastDetector detector; svo::Config::triangMinCornerScore() = 20; svo::Config::kltMinLevel() = 0; SparseImgAlignTest test; + svo::feature_detection::FastDetector detector( + test.cam_->width(), test.cam_->height(), svo::Config::gridSize(), svo::Config::nPyrLevels()); test.testSequence(dataset_dir, experiment_name, &detector); return 0; } diff --git a/svo_analysis/experiments/synthetic.yaml b/svo_analysis/experiments/synthetic.yaml index 5eb0402..e58ff7a 100644 --- a/svo_analysis/experiments/synthetic.yaml +++ b/svo_analysis/experiments/synthetic.yaml @@ -1,7 +1,10 @@ experiment_label: 'svo fast' param_settings: vo_fast datasets: + - 1404102247_fr1_straight + - 1404102220_fr1_straight + - 1404102129_fr1_straight - 1404091756_fr1_straight - 1404091807_fr1_straight_rot - 1404091819_fr1_sine_2d - - 1404091831_fr1_sine_3d \ No newline at end of file + - 1404091831_fr1_sine_3d diff --git a/svo_ros/src/benchmark_node.cpp b/svo_ros/src/benchmark_node.cpp index 4083bf2..e4df4ad 100644 --- a/svo_ros/src/benchmark_node.cpp +++ b/svo_ros/src/benchmark_node.cpp @@ -188,10 +188,10 @@ void BenchmarkNode::runBlenderBenchmark(const std::string& dataset_dir) dataset_dir+"/depth/"+it->image_name_+"_0.depth", *cam_, depthmap); // extract features, generate features with 3D points - svo::feature_detection::FastDetector detector; + svo::feature_detection::FastDetector detector( + cam_->width(), cam_->height(), svo::Config::gridSize(), svo::Config::nPyrLevels()); svo::feature_detection::Corners corners; - detector.detect(frame_ref->img_pyr_, frame_ref->fts_, svo::Config::gridSize(), - svo::Config::nPyrLevels(), svo::Config::triangMinCornerScore(), &corners); + detector.detect(frame_ref->img_pyr_, frame_ref->fts_, svo::Config::triangMinCornerScore(), &corners); for(auto corner=corners.begin(); corner!=corners.end(); ++corner) { if(corner->score < Config::triangMinCornerScore()) From cf2b1888946d1413962a5116ae521c1d9bb815ee Mon Sep 17 00:00:00 2001 From: Christian Forster Date: Wed, 16 Apr 2014 10:26:10 +0200 Subject: [PATCH 067/215] return fisher information --- svo/include/svo/sparse_img_align.h | 4 ++++ svo/src/sparse_img_align.cpp | 10 ++++++++++ 2 files changed, 14 insertions(+) diff --git a/svo/include/svo/sparse_img_align.h b/svo/include/svo/sparse_img_align.h index 17cb3a1..c9da479 100644 --- a/svo/include/svo/sparse_img_align.h +++ b/svo/include/svo/sparse_img_align.h @@ -51,6 +51,10 @@ public: FramePtr ref_frame, FramePtr cur_frame); + /// Return fisher information matrix, i.e. the Hessian of the log-likelihood + /// at the converged state. + Matrix getFisherInformation(); + protected: FramePtr ref_frame_; //!< reference frame, has depth for gradient pixels. FramePtr cur_frame_; //!< only the image is known! diff --git a/svo/src/sparse_img_align.cpp b/svo/src/sparse_img_align.cpp index 6dc97c8..fc765cb 100644 --- a/svo/src/sparse_img_align.cpp +++ b/svo/src/sparse_img_align.cpp @@ -69,9 +69,19 @@ size_t SparseImgAlign::run(FramePtr ref_frame, FramePtr cur_frame) optimize(T_cur_from_ref); } cur_frame_->T_f_w_ = T_cur_from_ref * ref_frame_->T_f_w_; + + + return n_meas_/patch_area_; } +Matrix SparseImgAlign::getFisherInformation() +{ + double sigma_i_sq = 5e-4*255*255; // image noise + Matrix I = H_/sigma_i_sq; + return I; +} + // TODO take jacobian from Frame Class! void frameJac(const Vector3d & xyz, Matrix & J) { From 7d59376358e4f54e329228599998aa203208e19d Mon Sep 17 00:00:00 2001 From: Christian Forster Date: Wed, 16 Apr 2014 10:26:29 +0200 Subject: [PATCH 068/215] publish markers in benchmark node --- svo_ros/src/benchmark_node.cpp | 1 + 1 file changed, 1 insertion(+) diff --git a/svo_ros/src/benchmark_node.cpp b/svo_ros/src/benchmark_node.cpp index e4df4ad..187c5c5 100644 --- a/svo_ros/src/benchmark_node.cpp +++ b/svo_ros/src/benchmark_node.cpp @@ -137,6 +137,7 @@ void BenchmarkNode::runBenchmark(const std::string& dataset_dir) vo_->addImage(img, it->timestamp_); visualizer_.publishMinimal(img, vo_->lastFrame(), *vo_, it->timestamp_); + visualizer_.visualizeMarkers(vo_->lastFrame(), vo_->coreKeyframes(), vo_->map()); if(vo_->stage() == svo::FrameHandlerMono::STAGE_DEFAULT_FRAME) tracePose(vo_->lastFrame()->T_f_w_.inverse(), it->timestamp_); From 814336e5fffdfb614feda8df2e7a595de389d1a7 Mon Sep 17 00:00:00 2001 From: Christian Forster Date: Wed, 16 Apr 2014 10:26:55 +0200 Subject: [PATCH 069/215] fix for non-synthetic datasets in benchmark script --- svo_analysis/scripts/benchmark.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/svo_analysis/scripts/benchmark.py b/svo_analysis/scripts/benchmark.py index a544ba2..272cbce 100755 --- a/svo_analysis/scripts/benchmark.py +++ b/svo_analysis/scripts/benchmark.py @@ -34,7 +34,7 @@ def run_experiment(dataset, params): else: params = dict(params.items() + algo_params.items() + dataset_params.items()) if 'dataset_is_blender' in dataset_params: - params['dataset_is_blender'] = True + params['dataset_is_blender'] = dataset_params['dataset_is_blender'] # dump experiment params to file and copy the other parameter files: params_dump_file = os.path.join(params['trace_dir'],'params.yaml') From 5fc8ef36a3d0fa70e38e6373113ea492592cf9bd Mon Sep 17 00:00:00 2001 From: Christian Forster Date: Wed, 16 Apr 2014 12:13:25 +0200 Subject: [PATCH 070/215] write associated measurements to file --- .../tum_benchmark_tools/associate.py | 20 ++++++++++--------- 1 file changed, 11 insertions(+), 9 deletions(-) diff --git a/svo_analysis/src/svo_analysis/tum_benchmark_tools/associate.py b/svo_analysis/src/svo_analysis/tum_benchmark_tools/associate.py index 554314a..01bea59 100755 --- a/svo_analysis/src/svo_analysis/tum_benchmark_tools/associate.py +++ b/svo_analysis/src/svo_analysis/tum_benchmark_tools/associate.py @@ -108,7 +108,6 @@ if __name__ == '__main__': ''') parser.add_argument('first_file', help='first text file (format: timestamp data)') parser.add_argument('second_file', help='second text file (format: timestamp data)') - parser.add_argument('--first_only', help='only output associated lines from first file', action='store_true') parser.add_argument('--offset', help='time offset added to the timestamps of the second file (default: 0.0)',default=0.0) parser.add_argument('--max_difference', help='maximally allowed time difference for matching entries (default: 0.02)',default=0.02) args = parser.parse_args() @@ -117,12 +116,15 @@ if __name__ == '__main__': second_list = read_file_list(args.second_file) matches = associate(first_list, second_list,float(args.offset),float(args.max_difference)) - - if args.first_only: - for a,b in matches: - print("%f %s"%(a," ".join(first_list[a]))) - else: - for a,b in matches: - print("%f %s %f %s"%(a," ".join(first_list[a]),b-float(args.offset)," ".join(second_list[b]))) - + + filename = 'groundtruth_matched.txt' + associates_file = open(filename, 'w') + for a,b in matches: + img = first_list[a] + pos = second_list[b] + associates_file.write('%.6f %s %s %s %s %s %s %s %s\n' % + (a, img[0], + pos[0], pos[1], pos[2], + pos[3], pos[4], pos[5], pos[6])) + print('Wrote matches to file: ' + filename) From e67ea76d1ecf9808fa97e57369d9b0a43289decb Mon Sep 17 00:00:00 2001 From: Flavio Fontana Date: Thu, 17 Apr 2014 10:20:21 +0200 Subject: [PATCH 071/215] the namespace is now saved in the gui --- rqt_svo/src/rqt_svo/svo.py | 15 +++++++++++++++ rqt_svo/src/rqt_svo/svo_widget.py | 6 +++--- 2 files changed, 18 insertions(+), 3 deletions(-) diff --git a/rqt_svo/src/rqt_svo/svo.py b/rqt_svo/src/rqt_svo/svo.py index 88acaf7..bbbb8c6 100644 --- a/rqt_svo/src/rqt_svo/svo.py +++ b/rqt_svo/src/rqt_svo/svo.py @@ -39,6 +39,21 @@ class Svo(Plugin): group.add_argument('topic', type=argparse.FileType('r'), nargs='*', default=[], help='Svo Info Topic to display') return parser.parse_args(argv) + def save_settings(self, plugin_settings, instance_settings): + # TODO save intrinsic configuration, usually using: + # instance_settings.set_value(k, v) + print('Saving namespace') + namespace = self._widget._svo_namespace + instance_settings.set_value('namespace', namespace) + pass +# + def restore_settings(self, plugin_settings, instance_settings): + # TODO restore intrinsic configuration, usually using: + # v = instance_settings.value(k) + namespace = instance_settings.value('namespace', 'default') + self._widget.topic_line_edit.setText(namespace) + pass + # def shutdown_plugin(self): # # self._unregister_publisher() # pass diff --git a/rqt_svo/src/rqt_svo/svo_widget.py b/rqt_svo/src/rqt_svo/svo_widget.py index fd8303b..57b88f3 100644 --- a/rqt_svo/src/rqt_svo/svo_widget.py +++ b/rqt_svo/src/rqt_svo/svo_widget.py @@ -14,7 +14,7 @@ class SvoWidget(QWidget): _publisher = None _subscriber = None _num_received_msgs = 0 - + _svo_namespace = None def __init__(self, svo_namespace='svo'): # Init QWidget @@ -44,9 +44,9 @@ class SvoWidget(QWidget): @Slot(str) def _on_topic_changed(self, topic): - topic = str(topic) + self._svo_namespace = str(topic) self.unregister() - self.register(topic) + self.register(self._svo_namespace) def register(self, svo_namespace): # Load parameters From b49e43635671575e7fc8a0ae68df0766718d40d3 Mon Sep 17 00:00:00 2001 From: Christian Forster Date: Tue, 22 Apr 2014 18:35:45 +0200 Subject: [PATCH 072/215] plotting trajectory error --- svo_analysis/scripts/benchmark.py | 14 +- .../src/svo_analysis/analyse_trajectory.py | 317 +++++++++--------- 2 files changed, 171 insertions(+), 160 deletions(-) mode change 100644 => 100755 svo_analysis/src/svo_analysis/analyse_trajectory.py diff --git a/svo_analysis/scripts/benchmark.py b/svo_analysis/scripts/benchmark.py index 272cbce..c66f115 100755 --- a/svo_analysis/scripts/benchmark.py +++ b/svo_analysis/scripts/benchmark.py @@ -29,18 +29,28 @@ def run_experiment(dataset, params): algo_params = yaml.load(open(algo_params_file,'r')) # combine all parameters - if dataset_params['rig_size'] == 1: + if 'rig_size' not in dataset_params or dataset_params['rig_size'] == 1: params = dict(params.items() + algo_params.items() + dataset_params['cam0'].items()) else: params = dict(params.items() + algo_params.items() + dataset_params.items()) if 'dataset_is_blender' in dataset_params: params['dataset_is_blender'] = dataset_params['dataset_is_blender'] + params['dataset_first_frame'] = dataset_params['dataset_first_frame'] # dump experiment params to file and copy the other parameter files: params_dump_file = os.path.join(params['trace_dir'],'params.yaml') with open(params_dump_file,'w') as outfile: outfile.write(yaml.dump(params, default_flow_style=False)) - shutil.copyfile(dataset_params_file, os.path.join(params['trace_dir'], 'dataset_params.yaml')) + shutil.copyfile(dataset_params_file, + os.path.join(params['trace_dir'], 'dataset_params.yaml')) + + # copy the groundtruth trajectory to the trace dir for later evaluation + if params['dataset_is_blender']: + shutil.copyfile(os.path.join(params['dataset_directory'], 'trajectory.txt'), + os.path.join(params['trace_dir'], 'groundtruth_matched.txt')) + else: + shutil.copyfile(os.path.join(params['dataset_directory'], 'groundtruth_matched.txt'), + os.path.join(params['trace_dir'], 'groundtruth_matched.txt')) # execute ros node node = ros_node.RosNode(args.version, args.executable) diff --git a/svo_analysis/src/svo_analysis/analyse_trajectory.py b/svo_analysis/src/svo_analysis/analyse_trajectory.py old mode 100644 new mode 100755 index f2a800e..a024b79 --- a/svo_analysis/src/svo_analysis/analyse_trajectory.py +++ b/svo_analysis/src/svo_analysis/analyse_trajectory.py @@ -1,179 +1,180 @@ -# -*- coding: utf-8 -*- +#!/usr/bin/python import os import yaml -from .tum_benchmark_tools import associate +import argparse +import numpy as np import matplotlib.pyplot as plt +import svo_analysis.tum_benchmark_tools.associate as associate import vikit_py.transformations as transformations import vikit_py.align_trajectory as align_trajectory -import numpy as np - -# plot options from matplotlib import rc rc('font',**{'family':'serif','serif':['Cardo']}) rc('text', usetex=True) def plot_translation_error(timestamps, translation_error, results_dir): - fig = plt.figure(figsize=(8, 2.5)) - ax = fig.add_subplot(111, xlabel='time [s]', ylabel='position drift [mm]', xlim=[0,timestamps[-1]-timestamps[0]+4]) - ax.plot(timestamps-timestamps[0], translation_error[:,0]*1000, 'r-', label='x') - ax.plot(timestamps-timestamps[0], translation_error[:,1]*1000, 'g-', label='y') - ax.plot(timestamps-timestamps[0], translation_error[:,2]*1000, 'b-', label='z') - ax.legend() - fig.tight_layout() - fig.savefig(results_dir+'/translation_error.pdf') + fig = plt.figure(figsize=(8, 2.5)) + ax = fig.add_subplot(111, xlabel='time [s]', ylabel='position drift [mm]', xlim=[0,timestamps[-1]-timestamps[0]+4]) + ax.plot(timestamps-timestamps[0], translation_error[:,0]*1000, 'r-', label='x') + ax.plot(timestamps-timestamps[0], translation_error[:,1]*1000, 'g-', label='y') + ax.plot(timestamps-timestamps[0], translation_error[:,2]*1000, 'b-', label='z') + ax.legend() + fig.tight_layout() + fig.savefig(results_dir+'/translation_error.pdf') def plot_rotation_error(timestamps, rotation_error, results_dir): - fig = plt.figure(figsize=(8, 2.5)) - ax = fig.add_subplot(111, xlabel='time [s]', ylabel='orientation drift [rad]', xlim=[0,timestamps[-1]-timestamps[0]+4]) - ax.plot(timestamps-timestamps[0], rotation_error[:,0], 'r-', label='yaw') - ax.plot(timestamps-timestamps[0], rotation_error[:,1], 'g-', label='pitch') - ax.plot(timestamps-timestamps[0], rotation_error[:,2], 'b-', label='roll') - ax.legend() - fig.tight_layout() - fig.savefig(results_dir+'/orientation_error.pdf') + fig = plt.figure(figsize=(8, 2.5)) + ax = fig.add_subplot(111, xlabel='time [s]', ylabel='orientation drift [rad]', xlim=[0,timestamps[-1]-timestamps[0]+4]) + ax.plot(timestamps-timestamps[0], rotation_error[:,0], 'r-', label='yaw') + ax.plot(timestamps-timestamps[0], rotation_error[:,1], 'g-', label='pitch') + ax.plot(timestamps-timestamps[0], rotation_error[:,2], 'b-', label='roll') + ax.legend() + fig.tight_layout() + fig.savefig(results_dir+'/orientation_error.pdf') -def analyse_trajectory(results_dir): - # plot translation error - data = np.loadtxt(os.path.join(results_dir, 'translation_error.txt')) - timestamps = data[:,0] - translation_error = data[:,1:4] - plot_translation_error(timestamps, translation_error, results_dir) +def analyse_trajectory(results_dir, n_align_frames = 20, use_hand_eye_calib = True): - # plot orientation error - data = np.loadtxt(os.path.join(results_dir, 'orientation_error.txt')) - timestamps = data[:,0] - orientation_error = data[:,1:4] - plot_rotation_error(timestamps, orientation_error, results_dir) + if not os.path.isfile(os.path.join(results_dir, 'translation_error.txt')): + + T_cm, T_mc = load_hand_eye_calib(results_dir) + print('loading datasets.') + t_es, p_es, q_es, t_gt, p_gt, q_gt = load_dataset(results_dir) + + # align Sim3 to get scale + print('align Sim3 using '+str(n_align_frames)+' first frames.') + scale,rot,trans = align_trajectory.align_sim3(p_gt[0:n_align_frames,:], p_es[0:n_align_frames,:]) + print 'scale = '+str(scale) + # get trafo between (v)ision and (o)ptitrack frame + p_es_aligned = np.zeros(np.shape(p_es)) + if use_hand_eye_calib: + print q_gt[0,:] + print p_gt[0,:] + T_om = get_rigid_body_trafo(q_gt[0,:], p_gt[0,:]) + T_vc = get_rigid_body_trafo(q_es[0,:], scale*p_es[0,:]) + T_cv = transformations.inverse_matrix(T_vc) + T_ov = np.dot(T_om, np.dot(T_mc, T_cv)) + print 'T_ov = ' + str(T_ov) + + # apply transformation to estimated trajectory + q_es_aligned = np.zeros(np.shape(q_es)) + rpy_es_aligned = np.zeros(np.shape(p_es)) + rpy_gt = np.zeros(np.shape(p_es)) + for i in range(np.shape(p_es)[0]): + T_vc = get_rigid_body_trafo(q_es[i,:],p_es[i,:]) + T_vc[0:3,3] *= scale + T_om = np.dot(T_ov, np.dot(T_vc, T_cm)) + p_es_aligned[i,:] = T_om[0:3,3] + q_es_aligned[i,:] = transformations.quaternion_from_matrix(T_om) + rpy_es_aligned[i,:] = transformations.euler_from_quaternion(q_es_aligned[i,:], 'rzyx') + rpy_gt[i,:] = transformations.euler_from_quaternion(q_gt[i,:], 'rzyx') + + # plot position error (drift) + translation_error = (p_gt-p_es_aligned) + plot_translation_error(t_es, translation_error, results_dir) + + # plot orientation error (drift) + orientation_error = (rpy_gt - rpy_es_aligned) + plot_rotation_error(t_es, orientation_error, results_dir) + + # plot scale drift + motion_gt = np.diff(p_gt, 0) + motion_es = np.diff(p_es_aligned, 0) + dist_gt = np.sqrt(np.sum(np.multiply(motion_gt,motion_gt),1)) + dist_es = np.sqrt(np.sum(np.multiply(motion_es,motion_es),1)) + fig = plt.figure(figsize=(8,2.5)) + ax = fig.add_subplot(111, xlabel='time [s]', ylabel='scale change [\%]', xlim=[0,t_es[-1]+4]) + scale_drift = np.divide(dist_es,dist_gt)*100-100 + ax.plot(t_es, scale_drift, 'b-') + fig.tight_layout() + + else: + for i in range(np.shape(p_es)[0]): + p_es_aligned[i,:] = scale*rot.dot(p_es[i,:]) + trans + + # plot trajectory + fig = plt.figure() + ax = fig.add_subplot(111, title='trajectory', aspect='equal', xlabel='x [m]', ylabel='y [m]') + ax.plot(p_es_aligned[:,0], p_es_aligned[:,1], 'b-', label='estimate') + ax.plot(p_gt[:,0], p_gt[:,1], 'r-', label='groundtruth') + #ax.plot(p_es_aligned[0:n_align_frames,0], p_es_aligned[0:n_align_frames,1], 'g-', linewidth=2, label='aligned') + ax.legend() + fig.tight_layout() + fig.savefig(results_dir+'/trajectory.pdf') + + + + else: + data = np.loadtxt(os.path.join(results_dir, 'translation_error.txt')) + timestamps = data[:,0] + translation_error = data[:,1:4] + plot_translation_error(timestamps, translation_error, results_dir) + + # plot orientation error + data = np.loadtxt(os.path.join(results_dir, 'orientation_error.txt')) + timestamps = data[:,0] + orientation_error = data[:,1:4] + plot_rotation_error(timestamps, orientation_error, results_dir) + + def get_rigid_body_trafo(quat,trans): - T = transformations.quaternion_matrix(quat) - T[0:3,3] = trans - return T + T = transformations.quaternion_matrix(quat) + T[0:3,3] = trans + return T + +def load_hand_eye_calib(results_dir): + P = yaml.load(open(os.path.join(results_dir, 'dataset_params.yaml'),'r'))['hand_eye_calib'] + + T_cm_quat = np.array([P['Tcm_qx'], P['Tcm_qy'], P['Tcm_qz'], P['Tcm_qw']]) + T_cm_tran = np.array([P['Tcm_tx'], P['Tcm_ty'], P['Tcm_tz']]) + T_cm = get_rigid_body_trafo(T_cm_quat, T_cm_tran) + T_mc = transformations.inverse_matrix(T_cm) + return T_cm, T_mc + +def load_dataset(results_dir): + """ + Assumes that groundtruth measurements are already matched with the + images. + """ + data_gt = open(os.path.join(results_dir, 'groundtruth_matched.txt')).read() + lines = data_gt.replace(","," ").replace("\t"," ").split("\n") + data_gt = np.array([[np.float(v.strip()) for i,v in enumerate(line.split(" ")) if i != 1 and v.strip()!=""] for line in lines if len(line)>0 and line[0]!="#"]) + data_gt = [(float(l[0]),l[1:]) for l in data_gt] + data_gt = dict(data_gt) + + data_es = open(os.path.join(results_dir, 'traj_estimate.txt')).read() + lines = data_es.replace(","," ").replace("\t"," ").split("\n") + data_es = np.array([[np.float(v.strip()) for v in line.split(" ") if v.strip()!=""] for line in lines if len(line)>0 and line[0]!="#"]) + data_es = [(float(l[0]),l[1:]) for l in data_es] + data_es = dict(data_es) + + matches = associate.associate(data_gt, data_es, 0.0, 0.0001) + p_gt = np.array([[np.float(value) for value in data_gt[a][0:3]] for a,b in matches]) + q_gt = np.array([[np.float(value) for value in data_gt[a][3:7]] for a,b in matches]) + p_es = np.array([[np.float(value) for value in data_es[b][0:3]] for a,b in matches]) + q_es = np.array([[np.float(value) for value in data_es[b][3:7]] for a,b in matches]) + t_gt = np.array([np.float(a) for a,b in matches]) + t_es = np.array([np.float(b) for a,b in matches]) + + # set start time to zero + start_time = min(t_es[0], t_gt[0]) + t_es -= start_time + t_gt -= start_time + return t_es, p_es, q_es, t_gt, p_gt, q_gt + if __name__ == '__main__': - # config - dataset='20131003_1937_nslam_i7_asl2_fast' - n_align_frames = 100 - save = True - results_dir = '../results/'+dataset - - # load dataset parameters - params_stream = open(results_dir+'/params.yaml') - params = yaml.load(params_stream) - - # set trajectory groundtruth and estimate file - traj_groundtruth = params['dataset_directory']+'/groundtruth_filtered.txt' - traj_estimate = results_dir+'/traj_estimate.txt' - traj_estimate_rotated_filename = results_dir+'/traj_estimate_rotated.txt' - translation_error_filename = results_dir+'/translation_error.txt' - orientation_error_filename = results_dir+'/orientation_error.txt' - scale_drift_filename = results_dir+'/scale_drift.txt' - - # load hand-eye calib: trafo between (m)arker and (c)amera. - dataset_param_file = params['dataset_directory']+'/dataset_params.yaml' - dataset_param_file_stream = open(dataset_param_file,'r') - P = yaml.load(dataset_param_file_stream) - T_cm_quat = np.array([P['calib_Tcm_qx'], P['calib_Tcm_qy'], P['calib_Tcm_qz'], P['calib_Tcm_qw']]) - T_cm_tran = np.array([P['calib_Tcm_tx'], P['calib_Tcm_ty'], P['calib_Tcm_tz']]) - T_cm = get_rigid_body_trafo(T_cm_quat, T_cm_tran) - T_mc = transformations.inverse_matrix(T_cm) - - # load data - data_gt = associate.read_file_list(traj_groundtruth) - data_es = associate.read_file_list(traj_estimate) - - # find matches - matches = associate.associate(data_gt, data_es, -P['cam_delay'], 0.02) - p_gt = np.array([[float(value) for value in data_gt[a][0:3]] for a,b in matches]) - q_gt = np.array([[float(value) for value in data_gt[a][3:7]] for a,b in matches]) - p_es = np.array([[float(value) for value in data_es[b][0:3]] for a,b in matches]) - q_es = np.array([[float(value) for value in data_es[b][3:7]] for a,b in matches]) - t_gt = np.array([float(a) for a,b in matches]) - t_es = np.array([float(b) for a,b in matches]) - start_time = min(t_es[0], t_gt[0]) - t_es -= start_time - t_gt -= start_time - - # align Sim3 to get scale - if(n_align_frames > np.shape(matches)[0]): - raise NameError('n_matches_for_scale is too large') - scale,rot,trans = align_trajectory.align_sim3(p_gt, p_es, n_align_frames) - print 'scale = '+str(scale) - - # get trafo between (v)ision and (o)ptitrack frame - T_om = get_rigid_body_trafo(q_gt[0,:], p_gt[0,:]) - T_vc = get_rigid_body_trafo(q_es[0,:], scale*p_es[0,:]) - T_cv = transformations.inverse_matrix(T_vc) - T_ov = np.dot(T_om, np.dot(T_mc, T_cv)) - print 'T_ov = ' + str(T_ov) - - p_es_aligned = np.zeros(np.shape(p_es)) - q_es_aligned = np.zeros(np.shape(q_es)) - rpy_es_aligned = np.zeros(np.shape(p_es)) - rpy_gt = np.zeros(np.shape(p_es)) - - # rotate trajectory - for i in range(np.shape(matches)[0]): - T_vc = get_rigid_body_trafo(q_es[i,:],p_es[i,:]) - T_vc[0:3,3] *= scale - T_om = np.dot(T_ov, np.dot(T_vc, T_cm)) - p_es_aligned[i,:] = T_om[0:3,3] - q_es_aligned[i,:] = transformations.quaternion_from_matrix(T_om) - rpy_es_aligned[i,:] = transformations.euler_from_quaternion(q_es_aligned[i,:], 'rzyx') - rpy_gt[i,:] = transformations.euler_from_quaternion(q_gt[i,:], 'rzyx') - - if save: - f = open(traj_estimate_rotated_filename,'w') - for i in range(np.shape(p_es_aligned)[0]): - f.write('%.7f %.5f %.5f %.5f %.5f %.5f %.5f %.5f\n' % (matches[i][1]-P['cam_delay'], p_es_aligned[i,0], p_es_aligned[i,1], p_es_aligned[i,2], q_es_aligned[i,0], q_es_aligned[i,1], q_es_aligned[i,2], q_es_aligned[i,3])) - f.close() - - # plot trajectory - fig = plt.figure() - ax = fig.add_subplot(111, title='trajectory', aspect='equal', xlabel='x [m]', ylabel='Y [m]') - ax.plot(p_es_aligned[:,0], p_es_aligned[:,1], 'b-', label='estimate') - ax.plot(p_gt[:,0], p_gt[:,1], 'r-', label='groundtruth') - ax.plot(p_es_aligned[0:n_align_frames,0], p_es_aligned[0:n_align_frames,1], 'g-', linewidth=2, label='aligned') - fig.tight_layout() - fig.savefig(results_dir+'/trajectory.pdf') - - # plot position error (drift) - translation_error = (p_gt-p_es_aligned) - plot_translation_error(t_es, translation_error, results_dir) - - if save: - f = open(translation_error_filename,'w') - for i in range(translation_error.shape[0]): - f.write('%.7f %.5f %.5f %.5f\n'%(t_es[i], translation_error[i,0], translation_error[i,1], translation_error[i,2])) - f.close() - - # plot orientation error (drift) - orientation_error = (rpy_gt - rpy_es_aligned) - plot_rotation_error(t_es, orientation_error, results_dir) - - if save: - f = open(orientation_error_filename,'w') - for i in range(orientation_error.shape[0]): - f.write('%.7f %.5f %.5f %.5f\n'%(t_es[i], orientation_error[i,0], orientation_error[i,1], orientation_error[i,2])) - f.close() - - # plot scale drift - motion_gt = np.diff(p_gt, 0) - motion_es = np.diff(p_es_aligned, 0) - dist_gt = np.sqrt(np.sum(np.multiply(motion_gt,motion_gt),1)) - dist_es = np.sqrt(np.sum(np.multiply(motion_es,motion_es),1)) - fig = plt.figure(figsize=(8,2.5)) - ax = fig.add_subplot(111, xlabel='time [s]', ylabel='scale change [\%]', xlim=[0,t_es[-1]+4]) - scale_drift = np.divide(dist_es,dist_gt)*100-100 - ax.plot(t_es, scale_drift, 'b-') - fig.tight_layout() - - if save: - fig.savefig(results_dir+'/scale_drift.pdf') - f = open(scale_drift_filename,'w') - for i in range(orientation_error.shape[0]): - f.write('%.7f %.5f\n'%(t_es[i], scale_drift[i])) - f.close() + # parse command line + parser = argparse.ArgumentParser(description=''' + Analyse trajectory + ''') + parser.add_argument('results_dir', help='folder with the results') + parser.add_argument('--use_hand_eye_calib', help='', action='store_true') + parser.add_argument('--n_align_frames', help='', default=20) + args = parser.parse_args() + print('analyse trajectory for dataset: '+str(args.results_dir)) + analyse_trajectory(args.results_dir, + n_align_frames = int(args.n_align_frames), + use_hand_eye_calib = args.use_hand_eye_calib) \ No newline at end of file From 0cbe4a6ca1a4c173209881d1bba783eb5708e8ad Mon Sep 17 00:00:00 2001 From: Christian Forster Date: Tue, 22 Apr 2014 18:36:18 +0200 Subject: [PATCH 073/215] can set start frame idx of dataset --- svo_ros/src/benchmark_node.cpp | 20 ++++++++++---------- 1 file changed, 10 insertions(+), 10 deletions(-) diff --git a/svo_ros/src/benchmark_node.cpp b/svo_ros/src/benchmark_node.cpp index 187c5c5..bc94653 100644 --- a/svo_ros/src/benchmark_node.cpp +++ b/svo_ros/src/benchmark_node.cpp @@ -124,21 +124,20 @@ void BenchmarkNode::runBenchmark(const std::string& dataset_dir) dataset_reader.readAllEntries(dataset); // process dataset + int first_frame = vk::getParam("svo/dataset_first_frame", 0); for(auto it = dataset.begin(); it != dataset.end() && ros::ok(); ++it, ++frame_count_) { - // Read image + if(frame_count_ < first_frame) + continue; std::string img_filename(dataset_dir + "/" + it->image_name_); cv::Mat img(cv::imread(img_filename, 0)); if(img.empty()) { SVO_ERROR_STREAM("Reading image "<addImage(img, it->timestamp_); - visualizer_.publishMinimal(img, vo_->lastFrame(), *vo_, it->timestamp_); visualizer_.visualizeMarkers(vo_->lastFrame(), vo_->coreKeyframes(), vo_->map()); - if(vo_->stage() == svo::FrameHandlerMono::STAGE_DEFAULT_FRAME) tracePose(vo_->lastFrame()->T_f_w_.inverse(), it->timestamp_); } @@ -208,13 +207,14 @@ void BenchmarkNode::runBlenderBenchmark(const std::string& dataset_dir) SVO_INFO_STREAM("Added "<setFirstFrame(frame_ref); SVO_INFO_STREAM("Set reference frame."); - continue; } - - SVO_DEBUG_STREAM("Processing image "<image_name_<<"."); - vo_->addImage(img, it->timestamp_); - visualizer_.publishMinimal(img, vo_->lastFrame(), *vo_, it->timestamp_); - visualizer_.visualizeMarkers(vo_->lastFrame(), vo_->coreKeyframes(), vo_->map()); + else + { + SVO_DEBUG_STREAM("Processing image "<image_name_<<"."); + vo_->addImage(img, it->timestamp_); + visualizer_.publishMinimal(img, vo_->lastFrame(), *vo_, it->timestamp_); + visualizer_.visualizeMarkers(vo_->lastFrame(), vo_->coreKeyframes(), vo_->map()); + } if(vo_->stage() != svo::FrameHandlerMono::STAGE_DEFAULT_FRAME) { From 482b5c0f56ec9f316849ba5893ab249686d608b9 Mon Sep 17 00:00:00 2001 From: Christian Forster Date: Tue, 22 Apr 2014 18:37:40 +0200 Subject: [PATCH 074/215] added more info to readme --- svo_analysis/README.md | 24 ++++++++++++++++++++++++ 1 file changed, 24 insertions(+) diff --git a/svo_analysis/README.md b/svo_analysis/README.md index 0a4deeb..07ae6eb 100644 --- a/svo_analysis/README.md +++ b/svo_analysis/README.md @@ -25,3 +25,27 @@ Afterwards run rosrun svo_analysis benchmark.py flying_room_1_fast The script will create a new folder in `svo_analysis/results/`, run svo on the dataset and save the tracefile in this folder and at the end it will run some scripts to generate plots from the tracefile. + + +#### Dataset file + +A dataset with motion-capture-system ground-truth should contain the following files + +* _images.txt_ + + # timestamp img/imagename + 1329330952.725747585296631 img/00000.png + 1329330952.765715122222900 img/00001.png + 1329330952.805604219436646 img/00002.png + ... + +* _groundtruth.txt_: groundtruth poses as acquired from a motion capture system + + # timestamp tx ty tz qx qy qz qw + +* _groundtruth_matched.txt_: the groundtruth pose associated to the images in images.txt. This file can be generated by the command: + + cd my_dataset + rosrun svo_analysis associate.py images.txt groundtruth.txt + + From 669b65cbebfe628835dbc4424844145cc88c74a8 Mon Sep 17 00:00:00 2001 From: Christian Forster Date: Sun, 27 Apr 2014 15:41:11 +0200 Subject: [PATCH 075/215] added edglet feature type --- svo/include/svo/feature.h | 43 +++++++++++++++++++++++++-------------- 1 file changed, 28 insertions(+), 15 deletions(-) diff --git a/svo/include/svo/feature.h b/svo/include/svo/feature.h index a0a30f4..142d232 100644 --- a/svo/include/svo/feature.h +++ b/svo/include/svo/feature.h @@ -26,34 +26,47 @@ struct Feature { EIGEN_MAKE_ALIGNED_OPERATOR_NEW + enum FeatureType { + CORNER, + EDGELET + }; + + FeatureType type; //!< Type can be corner or edgelet. Frame* frame; //!< Pointer to frame in which the feature was detected. Vector2d px; //!< Coordinates in pixels on pyramid level 0. Vector3d f; //!< Unit-bearing vector of the feature. int level; //!< Image pyramid level where feature was extracted. Point* point; //!< Pointer to 3D point which corresponds to the feature. + Vector2d grad; //!< Dominant gradient direction for edglets, normalized. - Feature(Frame* _frame, const Vector2d& _px, int _level) - : frame(_frame), - px(_px), - f(frame->cam_->cam2world(px)), - level(_level), - point(NULL) + Feature(Frame* _frame, const Vector2d& _px, int _level) : + type(CORNER), + frame(_frame), + px(_px), + f(frame->cam_->cam2world(px)), + level(_level), + point(NULL), + grad(0.0,0.0) {} - Feature(Frame* _frame, const Vector2d& _px, const Vector3d& _f, int _level) - : frame(_frame), + Feature(Frame* _frame, const Vector2d& _px, const Vector3d& _f, int _level) : + type(CORNER), + frame(_frame), px(_px), f(_f), level(_level), - point(NULL) + point(NULL), + grad(0.0,0.0) {} - Feature(Frame* _frame, Point* _point, const Vector2d& _px, const Vector3d& _f, int _level) - : frame(_frame), - px(_px), - f(_f), - level(_level), - point(_point) + Feature(Frame* _frame, Point* _point, const Vector2d& _px, const Vector3d& _f, int _level) : + type(CORNER), + frame(_frame), + px(_px), + f(_f), + level(_level), + point(_point), + grad(0.0,0.0) {} }; From 272ef797f96742578840e07fc163cbcc596bde8a Mon Sep 17 00:00:00 2001 From: Christian Forster Date: Sun, 27 Apr 2014 15:44:16 +0200 Subject: [PATCH 076/215] formatting --- svo/src/matcher.cpp | 13 ++++++------- 1 file changed, 6 insertions(+), 7 deletions(-) diff --git a/svo/src/matcher.cpp b/svo/src/matcher.cpp index 9587608..1a7dfff 100644 --- a/svo/src/matcher.cpp +++ b/svo/src/matcher.cpp @@ -69,7 +69,9 @@ void getWarpMatrixAffine( A_cur_ref.col(1) = (px_dv - px_cur)/halfpatch_size; } -int getBestSearchLevel(const Matrix2d& A_cur_ref, const int max_level) +int getBestSearchLevel( + const Matrix2d& A_cur_ref, + const int max_level) { // Compute patch level in other image int level_cur = 0; @@ -127,8 +129,7 @@ void warpAffine( } // namespace warp -bool -findMatchDirect( +bool findMatchDirect( const Point& pt, const Frame& cur_frame, Vector2d& px_cur, @@ -160,8 +161,7 @@ findMatchDirect( return success; } -bool -depthFromTriangulation( +bool depthFromTriangulation( const SE3& T_search_ref, const Vector3d& f_ref, const Vector3d& f_cur, @@ -176,8 +176,7 @@ depthFromTriangulation( return true; } -bool -findEpipolarMatchDirect( +bool findEpipolarMatchDirect( const Frame& ref_frame, const Frame& cur_frame, const Feature& ref_ftr, From d905a9ff7216540bf1c118eff87f42b1c9f0b4af Mon Sep 17 00:00:00 2001 From: Christian Forster Date: Sun, 27 Apr 2014 23:34:31 +0200 Subject: [PATCH 077/215] refactor --- svo/include/svo/feature.h | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/svo/include/svo/feature.h b/svo/include/svo/feature.h index 142d232..37be2b7 100644 --- a/svo/include/svo/feature.h +++ b/svo/include/svo/feature.h @@ -32,11 +32,11 @@ struct Feature }; FeatureType type; //!< Type can be corner or edgelet. - Frame* frame; //!< Pointer to frame in which the feature was detected. + Frame* frame; //!< Pointer to frame in which the feature was detected. Vector2d px; //!< Coordinates in pixels on pyramid level 0. Vector3d f; //!< Unit-bearing vector of the feature. - int level; //!< Image pyramid level where feature was extracted. - Point* point; //!< Pointer to 3D point which corresponds to the feature. + int level; //!< Image pyramid level where feature was extracted. + Point* point; //!< Pointer to 3D point which corresponds to the feature. Vector2d grad; //!< Dominant gradient direction for edglets, normalized. Feature(Frame* _frame, const Vector2d& _px, int _level) : From 692cb1b47f821e98a9b6f598feeeb14e648804ab Mon Sep 17 00:00:00 2001 From: Christian Forster Date: Sun, 27 Apr 2014 23:34:59 +0200 Subject: [PATCH 078/215] added helper function to abstract feature extractor class --- svo/include/svo/feature_detection.h | 10 ++++++++++ 1 file changed, 10 insertions(+) diff --git a/svo/include/svo/feature_detection.h b/svo/include/svo/feature_detection.h index 85e57c6..a5f5d26 100644 --- a/svo/include/svo/feature_detection.h +++ b/svo/include/svo/feature_detection.h @@ -61,13 +61,23 @@ public: void setGridOccpuancy(const Vector2d& px); protected: + static const int border_ = 8; //!< no feature should be within 8px of border. const int cell_size_; const int n_pyr_levels_; const int grid_n_cols_; const int grid_n_rows_; vector grid_occupancy_; + void resetGrid(); + void setExistingFeatures(const Features& fts); + + inline int getCellIndex(int x, int y, int level) + { + const int scale = (1< DetectorPtr; From 3ad948a0f12e4b35c0071453d5d1c030dadbad81 Mon Sep 17 00:00:00 2001 From: Christian Forster Date: Sun, 27 Apr 2014 23:35:38 +0200 Subject: [PATCH 079/215] commenting --- svo/src/matcher.cpp | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/svo/src/matcher.cpp b/svo/src/matcher.cpp index 1a7dfff..550d25b 100644 --- a/svo/src/matcher.cpp +++ b/svo/src/matcher.cpp @@ -101,7 +101,7 @@ void warpAffine( return; } - // Perform the Warp on a larger patch + // Perform the warp on a larger patch. uint8_t* ref_patch_ptr = ref_patch.patch_with_border; const Vector2f px_ref_pyr = px_ref.cast() / (1< Date: Mon, 28 Apr 2014 14:23:39 +0200 Subject: [PATCH 080/215] CRITICAL: Now publishing camera in world frame. before it was the opposite. --- svo/include/svo/frame_handler_base.h | 4 ---- svo/src/frame_handler_base.cpp | 16 +++++++-------- svo/src/frame_handler_mono.cpp | 2 +- svo_ros/include/svo_ros/visualizer.h | 1 + svo_ros/src/visualizer.cpp | 30 +++++++++++++++++----------- svo_ros/src/vo_node.cpp | 11 +++++----- 6 files changed, 33 insertions(+), 31 deletions(-) diff --git a/svo/include/svo/frame_handler_base.h b/svo/include/svo/frame_handler_base.h index 66d4595..bbde3ce 100644 --- a/svo/include/svo/frame_handler_base.h +++ b/svo/include/svo/frame_handler_base.h @@ -63,9 +63,6 @@ public: virtual ~FrameHandlerBase(); - /// Set initial pose of the camera. - void setInitialPose(const SE3& T_frame_from_world) { T_f_w_init_ = T_frame_from_world; } - /// Get the current map. const Map& map() const { return map_; } @@ -92,7 +89,6 @@ protected: bool set_reset_; //!< Flag that the user can set. Will reset the system before the next iteration. bool set_start_; //!< Flag the user can set to start the system when the next image is received. Map map_; //!< Map of keyframes created by the slam system. - SE3 T_f_w_init_; //!< Initial pose of the camera. vk::Timer timer_; //!< Stopwatch to measure time to process frame. vk::RingBuffer acc_frame_timings_; //!< Total processing time of the last 10 frames, used to give some user feedback on the performance. vk::RingBuffer acc_num_obs_; //!< Number of observed features of the last 10 frames, used to give some user feedback on the tracking performance. diff --git a/svo/src/frame_handler_base.cpp b/svo/src/frame_handler_base.cpp index 91bf5f0..f526cb3 100644 --- a/svo/src/frame_handler_base.cpp +++ b/svo/src/frame_handler_base.cpp @@ -120,14 +120,14 @@ int FrameHandlerBase::finishFrameProcessingCommon( num_obs_last_ = num_observations; SVO_STOP_TIMER("tot_time"); - #ifdef SVO_TRACE - g_permon->writeToFile(); - { - boost::unique_lock lock(map_.point_candidates_.mut_); - size_t n_candidates = map_.point_candidates_.candidates_.size(); - SVO_LOG(n_candidates); - } - #endif +#ifdef SVO_TRACE + g_permon->writeToFile(); + { + boost::unique_lock lock(map_.point_candidates_.mut_); + size_t n_candidates = map_.point_candidates_.candidates_.size(); + SVO_LOG(n_candidates); + } +#endif // reset if failure or requested if(dropout == RESULT_FAILURE || set_reset_) diff --git a/svo/src/frame_handler_mono.cpp b/svo/src/frame_handler_mono.cpp index d3ce965..e588ce9 100644 --- a/svo/src/frame_handler_mono.cpp +++ b/svo/src/frame_handler_mono.cpp @@ -91,7 +91,7 @@ void FrameHandlerMono::setFirstFrame(const FramePtr& first_frame) FrameHandlerMono::UpdateResult FrameHandlerMono::processFirstFrame() { - new_frame_->T_f_w_ = T_f_w_init_; + new_frame_->T_f_w_ = SE3(Matrix3d::Identity(), Vector3d::Zero()); if(klt_homography_init_.addFirstFrame(new_frame_) == initialization::FAILURE) return RESULT_NO_KEYFRAME; new_frame_->setKeyframe(); diff --git a/svo_ros/include/svo_ros/visualizer.h b/svo_ros/include/svo_ros/visualizer.h index 1a7df1f..5cffa0e 100644 --- a/svo_ros/include/svo_ros/visualizer.h +++ b/svo_ros/include/svo_ros/visualizer.h @@ -59,6 +59,7 @@ public: ros::Publisher pub_dense_; image_transport::Publisher pub_images_; tf::TransformBroadcaster br_; + SE3 T_world_from_vision_; Visualizer(); ~Visualizer() {}; diff --git a/svo_ros/src/visualizer.cpp b/svo_ros/src/visualizer.cpp index eda01c6..f952fa8 100644 --- a/svo_ros/src/visualizer.cpp +++ b/svo_ros/src/visualizer.cpp @@ -43,7 +43,8 @@ Visualizer() : trace_id_(0), img_pub_level_(vk::getParam("svo/image_publishing_level", 0)), img_pub_nth_(vk::getParam("svo/publish_every_nth_img", 1)), - dense_pub_nth_(vk::getParam("svo/publish_every_nth_dense_input", 1)) + dense_pub_nth_(vk::getParam("svo/publish_every_nth_dense_input", 1)), + T_world_from_vision_(Matrix3d::Identity(), Vector3d::Zero()) { // Init ROS Marker Publishers pub_frames_ = pnh_.advertise("keyframes", 10); @@ -159,22 +160,27 @@ publishMinimal(const cv::Mat& img, const FramePtr& frame, const FrameHandlerMono pub_images_.publish(img_msg.toImageMsg()); } - // publish pose (world in camera frame) + // publish pose (camera in world frame) if(pub_pose_.getNumSubscribers() > 0 && frame != NULL) { + // transform from vision-frame to world-frame + SE3 T_world_from_cam(T_world_from_vision_*frame->T_f_w_.inverse()); + Quaterniond q_world_from_cam(T_world_from_cam.rotation_matrix()*T_world_from_vision_.rotation_matrix().transpose()); + const Vector3d& p_cam_in_world(T_world_from_cam.translation()); + Matrix Cov_in_world = T_world_from_cam.Adj()*frame->Cov_*T_world_from_cam.inverse().Adj(); + + // publish message geometry_msgs::PoseWithCovarianceStampedPtr msg_pose(new geometry_msgs::PoseWithCovarianceStamped); - Quaterniond q(frame->T_f_w_.rotation_matrix()); - Vector3d p(frame->T_f_w_.translation()); msg_pose->header = header_msg; - msg_pose->pose.pose.position.x = p[0]; - msg_pose->pose.pose.position.y = p[1]; - msg_pose->pose.pose.position.z = p[2]; - msg_pose->pose.pose.orientation.x = q.x(); - msg_pose->pose.pose.orientation.y = q.y(); - msg_pose->pose.pose.orientation.z = q.z(); - msg_pose->pose.pose.orientation.w = q.w(); + msg_pose->pose.pose.position.x = p_cam_in_world[0]; + msg_pose->pose.pose.position.y = p_cam_in_world[1]; + msg_pose->pose.pose.position.z = p_cam_in_world[2]; + msg_pose->pose.pose.orientation.x = q_world_from_cam.x(); + msg_pose->pose.pose.orientation.y = q_world_from_cam.y(); + msg_pose->pose.pose.orientation.z = q_world_from_cam.z(); + msg_pose->pose.pose.orientation.w = q_world_from_cam.w(); for(size_t i=0; i<36; ++i) - msg_pose->pose.covariance[i] = frame->Cov_(i%6, i/6); + msg_pose->pose.covariance[i] = Cov_in_world(i%6, i/6); pub_pose_.publish(msg_pose); } } diff --git a/svo_ros/src/vo_node.cpp b/svo_ros/src/vo_node.cpp index 9dc31dd..3dfdc92 100644 --- a/svo_ros/src/vo_node.cpp +++ b/svo_ros/src/vo_node.cpp @@ -74,18 +74,17 @@ VoNode() : if(!vk::camera_loader::loadFromRosNs("svo", cam_)) throw std::runtime_error("Camera model not correctly specified."); - // Init camera - vo_ = new svo::FrameHandlerMono(cam_); - - // Set initial position and orientation - Sophus::SE3 T_cam_from_world( + // Get initial position and orientation + visualizer_.T_world_from_vision_ = Sophus::SE3( vk::rpy2dcm(Vector3d(vk::getParam("svo/init_rx", 0.0), vk::getParam("svo/init_ry", 0.0), vk::getParam("svo/init_rz", 0.0))), Eigen::Vector3d(vk::getParam("svo/init_tx", 0.0), vk::getParam("svo/init_ty", 0.0), vk::getParam("svo/init_tz", 0.0))); - vo_->setInitialPose(T_cam_from_world); + + // Init VO and start + vo_ = new svo::FrameHandlerMono(cam_); vo_->start(); } From 42a7222b430d19eb63fd3df663a25e02951ccaf6 Mon Sep 17 00:00:00 2001 From: Christian Forster Date: Mon, 28 Apr 2014 16:43:00 +0200 Subject: [PATCH 081/215] changed interface of feature detector. now it returns directly a list of features instead of only corners --- svo/include/svo/depth_filter.h | 2 +- svo/include/svo/feature_detection.h | 17 +++++++------ svo/include/svo/frame.h | 2 +- svo/include/svo/point.h | 3 ++- svo/src/depth_filter.cpp | 27 ++++++++------------ svo/src/feature_detection.cpp | 20 +++++++++------ svo/src/frame.cpp | 7 ------ svo/src/initialization.cpp | 23 +++++++---------- svo/src/point.cpp | 18 ++++++++++++- svo/test/test_feature_detection.cpp | 39 ++++++++++++----------------- svo/test/test_pose_optimizer.cpp | 22 +++++----------- svo/test/test_sparse_img_align.cpp | 18 ++++++------- svo_ros/src/benchmark_node.cpp | 19 +++++--------- 13 files changed, 96 insertions(+), 121 deletions(-) diff --git a/svo/include/svo/depth_filter.h b/svo/include/svo/depth_filter.h index d943764..4ad2e29 100644 --- a/svo/include/svo/depth_filter.h +++ b/svo/include/svo/depth_filter.h @@ -46,7 +46,7 @@ struct Seed float z_range; //!< Max range of the possible depth. float sigma2; //!< Variance of normal distribution. Matrix2d patch_cov; //!< Patch covariance in reference image. - Seed(Feature* ftr, float angle, float depth_mean, float depth_min); + Seed(Feature* ftr, float depth_mean, float depth_min); }; /// Depth filter implements the Bayesian Update proposed in: diff --git a/svo/include/svo/feature_detection.h b/svo/include/svo/feature_detection.h index a5f5d26..d0990a8 100644 --- a/svo/include/svo/feature_detection.h +++ b/svo/include/svo/feature_detection.h @@ -52,15 +52,19 @@ public: virtual ~AbstractDetector() {}; virtual void detect( + Frame* frame, const ImgPyr& img_pyr, - const Features& fts, const double detection_threshold, - Corners* corners) = 0; + Features& fts) = 0; - /// Notify the detector that a cell already has a feature before detection. + /// Flag the grid cell as occupied void setGridOccpuancy(const Vector2d& px); + /// Set grid cells of existing features as occupied + void setExistingFeatures(const Features& fts); + protected: + static const int border_ = 8; //!< no feature should be within 8px of border. const int cell_size_; const int n_pyr_levels_; @@ -70,14 +74,11 @@ protected: void resetGrid(); - void setExistingFeatures(const Features& fts); - inline int getCellIndex(int x, int y, int level) { const int scale = (1< DetectorPtr; @@ -94,10 +95,10 @@ public: virtual ~FastDetector() {} virtual void detect( + Frame* frame, const ImgPyr& img_pyr, - const Features& fts, const double detection_threshold, - Corners* corners); + Features& fts); }; } // namespace feature_detection diff --git a/svo/include/svo/frame.h b/svo/include/svo/frame.h index f4413e7..8fcfd2c 100644 --- a/svo/include/svo/frame.h +++ b/svo/include/svo/frame.h @@ -79,7 +79,7 @@ public: void removeKeyPoint(Feature* ftr); /// Return number of point observations. - size_t nObs() const; + inline size_t nObs() const { return fts_.size(); } /// Check if a point in (w)orld coordinate frame is visible in the image. bool isVisible(const Vector3d& xyz_w) const; diff --git a/svo/include/svo/point.h b/svo/include/svo/point.h index 933b8bc..72a7221 100644 --- a/svo/include/svo/point.h +++ b/svo/include/svo/point.h @@ -56,7 +56,8 @@ public: int n_succeeded_reproj_; //!< Number of succeeded reprojections. Used to assess the quality of the point. int last_structure_optim_; //!< Timestamp of last point optimization - Point(Vector3d pos); + Point(const Vector3d& pos); + Point(const Vector3d& pos, Feature* ftr); ~Point(); /// Add a reference to a frame. diff --git a/svo/src/depth_filter.cpp b/svo/src/depth_filter.cpp index 5e26a5e..9278cca 100644 --- a/svo/src/depth_filter.cpp +++ b/svo/src/depth_filter.cpp @@ -34,7 +34,7 @@ namespace svo { int Seed::batch_counter = 0; int Seed::seed_counter = 0; -Seed::Seed(Feature* ftr, float angle, float depth_mean, float depth_min) : +Seed::Seed(Feature* ftr, float depth_mean, float depth_min) : batch_id(batch_counter), id(seed_counter++), ftr(ftr), @@ -113,29 +113,22 @@ void DepthFilter::addKeyframe(FramePtr frame, double depth_mean, double depth_mi void DepthFilter::initializeSeeds(FramePtr frame) { - feature_detection::Corners corners; - feature_detector_->detect(frame->img_pyr_, frame->fts_, Config::triangMinCornerScore(), &corners); + Features new_features; + feature_detector_->setExistingFeatures(frame->fts_); + feature_detector_->detect(frame.get(), frame->img_pyr_, + Config::triangMinCornerScore(), new_features); seeds_updating_halt_ = true; lock_t lock(seeds_mut_); // by locking the updateSeeds function stops - size_t new_seeds = 0; ++Seed::batch_counter; - // now for all maximum corners, initialize a new seed - for(feature_detection::Corners::iterator it=corners.begin(); it!=corners.end(); ++it) - { - // we must check again if the score is above the threshold because the Corners - // vector is initialized with dummy corners - if(it->score > Config::triangMinCornerScore()) - { - Feature* new_feature(new Feature(frame.get(), Vector2d(it->x, it->y), it->level)); - seeds_.push_back(Seed(new_feature, it->angle, new_keyframe_mean_depth_, new_keyframe_min_depth_)); - ++new_seeds; - } - } + // initialize a seed for every new feature + std::for_each(new_features.begin(), new_features.end(), [&](Feature* ftr){ + seeds_.push_back(Seed(ftr, new_keyframe_mean_depth_, new_keyframe_min_depth_)); + }); if(options_.verbose) - SVO_INFO_STREAM("DepthFilter: Initialized "<resize(grid_n_cols_*grid_n_rows_, Corner(0,0,detection_threshold,0,0.0f)); + Corners corners(grid_n_cols_*grid_n_rows_, Corner(0,0,detection_threshold,0,0.0f)); for(int L=0; L corners->at(k).score) - corners->at(k) = Corner(xy.x*scale, xy.y*scale, score, L, 0.0f); + if(score > corners.at(k).score) + corners.at(k) = Corner(xy.x*scale, xy.y*scale, score, L, 0.0f); } } + + // Create feature for every corner that has high enough corner score + std::for_each(corners.begin(), corners.end(), [&](Corner& c) { + if(c.score > detection_threshold) + fts.push_back(new Feature(frame, Vector2d(c.x, c.y), c.level)); + }); + resetGrid(); } diff --git a/svo/src/frame.cpp b/svo/src/frame.cpp index e5f4501..6234d0b 100644 --- a/svo/src/frame.cpp +++ b/svo/src/frame.cpp @@ -137,13 +137,6 @@ void Frame::removeKeyPoint(Feature* ftr) setKeyPoints(); } -size_t Frame::nObs() const -{ - size_t n=0; - std::for_each(fts_.begin(), fts_.end(), [&](Feature* i){if(i->point != NULL) ++n; }); - return n; -} - bool Frame::isVisible(const Vector3d& xyz_w) const { Vector3d xyz_f = T_f_w_*xyz_w; diff --git a/svo/src/initialization.cpp b/svo/src/initialization.cpp index 49a7640..16d1c80 100644 --- a/svo/src/initialization.cpp +++ b/svo/src/initialization.cpp @@ -109,24 +109,19 @@ void detectFeatures( vector& px_vec, vector& f_vec) { - feature_detection::Corners corners; + Features new_features; feature_detection::FastDetector detector( frame->img().cols, frame->img().rows, Config::gridSize(), Config::nPyrLevels()); - detector.detect(frame->img_pyr_, frame->fts_, Config::triangMinCornerScore(), &corners); + detector.detect(frame.get(), frame->img_pyr_, Config::triangMinCornerScore(), new_features); // now for all maximum corners, initialize a new seed - px_vec.clear(); px_vec.reserve(corners.size()); - f_vec.clear(); f_vec.reserve(corners.size()); - for(feature_detection::Corners::iterator it=corners.begin(); it!=corners.end(); ++it) - { - // we must check again if the score is above the threshold because the Corners - // vector is initialized with dummy corners - if(it->score > Config::triangMinCornerScore()) - { - px_vec.push_back(cv::Point2f(it->x, it->y)); - f_vec.push_back(frame->c2f(it->x, it->y)); - } - } + px_vec.clear(); px_vec.reserve(new_features.size()); + f_vec.clear(); f_vec.reserve(new_features.size()); + std::for_each(new_features.begin(), new_features.end(), [&](Feature* ftr){ + px_vec.push_back(cv::Point2f(ftr->px[0], ftr->px[1])); + f_vec.push_back(ftr->f); + delete ftr; + }); } void trackKlt( diff --git a/svo/src/point.cpp b/svo/src/point.cpp index 75f14a0..bdb14c5 100644 --- a/svo/src/point.cpp +++ b/svo/src/point.cpp @@ -24,7 +24,7 @@ namespace svo { int Point::point_counter_ = 0; -Point::Point(Vector3d pos) : +Point::Point(const Vector3d& pos) : id_(point_counter_++), pos_(pos), normal_(Vector3d::Zero()), @@ -38,6 +38,22 @@ Point::Point(Vector3d pos) : last_structure_optim_(0) {} +Point::Point(const Vector3d& pos, Feature* ftr) : + id_(point_counter_++), + pos_(pos), + normal_(Vector3d::Zero()), + n_obs_(1), + v_pt_(NULL), + last_published_ts_(0), + last_projected_kf_id_(-1), + type_(TYPE_UNKNOWN), + n_failed_reproj_(0), + n_succeeded_reproj_(0), + last_structure_optim_(0) +{ + obs_.push_front(ftr); +} + Point::~Point() {} diff --git a/svo/test/test_feature_detection.cpp b/svo/test/test_feature_detection.cpp index df28508..b91e97a 100644 --- a/svo/test/test_feature_detection.cpp +++ b/svo/test/test_feature_detection.cpp @@ -17,8 +17,10 @@ #include #include #include +#include #include #include +#include #include #include #include @@ -37,38 +39,29 @@ void testCornerDetector() cv::Mat img(cv::imread(img_name, 0)); assert(img.type() == CV_8UC1 && !img.empty()); - svo::ImgPyr img_pyr; - svo::frame_utils::createImgPyramid( - img, max(svo::Config::nPyrLevels(), svo::Config::kltMaxLevel()+1), img_pyr); - svo::Features fts; + vk::AbstractCamera* cam = new vk::ATANCamera(752, 480, 0.511496, 0.802603, 0.530199, 0.496011, 0.934092); + svo::FramePtr frame(new svo::Frame(cam, img, 0.0)); // Corner detection vk::Timer t; - svo::feature_detection::Corners corners; + svo::Features fts; svo::feature_detection::FastDetector fast_detector( img.cols, img.rows, svo::Config::gridSize(), svo::Config::nPyrLevels()); for(int i=0; i<100; ++i) { - fast_detector.detect(img_pyr, fts, svo::Config::triangMinCornerScore(), &corners); + fast_detector.detect(frame.get(), frame->img_pyr_, svo::Config::triangMinCornerScore(), fts); } - printf("Fast corner detection took %f ms, %zu corners detected (ref i7-W520: 8.06878ms, 416)\n", t.stop()*10, corners.size()); + printf("Fast corner detection took %f ms, %zu corners detected (ref i7-W520: 8.06878ms, 416)\n", t.stop()*10, fts.size()); + printf("Note, in this case, feature detection also contains the cam2world projection of the feature.\n"); + cv::Mat img_rgb = cv::Mat(img.size(), CV_8UC3); + cv::cvtColor(img, img_rgb, CV_GRAY2RGB); + std::for_each(fts.begin(), fts.end(), [&](svo::Feature* i){ + cv::circle(img_rgb, cv::Point2f(i->px[0], i->px[1]), 4*(i->level+1), cv::Scalar(0,255,0), 1); + }); + cv::imshow("ref_img", img_rgb); + cv::waitKey(0); - if(false) - { - cv::Mat img_rgb = cv::Mat(img.size(), CV_8UC3); - cv::cvtColor(img, img_rgb, CV_GRAY2RGB); - for(svo::feature_detection::Corners::iterator it=corners.begin(); it!=corners.end(); ++it) - { - // we must check again if the score is above the threshold because the Corners - // vector is initialized with dummy corners - if(it->score > svo::Config::triangMinCornerScore()) - { - cv::circle(img_rgb, cv::Point2f(it->x, it->y), 4*(it->level+1), cv::Scalar(0,255,0), 1); - } - } - cv::imshow("ref_img", img_rgb); - cv::waitKey(0); - } + std::for_each(fts.begin(), fts.end(), [&](svo::Feature* i){ delete i; }); } } // namespace diff --git a/svo/test/test_pose_optimizer.cpp b/svo/test/test_pose_optimizer.cpp index 88035b4..7dd79f8 100644 --- a/svo/test/test_pose_optimizer.cpp +++ b/svo/test/test_pose_optimizer.cpp @@ -58,25 +58,15 @@ class PoseOptimizerTest { vk::blender_utils::loadBlenderDepthmap(dataset_dir + "/depth/frame_000001_0.depth", *cam_, depthmap_); // detect features - feature_detection::Corners corners; feature_detection::FastDetector detector( cam_->width(), cam_->height(), Config::gridSize(), Config::nPyrLevels()); - detector.detect(frame_->img_pyr_, frame_->fts_, Config::triangMinCornerScore(), &corners); + detector.detect(frame_.get(), frame_->img_pyr_, Config::triangMinCornerScore(), frame_->fts_); size_t n_fts = 0; - for(feature_detection::Corners::iterator it=corners.begin(); it!=corners.end(); ++it) - { - // we must check again if the score is above the threshold because the Corners - // vector is initialized with dummy corners - if(it->score > Config::triangMinCornerScore()) - { - Feature* ftr(new Feature(frame_.get(), Vector2d(it->x, it->y), it->level)); - Point* point(new Point(frame_->f2w(ftr->f*depthmap_.at(it->y, it->x)))); - ftr->point = point; - ftr->frame = frame_.get(); - frame_->addFeature(ftr); - ++n_fts; - } - } + std::for_each(frame_->fts_.begin(), frame_->fts_.end(), [&](Feature* i){ + Point* point(new Point(frame_->f2w(i->f*depthmap_.at(i->px[1], i->px[0])), i)); + i->point = point; + ++n_fts; + }); printf("Added %zu features to frame.\n", n_fts); } diff --git a/svo/test/test_sparse_img_align.cpp b/svo/test/test_sparse_img_align.cpp index 9b7fa9e..fe1ece5 100644 --- a/svo/test/test_sparse_img_align.cpp +++ b/svo/test/test_sparse_img_align.cpp @@ -97,20 +97,16 @@ void SparseImgAlignTest::testSequence( dataset_dir+"/depth/"+iter->image_name_+"_0.depth", *cam_, depthmap); // extract features, generate features with 3D points - svo::feature_detection::Corners corners; feature_detector->detect( - frame_ref_->img_pyr_, frame_ref_->fts_, svo::Config::triangMinCornerScore(), &corners); - for(svo::feature_detection::Corners::iterator corner=corners.begin(); corner!=corners.end(); ++corner) - { - svo::Feature* ftr = new svo::Feature(frame_ref_.get(), Eigen::Vector2d(corner->x, corner->y), corner->level); - Eigen::Vector3d pt_pos_cur = ftr->f*depthmap.at(corner->y, corner->x); + frame_ref_.get(), frame_ref_->img_pyr_, svo::Config::triangMinCornerScore(), frame_ref_->fts_); + std::for_each(frame_ref_->fts_.begin(), frame_ref_->fts_.end(), [&](svo::Feature* i) { + Eigen::Vector3d pt_pos_cur = i->f*depthmap.at(i->px[1], i->px[0]); Eigen::Vector3d pt_pos_w = frame_ref_->T_f_w_.inverse()*pt_pos_cur; - svo::Point* pt = new svo::Point(pt_pos_w); - ftr->point = pt; - frame_ref_->addFeature(ftr); - } + svo::Point* pt = new svo::Point(pt_pos_w, i); + i->point = pt; + }); - printf("Added %zu 3d pts to the reference frame.\n", corners.size()); + printf("Added %zu 3d pts to the reference frame.\n", frame_ref_->nObs()); T_prev_w = frame_ref_->T_f_w_; T_prevgt_w = T_gt_w; continue; diff --git a/svo_ros/src/benchmark_node.cpp b/svo_ros/src/benchmark_node.cpp index bc94653..0c643eb 100644 --- a/svo_ros/src/benchmark_node.cpp +++ b/svo_ros/src/benchmark_node.cpp @@ -190,21 +190,14 @@ void BenchmarkNode::runBlenderBenchmark(const std::string& dataset_dir) // extract features, generate features with 3D points svo::feature_detection::FastDetector detector( cam_->width(), cam_->height(), svo::Config::gridSize(), svo::Config::nPyrLevels()); - svo::feature_detection::Corners corners; - detector.detect(frame_ref->img_pyr_, frame_ref->fts_, svo::Config::triangMinCornerScore(), &corners); - for(auto corner=corners.begin(); corner!=corners.end(); ++corner) - { - if(corner->score < Config::triangMinCornerScore()) - continue; - svo::Feature* ftr = new svo::Feature(frame_ref.get(), Eigen::Vector2d(corner->x, corner->y), corner->level); - Eigen::Vector3d pt_pos_cur = ftr->f*depthmap.at(corner->y, corner->x); + detector.detect(frame_ref.get(), frame_ref->img_pyr_, svo::Config::triangMinCornerScore(), frame_ref->fts_); + std::for_each(frame_ref->fts_.begin(), frame_ref->fts_.end(), [&](Feature* ftr) { + Eigen::Vector3d pt_pos_cur = ftr->f*depthmap.at(ftr->px[1], ftr->px[0]); Eigen::Vector3d pt_pos_world = frame_ref->T_f_w_.inverse()*pt_pos_cur; - svo::Point* point = new svo::Point(pt_pos_world); + svo::Point* point = new svo::Point(pt_pos_world, ftr); ftr->point = point; - ftr->point->addFrameRef(ftr); - frame_ref->addFeature(ftr); - } - SVO_INFO_STREAM("Added "<nObs()<<" 3d pts to the reference frame."); vo_->setFirstFrame(frame_ref); SVO_INFO_STREAM("Set reference frame."); } From 5a628bbc9b6b09f317e1c749b642c927fcc3e788 Mon Sep 17 00:00:00 2001 From: Christian Forster Date: Mon, 28 Apr 2014 23:16:53 +0200 Subject: [PATCH 082/215] removed some debug output from depth filter --- svo/include/svo/depth_filter.h | 11 +++++++---- svo/src/depth_filter.cpp | 24 ++++-------------------- 2 files changed, 11 insertions(+), 24 deletions(-) diff --git a/svo/include/svo/depth_filter.h b/svo/include/svo/depth_filter.h index 4ad2e29..3e14212 100644 --- a/svo/include/svo/depth_filter.h +++ b/svo/include/svo/depth_filter.h @@ -83,8 +83,11 @@ public: {} } options_; - DepthFilter(feature_detection::DetectorPtr feature_detector, callback_t seed_converged_cb); - ~DepthFilter(); + DepthFilter( + feature_detection::DetectorPtr feature_detector, + callback_t seed_converged_cb); + + virtual ~DepthFilter(); /// Start this thread when seed updating should be in a parallel thread. void startThread(); @@ -129,7 +132,7 @@ public: const double z, const double px_error_angle); -private: +protected: feature_detection::DetectorPtr feature_detector_; callback_t seed_converged_cb_; std::list > seeds_; @@ -149,7 +152,7 @@ private: void initializeSeeds(FramePtr frame); /// Update all seeds with a new measurement frame. - void updateSeeds(FramePtr frame); + virtual void updateSeeds(FramePtr frame); /// When a new keyframe arrives, the frame queue should be cleared. void clearFrameQueue(); diff --git a/svo/src/depth_filter.cpp b/svo/src/depth_filter.cpp index 9278cca..c9e4789 100644 --- a/svo/src/depth_filter.cpp +++ b/svo/src/depth_filter.cpp @@ -118,18 +118,15 @@ void DepthFilter::initializeSeeds(FramePtr frame) feature_detector_->detect(frame.get(), frame->img_pyr_, Config::triangMinCornerScore(), new_features); + // initialize a seed for every new feature seeds_updating_halt_ = true; lock_t lock(seeds_mut_); // by locking the updateSeeds function stops ++Seed::batch_counter; - - // initialize a seed for every new feature std::for_each(new_features.begin(), new_features.end(), [&](Feature* ftr){ seeds_.push_back(Seed(ftr, new_keyframe_mean_depth_, new_keyframe_min_depth_)); }); - if(options_.verbose) - SVO_INFO_STREAM("DepthFilter: Initialized "<ftr->frame->f2c(xyz_f)); if(!it->ftr->frame->cam_->isInFrame(px.cast())) { ++it; - if(options_.verbose) - SVO_DEBUG_STREAM("not visible"); continue; } @@ -241,8 +235,6 @@ void DepthFilter::updateSeeds(FramePtr frame) *it->ftr->frame, *frame, *it->ftr, 1.0/it->mu, 1.0/z_inv_min, 1.0/z_inv_max, options_.epi_search_1d, z, h_inv)) { - if(options_.verbose) - SVO_INFO_STREAM("no match found"); it->b++; // increase outlier probability when no match was found ++it; ++n_failed_matches; @@ -253,13 +245,8 @@ void DepthFilter::updateSeeds(FramePtr frame) { px_noise = fmax(2.0*options_.sigma_i_sq*h_inv, 1.0); px_error_angle = atan(px_noise/(2.0*focal_length))*2.0; // law of chord (sehnensatz) - if(options_.verbose) - SVO_DEBUG_STREAM("Photometric disparity error "<ftr->f, z, px_error_angle); double tau_inverse = 0.5 * (1.0/max(0.0000001, z-tau) - 1.0/(z+tau)); @@ -275,8 +262,6 @@ void DepthFilter::updateSeeds(FramePtr frame) { Vector3d xyz_world(it->ftr->frame->T_f_w_.inverse() * (it->ftr->f * (1.0/it->mu))); seed_converged_cb_(*it, xyz_world); - if(options_.verbose) - SVO_DEBUG_STREAM("seed converged"); } it = seeds_.erase(it); } @@ -290,8 +275,7 @@ void DepthFilter::updateSeeds(FramePtr frame) } } -void DepthFilter:: -clearFrameQueue() +void DepthFilter::clearFrameQueue() { while(!frame_queue_.empty()) frame_queue_.pop(); From 69fb4828c2ebcdc808e0102b03da0f29a3c3ea13 Mon Sep 17 00:00:00 2001 From: Christian Forster Date: Tue, 29 Apr 2014 11:43:01 +0200 Subject: [PATCH 083/215] refactor --- svo/include/svo/depth_filter.h | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/svo/include/svo/depth_filter.h b/svo/include/svo/depth_filter.h index 3e14212..955799a 100644 --- a/svo/include/svo/depth_filter.h +++ b/svo/include/svo/depth_filter.h @@ -64,7 +64,8 @@ public: typedef boost::function callback_t; /// Depth-filter config parameters - struct Options { + struct Options + { bool check_ftr_angle; //!< gradient features are only updated if the epipolar line is orthogonal to the gradient. bool epi_search_1d; //!< restrict Gauss Newton in the epipolar search to the epipolar line. bool verbose; //!< display output. From 922d73236bb6a2bfd153bbff73784676c28af07f Mon Sep 17 00:00:00 2001 From: Christian Forster Date: Tue, 29 Apr 2014 11:43:49 +0200 Subject: [PATCH 084/215] refactor --- svo/include/svo/config.h | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/svo/include/svo/config.h b/svo/include/svo/config.h index 3ad547b..d4f50df 100644 --- a/svo/include/svo/config.h +++ b/svo/include/svo/config.h @@ -14,8 +14,8 @@ // You should have received a copy of the GNU General Public License // along with this program. If not, see . -#ifndef NSLAM_CONFIG_H_ -#define NSLAM_CONFIG_H_ +#ifndef SVO_CONFIG_H_ +#define SVO_CONFIG_H_ #include #include @@ -23,7 +23,7 @@ namespace svo { -using namespace std; +using std::string; /// Global configuration file of SVO. /// Implements the Singleton design pattern to allow global access and to ensure @@ -154,6 +154,6 @@ private: int quality_max_drop_fts; }; -} // namespace nslam +} // namespace svo -#endif // NSLAM_CONFIG_H_ +#endif // SVO_CONFIG_H_ From 6ba28f50cfe1d5f52559f4517b6a19c4aa966090 Mon Sep 17 00:00:00 2001 From: Christian Forster Date: Tue, 29 Apr 2014 11:44:45 +0200 Subject: [PATCH 085/215] removed unused disparity uncertainty computation --- svo/src/depth_filter.cpp | 11 ++--------- 1 file changed, 2 insertions(+), 9 deletions(-) diff --git a/svo/src/depth_filter.cpp b/svo/src/depth_filter.cpp index c9e4789..2cbafe2 100644 --- a/svo/src/depth_filter.cpp +++ b/svo/src/depth_filter.cpp @@ -221,9 +221,8 @@ void DepthFilter::updateSeeds(FramePtr frame) ++it; // behind the camera continue; } - const Vector2d px(it->ftr->frame->f2c(xyz_f)); - if(!it->ftr->frame->cam_->isInFrame(px.cast())) { - ++it; + if(!it->ftr->frame->cam_->isInFrame(it->ftr->frame->f2c(xyz_f).cast())) { + ++it; // point does not project in image continue; } @@ -241,12 +240,6 @@ void DepthFilter::updateSeeds(FramePtr frame) continue; } - if(options_.use_photometric_disparity_error && h_inv > 0) - { - px_noise = fmax(2.0*options_.sigma_i_sq*h_inv, 1.0); - px_error_angle = atan(px_noise/(2.0*focal_length))*2.0; // law of chord (sehnensatz) - } - // compute tau double tau = computeTau(T_ref_cur, it->ftr->f, z, px_error_angle); double tau_inverse = 0.5 * (1.0/max(0.0000001, z-tau) - 1.0/(z+tau)); From 39bd1347f3174c47a2a39a835dddcaa3019f8b6c Mon Sep 17 00:00:00 2001 From: Christian Forster Date: Tue, 29 Apr 2014 13:51:07 +0200 Subject: [PATCH 086/215] can now choose in which coordinate frame to publish the pose. by default the pose of the world origin is published in the camera frame of reference --- svo_ros/include/svo_ros/visualizer.h | 22 +++- svo_ros/src/visualizer.cpp | 157 ++++++++++++++++----------- 2 files changed, 109 insertions(+), 70 deletions(-) diff --git a/svo_ros/include/svo_ros/visualizer.h b/svo_ros/include/svo_ros/visualizer.h index 5cffa0e..aa6146a 100644 --- a/svo_ros/include/svo_ros/visualizer.h +++ b/svo_ros/include/svo_ros/visualizer.h @@ -42,8 +42,7 @@ class FrameHandlerMono; typedef boost::shared_ptr FramePtr; -/// This class bundles all functions to publish visualisation messages, -/// trace data and output debugging information. +/// This class bundles all functions to publish visualisation messages. class Visualizer { public: @@ -59,15 +58,30 @@ public: ros::Publisher pub_dense_; image_transport::Publisher pub_images_; tf::TransformBroadcaster br_; + bool publish_world_in_cam_frame_; SE3 T_world_from_vision_; Visualizer(); + ~Visualizer() {}; - void visualizeMarkers(const FramePtr& frame, const set& core_kfs, const Map& map); - void publishMinimal(const cv::Mat& img, const FramePtr& frame, const FrameHandlerMono& slam, const double timestamp); + + void publishMinimal( + const cv::Mat& img, + const FramePtr& frame, + const FrameHandlerMono& slam, + const double timestamp); + + void visualizeMarkers( + const FramePtr& frame, + const set& core_kfs, + const Map& map); + void publishMapRegion(set frames); + void removeDeletedPts(const Map& map); + void displayKeyframeWithMps(const FramePtr& frame, int ts); + void exportToDense(const FramePtr& frame); }; diff --git a/svo_ros/src/visualizer.cpp b/svo_ros/src/visualizer.cpp index f952fa8..32ac3e1 100644 --- a/svo_ros/src/visualizer.cpp +++ b/svo_ros/src/visualizer.cpp @@ -44,7 +44,8 @@ Visualizer() : img_pub_level_(vk::getParam("svo/image_publishing_level", 0)), img_pub_nth_(vk::getParam("svo/publish_every_nth_img", 1)), dense_pub_nth_(vk::getParam("svo/publish_every_nth_dense_input", 1)), - T_world_from_vision_(Matrix3d::Identity(), Vector3d::Zero()) + T_world_from_vision_(Matrix3d::Identity(), Vector3d::Zero()), + publish_world_in_cam_frame_(vk::getParam("svo/publish_world_in_cam_frame", true)) { // Init ROS Marker Publishers pub_frames_ = pnh_.advertise("keyframes", 10); @@ -58,25 +59,11 @@ Visualizer() : pub_images_ = it.advertise("image", 10); } -void Visualizer:: -visualizeMarkers(const FramePtr& frame, const set& core_kfs, const Map& map) -{ - if(frame != NULL) - { - // publish camera pose tf - vk::output_helper::publishTfTransform(frame->T_f_w_, ros::Time(frame->timestamp_), "cam_pos", "world", br_); - if(pub_frames_.getNumSubscribers() > 0 || pub_points_.getNumSubscribers() > 0) - { - vk::output_helper::publishHexacopterMarker(pub_frames_, "cam_pos", "cams", ros::Time(frame->timestamp_), 1, 0, 0.3, Vector3d(0.,0.,1.)); - vk::output_helper::publishPointMarker(pub_points_, frame->pos(), "trajectory", ros::Time::now(), trace_id_, 0, 0.006, Vector3d(0.,0.,0.5)); - publishMapRegion(core_kfs); - removeDeletedPts(map); - } - } -} - -void Visualizer:: -publishMinimal(const cv::Mat& img, const FramePtr& frame, const FrameHandlerMono& slam, const double timestamp) +void Visualizer::publishMinimal( + const cv::Mat& img, + const FramePtr& frame, + const FrameHandlerMono& slam, + const double timestamp) { ++trace_id_; std_msgs::Header header_msg; @@ -84,7 +71,7 @@ publishMinimal(const cv::Mat& img, const FramePtr& frame, const FrameHandlerMono header_msg.seq = trace_id_; header_msg.stamp = ros::Time(timestamp); - // publish svo info msgs + // publish info msg. if(pub_info_.getNumSubscribers() > 0) { svo_msgs::Info msg_info; @@ -102,17 +89,31 @@ publishMinimal(const cv::Mat& img, const FramePtr& frame, const FrameHandlerMono pub_info_.publish(msg_info); } - // publish pyramid-image every nth-frame - if(frame != NULL && img_pub_nth_ > 0 - && trace_id_%img_pub_nth_ == 0 && pub_images_.getNumSubscribers() > 0) + if(frame == 0) + { + if(pub_images_.getNumSubscribers() > 0 && slam.stage() == FrameHandlerBase::STAGE_PAUSED) + { + // Display image when slam is not running. + cv_bridge::CvImage img_msg; + img_msg.header.stamp = ros::Time::now(); + img_msg.header.frame_id = "/image"; + img_msg.image = img; + img_msg.encoding = sensor_msgs::image_encodings::MONO8; + pub_images_.publish(img_msg.toImageMsg()); + } + return; + } + + // Publish pyramid-image every nth-frame. + if(img_pub_nth_ > 0 && trace_id_%img_pub_nth_ == 0 && pub_images_.getNumSubscribers() > 0) { const int scale = (1<img_pyr_[img_pub_level_].size(), CV_8UC3); cv::cvtColor(frame->img_pyr_[img_pub_level_], img_rgb, CV_GRAY2RGB); - // during initialization, draw lines if(slam.stage() == FrameHandlerBase::STAGE_SECOND_FRAME) { + // During initialization, draw lines. const vector& px_ref(slam.initFeatureTrackRefPx()); const vector& px_cur(slam.initFeatureTrackCurPx()); for(vector::const_iterator it_ref=px_ref.begin(), it_cur=px_cur.begin(); @@ -122,7 +123,6 @@ publishMinimal(const cv::Mat& img, const FramePtr& frame, const FrameHandlerMono cv::Point2f(it_ref->x/scale, it_ref->y/scale), cv::Scalar(0,255,0), 2); } - // draw features on frame if(img_pub_level_ == 0) for(Features::iterator it=frame->fts_.begin(); it!=frame->fts_.end(); ++it) cv::rectangle(img_rgb, @@ -142,51 +142,74 @@ publishMinimal(const cv::Mat& img, const FramePtr& frame, const FrameHandlerMono cv::Point2f((*it)->px[0]/scale, (*it)->px[1]/scale), cv::Scalar(0,255,0), CV_FILLED); - // publish image cv_bridge::CvImage img_msg; img_msg.header = header_msg; img_msg.image = img_rgb; img_msg.encoding = sensor_msgs::image_encodings::BGR8; pub_images_.publish(img_msg.toImageMsg()); } - else if(frame == NULL && pub_images_.getNumSubscribers() > 0 && slam.stage() == FrameHandlerBase::STAGE_PAUSED) - { - // display image when slam is not running - cv_bridge::CvImage img_msg; - img_msg.header.stamp = ros::Time::now(); - img_msg.header.frame_id = "/image"; - img_msg.image = img; - img_msg.encoding = sensor_msgs::image_encodings::MONO8; - pub_images_.publish(img_msg.toImageMsg()); - } - // publish pose (camera in world frame) - if(pub_pose_.getNumSubscribers() > 0 && frame != NULL) + if(pub_pose_.getNumSubscribers() > 0) { - // transform from vision-frame to world-frame - SE3 T_world_from_cam(T_world_from_vision_*frame->T_f_w_.inverse()); - Quaterniond q_world_from_cam(T_world_from_cam.rotation_matrix()*T_world_from_vision_.rotation_matrix().transpose()); - const Vector3d& p_cam_in_world(T_world_from_cam.translation()); - Matrix Cov_in_world = T_world_from_cam.Adj()*frame->Cov_*T_world_from_cam.inverse().Adj(); - - // publish message + Quaterniond q; + Vector3d p; + Matrix Cov; + if(publish_world_in_cam_frame_) + { + // publish world in cam frame + SE3 T_cam_from_world(frame->T_f_w_* T_world_from_vision_); + q = Quaterniond(T_cam_from_world.rotation_matrix()); + p = T_cam_from_world.translation(); + Cov = frame->Cov_; + } + else + { + // publish cam in world frame + SE3 T_world_from_cam(T_world_from_vision_*frame->T_f_w_.inverse()); + q = Quaterniond(T_world_from_cam.rotation_matrix()*T_world_from_vision_.rotation_matrix().transpose()); + p = T_world_from_cam.translation(); + Cov = T_world_from_cam.Adj()*frame->Cov_*T_world_from_cam.inverse().Adj(); + } geometry_msgs::PoseWithCovarianceStampedPtr msg_pose(new geometry_msgs::PoseWithCovarianceStamped); msg_pose->header = header_msg; - msg_pose->pose.pose.position.x = p_cam_in_world[0]; - msg_pose->pose.pose.position.y = p_cam_in_world[1]; - msg_pose->pose.pose.position.z = p_cam_in_world[2]; - msg_pose->pose.pose.orientation.x = q_world_from_cam.x(); - msg_pose->pose.pose.orientation.y = q_world_from_cam.y(); - msg_pose->pose.pose.orientation.z = q_world_from_cam.z(); - msg_pose->pose.pose.orientation.w = q_world_from_cam.w(); + msg_pose->pose.pose.position.x = p[0]; + msg_pose->pose.pose.position.y = p[1]; + msg_pose->pose.pose.position.z = p[2]; + msg_pose->pose.pose.orientation.x = q.x(); + msg_pose->pose.pose.orientation.y = q.y(); + msg_pose->pose.pose.orientation.z = q.z(); + msg_pose->pose.pose.orientation.w = q.w(); for(size_t i=0; i<36; ++i) - msg_pose->pose.covariance[i] = Cov_in_world(i%6, i/6); + msg_pose->pose.covariance[i] = Cov(i%6, i/6); pub_pose_.publish(msg_pose); } } -void Visualizer:: -publishMapRegion(set frames) +void Visualizer::visualizeMarkers( + const FramePtr& frame, + const set& core_kfs, + const Map& map) +{ + if(frame != NULL) + { + vk::output_helper::publishTfTransform( + frame->T_f_w_*T_world_from_vision_.inverse(), + ros::Time(frame->timestamp_), "cam_pos", "world", br_); + if(pub_frames_.getNumSubscribers() > 0 || pub_points_.getNumSubscribers() > 0) + { + vk::output_helper::publishHexacopterMarker( + pub_frames_, "cam_pos", "cams", ros::Time(frame->timestamp_), + 1, 0, 0.3, Vector3d(0.,0.,1.)); + vk::output_helper::publishPointMarker( + pub_points_, T_world_from_vision_*frame->pos(), "trajectory", + ros::Time::now(), trace_id_, 0, 0.006, Vector3d(0.,0.,0.5)); + publishMapRegion(core_kfs); + removeDeletedPts(map); + } + } +} + +void Visualizer::publishMapRegion(set frames) { if(pub_points_.getNumSubscribers() > 0) { @@ -196,8 +219,7 @@ publishMapRegion(set frames) } } -void Visualizer:: -removeDeletedPts(const Map& map) +void Visualizer::removeDeletedPts(const Map& map) { if(pub_points_.getNumSubscribers() > 0) { @@ -206,11 +228,13 @@ removeDeletedPts(const Map& map) } } -void Visualizer:: -displayKeyframeWithMps(const FramePtr& frame, int ts) +void Visualizer::displayKeyframeWithMps(const FramePtr& frame, int ts) { // publish keyframe - vk::output_helper::publishFrameMarker(pub_frames_, frame->T_f_w_.inverse().rotation_matrix(), frame->pos(), "kfs", ros::Time::now(), frame->id_*10, 0, 0.015); + SE3 T_world_cam(T_world_from_vision_*frame->T_f_w_.inverse()); + vk::output_helper::publishFrameMarker( + pub_frames_, T_world_cam.rotation_matrix(), + T_world_cam.translation(), "kfs", ros::Time::now(), frame->id_*10, 0, 0.015); // publish point cloud and links for(Features::iterator it=frame->fts_.begin(); it!=frame->fts_.end(); ++it) @@ -221,13 +245,14 @@ displayKeyframeWithMps(const FramePtr& frame, int ts) if((*it)->point->last_published_ts_ == ts) continue; - vk::output_helper::publishPointMarker(pub_points_, (*it)->point->pos_, "pts", ros::Time::now(), (*it)->point->id_, 0, 0.005, Vector3d(1.0, 0., 1.0)); + vk::output_helper::publishPointMarker( + pub_points_, T_world_from_vision_*(*it)->point->pos_, "pts", + ros::Time::now(), (*it)->point->id_, 0, 0.005, Vector3d(1.0, 0., 1.0)); (*it)->point->last_published_ts_ = ts; } } -void Visualizer:: -exportToDense(const FramePtr& frame) +void Visualizer::exportToDense(const FramePtr& frame) { // publish air_ground_msgs if(frame != NULL && dense_pub_nth_ > 0 @@ -252,8 +277,8 @@ exportToDense(const FramePtr& frame) if((*it)->point==NULL) continue; Vector3d pos = frame->T_f_w_*(*it)->point->pos_; - min_z = min(pos[2], min_z); - max_z = max(pos[2], max_z); + min_z = fmin(pos[2], min_z); + max_z = fmax(pos[2], max_z); } msg.min_depth = (float) min_z; msg.max_depth = (float) max_z; From 406c4231bf6f5acb547f96bfad5c1a13716cf96d Mon Sep 17 00:00:00 2001 From: Christian Forster Date: Tue, 29 Apr 2014 13:58:06 +0200 Subject: [PATCH 087/215] set trace flags to false --- svo/CMakeLists.txt | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/svo/CMakeLists.txt b/svo/CMakeLists.txt index 678cd96..70a5583 100644 --- a/svo/CMakeLists.txt +++ b/svo/CMakeLists.txt @@ -1,8 +1,8 @@ ################################################################################ # user build settings -SET(DEBUG TRUE) -SET(TRACE TRUE) +SET(DEBUG FALSE) +SET(TRACE FALSE) SET(HAVE_G2O FALSE) ################################################################################ From cdecc6325f521316a7a295f2ac6b01910b927b15 Mon Sep 17 00:00:00 2001 From: Christian Forster Date: Tue, 29 Apr 2014 21:42:53 +0200 Subject: [PATCH 088/215] plot trajectory error also when no hand-eye-calib is available --- svo_analysis/src/svo_analysis/analyse_trajectory.py | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/svo_analysis/src/svo_analysis/analyse_trajectory.py b/svo_analysis/src/svo_analysis/analyse_trajectory.py index a024b79..4b11363 100755 --- a/svo_analysis/src/svo_analysis/analyse_trajectory.py +++ b/svo_analysis/src/svo_analysis/analyse_trajectory.py @@ -32,7 +32,7 @@ def plot_rotation_error(timestamps, rotation_error, results_dir): fig.tight_layout() fig.savefig(results_dir+'/orientation_error.pdf') -def analyse_trajectory(results_dir, n_align_frames = 20, use_hand_eye_calib = True): +def analyse_trajectory(results_dir, n_align_frames = 200, use_hand_eye_calib = True): if not os.path.isfile(os.path.join(results_dir, 'translation_error.txt')): @@ -91,6 +91,9 @@ def analyse_trajectory(results_dir, n_align_frames = 20, use_hand_eye_calib = Tr else: for i in range(np.shape(p_es)[0]): p_es_aligned[i,:] = scale*rot.dot(p_es[i,:]) + trans + # plot position error (drift) + translation_error = (p_gt-p_es_aligned) + plot_translation_error(t_es, translation_error, results_dir) # plot trajectory fig = plt.figure() From 44f87b860b49c4863a89ae3f09241944f0b91705 Mon Sep 17 00:00:00 2001 From: Christian Forster Date: Tue, 29 Apr 2014 21:43:24 +0200 Subject: [PATCH 089/215] refactored matcher class --- svo/include/svo/depth_filter.h | 2 + svo/include/svo/feature.h | 6 +- svo/include/svo/matcher.h | 100 ++++++++------ svo/include/svo/reprojector.h | 1 + svo/src/depth_filter.cpp | 7 +- svo/src/frame_handler_base.cpp | 4 +- svo/src/matcher.cpp | 230 ++++++++++++++------------------- svo/src/reprojector.cpp | 15 ++- svo/test/test_matcher.cpp | 23 ++-- 9 files changed, 192 insertions(+), 196 deletions(-) diff --git a/svo/include/svo/depth_filter.h b/svo/include/svo/depth_filter.h index 955799a..8effbfd 100644 --- a/svo/include/svo/depth_filter.h +++ b/svo/include/svo/depth_filter.h @@ -23,6 +23,7 @@ #include #include #include +#include namespace svo { @@ -148,6 +149,7 @@ protected: double new_keyframe_min_depth_; //!< Minimum depth in the new keyframe. Used for range in new seeds. double new_keyframe_mean_depth_; //!< Maximum depth in the new keyframe. Used for range in new seeds. vk::PerformanceMonitor permon_; //!< Separate performance monitor since the DepthFilter runs in a parallel thread. + Matcher matcher_; /// Initialize new seeds from a frame. void initializeSeeds(FramePtr frame); diff --git a/svo/include/svo/feature.h b/svo/include/svo/feature.h index 37be2b7..6f90a9a 100644 --- a/svo/include/svo/feature.h +++ b/svo/include/svo/feature.h @@ -46,7 +46,7 @@ struct Feature f(frame->cam_->cam2world(px)), level(_level), point(NULL), - grad(0.0,0.0) + grad(1.0,0.0) {} Feature(Frame* _frame, const Vector2d& _px, const Vector3d& _f, int _level) : @@ -56,7 +56,7 @@ struct Feature f(_f), level(_level), point(NULL), - grad(0.0,0.0) + grad(1.0,0.0) {} Feature(Frame* _frame, Point* _point, const Vector2d& _px, const Vector3d& _f, int _level) : @@ -66,7 +66,7 @@ struct Feature f(_f), level(_level), point(_point), - grad(0.0,0.0) + grad(1.0,0.0) {} }; diff --git a/svo/include/svo/matcher.h b/svo/include/svo/matcher.h index b79340b..ddd6e6c 100644 --- a/svo/include/svo/matcher.h +++ b/svo/include/svo/matcher.h @@ -21,6 +21,9 @@ namespace vk { class AbstractCamera; + namespace patch_score { + template class ZMSSD; + } } namespace svo { @@ -29,22 +32,6 @@ class Point; class Frame; class Feature; -/// Patch-matcher for reprojection-matching and epipolar search in triangulation. -namespace matcher { - -const int g_halfpatch_size = 4; // do not change, because of sse instructions alignment. -const int g_patch_size = 8; // do not change, because of sse instructions alignment. - -/// Manages the aligned memory of a patch. Aligned for SIMD instructions. -struct PatchData -{ - const int patch_size; - uint8_t* patch; - uint8_t* patch_with_border; - PatchData(int patch_size); - ~PatchData(); -}; - /// Warp a patch from the reference view to the current view. namespace warp { @@ -68,38 +55,67 @@ void warpAffine( const Vector2d& px_ref, const int level_ref, const int level_cur, - PatchData& ref_patch); + const int halfpatch_size, + uint8_t* patch); } // namespace warp -// TODO take function from vikit -bool depthFromTriangulation( - const SE3& T_cur_ref, - const Vector3d& f_ref, - const Vector3d& f_cur, - double& depth); +/// Patch-matcher for reprojection-matching and epipolar search in triangulation. +class Matcher +{ +public: + static const int halfpatch_size_ = 4; + static const int patch_size_ = 8; -/// Find a match by directly applying subpix refinement. -/// IMPORTANT! This function assumes that px_cur is already set to an estimate that is within ~2-3 pixel of the final result! -bool findMatchDirect( - const Point& pt, - const Frame& frame, - Vector2d& px_cur, - int& level_cur); + typedef vk::patch_score::ZMSSD PatchScore; -/// Find a match by searching along the epipolar line without using any features. -bool findEpipolarMatchDirect( - const Frame& ref_frame, - const Frame& cur_frame, - const Feature& ref_ftr, - const double d_estimate, - const double d_min, - const double d_max, - const bool align_1d, - double& depth, - double& h_inv); + struct Options + { + bool align_1d; //!< in epipolar search: align patch 1D along epipolar line + int align_max_iter; //!< number of iterations for aligning the feature patches in gauss newton + double max_epi_length_optim;//!< max length of epipolar line to skip epipolar search and directly go to img align + size_t max_epi_search_steps;//!< max number of evaluations along epipolar line + bool subpix_refinement; //!< do gauss newton feature patch alignment after epipolar search + Options() : + align_1d(false), + align_max_iter(10), + max_epi_length_optim(2.0), + max_epi_search_steps(1000), + subpix_refinement(true) + {} + } options_; + + uint8_t* patch_; + uint8_t* patch_with_border_; + Matrix2d A_cur_ref_; //!< affine warp matrix + double epi_length_; //!< length of epipolar line segment in pixels (only used for epipolar search) + double h_inv_; //!< hessian of 1d image alignment along epipolar line + int search_level_; + Feature* ref_ftr_; + + Matcher(); + ~Matcher(); + + /// Find a match by directly applying subpix refinement. + /// IMPORTANT! This function assumes that px_cur is already set to an estimate that is within ~2-3 pixel of the final result! + bool findMatchDirect( + const Point& pt, + const Frame& frame, + Vector2d& px_cur); + + /// Find a match by searching along the epipolar line without using any features. + bool findEpipolarMatchDirect( + const Frame& ref_frame, + const Frame& cur_frame, + const Feature& ref_ftr, + const double d_estimate, + const double d_min, + const double d_max, + double& depth); + + void createPatchFromPatchWithBorder(); +}; -} // namespace matcher } // namespace svo #endif // SVO_MATCHER_H_ diff --git a/svo/include/svo/reprojector.h b/svo/include/svo/reprojector.h index cc6df72..7207b54 100644 --- a/svo/include/svo/reprojector.h +++ b/svo/include/svo/reprojector.h @@ -86,6 +86,7 @@ private: }; Grid grid_; + Matcher matcher_; Map& map_; static bool pointQualityComparator(Candidate& lhs, Candidate& rhs); diff --git a/svo/src/depth_filter.cpp b/svo/src/depth_filter.cpp index 2cbafe2..0aba62a 100644 --- a/svo/src/depth_filter.cpp +++ b/svo/src/depth_filter.cpp @@ -229,10 +229,9 @@ void DepthFilter::updateSeeds(FramePtr frame) // we are using inverse depth coordinates float z_inv_min = it->mu + sqrt(it->sigma2); float z_inv_max = max(it->mu - sqrt(it->sigma2), 0.00000001f); - double z, h_inv = -1.0; - if(!matcher::findEpipolarMatchDirect( - *it->ftr->frame, *frame, *it->ftr, 1.0/it->mu, 1.0/z_inv_min, 1.0/z_inv_max, - options_.epi_search_1d, z, h_inv)) + double z; + if(!matcher_.findEpipolarMatchDirect( + *it->ftr->frame, *frame, *it->ftr, 1.0/it->mu, 1.0/z_inv_min, 1.0/z_inv_max, z)) { it->b++; // increase outlier probability when no match was found ++it; diff --git a/svo/src/frame_handler_base.cpp b/svo/src/frame_handler_base.cpp index f526cb3..41b03ce 100644 --- a/svo/src/frame_handler_base.cpp +++ b/svo/src/frame_handler_base.cpp @@ -41,7 +41,7 @@ FrameHandlerBase::FrameHandlerBase() : acc_frame_timings_(10), acc_num_obs_(10), num_obs_last_(0), - tracking_quality_(TRACKING_BAD) + tracking_quality_(TRACKING_INSUFFICIENT) { #ifdef SVO_TRACE // Initialize Performance Monitor @@ -141,7 +141,7 @@ void FrameHandlerBase::resetCommon() stage_ = STAGE_PAUSED; set_reset_ = false; set_start_ = false; - tracking_quality_ = TRACKING_BAD; + tracking_quality_ = TRACKING_INSUFFICIENT; num_obs_last_ = 0; SVO_INFO_STREAM("RESET"); } diff --git a/svo/src/matcher.cpp b/svo/src/matcher.cpp index 550d25b..9ccc000 100644 --- a/svo/src/matcher.cpp +++ b/svo/src/matcher.cpp @@ -28,20 +28,6 @@ #include namespace svo { -namespace matcher { - -PatchData::PatchData(int patch_size) : - patch_size(patch_size) -{ - patch = vk::aligned_mem::aligned_alloc(patch_size*patch_size, 16); - patch_with_border = vk::aligned_mem::aligned_alloc((patch_size+2)*(patch_size+2), 16); -} - -PatchData::~PatchData() -{ - free(patch); - free(patch_with_border); -} namespace warp { @@ -74,14 +60,14 @@ int getBestSearchLevel( const int max_level) { // Compute patch level in other image - int level_cur = 0; + int search_level = 0; double D = A_cur_ref.determinant(); - while(D > 3.0 && level_cur < max_level) + while(D > 3.0 && search_level < max_level) { - level_cur += 1; + search_level += 1; D *= 0.25; } - return level_cur; + return search_level; } void warpAffine( @@ -89,12 +75,12 @@ void warpAffine( const cv::Mat& img_ref, const Vector2d& px_ref, const int level_ref, - const int level_cur, - PatchData& ref_patch) + const int search_level, + const int halfpatch_size, + uint8_t* patch) { - const int halfpatch_size = ref_patch.patch_size/2+1; const int patch_size = halfpatch_size*2 ; - Matrix2f A_ref_cur = A_cur_ref.inverse().cast(); + const Matrix2f A_ref_cur = A_cur_ref.inverse().cast(); if(isnan(A_ref_cur(0,0))) { printf("Affine warp is NaN, probably camera has no translation\n"); // TODO @@ -102,64 +88,36 @@ void warpAffine( } // Perform the warp on a larger patch. - uint8_t* ref_patch_ptr = ref_patch.patch_with_border; + uint8_t* patch_ptr = patch; const Vector2f px_ref_pyr = px_ref.cast() / (1<=img_ref.cols-1 || px[1]>=img_ref.rows-1) - *ref_patch_ptr = 0; + *patch_ptr = 0; else - *ref_patch_ptr = (uint8_t) vk::interpolateMat_8u(img_ref, px[0], px[1]); + *patch_ptr = (uint8_t) vk::interpolateMat_8u(img_ref, px[0], px[1]); } } - - // Remove border from large patch. - ref_patch_ptr = ref_patch.patch; - for(int y=1; y(patch_size_*patch_size_, 16); + patch_with_border_ = vk::aligned_mem::aligned_alloc((patch_size_+2)*(patch_size_+2), 16); +} - if(!ref_ftr->frame->cam_->isInFrame( - ref_ftr->px.cast()/(1<level), g_halfpatch_size+2, ref_ftr->level)) - return false; - - // warp affine - PatchData ref_patch(g_patch_size); - Matrix2d A_cur_ref; - warp::getWarpMatrixAffine( - *ref_ftr->frame->cam_, *cur_frame.cam_, ref_ftr->px, ref_ftr->f, - (ref_ftr->frame->pos() - pt.pos_).norm(), cur_frame.T_f_w_ * ref_ftr->frame->T_f_w_.inverse(), ref_ftr->level, A_cur_ref); - level_cur = 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, level_cur, ref_patch); - - // px_cur should be set - Vector2d px_scaled(px_cur/(1<frame->cam_->isInFrame( + ref_ftr_->px.cast()/(1<level), halfpatch_size_+2, ref_ftr_->level)) + return false; + + // warp affine + warp::getWarpMatrixAffine( + *ref_ftr_->frame->cam_, *cur_frame.cam_, ref_ftr_->px, ref_ftr_->f, + (ref_ftr_->frame->pos() - pt.pos_).norm(), + cur_frame.T_f_w_ * ref_ftr_->frame->T_f_w_.inverse(), 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_); + createPatchFromPatchWithBorder(); + + // px_cur should be set + Vector2d px_scaled(px_cur/(1< PatchScore; - - PatchData ref_patch(g_patch_size); SE3 T_cur_ref = cur_frame.T_f_w_ * ref_frame.T_f_w_.inverse(); int zmssd_best = PatchScore::threshold(); Vector2d uv_best; @@ -201,64 +196,57 @@ bool findEpipolarMatchDirect( Vector2d epi_dir = A - B; // Compute affine warp matrix - Matrix2d A_cur_ref; 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); - int level_cur = warp::getBestSearchLevel(A_cur_ref, Config::nPyrLevels()-1); + d_estimate, T_cur_ref, ref_ftr.level, A_cur_ref_); + search_level_ = warp::getBestSearchLevel(A_cur_ref_, Config::nPyrLevels()-1); // Find length of search range on epipolar line Vector2d px_A(cur_frame.cam_->world2cam(A)); Vector2d px_B(cur_frame.cam_->world2cam(B)); - double px_length = (px_A-px_B).norm() / (1<().normalized(), - ref_patch.patch_with_border, ref_patch.patch, 10, px_scaled, h_inv); + cur_frame.img_pyr_[search_level_], (px_A-px_B).cast().normalized(), + patch_with_border_, patch_, options_.align_max_iter, px_scaled, h_inv_); else res = feature_alignment::align2D( - cur_frame.img_pyr_[level_cur], ref_patch.patch_with_border, - ref_patch.patch, 10, px_scaled); + cur_frame.img_pyr_[search_level_], patch_with_border_, patch_, + options_.align_max_iter, px_scaled); if(res) { - px = px_scaled*(1<cam2world(px), depth)) return true; } return false; } - size_t n_steps = px_length/0.7; // one step per pixel + size_t n_steps = epi_length_/0.7; // one step per pixel Vector2d step = epi_dir/n_steps; - if(n_steps > 1000) + if(n_steps > options_.max_epi_search_steps) { printf("WARNING: skip epipolar search: %zu evaluations, px_lenght=%f, d_min=%f, d_max=%f.\n", - n_steps, px_length, d_min, d_max); + n_steps, epi_length_, d_min, d_max); return false; } // for matching, precompute sum and sum2 of warped reference patch int pixel_sum = 0; int pixel_sum_square = 0; - PatchScore patch_score(ref_patch.patch); + PatchScore patch_score(patch_); // now we sample along the epipolar line Vector2d uv = B-step; @@ -267,24 +255,22 @@ bool findEpipolarMatchDirect( for(size_t i=0; iworld2cam(uv)); - Vector2i pxi(px[0]/(1<isInFrame(pxi, g_patch_size, level_cur)) + if(!cur_frame.cam_->isInFrame(pxi, patch_size_, search_level_)) continue; // TODO interpolation would probably be a good idea - uint8_t* cur_patch_ptr = cur_frame.img_pyr_[level_cur].data + (pxi[1]-g_halfpatch_size)*cur_frame.img_pyr_[level_cur].cols + (pxi[0]-g_halfpatch_size); - int zmssd = patch_score.computeScore(cur_patch_ptr, cur_frame.img_pyr_[level_cur].cols); + uint8_t* cur_patch_ptr = cur_frame.img_pyr_[search_level_].data + + (pxi[1]-halfpatch_size_)*cur_frame.img_pyr_[search_level_].cols + + (pxi[0]-halfpatch_size_); + int zmssd = patch_score.computeScore(cur_patch_ptr, cur_frame.img_pyr_[search_level_].cols); if(zmssd < zmssd_best) { zmssd_best = zmssd; @@ -292,41 +278,24 @@ bool findEpipolarMatchDirect( } } -#ifdef DEBUG_MATCHER_EPISEARCH - if(zmssd_best < g_zmssd_thresh) { - Vector2d px(cur_frame.cam_->world2cam(uv_best)); - Vector2i pxi(px[0]/(1<world2cam(uv_best)); - Vector2d px_scaled(px/(1<().normalized(), - ref_patch.patch_with_border, ref_patch.patch, 10, px_scaled, h_inv); + cur_frame.img_pyr_[search_level_], (px_A-px_B).cast().normalized(), + patch_with_border_, patch_, options_.align_max_iter, px_scaled, h_inv_); else res = feature_alignment::align2D( - cur_frame.img_pyr_[level_cur], ref_patch.patch_with_border, - ref_patch.patch, 10, px_scaled); + cur_frame.img_pyr_[search_level_], patch_with_border_, patch_, + options_.align_max_iter, px_scaled); if(res) { - px = px_scaled*(1<cam2world(px), depth)) return true; } @@ -339,5 +308,4 @@ bool findEpipolarMatchDirect( return false; } -} // namespace matcher } // namespace svo diff --git a/svo/src/reprojector.cpp b/svo/src/reprojector.cpp index c0a0bc1..6081620 100644 --- a/svo/src/reprojector.cpp +++ b/svo/src/reprojector.cpp @@ -162,10 +162,9 @@ bool Reprojector::reprojectCell(Cell& cell, FramePtr frame) continue; } - int feature_level; bool found_match = true; if(options_.find_match_direct) - found_match = matcher::findMatchDirect(*it->pt, *frame, it->px, feature_level); + found_match = matcher_.findMatchDirect(*it->pt, *frame, it->px); if(!found_match) { it->pt->n_failed_reproj_++; @@ -180,10 +179,18 @@ bool Reprojector::reprojectCell(Cell& cell, FramePtr frame) if(it->pt->type_ == Point::TYPE_UNKNOWN && it->pt->n_succeeded_reproj_ > 10) it->pt->type_ = Point::TYPE_GOOD; - Feature* new_feature = new Feature(frame.get(), it->px, feature_level); + Feature* new_feature = new Feature(frame.get(), it->px, matcher_.search_level_); frame->addFeature(new_feature); + + // Here we add a reference in the feature to the 3D point, the other way + // round is only done if this frame is selected as keyframe. new_feature->point = it->pt; - // note, we add a reference to the point only if the frame is selected as a keyframe + + if(matcher_.ref_ftr_->type == Feature::EDGELET) + { + new_feature->type = Feature::EDGELET; + new_feature->grad = matcher_.A_cur_ref_*matcher_.ref_ftr_->grad; + } // If the keyframe is selected and we reproject the rest, we don't have to // check this point anymore. diff --git a/svo/test/test_matcher.cpp b/svo/test/test_matcher.cpp index c81c1fe..37ad1f1 100644 --- a/svo/test/test_matcher.cpp +++ b/svo/test/test_matcher.cpp @@ -82,6 +82,7 @@ class MatcherTest { void MatcherTest::testEpipolarSearchFullImg() { + svo::Matcher matcher; cv::Mat depthmap(frame_ref_->cam_->height(), frame_ref_->cam_->width(), CV_32FC1, cv::Scalar(0)); cv::Mat error_map(depthmap.rows, depthmap.cols, CV_32FC1, cv::Scalar(0)); cv::Mat mask(depthmap.rows, depthmap.cols, CV_8UC1, cv::Scalar(1)); @@ -95,10 +96,10 @@ void MatcherTest::testEpipolarSearchFullImg() { svo::Feature ftr(frame_ref_, Eigen::Vector2d(x,y), 0); double depth_gt = depth_ref_.at(y, x); - double depth_estimate, h_inv; - int res = svo::matcher::findEpipolarMatchDirect( - *frame_ref_, *frame_cur_, ftr, - depth_gt, fmax(depth_gt-depth_range,0.0), depth_gt+depth_range, false, depth_estimate, h_inv); + double depth_estimate; + int res = matcher.findEpipolarMatchDirect( + *frame_ref_, *frame_cur_, ftr, depth_gt, fmax(depth_gt-depth_range,0.0), + depth_gt+depth_range, depth_estimate); if(res) { depthmap.at(y,x) = depth_estimate; @@ -148,21 +149,23 @@ void MatcherTest::testWarpAffine() { const int halfpatch_size = 15; const int patch_size=halfpatch_size*2; - svo::matcher::PatchData md(patch_size); + svo::Matcher matcher; double depth = 1.0; Sophus::SE3 T_cur_ref(frame_cur_->T_f_w_*frame_ref_->T_f_w_.inverse()); Eigen::Vector2d px_cur(frame_cur_->cam_->world2cam(T_cur_ref*(ref_ftr_->f*depth))); // compute reference patch - cv::Mat ref_patch(patch_size, patch_size, CV_8U, md.patch_with_border); + cv::Mat ref_patch(matcher.halfpatch_size_+1, matcher.halfpatch_size_+1, + CV_8U, matcher.patch_with_border_); Eigen::Matrix2d A_cur_ref; - svo::matcher::warp::getWarpMatrixAffine( + svo::warp::getWarpMatrixAffine( *cam_, *cam_, ref_ftr_->px, ref_ftr_->f, 1.0, T_cur_ref, ref_ftr_->level, A_cur_ref); - int level_cur = svo::matcher::warp::getBestSearchLevel(A_cur_ref, svo::Config::nPyrLevels()-1); - svo::matcher::warp::warpAffine( - A_cur_ref, ref_ftr_->frame->img_pyr_[ref_ftr_->level], ref_ftr_->px, ref_ftr_->level, level_cur, md); + int level_cur = svo::warp::getBestSearchLevel(A_cur_ref, svo::Config::nPyrLevels()-1); + svo::warp::warpAffine( + A_cur_ref, ref_ftr_->frame->img_pyr_[ref_ftr_->level], ref_ftr_->px, + ref_ftr_->level, level_cur, matcher.halfpatch_size_+1, matcher.patch_with_border_); // copy current patch Eigen::Vector2i pxi(px_cur[0]/(1< Date: Wed, 30 Apr 2014 12:41:01 +0200 Subject: [PATCH 090/215] FrameHandlerMono member functions are now virtual to allow specialization --- svo/include/svo/frame_handler_mono.h | 16 ++++++++++------ svo/src/frame_handler_mono.cpp | 12 +++++++++--- 2 files changed, 19 insertions(+), 9 deletions(-) diff --git a/svo/include/svo/frame_handler_mono.h b/svo/include/svo/frame_handler_mono.h index 9024394..01f7b45 100644 --- a/svo/include/svo/frame_handler_mono.h +++ b/svo/include/svo/frame_handler_mono.h @@ -29,7 +29,7 @@ class FrameHandlerMono : public FrameHandlerBase { public: FrameHandlerMono(vk::AbstractCamera* cam); - ~FrameHandlerMono(); + virtual ~FrameHandlerMono(); /// Provide an image. void addImage(const cv::Mat& img, double timestamp); @@ -60,21 +60,25 @@ protected: initialization::KltHomographyInit klt_homography_init_; //!< Used to estimate pose of the first two keyframes by estimating a homography. DepthFilter* depth_filter_; //!< Depth estimation algorithm runs in a parallel thread and is used to initialize new 3D points. + /// Initialize the visual odometry algorithm. + virtual void initialize(); + /// Processes the first frame and sets it as a keyframe. - UpdateResult processFirstFrame(); + virtual UpdateResult processFirstFrame(); /// Processes all frames after the first frame until a keyframe is selected. - UpdateResult processSecondFrame(); + virtual UpdateResult processSecondFrame(); /// Processes all frames after the first two keyframes. - UpdateResult processFrame(); + virtual UpdateResult processFrame(); /// Reset the frame handler. Implement in derived class. virtual void resetAll(); - void setCoreKfs(size_t n_closest); + /// Keyframe selection criterion. + virtual bool needNewKf(double scene_depth_mean); - bool needNewKf(double scene_depth_mean); + void setCoreKfs(size_t n_closest); }; } // namespace svo diff --git a/svo/src/frame_handler_mono.cpp b/svo/src/frame_handler_mono.cpp index e588ce9..1e7bac5 100644 --- a/svo/src/frame_handler_mono.cpp +++ b/svo/src/frame_handler_mono.cpp @@ -36,10 +36,16 @@ FrameHandlerMono::FrameHandlerMono(vk::AbstractCamera* cam) : reprojector_(cam_, map_), depth_filter_(NULL) { - // create depth filter and set callback + initialize(); +} + +void FrameHandlerMono::initialize() +{ feature_detection::DetectorPtr feature_detector( - new feature_detection::FastDetector(cam_->width(), cam_->height(), Config::gridSize(), Config::nPyrLevels())); - DepthFilter::callback_t depth_filter_cb = boost::bind(&MapPointCandidates::newCandidatePoint, &map_.point_candidates_, _1, _2); + new feature_detection::FastDetector( + cam_->width(), cam_->height(), Config::gridSize(), Config::nPyrLevels())); + DepthFilter::callback_t depth_filter_cb = boost::bind( + &MapPointCandidates::newCandidatePoint, &map_.point_candidates_, _1, _2); depth_filter_ = new DepthFilter(feature_detector, depth_filter_cb); depth_filter_->startThread(); } From 5578939b84cb266f62423f3fee5f5da96219fc5e Mon Sep 17 00:00:00 2001 From: Christian Forster Date: Wed, 30 Apr 2014 15:20:01 +0200 Subject: [PATCH 091/215] depth filter now also updates old seeds with new keyframes. previously a keyframe was only used to initialize new seeds. --- svo/include/svo/depth_filter.h | 2 +- svo/include/svo/map.h | 2 +- svo/include/svo/matcher.h | 1 + svo/src/depth_filter.cpp | 35 +++++++++++++++++++++++++++------- svo/src/map.cpp | 11 ++--------- svo/src/matcher.cpp | 18 ++++++++--------- svo/test/test_depth_filter.cpp | 17 +++++++++-------- 7 files changed, 51 insertions(+), 35 deletions(-) diff --git a/svo/include/svo/depth_filter.h b/svo/include/svo/depth_filter.h index 8effbfd..7c4ab19 100644 --- a/svo/include/svo/depth_filter.h +++ b/svo/include/svo/depth_filter.h @@ -62,7 +62,7 @@ public: EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef boost::unique_lock lock_t; - typedef boost::function callback_t; + typedef boost::function callback_t; /// Depth-filter config parameters struct Options diff --git a/svo/include/svo/map.h b/svo/include/svo/map.h index 076ee01..d8e5a71 100644 --- a/svo/include/svo/map.h +++ b/svo/include/svo/map.h @@ -48,7 +48,7 @@ public: ~MapPointCandidates(); /// Add a candidate point. - void newCandidatePoint(const Seed& seed, const Vector3d& xyz_world); + void newCandidatePoint(Point* point, double depth_sigma2); /// Adds the feature to the frame and deletes candidate from list. void addCandidatePointToFrame(FramePtr frame); diff --git a/svo/include/svo/matcher.h b/svo/include/svo/matcher.h index ddd6e6c..368e182 100644 --- a/svo/include/svo/matcher.h +++ b/svo/include/svo/matcher.h @@ -92,6 +92,7 @@ public: double h_inv_; //!< hessian of 1d image alignment along epipolar line int search_level_; Feature* ref_ftr_; + Vector2d px_cur_; Matcher(); ~Matcher(); diff --git a/svo/src/depth_filter.cpp b/svo/src/depth_filter.cpp index 0aba62a..5a56bb2 100644 --- a/svo/src/depth_filter.cpp +++ b/svo/src/depth_filter.cpp @@ -178,13 +178,17 @@ void DepthFilter::updateSeedsLoop() { new_keyframe_set_ = false; clearFrameQueue(); - initializeSeeds(new_keyframe_); - continue; + frame = new_keyframe_; + } + else + { + frame = frame_queue_.front(); + frame_queue_.pop(); } - frame = frame_queue_.front(); - frame_queue_.pop(); } updateSeeds(frame); + if(frame->isKeyframe()) + initializeSeeds(frame); } } @@ -247,13 +251,30 @@ void DepthFilter::updateSeeds(FramePtr frame) updateSeed(1./z, tau_inverse*tau_inverse, &*it); ++n_updates; + if(frame->isKeyframe()) + { + // The feature detector should not initialize new seeds close to this location + feature_detector_->setGridOccpuancy(matcher_.px_cur_); + } + // if the seed has converged, we initialize a new candidate point and remove the seed if(sqrt(it->sigma2) < it->z_range/options_.seed_convergence_sigma2_thresh) { - if(it->ftr->point == NULL) + assert(it->ftr->point == NULL); // TODO this should not happen anymore + Vector3d xyz_world(it->ftr->frame->T_f_w_.inverse() * (it->ftr->f * (1.0/it->mu))); + Point* point = new Point(xyz_world, it->ftr); + it->ftr->point = point; + if(frame->isKeyframe()) { - Vector3d xyz_world(it->ftr->frame->T_f_w_.inverse() * (it->ftr->f * (1.0/it->mu))); - seed_converged_cb_(*it, xyz_world); + Feature* ftr = new Feature(frame.get(), matcher_.px_cur_, matcher_.search_level_); + ftr->point = point; + point->addFrameRef(ftr); + frame->addFeature(ftr); + it->ftr->frame->addFeature(it->ftr); + } + else + { + seed_converged_cb_(point, it->sigma2); // put in candidate list } it = seeds_.erase(it); } diff --git a/svo/src/map.cpp b/svo/src/map.cpp index 1decc22..69839ad 100644 --- a/svo/src/map.cpp +++ b/svo/src/map.cpp @@ -18,7 +18,6 @@ #include #include #include -#include #include namespace svo { @@ -193,17 +192,11 @@ MapPointCandidates::~MapPointCandidates() reset(); } -void MapPointCandidates::newCandidatePoint(const Seed& seed, const Vector3d& xyz_world) +void MapPointCandidates::newCandidatePoint(Point* point, double depth_sigma2) { - // initalize a new point - Point* point = new Point(xyz_world); - point->addFrameRef(seed.ftr); point->type_ = Point::TYPE_CANDIDATE; - seed.ftr->point = point; - - // add candidate to list boost::unique_lock lock(mut_); - candidates_.push_back(PointCandidate(point, seed.ftr)); + candidates_.push_back(PointCandidate(point, point->obs_.front())); } void MapPointCandidates::addCandidatePointToFrame(FramePtr frame) diff --git a/svo/src/matcher.cpp b/svo/src/matcher.cpp index 9ccc000..bced525 100644 --- a/svo/src/matcher.cpp +++ b/svo/src/matcher.cpp @@ -213,8 +213,8 @@ bool Matcher::findEpipolarMatchDirect( if(epi_length_ < 2.0) { - Vector2d px = (px_A+px_B)/2.0; - Vector2d px_scaled(px/(1<cam2world(px), depth)) + px_cur_ = px_scaled*(1<cam2world(px_cur_), depth)) return true; } return false; @@ -282,8 +282,8 @@ bool Matcher::findEpipolarMatchDirect( { if(options_.subpix_refinement) { - Vector2d px(cur_frame.cam_->world2cam(uv_best)); - Vector2d px_scaled(px/(1<world2cam(uv_best); + Vector2d px_scaled(px_cur_/(1<cam2world(px), depth)) + px_cur_ = px_scaled*(1<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)) return true; } diff --git a/svo/test/test_depth_filter.cpp b/svo/test/test_depth_filter.cpp index 6072218..4127338 100644 --- a/svo/test/test_depth_filter.cpp +++ b/svo/test/test_depth_filter.cpp @@ -49,7 +49,7 @@ class DepthFilterTest { public: DepthFilterTest(); virtual ~DepthFilterTest(); - void depthFilterCb(const svo::Seed& seed, const Eigen::Vector3d& xyz_world); + void depthFilterCb(svo::Point* point, double depth_sigma2); void testReconstruction(std::string dataset_dir, std::string experiment_name); std::list results_; @@ -76,15 +76,16 @@ DepthFilterTest::~DepthFilterTest() delete cam_; } -void DepthFilterTest::depthFilterCb( - const svo::Seed& seed, - const Eigen::Vector3d& xyz_world) +void DepthFilterTest::depthFilterCb(svo::Point* point, double depth_sigma2) { - double depth = (frame_ref_->pos() - xyz_world).norm(); - double error = fabs(depth - depth_ref_.at(seed.ftr->px[1], seed.ftr->px[0])); - results_.push_back(ConvergedSeed(seed.ftr->px[0], seed.ftr->px[1], depth, error)); + double depth = (frame_ref_->pos() - point->pos_).norm(); + double error = fabs(depth - depth_ref_.at(point->obs_.front()->px[1], + point->obs_.front()->px[0])); + results_.push_back(ConvergedSeed( + point->obs_.front()->px[0], point->obs_.front()->px[1], depth, error)); errors_.push_back(error); - delete seed.ftr; + delete point->obs_.front(); + delete point; ++n_converged_seeds_; } From 15c45f58e66ca308e93bbac3801559894930813d Mon Sep 17 00:00:00 2001 From: Christian Forster Date: Wed, 30 Apr 2014 15:26:04 +0200 Subject: [PATCH 092/215] remove unused variable --- svo/src/depth_filter.cpp | 1 - 1 file changed, 1 deletion(-) diff --git a/svo/src/depth_filter.cpp b/svo/src/depth_filter.cpp index 5a56bb2..3e9fdfd 100644 --- a/svo/src/depth_filter.cpp +++ b/svo/src/depth_filter.cpp @@ -197,7 +197,6 @@ void DepthFilter::updateSeeds(FramePtr frame) // update only a limited number of seeds, because we don't have time to do it // for all the seeds in every frame! size_t n_updates=0, n_failed_matches=0, n_seeds = seeds_.size(); - double reproj_thresh = Config::lobaThresh() / frame->cam_->errorMultiplier2(); lock_t lock(seeds_mut_); list::iterator it=seeds_.begin(); From 465f04d1e34e858d553bba5314b6e47aeb37f06f Mon Sep 17 00:00:00 2001 From: Christian Forster Date: Wed, 30 Apr 2014 22:25:54 +0200 Subject: [PATCH 093/215] refactor --- svo_ros/src/vo_node.cpp | 24 +++++++++--------------- 1 file changed, 9 insertions(+), 15 deletions(-) diff --git a/svo_ros/src/vo_node.cpp b/svo_ros/src/vo_node.cpp index 3dfdc92..d903b3b 100644 --- a/svo_ros/src/vo_node.cpp +++ b/svo_ros/src/vo_node.cpp @@ -37,9 +37,6 @@ namespace svo { -using namespace std; -using namespace vk; - /// SVO Interface class VoNode { @@ -50,7 +47,7 @@ public: bool publish_dense_input_; vk::UserInputThread* user_input_thread_; ros::Subscriber sub_remote_key_; - string remote_input_; + std::string remote_input_; vk::AbstractCamera* cam_; bool quit_; VoNode(); @@ -60,8 +57,7 @@ public: void remoteKeyCb(const std_msgs::StringConstPtr& key_input); }; -VoNode:: -VoNode() : +VoNode::VoNode() : vo_(NULL), publish_markers_(vk::getParam("svo/publish_markers", true)), publish_dense_input_(vk::getParam("svo/publish_dense_input", false)), @@ -88,16 +84,14 @@ VoNode() : vo_->start(); } -VoNode:: -~VoNode() +VoNode::~VoNode() { delete vo_; delete user_input_thread_; delete cam_; } -void VoNode:: -imgCb(const sensor_msgs::ImageConstPtr& msg) +void VoNode::imgCb(const sensor_msgs::ImageConstPtr& msg) { cv::Mat img; try { @@ -116,7 +110,7 @@ imgCb(const sensor_msgs::ImageConstPtr& msg) visualizer_.exportToDense(vo_->lastFrame()); if(vo_->stage() == FrameHandlerMono::STAGE_PAUSED) - usleep(100000); // avoid busy loop when paused + usleep(100000); } void VoNode::processUserActions() @@ -132,15 +126,15 @@ void VoNode::processUserActions() { case 'q': quit_ = true; - printf("Svo User Input: QUIT\n"); + printf("SVO user input: QUIT\n"); break; case 'r': vo_->reset(); - printf("Svo User Input: RESET\n"); + printf("SVO user input: RESET\n"); break; case 's': vo_->start(); - printf("Svo User Input: START\n"); + printf("SVO user input: START\n"); break; default: ; } @@ -175,6 +169,6 @@ int main(int argc, char **argv) // TODO check when last image was processed. when too long ago. publish warning that no msgs are received! } - printf("Svo terminated.\n"); + printf("SVO terminated.\n"); return 0; } From 68e1e05048b226f371d4a745d3ed4c73c392df71 Mon Sep 17 00:00:00 2001 From: Christian Forster Date: Wed, 30 Apr 2014 22:27:11 +0200 Subject: [PATCH 094/215] fixed locking problem --- svo/src/depth_filter.cpp | 6 ++---- 1 file changed, 2 insertions(+), 4 deletions(-) diff --git a/svo/src/depth_filter.cpp b/svo/src/depth_filter.cpp index 3e9fdfd..8ce79da 100644 --- a/svo/src/depth_filter.cpp +++ b/svo/src/depth_filter.cpp @@ -127,7 +127,6 @@ void DepthFilter::initializeSeeds(FramePtr frame) }); SVO_DEBUG_STREAM("DepthFilter: Initialized "<ftr->frame->T_f_w_ * frame->T_f_w_.inverse(); - // check if point is visible in the current image + SE3 T_ref_cur = it->ftr->frame->T_f_w_ * frame->T_f_w_.inverse(); const Vector3d xyz_f(T_ref_cur.inverse()*(1.0/it->mu * it->ftr->f) ); if(xyz_f.z() < 0.0) { ++it; // behind the camera From 8d3ed5078c3d24417e825f4e7b5dc7ab105e124f Mon Sep 17 00:00:00 2001 From: Christian Forster Date: Wed, 30 Apr 2014 22:28:56 +0200 Subject: [PATCH 095/215] set second frame as keyframe before it is handed to depth filter. otherwise no new seeds are initialized for this frame. --- svo/src/frame_handler_mono.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/svo/src/frame_handler_mono.cpp b/svo/src/frame_handler_mono.cpp index 1e7bac5..419f21f 100644 --- a/svo/src/frame_handler_mono.cpp +++ b/svo/src/frame_handler_mono.cpp @@ -120,12 +120,12 @@ FrameHandlerBase::UpdateResult FrameHandlerMono::processSecondFrame() ba::twoViewBA(new_frame_.get(), map_.lastKeyframe().get(), Config::lobaThresh(), map_); #endif + new_frame_->setKeyframe(); double depth_mean, depth_min; frame_utils::getSceneDepth(*new_frame_, depth_mean, depth_min); depth_filter_->addKeyframe(new_frame_, depth_mean, 0.5*depth_min); // add frame to map - new_frame_->setKeyframe(); map_.addKeyframe(new_frame_); stage_ = STAGE_DEFAULT_FRAME; klt_homography_init_.reset(); From 6d592b3aa4ba15ba286961ee6e3940af8017c64b Mon Sep 17 00:00:00 2001 From: Christian Forster Date: Wed, 30 Apr 2014 22:29:41 +0200 Subject: [PATCH 096/215] normalized edglet dir --- svo/src/reprojector.cpp | 1 + 1 file changed, 1 insertion(+) diff --git a/svo/src/reprojector.cpp b/svo/src/reprojector.cpp index 6081620..81a7835 100644 --- a/svo/src/reprojector.cpp +++ b/svo/src/reprojector.cpp @@ -190,6 +190,7 @@ bool Reprojector::reprojectCell(Cell& cell, FramePtr frame) { new_feature->type = Feature::EDGELET; new_feature->grad = matcher_.A_cur_ref_*matcher_.ref_ftr_->grad; + new_feature->grad.normalize(); } // If the keyframe is selected and we reproject the rest, we don't have to From a895a99fd1943805fa93c2e8d7949ab20da9779a Mon Sep 17 00:00:00 2001 From: Christian Forster Date: Thu, 1 May 2014 12:42:23 +0200 Subject: [PATCH 097/215] comment changes that are not thread-safe --- svo/src/depth_filter.cpp | 2 ++ 1 file changed, 2 insertions(+) diff --git a/svo/src/depth_filter.cpp b/svo/src/depth_filter.cpp index 8ce79da..7f8f3c3 100644 --- a/svo/src/depth_filter.cpp +++ b/svo/src/depth_filter.cpp @@ -261,6 +261,7 @@ void DepthFilter::updateSeeds(FramePtr frame) Vector3d xyz_world(it->ftr->frame->T_f_w_.inverse() * (it->ftr->f * (1.0/it->mu))); Point* point = new Point(xyz_world, it->ftr); it->ftr->point = point; + /* FIXME it is not threadsafe to add a feature to the frame here. if(frame->isKeyframe()) { Feature* ftr = new Feature(frame.get(), matcher_.px_cur_, matcher_.search_level_); @@ -270,6 +271,7 @@ void DepthFilter::updateSeeds(FramePtr frame) it->ftr->frame->addFeature(it->ftr); } else + */ { seed_converged_cb_(point, it->sigma2); // put in candidate list } From 060eca8bfe84ee1792a685d3ff60f445fa4041ba Mon Sep 17 00:00:00 2001 From: Christian Forster Date: Thu, 1 May 2014 12:43:15 +0200 Subject: [PATCH 098/215] visualization --- svo_ros/src/visualizer.cpp | 18 ++++++++++++++---- 1 file changed, 14 insertions(+), 4 deletions(-) diff --git a/svo_ros/src/visualizer.cpp b/svo_ros/src/visualizer.cpp index 32ac3e1..4800c21 100644 --- a/svo_ros/src/visualizer.cpp +++ b/svo_ros/src/visualizer.cpp @@ -124,11 +124,21 @@ void Visualizer::publishMinimal( } if(img_pub_level_ == 0) + { for(Features::iterator it=frame->fts_.begin(); it!=frame->fts_.end(); ++it) - cv::rectangle(img_rgb, - cv::Point2f((*it)->px[0]-2, (*it)->px[1]-2), - cv::Point2f((*it)->px[0]+2, (*it)->px[1]+2), - cv::Scalar(0,255,0), CV_FILLED); + { + if((*it)->type == Feature::EDGELET) + cv::line(img_rgb, + cv::Point2f((*it)->px[0]+3*(*it)->grad[1], (*it)->px[1]-3*(*it)->grad[0]), + cv::Point2f((*it)->px[0]-3*(*it)->grad[1], (*it)->px[1]+3*(*it)->grad[0]), + cv::Scalar(255,255,0), 2); + else + cv::rectangle(img_rgb, + cv::Point2f((*it)->px[0]-2, (*it)->px[1]-2), + cv::Point2f((*it)->px[0]+2, (*it)->px[1]+2), + cv::Scalar(0,255,0), CV_FILLED); + } + } if(img_pub_level_ == 1) for(Features::iterator it=frame->fts_.begin(); it!=frame->fts_.end(); ++it) cv::rectangle(img_rgb, From 59544182499f5a6ae375dbd1cb3c7044759d02f8 Mon Sep 17 00:00:00 2001 From: Christian Forster Date: Thu, 1 May 2014 18:28:28 +0200 Subject: [PATCH 099/215] visualization of edgelets --- svo_ros/src/visualizer.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/svo_ros/src/visualizer.cpp b/svo_ros/src/visualizer.cpp index 4800c21..e207bbe 100644 --- a/svo_ros/src/visualizer.cpp +++ b/svo_ros/src/visualizer.cpp @@ -131,7 +131,7 @@ void Visualizer::publishMinimal( cv::line(img_rgb, cv::Point2f((*it)->px[0]+3*(*it)->grad[1], (*it)->px[1]-3*(*it)->grad[0]), cv::Point2f((*it)->px[0]-3*(*it)->grad[1], (*it)->px[1]+3*(*it)->grad[0]), - cv::Scalar(255,255,0), 2); + cv::Scalar(255,0,255), 2); else cv::rectangle(img_rgb, cv::Point2f((*it)->px[0]-2, (*it)->px[1]-2), From d0ce9ae3c4a6fdc5f147c92263933499aed055a7 Mon Sep 17 00:00:00 2001 From: Christian Forster Date: Thu, 1 May 2014 18:28:47 +0200 Subject: [PATCH 100/215] 1D alignment for edgelets seems to work better --- svo/src/matcher.cpp | 15 ++++++++++++++- 1 file changed, 14 insertions(+), 1 deletion(-) diff --git a/svo/src/matcher.cpp b/svo/src/matcher.cpp index bced525..f3098e7 100644 --- a/svo/src/matcher.cpp +++ b/svo/src/matcher.cpp @@ -170,9 +170,22 @@ bool Matcher::findMatchDirect( // px_cur should be set Vector2d px_scaled(px_cur/(1<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(), + 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< Date: Thu, 1 May 2014 18:29:24 +0200 Subject: [PATCH 101/215] implementation of a relocalizer that tries to relocalize at the last keyframe. an interface is available for more elaborated relocalizers --- svo/include/svo/frame_handler_base.h | 3 +- svo/include/svo/frame_handler_mono.h | 12 +++++ svo/include/svo/map.h | 2 + svo/src/frame_handler_base.cpp | 12 ++++- svo/src/frame_handler_mono.cpp | 67 +++++++++++++++++++++++----- svo/src/map.cpp | 12 +++++ 6 files changed, 94 insertions(+), 14 deletions(-) diff --git a/svo/include/svo/frame_handler_base.h b/svo/include/svo/frame_handler_base.h index bbde3ce..ad8dd56 100644 --- a/svo/include/svo/frame_handler_base.h +++ b/svo/include/svo/frame_handler_base.h @@ -46,7 +46,8 @@ public: STAGE_PAUSED, STAGE_FIRST_FRAME, STAGE_SECOND_FRAME, - STAGE_DEFAULT_FRAME + STAGE_DEFAULT_FRAME, + STAGE_RELOCALIZING }; enum TrackingQuality { TRACKING_INSUFFICIENT, diff --git a/svo/include/svo/frame_handler_mono.h b/svo/include/svo/frame_handler_mono.h index 01f7b45..546e501 100644 --- a/svo/include/svo/frame_handler_mono.h +++ b/svo/include/svo/frame_handler_mono.h @@ -50,6 +50,13 @@ public: /// Access the depth filter. DepthFilter* depthFilter() const { return depth_filter_; } + /// An external place recognition module may know where to relocalize. + bool relocalizeFrameAtPose( + const int keyframe_id, + const SE3& T_kf_f, + const cv::Mat& img, + const double timestamp); + protected: vk::AbstractCamera* cam_; //!< Camera model, can be ATAN, Pinhole or Ocam (see vikit). Reprojector reprojector_; //!< Projects points from other keyframes into the current frame @@ -72,6 +79,11 @@ protected: /// Processes all frames after the first two keyframes. virtual UpdateResult processFrame(); + /// Try relocalizing the frame at relative position to provided keyframe. + virtual UpdateResult relocalizeFrame( + const SE3& T_cur_ref, + FramePtr ref_keyframe); + /// Reset the frame handler. Implement in derived class. virtual void resetAll(); diff --git a/svo/include/svo/map.h b/svo/include/svo/map.h index d8e5a71..458622b 100644 --- a/svo/include/svo/map.h +++ b/svo/include/svo/map.h @@ -105,6 +105,8 @@ public: /// Return the keyframe which is furthest apart from pos. FramePtr getFurthestKeyframe(const Vector3d& pos) const; + bool getKeyframeById(const int id, FramePtr& frame) const; + /// Transform the whole map with rotation R, translation t and scale s. void transform(const Matrix3d& R, const Vector3d& t, const double& s); diff --git a/svo/src/frame_handler_base.cpp b/svo/src/frame_handler_base.cpp index 41b03ce..fb6d490 100644 --- a/svo/src/frame_handler_base.cpp +++ b/svo/src/frame_handler_base.cpp @@ -129,9 +129,17 @@ int FrameHandlerBase::finishFrameProcessingCommon( } #endif - // reset if failure or requested - if(dropout == RESULT_FAILURE || set_reset_) + if(dropout == RESULT_FAILURE && + (stage_ == STAGE_DEFAULT_FRAME || stage_ == STAGE_RELOCALIZING )) + { + stage_ = STAGE_RELOCALIZING; + tracking_quality_ = TRACKING_INSUFFICIENT; + } + else if (dropout == RESULT_FAILURE) resetAll(); + if(set_reset_) + resetAll(); + return 0; } diff --git a/svo/src/frame_handler_mono.cpp b/svo/src/frame_handler_mono.cpp index 419f21f..3fd1a7a 100644 --- a/svo/src/frame_handler_mono.cpp +++ b/svo/src/frame_handler_mono.cpp @@ -77,6 +77,9 @@ void FrameHandlerMono::addImage(const cv::Mat& img, const double timestamp) res = processSecondFrame(); else if(stage_ == STAGE_FIRST_FRAME) res = processFirstFrame(); + else if(stage_ == STAGE_RELOCALIZING) + res = relocalizeFrame(SE3(Matrix3d::Identity(), Vector3d::Zero()), + map_.getClosestKeyframe(last_frame_)); // set last frame last_frame_ = new_frame_; @@ -86,15 +89,6 @@ void FrameHandlerMono::addImage(const cv::Mat& img, const double timestamp) finishFrameProcessingCommon(last_frame_->id_, res, last_frame_->nObs()); } -void FrameHandlerMono::setFirstFrame(const FramePtr& first_frame) -{ - resetAll(); - last_frame_ = first_frame; - last_frame_->setKeyframe(); - map_.addKeyframe(last_frame_); - stage_ = STAGE_DEFAULT_FRAME; -} - FrameHandlerMono::UpdateResult FrameHandlerMono::processFirstFrame() { new_frame_->T_f_w_ = SE3(Matrix3d::Identity(), Vector3d::Zero()); @@ -155,7 +149,7 @@ FrameHandlerBase::UpdateResult FrameHandlerMono::processFrame() const size_t repr_n_mps = reprojector_.n_trials_; SVO_LOG2(repr_n_mps, repr_n_new_references); SVO_DEBUG_STREAM("Reprojection:\t nPoints = "< 30) + { + last_frame_ = ref_keyframe; + FrameHandlerMono::UpdateResult res = processFrame(); + if(res != RESULT_FAILURE) + { + stage_ = STAGE_DEFAULT_FRAME; + SVO_INFO_STREAM("Relocalization successful."); + } + else + new_frame_->T_f_w_ = ref_keyframe->T_f_w_; + return res; + } + return RESULT_FAILURE; +} + +bool FrameHandlerMono::relocalizeFrameAtPose( + const int keyframe_id, + const SE3& T_f_kf, + const cv::Mat& img, + const double timestamp) +{ + FramePtr ref_keyframe; + if(!map_.getKeyframeById(keyframe_id, ref_keyframe)) + return false; + new_frame_.reset(new Frame(cam_, img.clone(), timestamp)); + UpdateResult res = relocalizeFrame(T_f_kf, ref_keyframe); + if(res != RESULT_FAILURE) { + last_frame_ = new_frame_; + return true; + } + return false; +} + void FrameHandlerMono::resetAll() { resetCommon(); @@ -245,6 +281,15 @@ void FrameHandlerMono::resetAll() depth_filter_->reset(); } +void FrameHandlerMono::setFirstFrame(const FramePtr& first_frame) +{ + resetAll(); + last_frame_ = first_frame; + last_frame_->setKeyframe(); + map_.addKeyframe(last_frame_); + stage_ = STAGE_DEFAULT_FRAME; +} + bool FrameHandlerMono::needNewKf(double scene_depth_mean) { for(auto it=overlap_kfs_.begin(), ite=overlap_kfs_.end(); it!=ite; ++it) diff --git a/svo/src/map.cpp b/svo/src/map.cpp index 69839ad..aa63648 100644 --- a/svo/src/map.cpp +++ b/svo/src/map.cpp @@ -155,6 +155,18 @@ FramePtr Map::getFurthestKeyframe(const Vector3d& pos) const return furthest_kf; } +bool Map::getKeyframeById(const int id, FramePtr& frame) const +{ + bool found = false; + for(auto it=keyframes_.begin(), ite=keyframes_.end(); it!=ite; ++it) + if((*it)->id_ == id) { + found = true; + frame = *it; + break; + } + return found; +} + void Map::transform(const Matrix3d& R, const Vector3d& t, const double& s) { for(auto it=keyframes_.begin(), ite=keyframes_.end(); it!=ite; ++it) From 08f3cb4b0a812118c0125a778d32862d42d3a24f Mon Sep 17 00:00:00 2001 From: Christian Forster Date: Fri, 2 May 2014 11:22:01 +0200 Subject: [PATCH 102/215] fix in benchmark script --- svo_analysis/scripts/benchmark.py | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/svo_analysis/scripts/benchmark.py b/svo_analysis/scripts/benchmark.py index c66f115..1ef0d7e 100755 --- a/svo_analysis/scripts/benchmark.py +++ b/svo_analysis/scripts/benchmark.py @@ -35,7 +35,10 @@ def run_experiment(dataset, params): params = dict(params.items() + algo_params.items() + dataset_params.items()) if 'dataset_is_blender' in dataset_params: params['dataset_is_blender'] = dataset_params['dataset_is_blender'] - params['dataset_first_frame'] = dataset_params['dataset_first_frame'] + if 'dataset_first_frame' in dataset_params: + params['dataset_first_frame'] = dataset_params['dataset_first_frame'] + else: + params['dataset_first_frame'] = 0 # dump experiment params to file and copy the other parameter files: params_dump_file = os.path.join(params['trace_dir'],'params.yaml') From 7ab1632d4aa5cba5ce3b853eab8ee10cf03009d8 Mon Sep 17 00:00:00 2001 From: Christian Forster Date: Mon, 5 May 2014 00:19:03 +0200 Subject: [PATCH 103/215] fixes to build on ROS Indigo --- svo/CMakeLists.txt | 2 +- svo/package.xml | 1 + svo_ros/CMakeLists.txt | 14 +++++++++++++- svo_ros/package.xml | 1 + 4 files changed, 16 insertions(+), 2 deletions(-) diff --git a/svo/CMakeLists.txt b/svo/CMakeLists.txt index 70a5583..6bd0db1 100644 --- a/svo/CMakeLists.txt +++ b/svo/CMakeLists.txt @@ -49,7 +49,7 @@ ELSE() ENDIF() # Add catkin and required ROS packages -FIND_PACKAGE(catkin REQUIRED COMPONENTS roscpp roslib vikit_common vikit_ros) +FIND_PACKAGE(catkin REQUIRED COMPONENTS roscpp roslib cmake_modules vikit_common vikit_ros) # Add plain cmake packages FIND_PACKAGE(G2O REQUIRED) diff --git a/svo/package.xml b/svo/package.xml index d51d015..4d71cb3 100644 --- a/svo/package.xml +++ b/svo/package.xml @@ -13,6 +13,7 @@ catkin + cmake_modules roscpp roslib vikit_common diff --git a/svo_ros/CMakeLists.txt b/svo_ros/CMakeLists.txt index 192de3c..a490881 100644 --- a/svo_ros/CMakeLists.txt +++ b/svo_ros/CMakeLists.txt @@ -14,7 +14,19 @@ ENDIF() # Add catkin and required ROS packages FIND_PACKAGE(catkin REQUIRED COMPONENTS - roscpp nav_msgs std_msgs visualization_msgs sensor_msgs image_transport cv_bridge tf svo svo_msgs vikit_common vikit_ros + roscpp + cmake_modules + nav_msgs + std_msgs + visualization_msgs + sensor_msgs + image_transport + cv_bridge + tf + svo + svo_msgs + vikit_common + vikit_ros ) # Add plain cmake packages diff --git a/svo_ros/package.xml b/svo_ros/package.xml index efc72e0..aaa8fd3 100644 --- a/svo_ros/package.xml +++ b/svo_ros/package.xml @@ -14,6 +14,7 @@ roscpp + cmake_modules nav_msgs std_msgs visualization_msgs From 1a1302ba5e5709d636cdd0e543c63e2917314b51 Mon Sep 17 00:00:00 2001 From: Christian Forster Date: Mon, 5 May 2014 10:01:34 +0200 Subject: [PATCH 104/215] fix in benchmark script --- svo_analysis/scripts/benchmark.py | 2 ++ 1 file changed, 2 insertions(+) diff --git a/svo_analysis/scripts/benchmark.py b/svo_analysis/scripts/benchmark.py index 1ef0d7e..ed97040 100755 --- a/svo_analysis/scripts/benchmark.py +++ b/svo_analysis/scripts/benchmark.py @@ -35,6 +35,8 @@ def run_experiment(dataset, params): params = dict(params.items() + algo_params.items() + dataset_params.items()) if 'dataset_is_blender' in dataset_params: params['dataset_is_blender'] = dataset_params['dataset_is_blender'] + else: + params['dataset_is_blender'] = False if 'dataset_first_frame' in dataset_params: params['dataset_first_frame'] = dataset_params['dataset_first_frame'] else: From bee16e2d0322377c436c989b0d070bdfa4d9a959 Mon Sep 17 00:00:00 2001 From: Christian Forster Date: Mon, 5 May 2014 15:35:13 +0200 Subject: [PATCH 105/215] moved jacobians to point and frame class --- svo/include/svo/frame.h | 26 ++++++++++++++++++++++++++ svo/include/svo/frame_handler_base.h | 4 ++-- svo/include/svo/point.h | 20 +++++++++++++++++--- svo/include/svo/pose_optimizer.h | 27 --------------------------- svo/src/point.cpp | 19 +------------------ svo/src/pose_optimizer.cpp | 8 ++++---- svo/src/sparse_img_align.cpp | 27 ++------------------------- 7 files changed, 52 insertions(+), 79 deletions(-) diff --git a/svo/include/svo/frame.h b/svo/include/svo/frame.h index 8fcfd2c..c926277 100644 --- a/svo/include/svo/frame.h +++ b/svo/include/svo/frame.h @@ -110,6 +110,32 @@ public: /// Return the pose of the frame in the (w)orld coordinate frame. inline Vector3d pos() const { return T_f_w_.inverse().translation(); } + + /// Frame jacobian for projection of 3D point in (f)rame coordinate to + /// unit plane coordinates uv (focal length = 1). + inline static void jacobian_xyz2uv( + const Vector3d& xyz_in_f, + Matrix& J) + { + const double x = xyz_in_f[0]; + const double y = xyz_in_f[1]; + const double z_inv = 1./xyz_in_f[2]; + const double z_inv_2 = z_inv*z_inv; + + J(0,0) = -z_inv; // -1/z + J(0,1) = 0.0; // 0 + J(0,2) = x*z_inv_2; // x/z^2 + J(0,3) = y*J(0,2); // x*y/z^2 + J(0,4) = -(1.0 + x*J(0,2)); // -(1.0 + x^2/z^2) + J(0,5) = y*z_inv; // y/z + + J(1,0) = 0.0; // 0 + J(1,1) = -z_inv; // -1/z + J(1,2) = y*z_inv_2; // y/z^2 + J(1,3) = 1.0 + y*J(1,2); // 1.0 + y^2/z^2 + J(1,4) = -J(0,3); // -x*y/z^2 + J(1,5) = -x*z_inv; // x/z + } }; diff --git a/svo/include/svo/frame_handler_base.h b/svo/include/svo/frame_handler_base.h index ad8dd56..9a78639 100644 --- a/svo/include/svo/frame_handler_base.h +++ b/svo/include/svo/frame_handler_base.h @@ -112,10 +112,10 @@ protected: virtual void resetAll() { resetCommon(); } /// Set the tracking quality based on the number of tracked features. - void setTrackingQuality(const size_t num_observations); + virtual void setTrackingQuality(const size_t num_observations); /// Optimize some of the observed 3D points. - void optimizeStructure(FramePtr frame, size_t max_n_pts, int max_iter); + virtual void optimizeStructure(FramePtr frame, size_t max_n_pts, int max_iter); }; } // namespace nslam diff --git a/svo/include/svo/point.h b/svo/include/svo/point.h index 72a7221..291f79f 100644 --- a/svo/include/svo/point.h +++ b/svo/include/svo/point.h @@ -75,11 +75,25 @@ public: /// Get number of observations. inline size_t nRefs() const { return obs_.size(); } - /// Point jacobian w.r.t frame f. - void pointJacobian(const Vector3d& p_in_f, const Matrix3d& R_f_w, Matrix23d& point_jac) const; - /// Optimize point position through minimizing the reprojection error. void optimize(const size_t n_iter); + + /// Jacobian of point projection on unit plane (focal length = 1) in frame (f). + inline static void jacobian_xyz2uv( + const Vector3d& p_in_f, + const Matrix3d& R_f_w, + Matrix23d& point_jac) + { + const double z_inv = 1.0/p_in_f[2]; + const double z_inv_sq = z_inv*z_inv; + point_jac(0, 0) = z_inv; + point_jac(0, 1) = 0.0; + point_jac(0, 2) = -p_in_f[0] * z_inv_sq; + point_jac(1, 0) = 0.0; + point_jac(1, 1) = z_inv; + point_jac(1, 2) = -p_in_f[1] * z_inv_sq; + point_jac = - point_jac * R_f_w; + } }; } // namespace svo diff --git a/svo/include/svo/pose_optimizer.h b/svo/include/svo/pose_optimizer.h index 575da32..ca048ae 100644 --- a/svo/include/svo/pose_optimizer.h +++ b/svo/include/svo/pose_optimizer.h @@ -34,33 +34,6 @@ class Point; /// Motion-only bundle adjustment. Minimize the reprojection error of a single frame. namespace pose_optimizer { -inline Matrix26d -frameJac(const SE3 & T, - const Vector3d & xyz, - const Vector2d & focal_length) -{ - const Vector3d & xyz_trans = T*xyz; - double x = xyz_trans[0]; - double y = xyz_trans[1]; - double z = xyz_trans[2]; - double z_2 = z*z; - Matrix26d frame_jac; - frame_jac(0,0) = -1./z *focal_length[0]; - frame_jac(0,1) = 0; - frame_jac(0,2) = x/z_2 *focal_length[0]; - frame_jac(0,3) = x*y/z_2 * focal_length[0]; - frame_jac(0,4) = -(1+(x*x/z_2)) *focal_length[0]; - frame_jac(0,5) = y/z *focal_length[0]; - - frame_jac(1,0) = 0; - frame_jac(1,1) = -1./z *focal_length[1]; - frame_jac(1,2) = y/z_2 *focal_length[1]; - frame_jac(1,3) = (1+y*y/z_2) *focal_length[1]; - frame_jac(1,4) = -x*y/z_2 *focal_length[1]; - frame_jac(1,5) = -x/z *focal_length[1]; - return frame_jac; -} - void optimizeGaussNewton( const double reproj_thresh, const size_t n_iter, diff --git a/svo/src/point.cpp b/svo/src/point.cpp index bdb14c5..c79053e 100644 --- a/svo/src/point.cpp +++ b/svo/src/point.cpp @@ -106,23 +106,6 @@ bool Point::getCloseViewObs(const Vector3d& framepos, Feature*& ftr) const return true; } -void Point::pointJacobian( - const Vector3d& p_in_f, - const Matrix3d& R_f_w, - Matrix23d& point_jac) const -{ - // we work on the unit plane, therefore focal lenght = 1 - const double z_inv = 1.0/p_in_f[2]; - const double z_inv_sq = z_inv*z_inv; - point_jac(0, 0) = z_inv; - point_jac(0, 1) = 0.0; - point_jac(0, 2) = -p_in_f[0] * z_inv_sq; - point_jac(1, 0) = 0.0; - point_jac(1, 1) = z_inv; - point_jac(1, 2) = -p_in_f[1] * z_inv_sq; - point_jac = - point_jac * R_f_w; -} - void Point::optimize(const size_t n_iter) { Vector3d old_point = pos_; @@ -141,7 +124,7 @@ void Point::optimize(const size_t n_iter) { Matrix23d J; const Vector3d p_in_f((*it)->frame->T_f_w_ * pos_); - pointJacobian(p_in_f, (*it)->frame->T_f_w_.rotation_matrix(), J); + Point::jacobian_xyz2uv(p_in_f, (*it)->frame->T_f_w_.rotation_matrix(), J); const Vector2d e(vk::project2d((*it)->f) - vk::project2d(p_in_f)); new_chi2 += e.squaredNorm(); A.noalias() += J.transpose() * J; diff --git a/svo/src/pose_optimizer.cpp b/svo/src/pose_optimizer.cpp index 180bb1c..5b9d25f 100644 --- a/svo/src/pose_optimizer.cpp +++ b/svo/src/pose_optimizer.cpp @@ -37,7 +37,6 @@ void optimizeGaussNewton( { // init double chi2(0.0); - Vector2d focal_length(1,1); vector chi2_vec_init, chi2_vec_final; vk::robust_cost::TukeyWeightFunction weight_function; SE3 T_old(frame->T_f_w_); @@ -79,9 +78,10 @@ void optimizeGaussNewton( { if((*it)->point == NULL) continue; - Matrix26d J = frameJac(frame->T_f_w_, (*it)->point->pos_, focal_length); - Vector2d e = vk::project2d((*it)->f) - - vk::project2d(frame->T_f_w_ * (*it)->point->pos_); + Matrix26d J; + Vector3d xyz_f(frame->T_f_w_ * (*it)->point->pos_); + Frame::jacobian_xyz2uv(xyz_f, J); + Vector2d e = vk::project2d((*it)->f) - vk::project2d(xyz_f); double sqrt_inv_cov = 1.0 / (1<<(*it)->level); e *= sqrt_inv_cov; if(iter == 0) diff --git a/svo/src/sparse_img_align.cpp b/svo/src/sparse_img_align.cpp index fc765cb..1e91fa9 100644 --- a/svo/src/sparse_img_align.cpp +++ b/svo/src/sparse_img_align.cpp @@ -82,29 +82,6 @@ Matrix SparseImgAlign::getFisherInformation() return I; } -// TODO take jacobian from Frame Class! -void frameJac(const Vector3d & xyz, Matrix & J) -{ - const double x = xyz[0]; - const double y = xyz[1]; - const double z_inv = 1./xyz[2]; - const double z_inv_2 = z_inv*z_inv; - - J(0,0) = z_inv; // 1/z - J(0,1) = 0.0; // 0 - J(0,2) = -x*z_inv_2; // -x/z^2 - J(0,3) = J(0,2)*y; // -x*y/z^2 - J(0,4) = 1.0 - J(0,2)*x; // 1.0 + x^2/z^2 - J(0,5) = -y*z_inv; // -y/z - - J(1,0) = 0.0; // 0 - J(1,1) = z_inv; // 1/z - J(1,2) = -y*z_inv_2; // -y/z^2 - J(1,3) = -1.0 + J(1,2)*y; // -1.0 - y^2/z^2 - J(1,4) = -J(0,3); // x*y/^2 - J(1,5) = x*z_inv; // x/z -} - void SparseImgAlign::precomputeReferencePatches() { const int border = patch_halfsize_+1; @@ -157,11 +134,11 @@ void SparseImgAlign::precomputeReferencePatches() // evaluate jacobian and cache Matrix frame_jac; - frameJac(xyz_ref, frame_jac); + Frame::jacobian_xyz2uv(xyz_ref, frame_jac); // cache the jacobian jacobian_cache_.col(feature_counter*patch_area_ + pixel_counter) = - - (dx*frame_jac.row(0) + dy*frame_jac.row(1))*(focal_length / (1< Date: Fri, 9 May 2014 15:05:33 +0200 Subject: [PATCH 106/215] moved feature selection to matcher --- svo/include/svo/matcher.h | 8 +++++++- svo/src/matcher.cpp | 17 +++++++++++++++-- 2 files changed, 22 insertions(+), 3 deletions(-) diff --git a/svo/include/svo/matcher.h b/svo/include/svo/matcher.h index 368e182..d0d1134 100644 --- a/svo/include/svo/matcher.h +++ b/svo/include/svo/matcher.h @@ -76,21 +76,27 @@ public: double max_epi_length_optim;//!< max length of epipolar line to skip epipolar search and directly go to img align size_t max_epi_search_steps;//!< max number of evaluations along epipolar line bool subpix_refinement; //!< do gauss newton feature patch alignment after epipolar search + bool epi_search_edgelet_filtering; + double epi_search_edgelet_max_angle; Options() : align_1d(false), align_max_iter(10), max_epi_length_optim(2.0), max_epi_search_steps(1000), - subpix_refinement(true) + subpix_refinement(true), + epi_search_edgelet_filtering(true), + epi_search_edgelet_max_angle(0.7) {} } options_; uint8_t* patch_; uint8_t* patch_with_border_; Matrix2d A_cur_ref_; //!< affine warp matrix + Vector2d epi_dir_; double epi_length_; //!< length of epipolar line segment in pixels (only used for epipolar search) double h_inv_; //!< hessian of 1d image alignment along epipolar line int search_level_; + bool reject_; Feature* ref_ftr_; Vector2d px_cur_; diff --git a/svo/src/matcher.cpp b/svo/src/matcher.cpp index f3098e7..0ec7714 100644 --- a/svo/src/matcher.cpp +++ b/svo/src/matcher.cpp @@ -206,12 +206,25 @@ bool Matcher::findEpipolarMatchDirect( // 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 epi_dir = A - B; + 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_); + + // feature pre-selection + reject_ = false; + if(ref_ftr.type == Feature::EDGELET && options_.epi_search_edgelet_filtering) + { + const Vector2d grad_cur = (A_cur_ref_ * ref_ftr.grad).normalized(); + const double cosangle = fabs(grad_cur.dot(epi_dir_.normalized())); + if(cosangle < options_.epi_search_edgelet_max_angle) { + reject_ = true; + return false; + } + } + search_level_ = warp::getBestSearchLevel(A_cur_ref_, Config::nPyrLevels()-1); // Find length of search range on epipolar line @@ -247,7 +260,7 @@ bool Matcher::findEpipolarMatchDirect( } size_t n_steps = epi_length_/0.7; // one step per pixel - Vector2d step = epi_dir/n_steps; + Vector2d step = epi_dir_/n_steps; if(n_steps > options_.max_epi_search_steps) { From 713f35697bc6fde9c507e1fa3114c9b6a1356634 Mon Sep 17 00:00:00 2001 From: Christian Forster Date: Fri, 9 May 2014 15:06:03 +0200 Subject: [PATCH 107/215] refactoring --- svo/src/pose_optimizer.cpp | 2 +- svo/src/sparse_img_align.cpp | 5 ++--- 2 files changed, 3 insertions(+), 4 deletions(-) diff --git a/svo/src/pose_optimizer.cpp b/svo/src/pose_optimizer.cpp index 5b9d25f..00ca321 100644 --- a/svo/src/pose_optimizer.cpp +++ b/svo/src/pose_optimizer.cpp @@ -138,7 +138,7 @@ void optimizeGaussNewton( chi2_vec_final.push_back(e.squaredNorm()); if(e.norm() > reproj_thresh_scaled) { - // (*it)->point->deleteFrameRef(frame); + // we don't need to delete a reference in the point since it was not created yet (*it)->point = NULL; ++n_deleted_refs; } diff --git a/svo/src/sparse_img_align.cpp b/svo/src/sparse_img_align.cpp index 1e91fa9..78323e7 100644 --- a/svo/src/sparse_img_align.cpp +++ b/svo/src/sparse_img_align.cpp @@ -60,7 +60,6 @@ size_t SparseImgAlign::run(FramePtr ref_frame, FramePtr cur_frame) for(level_=max_level_; level_>=min_level_; --level_) { - setInitialChi2(1.0); mu_ = 0.1; jacobian_cache_.setZero(); have_ref_patch_cache_ = false; @@ -227,8 +226,8 @@ double SparseImgAlign::computeResiduals( { // compute Jacobian, weighted Hessian and weighted "steepest descend images" (times error) const Vector6d J(jacobian_cache_.col(feature_counter*patch_area_ + pixel_counter)); - H_ += J*J.transpose()*weight; - Jres_ -= J*res*weight; + H_.noalias() += J*J.transpose()*weight; + Jres_.noalias() -= J*res*weight; if(display_) resimg_.at((int) v_cur+y-patch_halfsize_, (int) u_cur+x-patch_halfsize_) = res/255.0; } From c66484560ca10f0c232bf7cabd3a8626ab3857ce Mon Sep 17 00:00:00 2001 From: Christian Forster Date: Fri, 9 May 2014 19:03:44 +0200 Subject: [PATCH 108/215] Update README.md --- README.md | 11 +++++++++-- 1 file changed, 9 insertions(+), 2 deletions(-) diff --git a/README.md b/README.md index f8e5dae..81ad4d5 100644 --- a/README.md +++ b/README.md @@ -94,10 +94,17 @@ Clone it into your catkin workspace git clone https://github.com/uzh-rpg/rpg_svo.git If you installed g2o then set `HAVE_G2O` in `svo/CMakeLists.txt` to TRUE. -Then build + +Install missing ros dependencies. Sometimes `cmake-modules` is missing (required for including Eigen in ROS Indigo): + + sudo apt-get install ros-hydro-cmake-modules + +(replace `hydro` with your distribution). + +Finally, build: catkin_make - + Run SVO on a Dataset ------------------------- From 8a2bef49f7616c60a8f93d0b95f7b4566a06dff0 Mon Sep 17 00:00:00 2001 From: Christian Forster Date: Sun, 11 May 2014 22:10:12 +0200 Subject: [PATCH 109/215] removed unused dependency of boost signals and system --- svo/CMakeLists.txt | 2 +- svo/include/svo/point.h | 2 +- svo/src/point.cpp | 2 -- svo_ros/CMakeLists.txt | 2 +- 4 files changed, 3 insertions(+), 5 deletions(-) diff --git a/svo/CMakeLists.txt b/svo/CMakeLists.txt index 6bd0db1..7433d71 100644 --- a/svo/CMakeLists.txt +++ b/svo/CMakeLists.txt @@ -57,7 +57,7 @@ FIND_PACKAGE(OpenCV REQUIRED) FIND_PACKAGE(Eigen REQUIRED) FIND_PACKAGE(Sophus REQUIRED) FIND_PACKAGE(fast REQUIRED) -FIND_PACKAGE(Boost REQUIRED COMPONENTS system thread signals) +FIND_PACKAGE(Boost REQUIRED COMPONENTS thread) # Describe catkin Project catkin_package( diff --git a/svo/include/svo/point.h b/svo/include/svo/point.h index 291f79f..9adb91d 100644 --- a/svo/include/svo/point.h +++ b/svo/include/svo/point.h @@ -45,7 +45,7 @@ public: static int point_counter_; //!< Counts the number of created points. Used to set the unique id. int id_; //!< Unique ID of the point. Vector3d pos_; //!< 3d pos of the point in the world coordinate frame. - Vector3d normal_; //!< Normal of the point + Matrix3d R_w_p_; //!< Orientation of surface patch. Z-axis is the normal. Rotation from (p)oint frame to (w)orld frame. list obs_; //!< References to keyframes which observe the point. size_t n_obs_; //!< Number of obervations: Keyframes AND successful reprojections in intermediate frames. g2oPoint* v_pt_; //!< Temporary pointer to the point-vertex in g2o during bundle adjustment. diff --git a/svo/src/point.cpp b/svo/src/point.cpp index c79053e..eadd88a 100644 --- a/svo/src/point.cpp +++ b/svo/src/point.cpp @@ -27,7 +27,6 @@ int Point::point_counter_ = 0; Point::Point(const Vector3d& pos) : id_(point_counter_++), pos_(pos), - normal_(Vector3d::Zero()), n_obs_(0), v_pt_(NULL), last_published_ts_(0), @@ -41,7 +40,6 @@ Point::Point(const Vector3d& pos) : Point::Point(const Vector3d& pos, Feature* ftr) : id_(point_counter_++), pos_(pos), - normal_(Vector3d::Zero()), n_obs_(1), v_pt_(NULL), last_published_ts_(0), diff --git a/svo_ros/CMakeLists.txt b/svo_ros/CMakeLists.txt index a490881..cb1b286 100644 --- a/svo_ros/CMakeLists.txt +++ b/svo_ros/CMakeLists.txt @@ -33,7 +33,7 @@ FIND_PACKAGE(catkin REQUIRED COMPONENTS FIND_PACKAGE(OpenCV REQUIRED) FIND_PACKAGE(Eigen REQUIRED) FIND_PACKAGE(Sophus REQUIRED) -FIND_PACKAGE(Boost REQUIRED COMPONENTS thread signals) +FIND_PACKAGE(Boost REQUIRED COMPONENTS thread) # Describe catkin Project catkin_package( From 240bed866575ccd4c296ec0e4b59da10f70cf40e Mon Sep 17 00:00:00 2001 From: Christian Forster Date: Mon, 12 May 2014 18:00:31 +0200 Subject: [PATCH 110/215] added flag if patch normal is set --- svo/include/svo/point.h | 11 ++++++++--- svo/src/point.cpp | 11 +++++++++++ 2 files changed, 19 insertions(+), 3 deletions(-) diff --git a/svo/include/svo/point.h b/svo/include/svo/point.h index 9adb91d..3af92d6 100644 --- a/svo/include/svo/point.h +++ b/svo/include/svo/point.h @@ -31,7 +31,7 @@ class Feature; typedef Matrix Matrix23d; -/// A 3D point that was triangulated from at least two corresponding image features. +/// A 3D point on the surface of the scene. class Point : boost::noncopyable { public: @@ -40,12 +40,14 @@ public: TYPE_DELETED, TYPE_CANDIDATE, TYPE_UNKNOWN, - TYPE_GOOD }; + TYPE_GOOD + }; static int point_counter_; //!< Counts the number of created points. Used to set the unique id. int id_; //!< Unique ID of the point. Vector3d pos_; //!< 3d pos of the point in the world coordinate frame. - Matrix3d R_w_p_; //!< Orientation of surface patch. Z-axis is the normal. Rotation from (p)oint frame to (w)orld frame. + Vector3d normal_; //!< Surface normal at point. + bool normal_set_; //!< Flag whether the surface normal was estimated or not. list obs_; //!< References to keyframes which observe the point. size_t n_obs_; //!< Number of obervations: Keyframes AND successful reprojections in intermediate frames. g2oPoint* v_pt_; //!< Temporary pointer to the point-vertex in g2o during bundle adjustment. @@ -66,6 +68,9 @@ public: /// Remove reference to a frame. bool deleteFrameRef(Frame* frame); + /// Initialize point normal. The inital estimate will point towards the frame. + void initNormal(); + /// Check whether mappoint has reference to a frame. Feature* findFrameRef(Frame* frame); diff --git a/svo/src/point.cpp b/svo/src/point.cpp index eadd88a..48c084d 100644 --- a/svo/src/point.cpp +++ b/svo/src/point.cpp @@ -27,6 +27,7 @@ int Point::point_counter_ = 0; Point::Point(const Vector3d& pos) : id_(point_counter_++), pos_(pos), + normal_set_(false), n_obs_(0), v_pt_(NULL), last_published_ts_(0), @@ -40,6 +41,7 @@ Point::Point(const Vector3d& pos) : Point::Point(const Vector3d& pos, Feature* ftr) : id_(point_counter_++), pos_(pos), + normal_set_(false), n_obs_(1), v_pt_(NULL), last_published_ts_(0), @@ -82,6 +84,15 @@ bool Point::deleteFrameRef(Frame* frame) return false; } +void Point::initNormal() +{ + assert(!obs_.empty()); + const Feature* ftr = obs_.back(); + assert(ftr->frame != NULL); + normal_ = ftr->frame->T_f_w_.rotation_matrix().transpose()*(-ftr->f); + normal_set_ = true; +} + bool Point::getCloseViewObs(const Vector3d& framepos, Feature*& ftr) const { // TODO: get frame with same point of view AND same pyramid level! From 6a34b59f723639350d48a1a2b1272b8ec339a40c Mon Sep 17 00:00:00 2001 From: Christian Forster Date: Mon, 12 May 2014 22:26:12 +0200 Subject: [PATCH 111/215] added uncertainty for patch normal --- svo/include/svo/point.h | 1 + svo/src/point.cpp | 1 + 2 files changed, 2 insertions(+) diff --git a/svo/include/svo/point.h b/svo/include/svo/point.h index 3af92d6..f7706be 100644 --- a/svo/include/svo/point.h +++ b/svo/include/svo/point.h @@ -47,6 +47,7 @@ public: int id_; //!< Unique ID of the point. Vector3d pos_; //!< 3d pos of the point in the world coordinate frame. Vector3d normal_; //!< Surface normal at point. + Matrix3d normal_information_; //!< Inverse covariance matrix of normal estimation. bool normal_set_; //!< Flag whether the surface normal was estimated or not. list obs_; //!< References to keyframes which observe the point. size_t n_obs_; //!< Number of obervations: Keyframes AND successful reprojections in intermediate frames. diff --git a/svo/src/point.cpp b/svo/src/point.cpp index 48c084d..2e45e06 100644 --- a/svo/src/point.cpp +++ b/svo/src/point.cpp @@ -90,6 +90,7 @@ void Point::initNormal() const Feature* ftr = obs_.back(); assert(ftr->frame != NULL); normal_ = ftr->frame->T_f_w_.rotation_matrix().transpose()*(-ftr->f); + normal_information_ = DiagonalMatrix(pow(20/(pos_-ftr->frame->pos()).norm(),2), 1.0, 1.0); normal_set_ = true; } From ba687d3dd97050daa79fae18491acf84a71cf41a Mon Sep 17 00:00:00 2001 From: Christian Forster Date: Tue, 13 May 2014 19:27:17 +0200 Subject: [PATCH 112/215] plotting comparison of tracefiles from different runs --- svo_analysis/comparisons/speed.yaml | 14 ++ svo_analysis/scripts/benchmark.py | 2 +- svo_analysis/scripts/compare_results.py | 150 +++++++++++++++++ svo_analysis/scripts/comparison.py | 212 ++++++++++-------------- 4 files changed, 257 insertions(+), 121 deletions(-) create mode 100644 svo_analysis/comparisons/speed.yaml create mode 100755 svo_analysis/scripts/compare_results.py diff --git a/svo_analysis/comparisons/speed.yaml b/svo_analysis/comparisons/speed.yaml new file mode 100644 index 0000000..2f706d4 --- /dev/null +++ b/svo_analysis/comparisons/speed.yaml @@ -0,0 +1,14 @@ +comparison_name: speed +experiment_sets: +- label: 'old' + experiments: + - 20140415_1028_svo_ros_synthetic_speed_1404150920_plane_straight_speed4 + - 20140415_1028_svo_ros_synthetic_speed_1404150928_plane_straight_speed5 + - 20140415_1028_svo_ros_synthetic_speed_1404150935_plane_straight_speed6 + - 20140415_1028_svo_ros_synthetic_speed_1404150940_plane_straight_speed7 +- label: 'new' + experiments: + - 20140513_0949_svo_ros_synthetic_speed_1404150920_plane_straight_speed4 + - 20140513_0949_svo_ros_synthetic_speed_1404150928_plane_straight_speed5 + - 20140513_0949_svo_ros_synthetic_speed_1404150935_plane_straight_speed6 + - 20140513_0949_svo_ros_synthetic_speed_1404150940_plane_straight_speed7 \ No newline at end of file diff --git a/svo_analysis/scripts/benchmark.py b/svo_analysis/scripts/benchmark.py index ed97040..a3733ea 100755 --- a/svo_analysis/scripts/benchmark.py +++ b/svo_analysis/scripts/benchmark.py @@ -51,7 +51,7 @@ def run_experiment(dataset, params): # copy the groundtruth trajectory to the trace dir for later evaluation if params['dataset_is_blender']: - shutil.copyfile(os.path.join(params['dataset_directory'], 'trajectory.txt'), + shutil.copyfile(os.path.join(params['dataset_directory'], 'trajectory_nominal.txt'), os.path.join(params['trace_dir'], 'groundtruth_matched.txt')) else: shutil.copyfile(os.path.join(params['dataset_directory'], 'groundtruth_matched.txt'), diff --git a/svo_analysis/scripts/compare_results.py b/svo_analysis/scripts/compare_results.py new file mode 100755 index 0000000..5605fe3 --- /dev/null +++ b/svo_analysis/scripts/compare_results.py @@ -0,0 +1,150 @@ +#!/usr/bin/python + +import os +import sys +import time +import rospkg +import numpy as np +import matplotlib.pyplot as plt +import yaml +import argparse +from matplotlib import rc + +# tell matplotlib to use latex font +rc('font',**{'family':'serif','serif':['Cardo']}) +rc('text', usetex=True) + +from mpl_toolkits.axes_grid1.inset_locator import zoomed_inset_axes +from mpl_toolkits.axes_grid1.inset_locator import mark_inset + +def plot_trajectory(ax, filename, label, color, linewidth): + file = open(filename) + data = file.read() + lines = data.replace(","," ").replace("\t"," ").split("\n") + trajectory = np.array([[v.strip() for v in line.split(" ") if v.strip()!=""] for line in lines if len(line)>0 and line[0]!="#"], dtype=np.float64) + ax.plot(trajectory[:,1], trajectory[:,2], label=label, color=color, linewidth=linewidth) + +def compare_results(experiments, results_dir, comparison_dir, + plot_scale_drift = False): + + # ------------------------------------------------------------------------------ + # position error + fig_poserr = plt.figure(figsize=(8,6)) + ax_poserr_x = fig_poserr.add_subplot(311, ylabel='x-error [m]') + ax_poserr_y = fig_poserr.add_subplot(312, ylabel='y-error [m]') + ax_poserr_z = fig_poserr.add_subplot(313, ylabel='z-error [m]', xlabel='time [s]') + + for exp in experiments: + + # load dataset parameters + params_stream = open(os.path.join(results_dir, exp, 'params.yaml')) + params = yaml.load(params_stream) + + # plot translation error + trans_error = np.loadtxt(os.path.join(results_dir, exp, 'translation_error.txt')) + trans_error[:,0] = trans_error[:,0]-trans_error[0,0] + ax_poserr_x.plot(trans_error[:,0], trans_error[:,1], label=params['experiment_label']) + ax_poserr_y.plot(trans_error[:,0], trans_error[:,2]) + ax_poserr_z.plot(trans_error[:,0], trans_error[:,3]) + + ax_poserr_x.set_xlim([0, trans_error[-1,0]+4]) + ax_poserr_y.set_xlim([0, trans_error[-1,0]+4]) + ax_poserr_z.set_xlim([0, trans_error[-1,0]+4]) + ax_poserr_x.legend(bbox_to_anchor=[0, 0], loc='lower left', ncol=3) + ax_poserr_x.grid() + ax_poserr_y.grid() + ax_poserr_z.grid() + fig_poserr.tight_layout() + fig_poserr.savefig(os.path.join(comparison_dir, 'translation_error.pdf')) + + # ------------------------------------------------------------------------------ + # orientation error + fig_roterr = plt.figure(figsize=(8,6)) + ax_roterr_r = fig_roterr.add_subplot(311, ylabel='roll-error [rad]') + ax_roterr_p = fig_roterr.add_subplot(312, ylabel='pitch-error [rad]') + ax_roterr_y = fig_roterr.add_subplot(313, ylabel='yaw-error [rad]', xlabel='time [s]') + + for exp in experiments: + + # load dataset parameters + params_stream = open(os.path.join(results_dir, exp, 'params.yaml')) + params = yaml.load(params_stream) + + # plot translation error + rot_error = np.loadtxt(os.path.join(results_dir, exp, 'orientation_error.txt')) + rot_error[:,0] = rot_error[:,0]-rot_error[0,0] + ax_roterr_r.plot(rot_error[:,0], rot_error[:,3], label=params['experiment_label']) + ax_roterr_p.plot(rot_error[:,0], rot_error[:,2]) + ax_roterr_y.plot(rot_error[:,0], rot_error[:,1]) + + ax_roterr_r.set_xlim([0, rot_error[-1,0]+4]) + ax_roterr_p.set_xlim([0, rot_error[-1,0]+4]) + ax_roterr_y.set_xlim([0, rot_error[-1,0]+4]) + ax_roterr_r.legend(bbox_to_anchor=[0, 1], loc='upper left', ncol=3) + ax_roterr_r.grid() + ax_roterr_p.grid() + ax_roterr_y.grid() + fig_roterr.tight_layout() + fig_roterr.savefig(os.path.join(comparison_dir, 'orientation_error.pdf')) + + # ------------------------------------------------------------------------------ + # scale error + if plot_scale_drift: + fig_scale = plt.figure(figsize=(8,2.5)) + ax_scale = fig_scale.add_subplot(111, xlabel='time [s]', ylabel='scale change [\%]') + + for exp in experiments: + + # load dataset parameters + params = yaml.load(open(os.path.join(results_dir, exp, 'params.yaml'))) + + # plot translation error + scale_drift = open(os.path.join(results_dir, exp, 'scale_drift.txt')) + scale_drift[:,0] = scale_drift[:,0]-scale_drift[0,0] + ax_scale.plot(scale_drift[:,0], scale_drift[:,1], label=params['experiment_label']) + + ax_scale.set_xlim([0, rot_error[-1,0]+4]) + ax_scale.legend(bbox_to_anchor=[0, 1], loc='upper left', ncol=3) + ax_scale.grid() + fig_scale.tight_layout() + fig_scale.savefig(os.path.join(comparison_dir, 'scale_drift.pdf')) + + # ------------------------------------------------------------------------------ + # trajectory + +# fig_traj = plt.figure(figsize=(8,4.8)) +# ax_traj = fig_traj.add_subplot(111, xlabel='x [m]', ylabel='y [m]', aspect='equal', xlim=[-3.1, 4], ylim=[-1.5, 2.6]) +# +# plotTrajectory(ax_traj, '/home/cforster/Datasets/asl_vicon_d2/groundtruth_filtered.txt', 'Groundtruth', 'k', 1.5) +# plotTrajectory(ax_traj, results_dir+'/20130911_2229_nslam_i7_asl2_fast/traj_estimate_rotated.txt', 'Fast', 'g', 1) +# plotTrajectory(ax_traj, results_dir+'/20130906_2149_ptam_i7_asl2/traj_estimate_rotated.txt', 'PTAM', 'r', 1) +# +# mark_inset(ax_traj, axins, loc1=2, loc2=4, fc="none", ec='b') +# plt.draw() +# plt.show() +# ax_traj.legend(bbox_to_anchor=[1, 0], loc='lower right', ncol=3) +# ax_traj.grid() +# fig_traj.tight_layout() +# fig_traj.savefig('../results/trajectory_asl.pdf') + + +if __name__ == '__main__': + + default_name = time.strftime("%Y%m%d_%H%M", time.localtime())+'_comparison' + parser = argparse.ArgumentParser(description='Compare results.') + parser.add_argument('result_directories', nargs='+', help='list of result directories to compare') + parser.add_argument('--name', help='name of the comparison', default=default_name) + args = parser.parse_args() + + # create folder for comparison results + results_dir = os.path.join(rospkg.RosPack().get_path('svo_analysis'), 'results') + comparison_dir = os.path.join(results_dir, args.name) + if not os.path.exists(comparison_dir): + os.makedirs(comparison_dir) + + # run comparison + compare_results(args.result_directories, results_dir, comparison_dir) + + + + diff --git a/svo_analysis/scripts/comparison.py b/svo_analysis/scripts/comparison.py index 5605fe3..1651247 100755 --- a/svo_analysis/scripts/comparison.py +++ b/svo_analysis/scripts/comparison.py @@ -18,133 +18,105 @@ from mpl_toolkits.axes_grid1.inset_locator import zoomed_inset_axes from mpl_toolkits.axes_grid1.inset_locator import mark_inset def plot_trajectory(ax, filename, label, color, linewidth): - file = open(filename) - data = file.read() - lines = data.replace(","," ").replace("\t"," ").split("\n") - trajectory = np.array([[v.strip() for v in line.split(" ") if v.strip()!=""] for line in lines if len(line)>0 and line[0]!="#"], dtype=np.float64) - ax.plot(trajectory[:,1], trajectory[:,2], label=label, color=color, linewidth=linewidth) + file = open(filename) + data = file.read() + lines = data.replace(","," ").replace("\t"," ").split("\n") + trajectory = np.array([[v.strip() for v in line.split(" ") if v.strip()!=""] for line in lines if len(line)>0 and line[0]!="#"], dtype=np.float64) + ax.plot(trajectory[:,1], trajectory[:,2], label=label, color=color, linewidth=linewidth) -def compare_results(experiments, results_dir, comparison_dir, - plot_scale_drift = False): - - # ------------------------------------------------------------------------------ - # position error - fig_poserr = plt.figure(figsize=(8,6)) - ax_poserr_x = fig_poserr.add_subplot(311, ylabel='x-error [m]') - ax_poserr_y = fig_poserr.add_subplot(312, ylabel='y-error [m]') - ax_poserr_z = fig_poserr.add_subplot(313, ylabel='z-error [m]', xlabel='time [s]') - - for exp in experiments: +def save_figure(fig, name, directory): + fig.tight_layout() + fig.savefig(os.path.join(directory, name+'.pdf'), bbox_inches="tight") + +def distances_along_trajectory(traj): + keys = traj.keys() + keys.sort() + motion = [ominus(traj[keys[i+1]],traj[keys[i]]) for i in range(len(keys)-1)] + distances = [0] + sum = 0 + for t in motion: + sum += compute_distance(t) + distances.append(sum) + return distances - # load dataset parameters - params_stream = open(os.path.join(results_dir, exp, 'params.yaml')) - params = yaml.load(params_stream) - - # plot translation error - trans_error = np.loadtxt(os.path.join(results_dir, exp, 'translation_error.txt')) - trans_error[:,0] = trans_error[:,0]-trans_error[0,0] - ax_poserr_x.plot(trans_error[:,0], trans_error[:,1], label=params['experiment_label']) - ax_poserr_y.plot(trans_error[:,0], trans_error[:,2]) - ax_poserr_z.plot(trans_error[:,0], trans_error[:,3]) +def compare_results(comp_params, results_dir, comparison_dir): + print('run comparison: '+comp_params['comparison_name']) + - ax_poserr_x.set_xlim([0, trans_error[-1,0]+4]) - ax_poserr_y.set_xlim([0, trans_error[-1,0]+4]) - ax_poserr_z.set_xlim([0, trans_error[-1,0]+4]) - ax_poserr_x.legend(bbox_to_anchor=[0, 0], loc='lower left', ncol=3) - ax_poserr_x.grid() - ax_poserr_y.grid() - ax_poserr_z.grid() - fig_poserr.tight_layout() - fig_poserr.savefig(os.path.join(comparison_dir, 'translation_error.pdf')) - - # ------------------------------------------------------------------------------ - # orientation error - fig_roterr = plt.figure(figsize=(8,6)) - ax_roterr_r = fig_roterr.add_subplot(311, ylabel='roll-error [rad]') - ax_roterr_p = fig_roterr.add_subplot(312, ylabel='pitch-error [rad]') - ax_roterr_y = fig_roterr.add_subplot(313, ylabel='yaw-error [rad]', xlabel='time [s]') - - for exp in experiments: + # ------------------------------------------------------------------------- + # plot trajectory: + fig = plt.figure(figsize=(6,2)) + ax = fig.add_subplot(111, xlabel='x [m]', ylabel='y [m]') + for exp_set in comp_params['experiment_sets']: + print('processing experiment set: ' + exp_set['label']) + + for i, exp in enumerate(exp_set['experiments']): + data = np.loadtxt(os.path.join(results_dir, exp, 'traj_estimate.txt')) + if i == 0: + base_plot, = ax.plot(data[:,1], data[:,2], label=exp_set['label']) + else: + ax.plot(data[:,1], data[:,2], color=base_plot.get_color()) + ax.legend(loc='upper left') + save_figure(fig, 'trajectory', comparison_dir) - # load dataset parameters - params_stream = open(os.path.join(results_dir, exp, 'params.yaml')) - params = yaml.load(params_stream) - - # plot translation error - rot_error = np.loadtxt(os.path.join(results_dir, exp, 'orientation_error.txt')) - rot_error[:,0] = rot_error[:,0]-rot_error[0,0] - ax_roterr_r.plot(rot_error[:,0], rot_error[:,3], label=params['experiment_label']) - ax_roterr_p.plot(rot_error[:,0], rot_error[:,2]) - ax_roterr_y.plot(rot_error[:,0], rot_error[:,1]) - ax_roterr_r.set_xlim([0, rot_error[-1,0]+4]) - ax_roterr_p.set_xlim([0, rot_error[-1,0]+4]) - ax_roterr_y.set_xlim([0, rot_error[-1,0]+4]) - ax_roterr_r.legend(bbox_to_anchor=[0, 1], loc='upper left', ncol=3) - ax_roterr_r.grid() - ax_roterr_p.grid() - ax_roterr_y.grid() - fig_roterr.tight_layout() - fig_roterr.savefig(os.path.join(comparison_dir, 'orientation_error.pdf')) - - # ------------------------------------------------------------------------------ - # scale error - if plot_scale_drift: - fig_scale = plt.figure(figsize=(8,2.5)) - ax_scale = fig_scale.add_subplot(111, xlabel='time [s]', ylabel='scale change [\%]') - - for exp in experiments: - - # load dataset parameters - params = yaml.load(open(os.path.join(results_dir, exp, 'params.yaml'))) - - # plot translation error - scale_drift = open(os.path.join(results_dir, exp, 'scale_drift.txt')) - scale_drift[:,0] = scale_drift[:,0]-scale_drift[0,0] - ax_scale.plot(scale_drift[:,0], scale_drift[:,1], label=params['experiment_label']) - - ax_scale.set_xlim([0, rot_error[-1,0]+4]) - ax_scale.legend(bbox_to_anchor=[0, 1], loc='upper left', ncol=3) - ax_scale.grid() - fig_scale.tight_layout() - fig_scale.savefig(os.path.join(comparison_dir, 'scale_drift.pdf')) - - # ------------------------------------------------------------------------------ - # trajectory - -# fig_traj = plt.figure(figsize=(8,4.8)) -# ax_traj = fig_traj.add_subplot(111, xlabel='x [m]', ylabel='y [m]', aspect='equal', xlim=[-3.1, 4], ylim=[-1.5, 2.6]) -# -# plotTrajectory(ax_traj, '/home/cforster/Datasets/asl_vicon_d2/groundtruth_filtered.txt', 'Groundtruth', 'k', 1.5) -# plotTrajectory(ax_traj, results_dir+'/20130911_2229_nslam_i7_asl2_fast/traj_estimate_rotated.txt', 'Fast', 'g', 1) -# plotTrajectory(ax_traj, results_dir+'/20130906_2149_ptam_i7_asl2/traj_estimate_rotated.txt', 'PTAM', 'r', 1) -# -# mark_inset(ax_traj, axins, loc1=2, loc2=4, fc="none", ec='b') -# plt.draw() -# plt.show() -# ax_traj.legend(bbox_to_anchor=[1, 0], loc='lower right', ncol=3) -# ax_traj.grid() -# fig_traj.tight_layout() -# fig_traj.savefig('../results/trajectory_asl.pdf') - + # ------------------------------------------------------------------------- + # plot translation error: + fig = plt.figure(figsize=(6,2)) + ax = fig.add_subplot(111, xlabel='distance [m]', ylabel='translation drift [mm]') + for exp_set in comp_params['experiment_sets']: + print('processing experiment set: ' + exp_set['label']) + + for i, exp in enumerate(exp_set['experiments']): + gt = np.loadtxt(os.path.join(results_dir, exp, 'groundtruth_matched.txt')) + distances = np.diff(gt[:,1:4],axis=0) + distances = np.sqrt(np.sum(np.multiply(distances,distances),1)) + distances = np.cumsum(distances) + distances = np.concatenate(([0], distances)) + data = np.loadtxt(os.path.join(results_dir, exp, 'translation_error.txt')) + e = np.sqrt(np.sum(np.multiply(data[:,1:4],data[:,1:4]),1)) + + if np.shape(e)[0] > np.shape(distances)[0]: + print('WARNING: estimate has more measurement than groundtruth: ' + +str(np.shape(e)[0]-np.shape(distances)[0])) + e = e[0:np.shape(distances)[0]] + + distances = distances[0:np.shape(e)[0]+1] + + + if i == 0: + base_plot, = ax.plot(distances, e*1000, label=exp_set['label']) + else: + ax.plot(distances, e*1000, color=base_plot.get_color()) + + ax.legend(loc='upper left') + save_figure(fig, 'translation_error', comparison_dir) if __name__ == '__main__': - default_name = time.strftime("%Y%m%d_%H%M", time.localtime())+'_comparison' - parser = argparse.ArgumentParser(description='Compare results.') - parser.add_argument('result_directories', nargs='+', help='list of result directories to compare') - parser.add_argument('--name', help='name of the comparison', default=default_name) - args = parser.parse_args() - - # create folder for comparison results - results_dir = os.path.join(rospkg.RosPack().get_path('svo_analysis'), 'results') - comparison_dir = os.path.join(results_dir, args.name) - if not os.path.exists(comparison_dir): - os.makedirs(comparison_dir) + parser = argparse.ArgumentParser(description='Compare results of a VO pipeline.') + parser.add_argument('comparison_file', help='A YAML file that contains the details of the comparison') + args = parser.parse_args() + + # load comparison file + args.experiment_file = args.comparison_file.replace('.yaml','') + comparison_params_file = os.path.join(rospkg.RosPack().get_path('svo_analysis'), + 'comparisons', args.comparison_file+'.yaml') + if os.path.exists(comparison_params_file): + comp_params = yaml.load(open(comparison_params_file, 'r')) + else: + raise Exception("Provided comparison file does not exist.") + + # create folder for comparison results + comparison_dir = os.path.join(rospkg.RosPack().get_path('svo_analysis'), + 'comparisons', comp_params['comparison_name']) + if not os.path.exists(comparison_dir): + os.makedirs(comparison_dir) + + # folder where the results of previous experiments are saved + results_dir = os.path.join(rospkg.RosPack().get_path('svo_analysis'), 'results') - # run comparison - compare_results(args.result_directories, results_dir, comparison_dir) - - - + # run comparison + compare_results(comp_params, results_dir, comparison_dir) + From 196b29757aa17bc04cb0742bb74b412a8d730bc5 Mon Sep 17 00:00:00 2001 From: Quim Sanchez Date: Thu, 15 May 2014 16:03:19 +0200 Subject: [PATCH 113/215] Update frame.cpp Image seemed to be ok but still exception was being thrown. --- svo/src/frame.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/svo/src/frame.cpp b/svo/src/frame.cpp index 6234d0b..2d40b96 100644 --- a/svo/src/frame.cpp +++ b/svo/src/frame.cpp @@ -48,7 +48,7 @@ void Frame::initFrame(const cv::Mat& img) { // check image if(img.empty() || img.type() != CV_8UC1 || img.cols != cam_->width() || img.rows != cam_->height()) - throw std::runtime_error("Frame: provided image has not the same size as the camera model"); + throw std::runtime_error("Frame: provided image has not the same size as the camera model or image is not grayscale"); // Set keypoints to NULL std::for_each(key_pts_.begin(), key_pts_.end(), [&](Feature* ftr){ ftr=NULL; }); From 11b5b62c9ee3f42a2ebd0ed49b9424c80c9f8507 Mon Sep 17 00:00:00 2001 From: Christian Forster Date: Fri, 16 May 2014 14:38:13 +0200 Subject: [PATCH 114/215] worked on visualization --- svo/src/frame_handler_mono.cpp | 2 +- svo_analysis/scripts/comparison.py | 20 ++++++++------ svo_ros/include/svo_ros/visualizer.h | 2 ++ svo_ros/src/benchmark_node.cpp | 39 ++++++++++++++++++-------- svo_ros/src/visualizer.cpp | 41 ++++++++++++++++------------ 5 files changed, 65 insertions(+), 39 deletions(-) diff --git a/svo/src/frame_handler_mono.cpp b/svo/src/frame_handler_mono.cpp index 3fd1a7a..b06db86 100644 --- a/svo/src/frame_handler_mono.cpp +++ b/svo/src/frame_handler_mono.cpp @@ -174,6 +174,7 @@ FrameHandlerBase::UpdateResult FrameHandlerMono::processFrame() SVO_STOP_TIMER("point_optimizer"); // select keyframe + core_kfs_.insert(new_frame_); setTrackingQuality(sfba_n_edges_final); if(tracking_quality_ == TRACKING_INSUFFICIENT) return RESULT_FAILURE; @@ -194,7 +195,6 @@ FrameHandlerBase::UpdateResult FrameHandlerMono::processFrame() map_.point_candidates_.addCandidatePointToFrame(new_frame_); // optional bundle adjustment - core_kfs_.insert(new_frame_); #ifdef USE_BUNDLE_ADJUSTMENT if(Config::lobaNumIter() > 0) { diff --git a/svo_analysis/scripts/comparison.py b/svo_analysis/scripts/comparison.py index 1651247..8f99f01 100755 --- a/svo_analysis/scripts/comparison.py +++ b/svo_analysis/scripts/comparison.py @@ -42,6 +42,7 @@ def distances_along_trajectory(traj): def compare_results(comp_params, results_dir, comparison_dir): print('run comparison: '+comp_params['comparison_name']) + line_styles = ['-','--',':'] # ------------------------------------------------------------------------- # plot trajectory: @@ -53,10 +54,10 @@ def compare_results(comp_params, results_dir, comparison_dir): for i, exp in enumerate(exp_set['experiments']): data = np.loadtxt(os.path.join(results_dir, exp, 'traj_estimate.txt')) if i == 0: - base_plot, = ax.plot(data[:,1], data[:,2], label=exp_set['label']) + base_plot, = ax.plot(data[:,1], data[:,2], label=exp_set['label'], linestyle=line_styles[np.mod(i, len(line_styles))]) else: - ax.plot(data[:,1], data[:,2], color=base_plot.get_color()) - ax.legend(loc='upper left') + ax.plot(data[:,1], data[:,2], color=base_plot.get_color(), linestyle= line_styles[np.mod(i, len(line_styles))]) + ax.legend(loc='upper left', ncol=2) save_figure(fig, 'trajectory', comparison_dir) @@ -81,15 +82,18 @@ def compare_results(comp_params, results_dir, comparison_dir): +str(np.shape(e)[0]-np.shape(distances)[0])) e = e[0:np.shape(distances)[0]] - distances = distances[0:np.shape(e)[0]+1] - + distances = distances[0:np.shape(e)[0]] + + print '--' + print np.shape(e) + print np.shape(distances) if i == 0: - base_plot, = ax.plot(distances, e*1000, label=exp_set['label']) + base_plot, = ax.plot(distances, e*1000, label=exp_set['label'], linestyle= line_styles[np.mod(i, len(line_styles))]) else: - ax.plot(distances, e*1000, color=base_plot.get_color()) + ax.plot(distances, e*1000, color=base_plot.get_color(), linestyle= line_styles[np.mod(i, len(line_styles))]) - ax.legend(loc='upper left') + ax.legend(loc='upper left', ncol=2) save_figure(fig, 'translation_error', comparison_dir) if __name__ == '__main__': diff --git a/svo_ros/include/svo_ros/visualizer.h b/svo_ros/include/svo_ros/visualizer.h index aa6146a..dc8936d 100644 --- a/svo_ros/include/svo_ros/visualizer.h +++ b/svo_ros/include/svo_ros/visualizer.h @@ -59,6 +59,8 @@ public: image_transport::Publisher pub_images_; tf::TransformBroadcaster br_; bool publish_world_in_cam_frame_; + bool publish_map_every_frame_; + ros::Duration publish_points_display_time_; SE3 T_world_from_vision_; Visualizer(); diff --git a/svo_ros/src/benchmark_node.cpp b/svo_ros/src/benchmark_node.cpp index 0c643eb..d14f703 100644 --- a/svo_ros/src/benchmark_node.cpp +++ b/svo_ros/src/benchmark_node.cpp @@ -46,6 +46,7 @@ class BenchmarkNode std::ofstream trace_est_pose_; std::ofstream trace_trans_error_; std::ofstream trace_rot_error_; + std::ofstream trace_depth_error_; vk::AbstractCamera* cam_; public: @@ -53,6 +54,7 @@ public: ~BenchmarkNode(); void tracePose(const SE3& T_w_f, const double timestamp); void tracePoseError(const SE3& T_f_gt, const double timestamp); + void traceDepthError(const FramePtr& frame, const cv::Mat& depthmap); void runBenchmark(const std::string& dataset_dir); void runBlenderBenchmark(const std::string& dataset_dir); }; @@ -91,7 +93,7 @@ void BenchmarkNode::tracePose(const SE3& T_w_f, const double timestamp) trace_est_pose_ << timestamp << " "; trace_est_pose_.precision(6); trace_est_pose_ << p.x() << " " << p.y() << " " << p.z() << " " - << q.x() << " " << q.y() << " " << q.z() << " " << q.w() << endl; + << q.x() << " " << q.y() << " " << q.z() << " " << q.w() << std::endl; } void BenchmarkNode::tracePoseError(const SE3& T_f_gt, const double timestamp) @@ -101,13 +103,27 @@ void BenchmarkNode::tracePoseError(const SE3& T_f_gt, const double timestamp) trace_trans_error_.setf(std::ios::fixed, std::ios::floatfield ); trace_trans_error_ << timestamp << " "; trace_trans_error_.precision(6); - trace_trans_error_ << et.x() << " " << et.y() << " " << et.z() << " " << endl; + trace_trans_error_ << et.x() << " " << et.y() << " " << et.z() << " " << std::endl; Vector3d er(vk::dcm2rpy(T_f_gt.rotation_matrix())); // rotation error in roll-pitch-yaw trace_rot_error_.precision(15); trace_rot_error_.setf(std::ios::fixed, std::ios::floatfield ); trace_rot_error_ << timestamp << " "; trace_rot_error_.precision(6); - trace_rot_error_ << er.x() << " " << er.y() << " " << er.z() << " " << endl; + trace_rot_error_ << er.x() << " " << er.y() << " " << er.z() << " " << std::endl; +} + +void BenchmarkNode::traceDepthError(const FramePtr& frame, const cv::Mat& depthmap) +{ + trace_depth_error_.precision(6); + std::for_each(frame->fts_.begin(), frame->fts_.end(), [&](Feature* ftr){ + if(ftr->point != NULL) + { + double depth_estimated = (ftr->point->pos_-frame->pos()).norm(); + double depth_measured = depthmap.at((int) ftr->px[1], (int) ftr->px[0]); + trace_depth_error_ << frame->id_ << " " + << depth_estimated-depth_estimated << std::endl; + } + }); } void BenchmarkNode::runBenchmark(const std::string& dataset_dir) @@ -156,23 +172,26 @@ void BenchmarkNode::runBlenderBenchmark(const std::string& dataset_dir) std::vector dataset; dataset_reader.readAllEntries(dataset); + // create tracefiles trace_trans_error_.open(Config::traceDir() + "/translation_error.txt"); trace_rot_error_.open(Config::traceDir() + "/orientation_error.txt"); - if(trace_trans_error_.fail() || trace_rot_error_.fail()) + trace_depth_error_.open(Config::traceDir() + "/depth_error.txt"); + if(trace_trans_error_.fail() || trace_rot_error_.fail() || trace_depth_error_.fail()) throw std::runtime_error("Could not create tracefile. Does folder exist?"); // process dataset for(auto it = dataset.begin(); it != dataset.end() && ros::ok(); ++it, ++frame_count_) { - // Read image + // Read image, ground-truth depth-map and ground-truth pose std::string img_filename(dataset_dir + "/img/" + it->image_name_ + "_0.png"); cv::Mat img(cv::imread(img_filename, 0)); if(img.empty()) { SVO_ERROR_STREAM("Reading image "<image_name_+"_0.depth", *cam_, depthmap); Sophus::SE3 T_w_gt(it->q_, it->t_); // Set reference frame with depth @@ -182,11 +201,6 @@ void BenchmarkNode::runBlenderBenchmark(const std::string& dataset_dir) FramePtr frame_ref(new Frame(cam_, img, it->timestamp_)); frame_ref->T_f_w_ = T_w_gt.inverse(); - // load ground-truth depth - cv::Mat depthmap; - vk::blender_utils::loadBlenderDepthmap( - dataset_dir+"/depth/"+it->image_name_+"_0.depth", *cam_, depthmap); - // extract features, generate features with 3D points svo::feature_detection::FastDetector detector( cam_->width(), cam_->height(), svo::Config::gridSize(), svo::Config::nPyrLevels()); @@ -219,6 +233,7 @@ void BenchmarkNode::runBlenderBenchmark(const std::string& dataset_dir) Sophus::SE3 T_f_gt(vo_->lastFrame()->T_f_w_*T_w_gt); tracePoseError(T_f_gt, it->timestamp_); tracePose(vo_->lastFrame()->T_f_w_.inverse(), it->timestamp_); + traceDepthError(vo_->lastFrame(), depthmap); } } diff --git a/svo_ros/src/visualizer.cpp b/svo_ros/src/visualizer.cpp index e207bbe..117165a 100644 --- a/svo_ros/src/visualizer.cpp +++ b/svo_ros/src/visualizer.cpp @@ -44,8 +44,10 @@ Visualizer() : img_pub_level_(vk::getParam("svo/image_publishing_level", 0)), img_pub_nth_(vk::getParam("svo/publish_every_nth_img", 1)), dense_pub_nth_(vk::getParam("svo/publish_every_nth_dense_input", 1)), - T_world_from_vision_(Matrix3d::Identity(), Vector3d::Zero()), - publish_world_in_cam_frame_(vk::getParam("svo/publish_world_in_cam_frame", true)) + publish_world_in_cam_frame_(vk::getParam("svo/publish_world_in_cam_frame", true)), + publish_map_every_frame_(vk::getParam("svo/publish_map_every_frame", false)), + publish_points_display_time_(vk::getParam("svo/publish_point_display_time", 0)), + T_world_from_vision_(Matrix3d::Identity(), Vector3d::Zero()) { // Init ROS Marker Publishers pub_frames_ = pnh_.advertise("keyframes", 10); @@ -89,7 +91,7 @@ void Visualizer::publishMinimal( pub_info_.publish(msg_info); } - if(frame == 0) + if(frame == NULL) { if(pub_images_.getNumSubscribers() > 0 && slam.stage() == FrameHandlerBase::STAGE_PAUSED) { @@ -200,22 +202,24 @@ void Visualizer::visualizeMarkers( const set& core_kfs, const Map& map) { - if(frame != NULL) + if(frame == NULL) + return; + + vk::output_helper::publishTfTransform( + frame->T_f_w_*T_world_from_vision_.inverse(), + ros::Time(frame->timestamp_), "cam_pos", "world", br_); + + if(pub_frames_.getNumSubscribers() > 0 || pub_points_.getNumSubscribers() > 0) { - vk::output_helper::publishTfTransform( - frame->T_f_w_*T_world_from_vision_.inverse(), - ros::Time(frame->timestamp_), "cam_pos", "world", br_); - if(pub_frames_.getNumSubscribers() > 0 || pub_points_.getNumSubscribers() > 0) - { - vk::output_helper::publishHexacopterMarker( - pub_frames_, "cam_pos", "cams", ros::Time(frame->timestamp_), - 1, 0, 0.3, Vector3d(0.,0.,1.)); - vk::output_helper::publishPointMarker( - pub_points_, T_world_from_vision_*frame->pos(), "trajectory", - ros::Time::now(), trace_id_, 0, 0.006, Vector3d(0.,0.,0.5)); + vk::output_helper::publishHexacopterMarker( + pub_frames_, "cam_pos", "cams", ros::Time(frame->timestamp_), + 1, 0, 0.3, Vector3d(0.,0.,1.)); + vk::output_helper::publishPointMarker( + pub_points_, T_world_from_vision_*frame->pos(), "trajectory", + ros::Time::now(), trace_id_, 0, 0.006, Vector3d(0.,0.,0.5)); + if(frame->isKeyframe() || publish_map_every_frame_) publishMapRegion(core_kfs); - removeDeletedPts(map); - } + removeDeletedPts(map); } } @@ -257,7 +261,8 @@ void Visualizer::displayKeyframeWithMps(const FramePtr& frame, int ts) vk::output_helper::publishPointMarker( pub_points_, T_world_from_vision_*(*it)->point->pos_, "pts", - ros::Time::now(), (*it)->point->id_, 0, 0.005, Vector3d(1.0, 0., 1.0)); + ros::Time::now(), (*it)->point->id_, 0, 0.005, Vector3d(1.0, 0., 1.0), + publish_points_display_time_); (*it)->point->last_published_ts_ = ts; } } From bb4c671568acc1e23f735aee49d8da51018213fc Mon Sep 17 00:00:00 2001 From: Christian Forster Date: Fri, 16 May 2014 14:48:02 +0200 Subject: [PATCH 115/215] fix in depth error tracing --- svo_ros/src/benchmark_node.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/svo_ros/src/benchmark_node.cpp b/svo_ros/src/benchmark_node.cpp index d14f703..fac59e0 100644 --- a/svo_ros/src/benchmark_node.cpp +++ b/svo_ros/src/benchmark_node.cpp @@ -119,9 +119,9 @@ void BenchmarkNode::traceDepthError(const FramePtr& frame, const cv::Mat& depthm if(ftr->point != NULL) { double depth_estimated = (ftr->point->pos_-frame->pos()).norm(); - double depth_measured = depthmap.at((int) ftr->px[1], (int) ftr->px[0]); + double depth_true = depthmap.at((int) ftr->px[1], (int) ftr->px[0]); trace_depth_error_ << frame->id_ << " " - << depth_estimated-depth_estimated << std::endl; + << depth_estimated-depth_true << std::endl; } }); } From e0207e7365c4dc2557fb0829e3b755329d06d622 Mon Sep 17 00:00:00 2001 From: Christian Forster Date: Fri, 16 May 2014 14:51:14 +0200 Subject: [PATCH 116/215] rename ros-parameter for image pyramid publishing level --- svo_ros/src/visualizer.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/svo_ros/src/visualizer.cpp b/svo_ros/src/visualizer.cpp index 117165a..a06827e 100644 --- a/svo_ros/src/visualizer.cpp +++ b/svo_ros/src/visualizer.cpp @@ -41,7 +41,7 @@ Visualizer:: Visualizer() : pnh_("~"), trace_id_(0), - img_pub_level_(vk::getParam("svo/image_publishing_level", 0)), + img_pub_level_(vk::getParam("svo/publish_img_pyr_level", 0)), img_pub_nth_(vk::getParam("svo/publish_every_nth_img", 1)), dense_pub_nth_(vk::getParam("svo/publish_every_nth_dense_input", 1)), publish_world_in_cam_frame_(vk::getParam("svo/publish_world_in_cam_frame", true)), From 450cbc096e2f0b94663c0ff527867641004124b4 Mon Sep 17 00:00:00 2001 From: Christian Forster Date: Fri, 16 May 2014 14:53:21 +0200 Subject: [PATCH 117/215] changed parameter name in launchfile --- svo_ros/launch/live.launch | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/svo_ros/launch/live.launch b/svo_ros/launch/live.launch index 738d97a..92f4b9b 100644 --- a/svo_ros/launch/live.launch +++ b/svo_ros/launch/live.launch @@ -8,7 +8,7 @@ - + From 0f322b208a5c5cbbbcfff911ede92442d479ecb3 Mon Sep 17 00:00:00 2001 From: Christian Forster Date: Fri, 16 May 2014 19:25:51 +0200 Subject: [PATCH 118/215] evaluation scripts --- svo_analysis/scripts/comparison.py | 26 +++++++- svo_analysis/scripts/evaluate.py | 60 +++++++++++-------- svo_analysis/src/svo_analysis/analyse_logs.py | 14 +++-- .../src/svo_analysis/analyse_trajectory.py | 2 +- 4 files changed, 68 insertions(+), 34 deletions(-) diff --git a/svo_analysis/scripts/comparison.py b/svo_analysis/scripts/comparison.py index 8f99f01..f2ac8a7 100755 --- a/svo_analysis/scripts/comparison.py +++ b/svo_analysis/scripts/comparison.py @@ -8,6 +8,7 @@ import numpy as np import matplotlib.pyplot as plt import yaml import argparse +import svo_analysis.analyse_depth as analyse_depth from matplotlib import rc # tell matplotlib to use latex font @@ -43,6 +44,7 @@ def compare_results(comp_params, results_dir, comparison_dir): print('run comparison: '+comp_params['comparison_name']) line_styles = ['-','--',':'] + line_colors = ['b','g','r','m','c'] # ------------------------------------------------------------------------- # plot trajectory: @@ -57,10 +59,9 @@ def compare_results(comp_params, results_dir, comparison_dir): base_plot, = ax.plot(data[:,1], data[:,2], label=exp_set['label'], linestyle=line_styles[np.mod(i, len(line_styles))]) else: ax.plot(data[:,1], data[:,2], color=base_plot.get_color(), linestyle= line_styles[np.mod(i, len(line_styles))]) - ax.legend(loc='upper left', ncol=2) + ax.legend(loc='upper left', ncol=3) save_figure(fig, 'trajectory', comparison_dir) - # ------------------------------------------------------------------------- # plot translation error: fig = plt.figure(figsize=(6,2)) @@ -93,8 +94,27 @@ def compare_results(comp_params, results_dir, comparison_dir): else: ax.plot(distances, e*1000, color=base_plot.get_color(), linestyle= line_styles[np.mod(i, len(line_styles))]) - ax.legend(loc='upper left', ncol=2) + ax.legend(loc='upper left', ncol=3) save_figure(fig, 'translation_error', comparison_dir) + + # ------------------------------------------------------------------------- + # plot depth estimation error: + fig = plt.figure(figsize=(6,5)) + ax = fig.add_subplot(111, xlabel='Error [m]', ylabel='Precision [\%]') + for k, exp_set in enumerate(comp_params['experiment_sets']): + print('plot depth error for experiment: ' + exp_set['label']) + + for i, exp in enumerate(exp_set['experiments']): + + D = np.loadtxt(os.path.join(results_dir, exp, 'depth_error.txt'), delimiter=' ') + D = D[np.logical_and(D[:,0] > 1, D[:,0] < D[-1,0]/4),:] + errors = np.abs(D[:,1]) + if i == 0: + base_plot = analyse_depth.precision_plot(ax, errors, 0.05, line_colors[k], line_styles[np.mod(i, len(line_styles))]) + else: + base_plot = analyse_depth.precision_plot(ax, errors, 0.05, base_plot.get_color(), line_styles[np.mod(i, len(line_styles))]) + + save_figure(fig, 'depth_error', comparison_dir) if __name__ == '__main__': diff --git a/svo_analysis/scripts/evaluate.py b/svo_analysis/scripts/evaluate.py index eb9fe60..726544c 100755 --- a/svo_analysis/scripts/evaluate.py +++ b/svo_analysis/scripts/evaluate.py @@ -10,41 +10,49 @@ import csv import numpy as np import rospkg import argparse +import yaml import svo_analysis.analyse_logs as analyse_logs import svo_analysis.analyse_timing as analyse_timing import svo_analysis.analyse_trajectory as analyse_trajectory +import svo_analysis.analyse_depth as analyse_depth def evaluate_dataset(trace_dir): - # read tracefile - data = csv.reader(open(os.path.join(trace_dir, 'trace.csv'))) - fields = data.next() - D = dict() - for field in fields: - D[field] = list() + # read tracefile + data = csv.reader(open(os.path.join(trace_dir, 'trace.csv'))) + fields = data.next() + D = dict() + for field in fields: + D[field] = list() - # fill dictionary with column values - for row in data: - for (field, value) in zip(fields, row): - D[field].append(float(value)) + # fill dictionary with column values + for row in data: + for (field, value) in zip(fields, row): + D[field].append(float(value)) - # change dictionary values from list to numpy array for easier manipulation - for field, value in D.items(): - D[field] = np.array(D[field]) + # change dictionary values from list to numpy array for easier manipulation + for field, value in D.items(): + D[field] = np.array(D[field]) + + # generate plots + analyse_logs.analyse_logs(D, trace_dir) + analyse_timing.analyse_timing(D, trace_dir) + analyse_trajectory.analyse_trajectory(trace_dir) + + param = yaml.load(open(os.path.join(trace_dir, 'dataset_params.yaml'), 'r')) + if param['dataset_is_blender']: + analyse_depth.analyse_depth(trace_dir) + analyse_depth.analyse_depth_over_time(trace_dir) - # generate plots - analyse_logs.analyse_logs(D, trace_dir) - analyse_timing.analyse_timing(D, trace_dir) - analyse_trajectory.analyse_trajectory(trace_dir) if __name__=="__main__": - parser = argparse.ArgumentParser(description=''' - Evaluates tracefiles of SVO and generates the plots. - ''') - parser.add_argument('experiment_name', help='directory name of the tracefiles') - args = parser.parse_args() + parser = argparse.ArgumentParser(description=''' + Evaluates tracefiles of SVO and generates the plots. + ''') + parser.add_argument('experiment_name', help='directory name of the tracefiles') + args = parser.parse_args() - trace_dir = os.path.join(rospkg.RosPack().get_path('svo_analysis'), - 'results', - args.experiment_name) - evaluate_dataset(trace_dir) \ No newline at end of file + trace_dir = os.path.join(rospkg.RosPack().get_path('svo_analysis'), + 'results', + args.experiment_name) + evaluate_dataset(trace_dir) \ No newline at end of file diff --git a/svo_analysis/src/svo_analysis/analyse_logs.py b/svo_analysis/src/svo_analysis/analyse_logs.py index 4e40bfe..7dc2acc 100755 --- a/svo_analysis/src/svo_analysis/analyse_logs.py +++ b/svo_analysis/src/svo_analysis/analyse_logs.py @@ -1,6 +1,7 @@ #!/usr/bin/python import os +import yaml import numpy as np import matplotlib.pyplot as plt @@ -10,10 +11,7 @@ def analyse_logs(D, trace_dir): is_kf = np.argwhere( (D['dropout'] == 1) & (D['repr_n_mps'] >= 0)) is_frame = np.argwhere(D['repr_n_mps'] >= 0) is_nokf = np.argwhere( (D['dropout'] == 0) & (D['repr_n_mps'] >= 0)) - n_frames = len(is_frame) - n_kfs = len(is_kf) - n_nokf = len(is_nokf) - + # set initial time to zero D['timestamp'] = D['timestamp'] - D['timestamp'][0] @@ -65,4 +63,12 @@ def analyse_logs(D, trace_dir): ax.plot(D['timestamp'][is_frame], D['sfba_thresh'][is_frame], 'r-', label='Threshold') fig.tight_layout() fig.savefig(os.path.join(trace_dir,'optimization_thresh.pdf'), bbox_inches="tight") + + # ---------------------------------------------------------------------------- + # write other statistics to file + stat = {'num_frames': len(is_frame), + 'num_kfs': len(is_kf), + 'reproj_error_avg_improvement': float(init_error_avg - opt1_avg)} + with open(os.path.join(trace_dir,'dataset_stats.yaml'),'w') as outfile: + outfile.write(yaml.dump(stat, default_flow_style=False)) diff --git a/svo_analysis/src/svo_analysis/analyse_trajectory.py b/svo_analysis/src/svo_analysis/analyse_trajectory.py index 4b11363..15823d0 100755 --- a/svo_analysis/src/svo_analysis/analyse_trajectory.py +++ b/svo_analysis/src/svo_analysis/analyse_trajectory.py @@ -100,7 +100,7 @@ def analyse_trajectory(results_dir, n_align_frames = 200, use_hand_eye_calib = T ax = fig.add_subplot(111, title='trajectory', aspect='equal', xlabel='x [m]', ylabel='y [m]') ax.plot(p_es_aligned[:,0], p_es_aligned[:,1], 'b-', label='estimate') ax.plot(p_gt[:,0], p_gt[:,1], 'r-', label='groundtruth') - #ax.plot(p_es_aligned[0:n_align_frames,0], p_es_aligned[0:n_align_frames,1], 'g-', linewidth=2, label='aligned') + ax.plot(p_es_aligned[0:n_align_frames,0], p_es_aligned[0:n_align_frames,1], 'g-', linewidth=2, label='aligned') ax.legend() fig.tight_layout() fig.savefig(results_dir+'/trajectory.pdf') From 0abe8164521451c86ed3718e947f83fd90089dae Mon Sep 17 00:00:00 2001 From: Christian Forster Date: Mon, 19 May 2014 10:58:16 +0200 Subject: [PATCH 119/215] plot depth error percentiles --- .../src/svo_analysis/analyse_depth.py | 68 +++++++++++++++++++ 1 file changed, 68 insertions(+) create mode 100755 svo_analysis/src/svo_analysis/analyse_depth.py diff --git a/svo_analysis/src/svo_analysis/analyse_depth.py b/svo_analysis/src/svo_analysis/analyse_depth.py new file mode 100755 index 0000000..41a9c21 --- /dev/null +++ b/svo_analysis/src/svo_analysis/analyse_depth.py @@ -0,0 +1,68 @@ +#!/usr/bin/python + +import os +import yaml +import argparse +import numpy as np +import matplotlib.pyplot as plt +import svo_analysis.tum_benchmark_tools.associate as associate +import vikit_py.transformations as transformations +import vikit_py.align_trajectory as align_trajectory +from matplotlib import rc + +rc('font',**{'family':'serif','serif':['Cardo']}) +rc('text', usetex=True) + +def precision_plot(ax, errors, max_error, color, linestyle): + number_of_error_ranges = 500 + error_step = max_error / number_of_error_ranges + precision_array = np.zeros(number_of_error_ranges) + error_array = np.zeros(number_of_error_ranges) + n_measurements = len(errors) + for error_ind in range(0, number_of_error_ranges): + precision_array[error_ind] = np.sum(errors < error_step*error_ind) / float(n_measurements) * 100.0 + error_array[error_ind] = error_step*error_ind + plot_obj, = ax.plot(error_array, precision_array, label='error', linestyle=linestyle, color=color) + return plot_obj + +def analyse_depth(results_dir): + D = np.loadtxt(os.path.join(results_dir, 'depth_error.txt'), delimiter=' ') + D = D[D[:,0] > 1,:] + + fig = plt.figure(figsize=(6,5)) + ax = fig.add_subplot(111, xlabel='depth error [m]', ylabel='Precision [\%]') + errors = np.abs(D[:,1]) + precision_plot(ax, errors, 0.05, 'r', '-') + fig.tight_layout() + fig.savefig(os.path.join(results_dir,'depth_error.pdf'), bbox_inches="tight") + +def analyse_depth_over_time(results_dir): + D = np.loadtxt(os.path.join(results_dir, 'depth_error.txt'), delimiter=' ') + D = D[D[:,0] > 1,:] + + fig = plt.figure(figsize=(6,5)) + ax = fig.add_subplot(111, xlabel='Measurement', ylabel='Scale-Drift') + + idxs = np.unique(D[:,0]) + percentile_20 = np.zeros(len(idxs)) + percentile_50 = np.zeros(len(idxs)) + percentile_80 = np.zeros(len(idxs)) + for i in range(len(idxs)): + errors = np.abs(D[D[:,0]==idxs[i],1]) + percentile_20[i] = np.percentile(errors, 20) + percentile_50[i] = np.percentile(errors, 50) + percentile_80[i] = np.percentile(errors, 80) + + base_plot, = ax.plot(idxs, percentile_50, linewidth=2) + ax.fill_between(idxs, percentile_20, percentile_80, alpha=0.25, color=base_plot.get_color()) + fig.tight_layout() + fig.savefig(os.path.join(results_dir,'scale_drift.pdf'), bbox_inches="tight") + + + +if __name__ == '__main__': + parser = argparse.ArgumentParser(description='Analyse depth estimate') + parser.add_argument('results_dir', help='folder with the results') + args = parser.parse_args() + analyse_depth(args.results_dir) + analyse_depth_over_time(args.results_dir) \ No newline at end of file From 81f5c329fc922aaa6cf85a8788cc96eb20e082a5 Mon Sep 17 00:00:00 2001 From: Christian Forster Date: Mon, 19 May 2014 10:59:25 +0200 Subject: [PATCH 120/215] remove unused includes --- svo_analysis/src/svo_analysis/analyse_depth.py | 4 ---- 1 file changed, 4 deletions(-) diff --git a/svo_analysis/src/svo_analysis/analyse_depth.py b/svo_analysis/src/svo_analysis/analyse_depth.py index 41a9c21..4ce2b5c 100755 --- a/svo_analysis/src/svo_analysis/analyse_depth.py +++ b/svo_analysis/src/svo_analysis/analyse_depth.py @@ -1,13 +1,9 @@ #!/usr/bin/python import os -import yaml import argparse import numpy as np import matplotlib.pyplot as plt -import svo_analysis.tum_benchmark_tools.associate as associate -import vikit_py.transformations as transformations -import vikit_py.align_trajectory as align_trajectory from matplotlib import rc rc('font',**{'family':'serif','serif':['Cardo']}) From 0f259084cdc246892b8d068e434a9958e97eee00 Mon Sep 17 00:00:00 2001 From: Christian Forster Date: Mon, 19 May 2014 12:00:54 +0200 Subject: [PATCH 121/215] add noise to image in benchmarking synthetic datasets --- svo_ros/src/benchmark_node.cpp | 20 +++++++++++++++++++- 1 file changed, 19 insertions(+), 1 deletion(-) diff --git a/svo_ros/src/benchmark_node.cpp b/svo_ros/src/benchmark_node.cpp index fac59e0..a1c96e1 100644 --- a/svo_ros/src/benchmark_node.cpp +++ b/svo_ros/src/benchmark_node.cpp @@ -26,6 +26,7 @@ #include #include #include +#include #include #include #include @@ -48,6 +49,7 @@ class BenchmarkNode std::ofstream trace_rot_error_; std::ofstream trace_depth_error_; vk::AbstractCamera* cam_; + double img_noise_sigma_; public: BenchmarkNode(ros::NodeHandle& nh); @@ -55,13 +57,15 @@ public: void tracePose(const SE3& T_w_f, const double timestamp); void tracePoseError(const SE3& T_f_gt, const double timestamp); void traceDepthError(const FramePtr& frame, const cv::Mat& depthmap); + void addNoiseToImage(cv::Mat& img, double sigma); void runBenchmark(const std::string& dataset_dir); void runBlenderBenchmark(const std::string& dataset_dir); }; BenchmarkNode::BenchmarkNode(ros::NodeHandle& nh) : vo_(NULL), - frame_count_(0) + frame_count_(0), + img_noise_sigma_(vk::getParam("svo/dataset_noise_sigma", 0.0)) { // Create Camera if(!vk::camera_loader::loadFromRosNs("svo", cam_)) @@ -159,6 +163,18 @@ void BenchmarkNode::runBenchmark(const std::string& dataset_dir) } } +void BenchmarkNode::addNoiseToImage(cv::Mat& img, double sigma) +{ + uint8_t* p = (uint8_t*) img.data; + uint8_t* p_end = img.ptr(img.rows, img.cols); + while(p != p_end) + { + int val = *p + vk::Sample::gaussian(sigma) + 0.5; + *p = std::max(std::min(val, 255), 0); + ++p; + } +} + void BenchmarkNode::runBlenderBenchmark(const std::string& dataset_dir) { // create image reader and load dataset @@ -189,6 +205,8 @@ void BenchmarkNode::runBlenderBenchmark(const std::string& dataset_dir) SVO_ERROR_STREAM("Reading image "< 0) + addNoiseToImage(img, img_noise_sigma_); cv::Mat depthmap; vk::blender_utils::loadBlenderDepthmap( dataset_dir+"/depth/"+it->image_name_+"_0.depth", *cam_, depthmap); From d6927c0bbeac76250020a5039885f7a208d69806 Mon Sep 17 00:00:00 2001 From: Christian Forster Date: Mon, 19 May 2014 12:02:16 +0200 Subject: [PATCH 122/215] new comparison file --- svo_analysis/comparisons/textures.yaml | 22 ++++++++++++++++++++++ 1 file changed, 22 insertions(+) create mode 100644 svo_analysis/comparisons/textures.yaml diff --git a/svo_analysis/comparisons/textures.yaml b/svo_analysis/comparisons/textures.yaml new file mode 100644 index 0000000..7279f6e --- /dev/null +++ b/svo_analysis/comparisons/textures.yaml @@ -0,0 +1,22 @@ +comparison_name: textures +experiment_sets: +- label: 'T1' + experiments: + - 20140516_1449_svo_ros_synthetic_all_str_tex1_h1_v6_d + - 20140516_1449_svo_ros_synthetic_all_str_tex1_h1_v9_d + - 20140516_1449_svo_ros_synthetic_all_str_tex1_h1_v12_d +- label: 'T2' + experiments: + - 20140516_1449_svo_ros_synthetic_all_str_tex2_h1_v6_d + - 20140516_1449_svo_ros_synthetic_all_str_tex2_h1_v9_d + - 20140516_1449_svo_ros_synthetic_all_str_tex2_h1_v12_d +- label: 'T3' + experiments: + - 20140516_1449_svo_ros_synthetic_all_str_tex3_h1_v6_d + - 20140516_1449_svo_ros_synthetic_all_str_tex3_h1_v9_d + - 20140516_1449_svo_ros_synthetic_all_str_tex3_h1_v12_d +# - label: 'T4' +# experiments: +# - 20140516_1449_svo_ros_synthetic_all_str_tex4_h1_v6_d +# - 20140516_1449_svo_ros_synthetic_all_str_tex4_h1_v9_d +# - 20140516_1449_svo_ros_synthetic_all_str_tex4_h1_v12_d \ No newline at end of file From e8d6757e9e83e222d75e780e5bd804f66e831126 Mon Sep 17 00:00:00 2001 From: Christian Forster Date: Thu, 22 May 2014 19:48:02 +0200 Subject: [PATCH 123/215] comparison of depth estimates in synthetic scenes --- svo_analysis/scripts/comparison.py | 49 +++-- .../src/svo_analysis/analyse_depth.py | 38 ++-- .../src/svo_analysis/analyse_trajectory.py | 206 +++++++++--------- .../src/svo_analysis/hand_eye_calib.py | 91 ++++---- .../tum_benchmark_tools/associate.py | 4 +- 5 files changed, 210 insertions(+), 178 deletions(-) diff --git a/svo_analysis/scripts/comparison.py b/svo_analysis/scripts/comparison.py index f2ac8a7..a502ad1 100755 --- a/svo_analysis/scripts/comparison.py +++ b/svo_analysis/scripts/comparison.py @@ -40,6 +40,13 @@ def distances_along_trajectory(traj): distances.append(sum) return distances +def get_distance_from_start(gt): + distances = np.diff(gt[:,1:4],axis=0) + distances = np.sqrt(np.sum(np.multiply(distances,distances),1)) + distances = np.cumsum(distances) + distances = np.concatenate(([0], distances)) + return distances + def compare_results(comp_params, results_dir, comparison_dir): print('run comparison: '+comp_params['comparison_name']) @@ -71,10 +78,7 @@ def compare_results(comp_params, results_dir, comparison_dir): for i, exp in enumerate(exp_set['experiments']): gt = np.loadtxt(os.path.join(results_dir, exp, 'groundtruth_matched.txt')) - distances = np.diff(gt[:,1:4],axis=0) - distances = np.sqrt(np.sum(np.multiply(distances,distances),1)) - distances = np.cumsum(distances) - distances = np.concatenate(([0], distances)) + distances = get_distance_from_start(gt) data = np.loadtxt(os.path.join(results_dir, exp, 'translation_error.txt')) e = np.sqrt(np.sum(np.multiply(data[:,1:4],data[:,1:4]),1)) @@ -100,21 +104,30 @@ def compare_results(comp_params, results_dir, comparison_dir): # ------------------------------------------------------------------------- # plot depth estimation error: fig = plt.figure(figsize=(6,5)) - ax = fig.add_subplot(111, xlabel='Error [m]', ylabel='Precision [\%]') + ax = fig.add_subplot(111, xlabel='Travelled distance [m]', ylabel='Error [m]') for k, exp_set in enumerate(comp_params['experiment_sets']): - print('plot depth error for experiment: ' + exp_set['label']) - - for i, exp in enumerate(exp_set['experiments']): - - D = np.loadtxt(os.path.join(results_dir, exp, 'depth_error.txt'), delimiter=' ') - D = D[np.logical_and(D[:,0] > 1, D[:,0] < D[-1,0]/4),:] - errors = np.abs(D[:,1]) - if i == 0: - base_plot = analyse_depth.precision_plot(ax, errors, 0.05, line_colors[k], line_styles[np.mod(i, len(line_styles))]) - else: - base_plot = analyse_depth.precision_plot(ax, errors, 0.05, base_plot.get_color(), line_styles[np.mod(i, len(line_styles))]) - - save_figure(fig, 'depth_error', comparison_dir) + print('plot depth error for experiment: ' + exp) + exp = exp_set['experiments'][0] + gt = np.loadtxt(os.path.join(results_dir, exp, 'groundtruth_matched.txt')) + x_axis_data = get_distance_from_start(gt) + analyse_depth.plot_depth_over_time(os.path.join(results_dir, exp), ax, + x_axis_data[1:], line_colors[k], exp_set['label']) + ax.legend(loc='upper left', ncol=3) + save_figure(fig, 'depth_error_textures', comparison_dir) + + fig = plt.figure(figsize=(6,5)) + ax = fig.add_subplot(111, xlabel='Travelled distance [m]', ylabel='Error [m]') + exp_set = comp_params['experiment_sets'][0] + for i, exp in enumerate(exp_set['experiments']): + print('plot depth error for speed: ' + exp) + gt = np.loadtxt(os.path.join(results_dir, exp, 'groundtruth_matched.txt')) + x_axis_data = get_distance_from_start(gt) + params = yaml.load(open(os.path.join(results_dir, exp, 'dataset_params.yaml'))) + analyse_depth.plot_depth_over_time(os.path.join(results_dir, exp), ax, + x_axis_data[1:], line_colors[i], + str(params['trajectory_modifiers']['speed'])+' m/s') + ax.legend(loc='upper left', ncol=3) + save_figure(fig, 'depth_error_speed', comparison_dir) if __name__ == '__main__': diff --git a/svo_analysis/src/svo_analysis/analyse_depth.py b/svo_analysis/src/svo_analysis/analyse_depth.py index 4ce2b5c..8a21b53 100755 --- a/svo_analysis/src/svo_analysis/analyse_depth.py +++ b/svo_analysis/src/svo_analysis/analyse_depth.py @@ -32,33 +32,35 @@ def analyse_depth(results_dir): fig.tight_layout() fig.savefig(os.path.join(results_dir,'depth_error.pdf'), bbox_inches="tight") -def analyse_depth_over_time(results_dir): + +def plot_depth_over_time(results_dir, ax, x_axis_data, color, label=''): D = np.loadtxt(os.path.join(results_dir, 'depth_error.txt'), delimiter=' ') D = D[D[:,0] > 1,:] - - fig = plt.figure(figsize=(6,5)) - ax = fig.add_subplot(111, xlabel='Measurement', ylabel='Scale-Drift') - idxs = np.unique(D[:,0]) - percentile_20 = np.zeros(len(idxs)) + percentile_10 = np.zeros(len(idxs)) percentile_50 = np.zeros(len(idxs)) - percentile_80 = np.zeros(len(idxs)) + percentile_90 = np.zeros(len(idxs)) for i in range(len(idxs)): errors = np.abs(D[D[:,0]==idxs[i],1]) - percentile_20[i] = np.percentile(errors, 20) + percentile_10[i] = np.percentile(errors, 10) percentile_50[i] = np.percentile(errors, 50) - percentile_80[i] = np.percentile(errors, 80) - - base_plot, = ax.plot(idxs, percentile_50, linewidth=2) - ax.fill_between(idxs, percentile_20, percentile_80, alpha=0.25, color=base_plot.get_color()) - fig.tight_layout() - fig.savefig(os.path.join(results_dir,'scale_drift.pdf'), bbox_inches="tight") - - - + percentile_90[i] = np.percentile(errors, 90) + if len(x_axis_data) == 0: + x_axis_data = idxs + print np.shape(x_axis_data) + print np.shape(idxs) + print '--' + ax.plot(x_axis_data, percentile_50, linewidth=2, color=color, label=label) + ax.plot(x_axis_data, percentile_10, linewidth=0.5, color=color, alpha=0.5) + ax.plot(x_axis_data, percentile_90, linewidth=0.5, color=color, alpha=0.5) + ax.fill_between(x_axis_data, percentile_10, percentile_90, color=color, alpha=0.1) + if __name__ == '__main__': parser = argparse.ArgumentParser(description='Analyse depth estimate') parser.add_argument('results_dir', help='folder with the results') args = parser.parse_args() analyse_depth(args.results_dir) - analyse_depth_over_time(args.results_dir) \ No newline at end of file + + fig = plt.figure(figsize=(6,5)) + ax = fig.add_subplot(111, xlabel='Measurement', ylabel='Scale-Drift') + plot_depth_over_time(args.results_dir, [], ax) \ No newline at end of file diff --git a/svo_analysis/src/svo_analysis/analyse_trajectory.py b/svo_analysis/src/svo_analysis/analyse_trajectory.py index 15823d0..c2c93de 100755 --- a/svo_analysis/src/svo_analysis/analyse_trajectory.py +++ b/svo_analysis/src/svo_analysis/analyse_trajectory.py @@ -32,117 +32,119 @@ def plot_rotation_error(timestamps, rotation_error, results_dir): fig.tight_layout() fig.savefig(results_dir+'/orientation_error.pdf') -def analyse_trajectory(results_dir, n_align_frames = 200, use_hand_eye_calib = True): - - if not os.path.isfile(os.path.join(results_dir, 'translation_error.txt')): - - T_cm, T_mc = load_hand_eye_calib(results_dir) - print('loading datasets.') - t_es, p_es, q_es, t_gt, p_gt, q_gt = load_dataset(results_dir) - - # align Sim3 to get scale - print('align Sim3 using '+str(n_align_frames)+' first frames.') - scale,rot,trans = align_trajectory.align_sim3(p_gt[0:n_align_frames,:], p_es[0:n_align_frames,:]) - print 'scale = '+str(scale) - - # get trafo between (v)ision and (o)ptitrack frame - p_es_aligned = np.zeros(np.shape(p_es)) - if use_hand_eye_calib: - print q_gt[0,:] - print p_gt[0,:] - T_om = get_rigid_body_trafo(q_gt[0,:], p_gt[0,:]) - T_vc = get_rigid_body_trafo(q_es[0,:], scale*p_es[0,:]) - T_cv = transformations.inverse_matrix(T_vc) - T_ov = np.dot(T_om, np.dot(T_mc, T_cv)) - print 'T_ov = ' + str(T_ov) +def analyse_synthetic_trajectory(results_dir): + data = np.loadtxt(os.path.join(results_dir, 'translation_error.txt')) + timestamps = data[:,0] + translation_error = data[:,1:4] + plot_translation_error(timestamps, translation_error, results_dir) - # apply transformation to estimated trajectory - q_es_aligned = np.zeros(np.shape(q_es)) - rpy_es_aligned = np.zeros(np.shape(p_es)) - rpy_gt = np.zeros(np.shape(p_es)) - for i in range(np.shape(p_es)[0]): - T_vc = get_rigid_body_trafo(q_es[i,:],p_es[i,:]) - T_vc[0:3,3] *= scale - T_om = np.dot(T_ov, np.dot(T_vc, T_cm)) - p_es_aligned[i,:] = T_om[0:3,3] - q_es_aligned[i,:] = transformations.quaternion_from_matrix(T_om) - rpy_es_aligned[i,:] = transformations.euler_from_quaternion(q_es_aligned[i,:], 'rzyx') - rpy_gt[i,:] = transformations.euler_from_quaternion(q_gt[i,:], 'rzyx') - - # plot position error (drift) - translation_error = (p_gt-p_es_aligned) - plot_translation_error(t_es, translation_error, results_dir) - - # plot orientation error (drift) - orientation_error = (rpy_gt - rpy_es_aligned) - plot_rotation_error(t_es, orientation_error, results_dir) + # plot orientation error + data = np.loadtxt(os.path.join(results_dir, 'orientation_error.txt')) + timestamps = data[:,0] + orientation_error = data[:,1:4] + plot_rotation_error(timestamps, orientation_error, results_dir) - # plot scale drift - motion_gt = np.diff(p_gt, 0) - motion_es = np.diff(p_es_aligned, 0) - dist_gt = np.sqrt(np.sum(np.multiply(motion_gt,motion_gt),1)) - dist_es = np.sqrt(np.sum(np.multiply(motion_es,motion_es),1)) - fig = plt.figure(figsize=(8,2.5)) - ax = fig.add_subplot(111, xlabel='time [s]', ylabel='scale change [\%]', xlim=[0,t_es[-1]+4]) - scale_drift = np.divide(dist_es,dist_gt)*100-100 - ax.plot(t_es, scale_drift, 'b-') - fig.tight_layout() - - else: - for i in range(np.shape(p_es)[0]): - p_es_aligned[i,:] = scale*rot.dot(p_es[i,:]) + trans - # plot position error (drift) - translation_error = (p_gt-p_es_aligned) - plot_translation_error(t_es, translation_error, results_dir) - - # plot trajectory - fig = plt.figure() - ax = fig.add_subplot(111, title='trajectory', aspect='equal', xlabel='x [m]', ylabel='y [m]') - ax.plot(p_es_aligned[:,0], p_es_aligned[:,1], 'b-', label='estimate') - ax.plot(p_gt[:,0], p_gt[:,1], 'r-', label='groundtruth') - ax.plot(p_es_aligned[0:n_align_frames,0], p_es_aligned[0:n_align_frames,1], 'g-', linewidth=2, label='aligned') - ax.legend() - fig.tight_layout() - fig.savefig(results_dir+'/trajectory.pdf') - +def analyse_optitrack_trajectory_with_hand_eye_calib(results_dir, params, n_align_frames = 200): + print('loading hand-eye-calib') + T_cm_quat = np.array([params['hand_eye_calib']['Tcm_qx'], + params['hand_eye_calib']['Tcm_qy'], + params['hand_eye_calib']['Tcm_qz'], + params['hand_eye_calib']['Tcm_qw']]) + T_cm_tran = np.array([params['hand_eye_calib']['Tcm_tx'], + params['hand_eye_calib']['Tcm_ty'], + params['hand_eye_calib']['Tcm_tz']]) + T_cm = get_rigid_body_trafo(T_cm_quat, T_cm_tran) + T_mc = transformations.inverse_matrix(T_cm) - - else: - data = np.loadtxt(os.path.join(results_dir, 'translation_error.txt')) - timestamps = data[:,0] - translation_error = data[:,1:4] - plot_translation_error(timestamps, translation_error, results_dir) - - # plot orientation error - data = np.loadtxt(os.path.join(results_dir, 'orientation_error.txt')) - timestamps = data[:,0] - orientation_error = data[:,1:4] - plot_rotation_error(timestamps, orientation_error, results_dir) + t_es, p_es, q_es, t_gt, p_gt, q_gt = load_dataset(results_dir, params['cam_delay']) + + # align Sim3 to get scale + print('align Sim3 using '+str(n_align_frames)+' first frames.') + scale,rot,trans = align_trajectory.align_sim3(p_gt[0:n_align_frames,:], p_es[0:n_align_frames,:]) + print 'scale = '+str(scale) + # get trafo between (v)ision and (o)ptitrack frame + print q_gt[0,:] + print p_gt[0,:] + T_om = get_rigid_body_trafo(q_gt[0,:], p_gt[0,:]) + T_vc = get_rigid_body_trafo(q_es[0,:], scale*p_es[0,:]) + T_cv = transformations.inverse_matrix(T_vc) + T_ov = np.dot(T_om, np.dot(T_mc, T_cv)) + print 'T_ov = ' + str(T_ov) + + # apply transformation to estimated trajectory + q_es_aligned = np.zeros(np.shape(q_es)) + rpy_es_aligned = np.zeros(np.shape(p_es)) + rpy_gt = np.zeros(np.shape(p_es)) + p_es_aligned = np.zeros(np.shape(p_es)) + for i in range(np.shape(p_es)[0]): + T_vc = get_rigid_body_trafo(q_es[i,:],p_es[i,:]) + T_vc[0:3,3] *= scale + T_om = np.dot(T_ov, np.dot(T_vc, T_cm)) + p_es_aligned[i,:] = T_om[0:3,3] + q_es_aligned[i,:] = transformations.quaternion_from_matrix(T_om) + rpy_es_aligned[i,:] = transformations.euler_from_quaternion(q_es_aligned[i,:], 'rzyx') + rpy_gt[i,:] = transformations.euler_from_quaternion(q_gt[i,:], 'rzyx') + + # plot position error (drift) + translation_error = (p_gt-p_es_aligned) + plot_translation_error(t_es, translation_error, results_dir) + + # plot orientation error (drift) + orientation_error = (rpy_gt - rpy_es_aligned) + plot_rotation_error(t_es, orientation_error, results_dir) + # plot scale drift + motion_gt = np.diff(p_gt, 0) + motion_es = np.diff(p_es_aligned, 0) + dist_gt = np.sqrt(np.sum(np.multiply(motion_gt,motion_gt),1)) + dist_es = np.sqrt(np.sum(np.multiply(motion_es,motion_es),1)) + fig = plt.figure(figsize=(8,2.5)) + ax = fig.add_subplot(111, xlabel='time [s]', ylabel='scale change [\%]', xlim=[0,t_es[-1]+4]) + scale_drift = np.divide(dist_es,dist_gt)*100-100 + ax.plot(t_es, scale_drift, 'b-') + fig.tight_layout() + fig.savefig(results_dir+'/scale_drift.pdf') + + # plot trajectory + fig = plt.figure() + ax = fig.add_subplot(111, title='trajectory', aspect='equal', xlabel='x [m]', ylabel='y [m]') + ax.plot(p_es_aligned[:,0], p_es_aligned[:,1], 'b-', label='estimate') + ax.plot(p_gt[:,0], p_gt[:,1], 'r-', label='groundtruth') + ax.plot(p_es_aligned[0:n_align_frames,0], p_es_aligned[0:n_align_frames,1], 'g-', linewidth=2, label='aligned') + ax.legend() + fig.tight_layout() + fig.savefig(results_dir+'/trajectory.pdf') + +def analyse_trajectory(results_dir, n_align_frames = 200, use_hand_eye_calib = True): + params = yaml.load(open(os.path.join(results_dir, 'dataset_params.yaml'),'r')) + if params['dataset_is_blender']: + analyse_synthetic_trajectory(results_dir) + elif use_hand_eye_calib: + analyse_optitrack_trajectory_with_hand_eye_calib(results_dir, params, n_align_frames) + else: + t_es, p_es, q_es, t_gt, p_gt, q_gt = load_dataset(results_dir, params['cam_delay']) + scale,rot,trans = align_trajectory.align_sim3(p_gt[0:n_align_frames,:], p_es[0:n_align_frames,:]) + p_es_aligned = np.zeros(np.shape(p_es)) + for i in range(np.shape(p_es)[0]): + p_es_aligned[i,:] = scale*rot.dot(p_es[i,:]) + trans + # plot position error (drift) + translation_error = (p_gt-p_es_aligned) + plot_translation_error(t_es, translation_error, results_dir) + def get_rigid_body_trafo(quat,trans): T = transformations.quaternion_matrix(quat) T[0:3,3] = trans return T - -def load_hand_eye_calib(results_dir): - P = yaml.load(open(os.path.join(results_dir, 'dataset_params.yaml'),'r'))['hand_eye_calib'] - - T_cm_quat = np.array([P['Tcm_qx'], P['Tcm_qy'], P['Tcm_qz'], P['Tcm_qw']]) - T_cm_tran = np.array([P['Tcm_tx'], P['Tcm_ty'], P['Tcm_tz']]) - T_cm = get_rigid_body_trafo(T_cm_quat, T_cm_tran) - T_mc = transformations.inverse_matrix(T_cm) - return T_cm, T_mc - -def load_dataset(results_dir): - """ - Assumes that groundtruth measurements are already matched with the - images. - """ + +def load_dataset(results_dir, cam_delay): + print('loading dataset in '+results_dir) + print('cam_delay = '+str(cam_delay)) - data_gt = open(os.path.join(results_dir, 'groundtruth_matched.txt')).read() + data_gt = open(os.path.join(results_dir, 'groundtruth.txt')).read() lines = data_gt.replace(","," ").replace("\t"," ").split("\n") - data_gt = np.array([[np.float(v.strip()) for i,v in enumerate(line.split(" ")) if i != 1 and v.strip()!=""] for line in lines if len(line)>0 and line[0]!="#"]) + data_gt = np.array([[np.float(v.strip()) for i,v in enumerate(line.split(" ")) if v.strip()!=""] for line in lines if len(line)>0 and line[0]!="#"]) + #data_gt = np.array([[np.float(v.strip()) for i,v in enumerate(line.split(" ")) if i != 1 and v.strip()!=""] for line in lines if len(line)>0 and line[0]!="#"]) data_gt = [(float(l[0]),l[1:]) for l in data_gt] data_gt = dict(data_gt) @@ -152,7 +154,7 @@ def load_dataset(results_dir): data_es = [(float(l[0]),l[1:]) for l in data_es] data_es = dict(data_es) - matches = associate.associate(data_gt, data_es, 0.0, 0.0001) + matches = associate.associate(data_gt, data_es, -cam_delay, 0.02) p_gt = np.array([[np.float(value) for value in data_gt[a][0:3]] for a,b in matches]) q_gt = np.array([[np.float(value) for value in data_gt[a][3:7]] for a,b in matches]) p_es = np.array([[np.float(value) for value in data_es[b][0:3]] for a,b in matches]) @@ -174,7 +176,7 @@ if __name__ == '__main__': ''') parser.add_argument('results_dir', help='folder with the results') parser.add_argument('--use_hand_eye_calib', help='', action='store_true') - parser.add_argument('--n_align_frames', help='', default=20) + parser.add_argument('--n_align_frames', help='', default=200) args = parser.parse_args() print('analyse trajectory for dataset: '+str(args.results_dir)) diff --git a/svo_analysis/src/svo_analysis/hand_eye_calib.py b/svo_analysis/src/svo_analysis/hand_eye_calib.py index f0eae14..a54b4f8 100644 --- a/svo_analysis/src/svo_analysis/hand_eye_calib.py +++ b/svo_analysis/src/svo_analysis/hand_eye_calib.py @@ -4,41 +4,37 @@ Created on Sun Aug 4 15:47:55 2013 @author: cforster """ - +import os import yaml import numpy as np -import associate -import rotation_utils as ru +import svo_analysis.tum_benchmark_tools.associate as associate +import vikit_py.align_trajectory as align_trajectory +import vikit_py.transformations as transformations import matplotlib.pyplot as plt # user config display = True -dataset = '20130906_2149_ptam_i7_asl2' -n_measurements = 1000 -delta = 20 +dataset_dir = '/home/cforster/catkin_ws/src/rpg_svo/svo_analysis/results/rpg_circle_1' +n_measurements = 400 +n_align_sim3 = 600 +delta = 50 # load dataset parameters -dataset_dir = '../results/'+dataset -params_stream = open(dataset_dir+'/params.yaml') -params = yaml.load(params_stream) +params = yaml.load(open(os.path.join(dataset_dir, 'dataset_params.yaml'))) # set trajectory groundtruth and estimate file -traj_groundtruth = params['dataset_directory']+'/groundtruth_filtered.txt' -traj_estimate = dataset_dir+'/traj_estimate.txt' - -# load dataset params -dataset_param_file_stream = open(params['dataset_directory']+'/dataset_params.yaml','r') -dataset_param = yaml.load(dataset_param_file_stream) +traj_groundtruth = os.path.join(dataset_dir, 'groundtruth.txt') +traj_estimate = os.path.join(dataset_dir,'traj_estimate.txt') # load data data_gt = associate.read_file_list(traj_groundtruth) data_es = associate.read_file_list(traj_estimate) # select matches -#offset = -dataset_param['cam_delay'] -offset = -0.03 +offset = -params['cam_delay'] +print ('offset = '+str(offset)) matches = associate.associate(data_gt, data_es, offset, 0.02) -#matches = matches[0:470] +#matches = matches[500:] p_gt = np.array([[float(value) for value in data_gt[a][0:3]] for a,b in matches]) q_gt = np.array([[float(value) for value in data_gt[a][3:7]] for a,b in matches]) p_es = np.array([[float(value) for value in data_es[b][0:3]] for a,b in matches]) @@ -46,30 +42,49 @@ q_es = np.array([[float(value) for value in data_es[b][3:7]] for a,b in matches] # -------------------------------------------------------------------------------- # align Sim3 to get scale -scale,rot,trans = align_sim3(p_gt, p_es, np.shape(matches)[0]) -p_es = scale*p_es -#p_es = np.transpose(scale*np.dot(rot,np.transpose(p_es)))+trans +scale,rot,trans = align_trajectory.align_sim3(p_gt[0:n_align_sim3,:], p_es[0:n_align_sim3,:]) +#model_aligned = s * R * model + t +#alignment_error = model_aligned - data +#t_error = np.sqrt(np.sum(np.multiply(alignment_error,alignment_error),0)).A[0] + +p_es_aligned = np.transpose(scale*np.dot(rot,np.transpose(p_es)))+trans +p_es = scale*p_es + + print 's='+str(scale) -#print 't='+str(trans) -#print 'R='+str(rot) +print 't='+str(trans) +print 'R='+str(rot) # plot sim3 aligned trajectory -if display: - fig = plt.figure() - ax = fig.add_subplot(111, aspect='equal') - ax.plot(p_es[:,0], p_es[:,1], 'r-', label='estimate') - ax.plot(p_gt[:,0], p_gt[:,1], 'b-', label='groundtruth') - ax.legend() +fig = plt.figure() +ax = fig.add_subplot(111, aspect='equal') +ax.plot(p_es_aligned[:,0], p_es_aligned[:,1], 'r-', label='estimate', alpha=0.2) +ax.plot(p_gt[:,0], p_gt[:,1], 'b-', label='groundtruth', alpha=0.2) +ax.plot(p_es_aligned[:n_align_sim3,0], p_es_aligned[:n_align_sim3,1], 'g-', label='aligned', linewidth=2) +ax.plot(p_gt[:n_align_sim3,0], p_gt[:n_align_sim3,1], 'm-', label='aligned', linewidth=2) +ax.legend() +for (x1,y1,z1),(x2,y2,z2) in zip(p_es_aligned[:n_align_sim3:10],p_gt[:n_align_sim3:10]): + ax.plot([x1,x2],[y1,y2],'-',color="red") + +fig = plt.figure() +ax = fig.add_subplot(111) +ax.plot(p_gt[:,0], 'r-') +ax.plot(p_gt[:,1], 'g-') +ax.plot(p_gt[:,2], 'b-') +ax.plot(p_es_aligned[:,0], 'r--') +ax.plot(p_es_aligned[:,1], 'g--') +ax.plot(p_es_aligned[:,2], 'b--') + # -------------------------------------------------------------------------------- # hand-eye-calib # select random measurements -I = np.array(rand(n_measurements,1)*(np.shape(matches)[0]-delta), dtype=int)[:,0] -R,b = hand_eye_calib(q_gt, q_es, p_gt, p_es, I, delta, True) +I = np.array(np.random.rand(n_measurements,1)*(np.shape(matches)[0]-delta), dtype=int)[:,0] +R,b = align_trajectory.hand_eye_calib(q_gt, q_es, p_gt, p_es, I, delta, True) -print 'quat = ' + str(ru.dcm2quat(R)) +print 'quat = ' + str(transformations.quaternion_from_matrix(transformations.convert_3x3_to_4x4(R))) print 'b = ' + str(b) rpy_es = np.zeros([q_es.shape[0]-1, 3]) @@ -78,15 +93,15 @@ t_gt = np.zeros([q_es.shape[0]-1,3]) t_es = np.zeros([q_es.shape[0]-1,3]) for i in range(delta,np.shape(q_es)[0]): - A1 = ru.quat2dcm(q_es[i-delta,:]) - A2 = ru.quat2dcm(q_es[i,:]) + A1 = transformations.quaternion_matrix(q_es[i-delta,:])[:3,:3] + A2 = transformations.quaternion_matrix(q_es[i,:])[:3,:3] A = np.dot(A1.transpose(), A2) - B1 = ru.quat2dcm(q_gt[i-delta,:]) - B2 = ru.quat2dcm(q_gt[i,:]) + B1 = transformations.quaternion_matrix(q_gt[i-delta,:])[:3,:3] + B2 = transformations.quaternion_matrix(q_gt[i,:])[:3,:3] B = np.dot(B1.transpose(), B2) B_es = np.dot(np.transpose(R), np.dot(A, R)) - rpy_gt[i-delta,:] = ru.dcm2rpy(B) - rpy_es[i-delta,:] = ru.dcm2rpy(B_es) + rpy_gt[i-delta,:] = transformations.euler_from_matrix(B, 'rzyx') + rpy_es[i-delta,:] = transformations.euler_from_matrix(B_es, 'rzyx') t_B = np.dot(np.transpose(B1),(p_gt[i,:]-p_gt[i-delta,:])) t_A = np.dot(np.transpose(A1),(p_es[i,:]-p_es[i-delta,:])) t_gt[i-delta,:] = t_B diff --git a/svo_analysis/src/svo_analysis/tum_benchmark_tools/associate.py b/svo_analysis/src/svo_analysis/tum_benchmark_tools/associate.py index 01bea59..361cdd5 100755 --- a/svo_analysis/src/svo_analysis/tum_benchmark_tools/associate.py +++ b/svo_analysis/src/svo_analysis/tum_benchmark_tools/associate.py @@ -106,8 +106,8 @@ if __name__ == '__main__': parser = argparse.ArgumentParser(description=''' This script takes two data files with timestamps and associates them ''') - parser.add_argument('first_file', help='first text file (format: timestamp data)') - parser.add_argument('second_file', help='second text file (format: timestamp data)') + parser.add_argument('first_file', help='estimated trajectory (format: timestamp data)') + parser.add_argument('second_file', help='groundtruth (format: timestamp data)') parser.add_argument('--offset', help='time offset added to the timestamps of the second file (default: 0.0)',default=0.0) parser.add_argument('--max_difference', help='maximally allowed time difference for matching entries (default: 0.02)',default=0.02) args = parser.parse_args() From 4bc234e49060f24e8aa7d22250d417930b728c41 Mon Sep 17 00:00:00 2001 From: Christian Forster Date: Fri, 23 May 2014 15:31:48 +0200 Subject: [PATCH 124/215] apply rotation to dense-input-msgs --- svo_ros/src/visualizer.cpp | 7 +++++-- 1 file changed, 5 insertions(+), 2 deletions(-) diff --git a/svo_ros/src/visualizer.cpp b/svo_ros/src/visualizer.cpp index a06827e..6f50461 100644 --- a/svo_ros/src/visualizer.cpp +++ b/svo_ros/src/visualizer.cpp @@ -298,8 +298,11 @@ void Visualizer::exportToDense(const FramePtr& frame) msg.min_depth = (float) min_z; msg.max_depth = (float) max_z; - Quaterniond q(frame->T_f_w_.inverse().rotation_matrix()); - Vector3d p(frame->T_f_w_.inverse().translation()); + // publish cam in world frame + SE3 T_world_from_cam(T_world_from_vision_*frame->T_f_w_.inverse()); + Quaterniond q(T_world_from_cam.rotation_matrix()*T_world_from_vision_.rotation_matrix().transpose()); + Vector3d p(T_world_from_cam.translation()); + msg.pose.position.x = p[0]; msg.pose.position.y = p[1]; msg.pose.position.z = p[2]; From ab121434e406dd86c8b1436a605a6893c17a324f Mon Sep 17 00:00:00 2001 From: Christian Forster Date: Fri, 23 May 2014 15:32:15 +0200 Subject: [PATCH 125/215] fixed relocalizer and state machine. pose doesn't jump around anymore when flashed with a camera. --- svo/src/frame_handler_base.cpp | 9 ++------- svo/src/frame_handler_mono.cpp | 15 +++++++++++---- 2 files changed, 13 insertions(+), 11 deletions(-) diff --git a/svo/src/frame_handler_base.cpp b/svo/src/frame_handler_base.cpp index fb6d490..175ee01 100644 --- a/svo/src/frame_handler_base.cpp +++ b/svo/src/frame_handler_base.cpp @@ -160,17 +160,12 @@ void FrameHandlerBase::setTrackingQuality(const size_t num_observations) if(num_observations < Config::qualityMinFts()) { SVO_WARN_STREAM_THROTTLE(0.5, "Tracking less than "<< Config::qualityMinFts() <<" features!"); - tracking_quality_ = TRACKING_BAD; + tracking_quality_ = TRACKING_INSUFFICIENT; } - const int feature_drop = static_cast(num_obs_last_) - num_observations; + const int feature_drop = static_cast(std::min(num_obs_last_, Config::maxFts())) - num_observations; if(feature_drop > Config::qualityMaxFtsDrop()) { SVO_WARN_STREAM("Lost "<< feature_drop <<" features!"); - tracking_quality_ = TRACKING_BAD; - } - if(num_observations < 20) - { - SVO_ERROR_STREAM("Tracking less than 20 features!"); tracking_quality_ = TRACKING_INSUFFICIENT; } } diff --git a/svo/src/frame_handler_mono.cpp b/svo/src/frame_handler_mono.cpp index b06db86..46bcd45 100644 --- a/svo/src/frame_handler_mono.cpp +++ b/svo/src/frame_handler_mono.cpp @@ -149,8 +149,11 @@ FrameHandlerBase::UpdateResult FrameHandlerMono::processFrame() const size_t repr_n_mps = reprojector_.n_trials_; SVO_LOG2(repr_n_mps, repr_n_new_references); SVO_DEBUG_STREAM("Reprojection:\t nPoints = "<T_f_w_ = last_frame_->T_f_w_; // reset to avoid crazy pose jumps + tracking_quality_ = TRACKING_INSUFFICIENT; return RESULT_FAILURE; } @@ -177,7 +180,10 @@ FrameHandlerBase::UpdateResult FrameHandlerMono::processFrame() core_kfs_.insert(new_frame_); setTrackingQuality(sfba_n_edges_final); if(tracking_quality_ == TRACKING_INSUFFICIENT) + { + new_frame_->T_f_w_ = last_frame_->T_f_w_; // reset to avoid crazy pose jumps return RESULT_FAILURE; + } double depth_mean, depth_min; frame_utils::getSceneDepth(*new_frame_, depth_mean, depth_min); if(!needNewKf(depth_mean) || tracking_quality_ == TRACKING_BAD) @@ -233,12 +239,13 @@ FrameHandlerMono::UpdateResult FrameHandlerMono::relocalizeFrame( const SE3& T_cur_ref, FramePtr ref_keyframe) { - SVO_WARN_STREAM_THROTTLE(0.5, "Relocalizing frame"); + SVO_WARN_STREAM_THROTTLE(1.0, "Relocalizing frame"); SparseImgAlign img_align(Config::kltMaxLevel(), Config::kltMinLevel(), 30, SparseImgAlign::GaussNewton, false, false); size_t img_align_n_tracked = img_align.run(ref_keyframe, new_frame_); if(img_align_n_tracked > 30) { + SE3 T_f_w_last = last_frame_->T_f_w_; last_frame_ = ref_keyframe; FrameHandlerMono::UpdateResult res = processFrame(); if(res != RESULT_FAILURE) @@ -247,7 +254,7 @@ FrameHandlerMono::UpdateResult FrameHandlerMono::relocalizeFrame( SVO_INFO_STREAM("Relocalization successful."); } else - new_frame_->T_f_w_ = ref_keyframe->T_f_w_; + new_frame_->T_f_w_ = T_f_w_last; // reset to last well localized pose return res; } return RESULT_FAILURE; From 4001f6a736d80097974069d6cec261cf7fef6d8d Mon Sep 17 00:00:00 2001 From: Flavio Fontana Date: Fri, 23 May 2014 17:02:43 +0200 Subject: [PATCH 126/215] not publishing pose in relocalization mode and fix in dense input message --- svo_ros/src/visualizer.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/svo_ros/src/visualizer.cpp b/svo_ros/src/visualizer.cpp index 6f50461..a17589f 100644 --- a/svo_ros/src/visualizer.cpp +++ b/svo_ros/src/visualizer.cpp @@ -161,7 +161,7 @@ void Visualizer::publishMinimal( pub_images_.publish(img_msg.toImageMsg()); } - if(pub_pose_.getNumSubscribers() > 0) + if(pub_pose_.getNumSubscribers() > 0 && slam.stage() == FrameHandlerBase::STAGE_DEFAULT_FRAME) { Quaterniond q; Vector3d p; @@ -300,7 +300,7 @@ void Visualizer::exportToDense(const FramePtr& frame) // publish cam in world frame SE3 T_world_from_cam(T_world_from_vision_*frame->T_f_w_.inverse()); - Quaterniond q(T_world_from_cam.rotation_matrix()*T_world_from_vision_.rotation_matrix().transpose()); + Quaterniond q(T_world_from_cam.rotation_matrix()); Vector3d p(T_world_from_cam.translation()); msg.pose.position.x = p[0]; From b49d2f85731c959268fb587358ce4785d5292391 Mon Sep 17 00:00:00 2001 From: Christian Forster Date: Tue, 27 May 2014 20:38:23 +0200 Subject: [PATCH 127/215] compiles again with g2o. --- svo/include/svo/bundle_adjustment.h | 10 ++++-- svo/src/bundle_adjustment.cpp | 50 ++++++++++++++--------------- svo/src/frame_handler_mono.cpp | 8 ++--- 3 files changed, 37 insertions(+), 31 deletions(-) diff --git a/svo/include/svo/bundle_adjustment.h b/svo/include/svo/bundle_adjustment.h index 215d563..f3c3501 100644 --- a/svo/include/svo/bundle_adjustment.h +++ b/svo/include/svo/bundle_adjustment.h @@ -22,16 +22,22 @@ namespace g2o { class EdgeProjectXYZ2UV; class SparseOptimizer; +class VertexSE3Expmap; +class VertexSBAPointXYZ; } -typedef g2o::EdgeProjectXYZ2UV g2oEdgeSE3; namespace svo { +typedef g2o::EdgeProjectXYZ2UV g2oEdgeSE3; +typedef g2o::VertexSE3Expmap g2oFrameSE3; +typedef g2o::VertexSBAPointXYZ g2oPoint; + +class Frame; class Point; class Feature; class Map; -/// Local, global and 2-view bundle adjustment with g2o. +/// Local, global and 2-view bundle adjustment with g2o namespace ba { /// Temporary container to hold the g2o edge with reference to frame and point. diff --git a/svo/src/bundle_adjustment.cpp b/svo/src/bundle_adjustment.cpp index a2075f4..eaba2b0 100644 --- a/svo/src/bundle_adjustment.cpp +++ b/svo/src/bundle_adjustment.cpp @@ -28,6 +28,7 @@ #include #include #include +#include #include #include #include @@ -37,10 +38,11 @@ namespace svo { namespace ba { -void -twoViewBA(Frame* frame1, Frame* frame2, - double reproj_thresh, - Map* map) +void twoViewBA( + Frame* frame1, + Frame* frame2, + double reproj_thresh, + Map* map) { // scale reprojection threshold in pixels to unit plane reproj_thresh /= frame1->cam_->errorMultiplier2(); @@ -104,12 +106,12 @@ twoViewBA(Frame* frame1, Frame* frame2, const double reproj_thresh_squared = reproj_thresh*reproj_thresh; size_t n_incorrect_edges = 0; for(list::iterator it_e = edges.begin(); it_e != edges.end(); ++it_e) - if(it_e->edge_->chi2() > reproj_thresh_squared) + if(it_e->edge->chi2() > reproj_thresh_squared) { - if(it_e->feature_->point != NULL) + if(it_e->feature->point != NULL) { - map->safeDeletePoint(it_e->feature_->point); - it_e->feature_->point = NULL; + map->safeDeletePoint(it_e->feature->point); + it_e->feature->point = NULL; } ++n_incorrect_edges; } @@ -117,14 +119,14 @@ twoViewBA(Frame* frame1, Frame* frame2, printf("2-View BA: Wrong edges = %zu\n", n_incorrect_edges); } -void -localBA(Frame* center_kf, - set* core_kfs, - Map* map, - size_t& n_incorrect_edges_1, - size_t& n_incorrect_edges_2, - double& init_error, - double& final_error) +void localBA( + Frame* center_kf, + set* core_kfs, + Map* map, + size_t& n_incorrect_edges_1, + size_t& n_incorrect_edges_2, + double& init_error, + double& final_error) { // init g2o @@ -170,7 +172,7 @@ localBA(Frame* center_kf, ++n_mps; // Add edges - Observations::iterator it_obs=(*it_pt)->obs_.begin(); + list::iterator it_obs=(*it_pt)->obs_.begin(); while(it_obs!=(*it_pt)->obs_.end()) { Vector2d error = vk::project2d((*it_obs)->f) - vk::project2d((*it_obs)->frame->w2f((*it_pt)->pos_)); @@ -236,9 +238,9 @@ localBA(Frame* center_kf, double reproj_thresh_2_squared = reproj_thresh_2*reproj_thresh_2; for(list::iterator it = edges.begin(); it != edges.end(); ++it) { - if(it->edge_->chi2() > reproj_thresh_2_squared) //*(1<feature_->level)) + if(it->edge->chi2() > reproj_thresh_2_squared) //*(1<feature_->level)) { - map->removePtFrameRef(it->frame_, it->feature_); + map->removePtFrameRef(it->frame, it->feature); ++n_incorrect_edges_2; } } @@ -248,8 +250,7 @@ localBA(Frame* center_kf, final_error = sqrt(final_error)*center_kf->cam_->errorMultiplier2(); } -void -globalBA(Map* map) +void globalBA(Map* map) { // init g2o g2o::SparseOptimizer optimizer; @@ -334,15 +335,14 @@ globalBA(Map* map) double reproj_thresh_2_squared = reproj_thresh_2*reproj_thresh_2; for(list::iterator it = edges.begin(); it != edges.end(); ++it) { - if(it->edge_->chi2() > reproj_thresh_2_squared) + if(it->edge->chi2() > reproj_thresh_2_squared) { - map->removePtFrameRef(it->frame_, it->feature_); + map->removePtFrameRef(it->frame, it->feature); } } } -void -setupG2o(g2o::SparseOptimizer * optimizer) +void setupG2o(g2o::SparseOptimizer * optimizer) { // TODO: What's happening with all this HEAP stuff? Memory Leak? optimizer->setVerbose(false); diff --git a/svo/src/frame_handler_mono.cpp b/svo/src/frame_handler_mono.cpp index 46bcd45..3de6f7f 100644 --- a/svo/src/frame_handler_mono.cpp +++ b/svo/src/frame_handler_mono.cpp @@ -111,7 +111,7 @@ FrameHandlerBase::UpdateResult FrameHandlerMono::processSecondFrame() // two-frame bundle adjustment #ifdef USE_BUNDLE_ADJUSTMENT - ba::twoViewBA(new_frame_.get(), map_.lastKeyframe().get(), Config::lobaThresh(), map_); + ba::twoViewBA(new_frame_.get(), map_.lastKeyframe().get(), Config::lobaThresh(), &map_); #endif new_frame_->setKeyframe(); @@ -207,10 +207,10 @@ FrameHandlerBase::UpdateResult FrameHandlerMono::processFrame() SVO_START_TIMER("local_ba"); setCoreKfs(Config::coreNKfs()); size_t loba_n_erredges_init, loba_n_erredges_fin; - double loba_err_init, ba_final_error; + double loba_err_init, loba_err_fin; ba::localBA(new_frame_.get(), &core_kfs_, &map_, - loba_n_erredges_init, ba_incorrect_edges_2, - ba_init_error, loba_err_fin); + loba_n_erredges_init, loba_n_erredges_fin, + loba_err_init, loba_err_fin); SVO_STOP_TIMER("local_ba"); SVO_LOG4(loba_n_erredges_init, loba_n_erredges_fin, loba_err_init, loba_err_fin); SVO_DEBUG_STREAM("Local BA:\t RemovedEdges {"< Date: Wed, 28 May 2014 16:12:38 +0200 Subject: [PATCH 128/215] updated readme --- README.md | 22 ++++++++++++++++------ svo/test/README.md | 9 +-------- svo_analysis/README.md | 1 + 3 files changed, 18 insertions(+), 14 deletions(-) diff --git a/README.md b/README.md index 81ad4d5..574214f 100644 --- a/README.md +++ b/README.md @@ -85,6 +85,14 @@ vikit is a catkin project, therefore, download it into your catkin workspace sou cd catkin_ws/src git clone https://github.com/uzh-rpg/rpg_vikit.git +#### ROS dependencies + +Sometimes `cmake-modules` is missing (required for including Eigen in ROS Indigo): + + sudo apt-get install ros-hydro-cmake-modules + +(replace `hydro` with your distribution). + #### SVO Now we are ready to build SVO. @@ -95,12 +103,6 @@ Clone it into your catkin workspace If you installed g2o then set `HAVE_G2O` in `svo/CMakeLists.txt` to TRUE. -Install missing ros dependencies. Sometimes `cmake-modules` is missing (required for including Eigen in ROS Indigo): - - sudo apt-get install ros-hydro-cmake-modules - -(replace `hydro` with your distribution). - Finally, build: catkin_make @@ -160,6 +162,14 @@ Parameter Settings A description of all parameters which can be set via the launchfile is provided in `svo/include/config.h`. The default parameters can be viewed in `svo/src/config.cpp`. Moreover, some additional parameters (mainly rostopic names etc.) are read from the ros parameter server in `svo_ros/vo_node.cpp`. +#### Forward motions + +The current keyframe selection criterion is designed for downward looking cameras. This is one reason why SVO does not work well for forward motions (e.g., to be used on a car). + +#### Image resolution + +The current parameters are tuned for WVGA resolution. If you use a higher resolution camera, then the pyramid levels should be increased as well as the reprojection error thresholds. + Contributing ------------ diff --git a/svo/test/README.md b/svo/test/README.md index ce9f1fd..a968f2a 100644 --- a/svo/test/README.md +++ b/svo/test/README.md @@ -1,11 +1,4 @@ Download Synthetic Test Data: ----------------------------- -Downloads and extracts the test data in the folder `data`: - - cd rpg_slam/svo/test/data - wget http://rpg.ifi.uzh.ch/datasets/flying_room_1_rig_1.tar.gz -O - | tar -xz - -If you want to store the data in another location (for instance, if you maintain a special folder with all datasets), then you can move the dataset there and set the environment variable `TEST_DATA_DIR` in your `.bashrc` like this: - - export SVO_DATASET_DIR=${HOME}/Datasets +TODO \ No newline at end of file diff --git a/svo_analysis/README.md b/svo_analysis/README.md index 07ae6eb..3fe3ea6 100644 --- a/svo_analysis/README.md +++ b/svo_analysis/README.md @@ -16,6 +16,7 @@ Source your new `.bashrc` script, go to the new dataset folder and download the cd ${SVO_DATASET_DIR} wget http://rpg.ifi.uzh.ch/datasets/flying_room_1_rig_1.tar.gz -O - | tar -xz +TODO: replace this dataset with new ones. #### Run Benchmark From 09ceff33e2bc327ce9a65354161e09a5ffe2c57c Mon Sep 17 00:00:00 2001 From: Christian Forster Date: Wed, 28 May 2014 16:12:49 +0200 Subject: [PATCH 129/215] cleanup cmake --- svo/CMakeLists.txt | 49 ++++++++++++++-------------------------- svo/include/svo/global.h | 6 +---- 2 files changed, 18 insertions(+), 37 deletions(-) diff --git a/svo/CMakeLists.txt b/svo/CMakeLists.txt index 7433d71..a74caf2 100644 --- a/svo/CMakeLists.txt +++ b/svo/CMakeLists.txt @@ -1,9 +1,8 @@ ################################################################################ # user build settings -SET(DEBUG FALSE) -SET(TRACE FALSE) -SET(HAVE_G2O FALSE) +SET(TRACE TRUE) +SET(HAVE_G2O TRUE) ################################################################################ @@ -14,18 +13,7 @@ SET(CMAKE_BUILD_TYPE Release) # Release, RelWithDebInfo SET(CMAKE_VERBOSE_MAKEFILE OFF) SET(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${PROJECT_SOURCE_DIR}/CMakeModules/") -# Set ARM_ARCHITECTURE environment variable on Odroid -IF(DEFINED ENV{ARM_ARCHITECTURE}) - SET(IS_ARM TRUE) -# ADD_DEFINITIONS(-DHAVE_FAST_NEON) -ELSE() - SET(IS_ARM FALSE) -ENDIF() - # Set definitions -IF(DEBUG) - ADD_DEFINITIONS(-DSVO_DEBUG) -ENDIF() IF(TRACE) ADD_DEFINITIONS(-DSVO_TRACE) ENDIF() @@ -34,10 +22,9 @@ IF(HAVE_G2O) ENDIF() ADD_DEFINITIONS(-DSVO_USE_ROS) -# Set build flags +# Set build flags, set ARM_ARCHITECTURE environment variable on Odroid SET(CMAKE_CXX_FLAGS "-Wall -Werror -D_LINUX -D_REENTRANT -march=native -Wno-unused-variable -Wno-unused-but-set-variable -Wno-unknown-pragmas") -SET(CMAKE_CXX_FLAGS_DEBUG "${CMAKE_CXX_FLAGS} -O0 -g") -IF(IS_ARM) +IF(DEFINED ENV{ARM_ARCHITECTURE}) SET(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS} -O3 -mfpu=neon -march=armv7-a -fomit-frame-pointer -fsee -funsafe-loop-optimizations -fno-signed-zeros -fno-math-errno -funroll-loops") ELSE() SET(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS} -O3 -mmmx -msse -msse -msse2 -msse3 -mssse3 -fomit-frame-pointer -fsee -funsafe-loop-optimizations -fno-signed-zeros -fno-math-errno -funroll-loops") @@ -48,11 +35,10 @@ ELSE() SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11") ENDIF() -# Add catkin and required ROS packages +# Add catkin and required ROS packages FIND_PACKAGE(catkin REQUIRED COMPONENTS roscpp roslib cmake_modules vikit_common vikit_ros) # Add plain cmake packages -FIND_PACKAGE(G2O REQUIRED) FIND_PACKAGE(OpenCV REQUIRED) FIND_PACKAGE(Eigen REQUIRED) FIND_PACKAGE(Sophus REQUIRED) @@ -74,15 +60,9 @@ INCLUDE_DIRECTORIES( ${OpenCV_INCLUDE_DIRS} ${Sophus_INCLUDE_DIRS} ${Boost_INCLUDE_DIRS} - ${catkin_INCLUDE_DIRS} + ${catkin_INCLUDE_DIRS} ${fast_INCLUDE_DIRS} ) -IF(HAVE_G2O) - INCLUDE_DIRECTORIES( - ${G2O_ROOT}/include - /usr/include/suitesparse # for cholmod - ) -ENDIF() # Set link libraries LIST(APPEND LINK_LIBS @@ -92,12 +72,6 @@ LIST(APPEND LINK_LIBS ${catkin_LIBRARIES} ${fast_LIBRARIES} ) -IF(HAVE_G2O) - LIST(APPEND LINK_LIBS - g2o_core g2o_stuff g2o_solver_cholmod g2o_solver_csparse g2o_solver_dense g2o_solver_pcg g2o_types_sba - cholmod cxsparse - ) -ENDIF() # Set sourcefiles LIST(APPEND SOURCEFILES @@ -115,7 +89,18 @@ LIST(APPEND SOURCEFILES src/depth_filter.cpp src/config.cpp src/sparse_img_align.cpp) + +# Add g2o if available IF(HAVE_G2O) + FIND_PACKAGE(G2O REQUIRED) + INCLUDE_DIRECTORIES( + ${G2O_ROOT}/include + /usr/include/suitesparse # for cholmod + ) + LIST(APPEND LINK_LIBS + g2o_core g2o_stuff g2o_solver_cholmod g2o_solver_csparse g2o_solver_dense + g2o_solver_pcg g2o_types_sba cholmod cxsparse + ) LIST(APPEND SOURCEFILES src/bundle_adjustment.cpp) ENDIF(HAVE_G2O) diff --git a/svo/include/svo/global.h b/svo/include/svo/global.h index c118377..6fe6c4f 100644 --- a/svo/include/svo/global.h +++ b/svo/include/svo/global.h @@ -39,11 +39,7 @@ #define SVO_ERROR_STREAM(x) ROS_ERROR_STREAM(x) #else #define SVO_INFO_STREAM(x) std::cerr<<"\033[0;0m[INFO] "< // Adapted from rosconsole. Copyright (c) 2008, Willow Garage, Inc. From efcb7c1295cee5cad804a50b25bbeb2ef7e8a260 Mon Sep 17 00:00:00 2001 From: Pierre Moulon Date: Mon, 2 Jun 2014 10:37:59 +0200 Subject: [PATCH 130/215] Update README.md Fix a typo error --- README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/README.md b/README.md index 574214f..75e4f2d 100644 --- a/README.md +++ b/README.md @@ -150,7 +150,7 @@ Camera Calibration You need a calibrated camera to run SVO. We use the Matrix Vision Bluefox cameras in our lab, which have VGA resolution and global shutter. SVO supports three camera models: -1. The `ATAN` model - our preference - which is also used by _PTAM_. This model uses the _FOV_ distortion model of "Deverneay and Faugeras, Straight lines have to be straight, 2001". You can calibrate your camera with this model by using the calibration tool in this package: https://github.com/ethz-asl/ethzasl_ptam We prefer this model because the projection and unprojection can be computed faster than with the other models. Further, the industral cameras that we use have neglectable tangential distortion. +1. The `ATAN` model - our preference - which is also used by _PTAM_. This model uses the _FOV_ distortion model of "Devernay and Faugeras, Straight lines have to be straight, 2001". You can calibrate your camera with this model by using the calibration tool in this package: https://github.com/ethz-asl/ethzasl_ptam We prefer this model because the projection and unprojection can be computed faster than with the other models. Further, the industrial cameras that we use have neglectable tangential distortion. 2. The `Pinhole` model with three radial and two tangential distortion parameters. This model is standard in OpenCV and ROS. You can use the ROS camera calibration tool: http://wiki.ros.org/camera_calibration 3. The `Ocam` model by Davide Scaramuzza which can be used to model cameras with high field of view or even omnidirectional cameras. Use the OCamCalib toolbox to calibrate your camera: http://rpg.ifi.uzh.ch/software_datasets.html Although SVO can be used with this camera model, the algorithm does not work yet with omnidirectional cameras. From e69e934fe7f054e8757de0a5855383c084e58d49 Mon Sep 17 00:00:00 2001 From: Christian Forster Date: Tue, 3 Jun 2014 09:08:23 +0800 Subject: [PATCH 131/215] Update README.md --- README.md | 43 ++++++++++++++++++++----------------------- 1 file changed, 20 insertions(+), 23 deletions(-) diff --git a/README.md b/README.md index 75e4f2d..859a90e 100644 --- a/README.md +++ b/README.md @@ -1,25 +1,34 @@ SVO === -This code implements a semi-direct visual odometry pipeline that is described in the paper - -* C. Forster, M. Pizzoli, D. Scaramuzza, - "__SVO: Fast Semi-Direct Monocular Visual Odometry__," - IEEE International Conference on Robotics and Automation (ICRA), 2014. +This code implements a semi-direct monocular visual odometry pipeline. Video: http://youtu.be/2YnIMfw6bJY -Disclaimer ----------- +Paper: http://rpg.ifi.uzh.ch/docs/ICRA14_Forster.pdf -SVO has been tested under ROS Groovy and Hydro and Ubuntu 12.04 and 13.04. This is research code, any fitness for a particular purpose is disclaimed. +#### Disclaimer + +SVO has been tested under ROS Groovy, Hydro and Indigo with Ubuntu 12.04, 13.04 and 14.04. This is research code, any fitness for a particular purpose is disclaimed. -Licence -------- +#### Licence -The source code is released under a GPLv3 licence. A professional edition license for closed-source projects is also available. Please contact `forster at ifi dot uzh dot ch` for further information. +The source code is released under a GPLv3 licence. A professional edition license for closed-source projects is also available. For commercial use, please contact the authors. + +#### Citing + +If you use SVO in an academic context, please cite the following publication: + + @inproceedings{Forster2014ICRA, + author = {Forster, Christian and Pizzoli, Matia and Scaramuzza, Davide}, + title = {{SVO}: Fast Semi-Direct Monocular Visual Odometry}, + booktitle = {IEEE International Conference on Robotics and Automation (ICRA)}, + year = {2014} + } + + Documentation ------------- @@ -176,15 +185,3 @@ Contributing You are very welcome to contribute to SVO by opening a pull request via Github. I try to follow the ROS C++ style guide http://wiki.ros.org/CppStyleGuide - -Citing ------- - -If you use SVO in an academic context, please cite the following publication: - - @inproceedings{Forster2014ICRA, - author = {Forster, Christian and Pizzoli, Matia and Scaramuzza, Davide}, - title = {{SVO}: Fast Semi-Direct Monocular Visual Odometry}, - booktitle = {IEEE International Conference on Robotics and Automation (ICRA)}, - year = {2014} - } From 2d2b949c7e26877af7d0445c94d8e14597fcdc7c Mon Sep 17 00:00:00 2001 From: Christian Forster Date: Tue, 10 Jun 2014 20:46:12 +0800 Subject: [PATCH 132/215] default camera model is now loaded from svo_ros and not from rpg_calib --- svo_ros/launch/live.launch | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/svo_ros/launch/live.launch b/svo_ros/launch/live.launch index 92f4b9b..8cdf322 100644 --- a/svo_ros/launch/live.launch +++ b/svo_ros/launch/live.launch @@ -3,7 +3,7 @@ - + From 166cd1c75e4fe02285172bda619e4c914ced263e Mon Sep 17 00:00:00 2001 From: Christian Forster Date: Wed, 11 Jun 2014 10:37:40 +0200 Subject: [PATCH 133/215] added ros parameter to disable user input thread. --- svo_ros/src/vo_node.cpp | 19 +++++++++++++------ 1 file changed, 13 insertions(+), 6 deletions(-) diff --git a/svo_ros/src/vo_node.cpp b/svo_ros/src/vo_node.cpp index d903b3b..8a6f88c 100644 --- a/svo_ros/src/vo_node.cpp +++ b/svo_ros/src/vo_node.cpp @@ -45,7 +45,7 @@ public: svo::Visualizer visualizer_; bool publish_markers_; //!< publish only the minimal amount of info (choice for embedded devices) bool publish_dense_input_; - vk::UserInputThread* user_input_thread_; + boost::shared_ptr user_input_thread_; ros::Subscriber sub_remote_key_; std::string remote_input_; vk::AbstractCamera* cam_; @@ -61,11 +61,14 @@ VoNode::VoNode() : vo_(NULL), publish_markers_(vk::getParam("svo/publish_markers", true)), publish_dense_input_(vk::getParam("svo/publish_dense_input", false)), - user_input_thread_(new vk::UserInputThread()), remote_input_(""), cam_(NULL), quit_(false) { + // Start user input thread in parallel thread that listens to console keys + if(vk::getParam("svo/accept_console_user_input", true)) + user_input_thread_ = boost::make_shared(); + // Create Camera if(!vk::camera_loader::loadFromRosNs("svo", cam_)) throw std::runtime_error("Camera model not correctly specified."); @@ -87,8 +90,9 @@ VoNode::VoNode() : VoNode::~VoNode() { delete vo_; - delete user_input_thread_; delete cam_; + if(user_input_thread_ != NULL) + user_input_thread_->stop(); } void VoNode::imgCb(const sensor_msgs::ImageConstPtr& msg) @@ -118,9 +122,12 @@ void VoNode::processUserActions() char input = remote_input_.c_str()[0]; remote_input_ = ""; - char console_input = user_input_thread_->getInput(); - if(console_input != 0) - input = console_input; + if(user_input_thread_ != NULL) + { + char console_input = user_input_thread_->getInput(); + if(console_input != 0) + input = console_input; + } switch(input) { From 0b1f9d7bb75be8e2ec333ff7e87b0780be93acde Mon Sep 17 00:00:00 2001 From: Christian Forster Date: Wed, 11 Jun 2014 11:36:22 +0200 Subject: [PATCH 134/215] new flag to display debug output for plain cmake-projects --- svo/include/svo/global.h | 6 +++++- 1 file changed, 5 insertions(+), 1 deletion(-) diff --git a/svo/include/svo/global.h b/svo/include/svo/global.h index 6fe6c4f..9f7cc97 100644 --- a/svo/include/svo/global.h +++ b/svo/include/svo/global.h @@ -39,7 +39,11 @@ #define SVO_ERROR_STREAM(x) ROS_ERROR_STREAM(x) #else #define SVO_INFO_STREAM(x) std::cerr<<"\033[0;0m[INFO] "< // Adapted from rosconsole. Copyright (c) 2008, Willow Garage, Inc. From c58503ae867397e92153acabcf11839000ae117d Mon Sep 17 00:00:00 2001 From: Christian Forster Date: Wed, 11 Jun 2014 11:37:02 +0200 Subject: [PATCH 135/215] added missing include --- svo/src/frame.cpp | 1 + 1 file changed, 1 insertion(+) diff --git a/svo/src/frame.cpp b/svo/src/frame.cpp index 2d40b96..f9b2bd0 100644 --- a/svo/src/frame.cpp +++ b/svo/src/frame.cpp @@ -14,6 +14,7 @@ // You should have received a copy of the GNU General Public License // along with this program. If not, see . +#include #include #include #include From 956a21f4f2d14e49f8e4d4341c0267b3f555268b Mon Sep 17 00:00:00 2001 From: Christian Forster Date: Wed, 11 Jun 2014 11:37:13 +0200 Subject: [PATCH 136/215] use environment variable for plain cmake projects to locate dataset folder --- svo/test/test_utils.h | 14 ++++++++++++-- 1 file changed, 12 insertions(+), 2 deletions(-) diff --git a/svo/test/test_utils.h b/svo/test/test_utils.h index 5793bb7..5647879 100644 --- a/svo/test/test_utils.h +++ b/svo/test/test_utils.h @@ -20,24 +20,34 @@ #include #include // for getenv #include -#include +#ifdef SVO_USE_ROS + #include +#endif namespace svo { namespace test_utils { std::string getDatasetDir() { - std::string dataset_dir(ros::package::getPath("svo")+"/test/data"); const char* env_dir = std::getenv("SVO_DATASET_DIR"); +#ifdef SVO_USE_ROS + std::string dataset_dir(ros::package::getPath("svo")+"/test/data"); if(env_dir != NULL) dataset_dir = std::string(env_dir); return dataset_dir; +#else + return std::string(env_dir); +#endif } std::string getTraceDir() { +#ifdef SVO_USE_ROS std::string default_dir(ros::package::getPath("svo")+"/test/results"); return vk::getParam("svo/trace_dir", default_dir); +#else + return "/tmp"; +#endif } } // namespace test_utils From d4c5568c426a8d275259fa7c458552a59a3a5472 Mon Sep 17 00:00:00 2001 From: Christian Forster Date: Wed, 11 Jun 2014 11:37:42 +0200 Subject: [PATCH 137/215] added flag to build without ROS as plain cmake project --- svo/CMakeLists.txt | 49 ++++++++++++------- svo/CMakeModules/FindEigen.cmake | 81 ++++++++++++++++++++++++++++++++ 2 files changed, 113 insertions(+), 17 deletions(-) create mode 100644 svo/CMakeModules/FindEigen.cmake diff --git a/svo/CMakeLists.txt b/svo/CMakeLists.txt index a74caf2..d45f8aa 100644 --- a/svo/CMakeLists.txt +++ b/svo/CMakeLists.txt @@ -3,6 +3,8 @@ SET(TRACE TRUE) SET(HAVE_G2O TRUE) +SET(USE_ROS FALSE) # Set False if you want to build this package without Catkin +SET(DEBUG_OUTPUT FALSE) # Only relevant if build without ROS ################################################################################ @@ -20,7 +22,12 @@ ENDIF() IF(HAVE_G2O) ADD_DEFINITIONS(-DUSE_BUNDLE_ADJUSTMENT) ENDIF() -ADD_DEFINITIONS(-DSVO_USE_ROS) +IF(USE_ROS) + ADD_DEFINITIONS(-DSVO_USE_ROS) +ENDIF() +IF(DEBUG_OUTPUT) + ADD_DEFINITIONS(-DSVO_DEBUG_OUTPUT) +ENDIF() # Set build flags, set ARM_ARCHITECTURE environment variable on Odroid SET(CMAKE_CXX_FLAGS "-Wall -Werror -D_LINUX -D_REENTRANT -march=native -Wno-unused-variable -Wno-unused-but-set-variable -Wno-unknown-pragmas") @@ -35,9 +42,6 @@ ELSE() SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11") ENDIF() -# Add catkin and required ROS packages -FIND_PACKAGE(catkin REQUIRED COMPONENTS roscpp roslib cmake_modules vikit_common vikit_ros) - # Add plain cmake packages FIND_PACKAGE(OpenCV REQUIRED) FIND_PACKAGE(Eigen REQUIRED) @@ -45,13 +49,19 @@ FIND_PACKAGE(Sophus REQUIRED) FIND_PACKAGE(fast REQUIRED) FIND_PACKAGE(Boost REQUIRED COMPONENTS thread) -# Describe catkin Project -catkin_package( - DEPENDS Eigen OpenCV Sophus Boost fast - CATKIN_DEPENDS roscpp roslib vikit_common vikit_ros - INCLUDE_DIRS include - LIBRARIES svo -) +IF(USE_ROS) + FIND_PACKAGE(catkin REQUIRED COMPONENTS roscpp roslib cmake_modules vikit_common vikit_ros) + catkin_package( + DEPENDS Eigen OpenCV Sophus Boost fast + CATKIN_DEPENDS roscpp roslib vikit_common vikit_ros + INCLUDE_DIRS include + LIBRARIES svo + ) +ELSE() + FIND_PACKAGE(vikit_common REQUIRED) + SET(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin) + SET(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib) +ENDIF() # Include dirs INCLUDE_DIRECTORIES( @@ -60,7 +70,6 @@ INCLUDE_DIRECTORIES( ${OpenCV_INCLUDE_DIRS} ${Sophus_INCLUDE_DIRS} ${Boost_INCLUDE_DIRS} - ${catkin_INCLUDE_DIRS} ${fast_INCLUDE_DIRS} ) @@ -69,10 +78,17 @@ LIST(APPEND LINK_LIBS ${OpenCV_LIBRARIES} ${Sophus_LIBRARIES} ${Boost_LIBRARIES} - ${catkin_LIBRARIES} ${fast_LIBRARIES} ) +IF(USE_ROS) + INCLUDE_DIRECTORIES(${catkin_INCLUDE_DIRS}) + LIST(APPEND LINK_LIBS ${catkin_LIBRARIES}) +ELSE() + INCLUDE_DIRECTORIES(${vikit_common_INCLUDE_DIRS}) + LIST(APPEND LINK_LIBS ${vikit_common_LIBRARIES}) +ENDIF() + # Set sourcefiles LIST(APPEND SOURCEFILES src/frame_handler_mono.cpp @@ -94,12 +110,12 @@ LIST(APPEND SOURCEFILES IF(HAVE_G2O) FIND_PACKAGE(G2O REQUIRED) INCLUDE_DIRECTORIES( - ${G2O_ROOT}/include + ${G2O_INCLUDE_DIR} /usr/include/suitesparse # for cholmod ) LIST(APPEND LINK_LIBS - g2o_core g2o_stuff g2o_solver_cholmod g2o_solver_csparse g2o_solver_dense - g2o_solver_pcg g2o_types_sba cholmod cxsparse + ${G2O_CORE_LIBRARY} ${G2O_STUFF_LIBRARY} ${G2O_SOLVER_CHOLMOD} ${G2O_SOLVER_CSPARSE} ${G2O_SOLVER_DENSE} + ${G2O_SOLVER_PCG} ${G2O_TYPES_SBA} cholmod cxsparse ) LIST(APPEND SOURCEFILES src/bundle_adjustment.cpp) ENDIF(HAVE_G2O) @@ -108,7 +124,6 @@ ENDIF(HAVE_G2O) ADD_LIBRARY(svo SHARED ${SOURCEFILES}) TARGET_LINK_LIBRARIES(svo ${LINK_LIBS}) - ################################################################################ # TESTS diff --git a/svo/CMakeModules/FindEigen.cmake b/svo/CMakeModules/FindEigen.cmake new file mode 100644 index 0000000..8587367 --- /dev/null +++ b/svo/CMakeModules/FindEigen.cmake @@ -0,0 +1,81 @@ +############################################################################### +# +# CMake script for finding the Eigen library. +# +# http://eigen.tuxfamily.org/index.php?title=Main_Page +# +# Copyright (c) 2006, 2007 Montel Laurent, +# Copyright (c) 2008, 2009 Gael Guennebaud, +# Copyright (c) 2009 Benoit Jacob +# Redistribution and use is allowed according to the terms of the 2-clause BSD +# license. +# +# +# Input variables: +# +# - Eigen_ROOT_DIR (optional): When specified, header files and libraries +# will be searched for in `${Eigen_ROOT_DIR}/include` and +# `${Eigen_ROOT_DIR}/libs` respectively, and the default CMake search order +# will be ignored. When unspecified, the default CMake search order is used. +# This variable can be specified either as a CMake or environment variable. +# If both are set, preference is given to the CMake variable. +# Use this variable for finding packages installed in a nonstandard location, +# or for enforcing that one of multiple package installations is picked up. +# +# Cache variables (not intended to be used in CMakeLists.txt files) +# +# - Eigen_INCLUDE_DIR: Absolute path to package headers. +# +# +# Output variables: +# +# - Eigen_FOUND: Boolean that indicates if the package was found +# - Eigen_INCLUDE_DIRS: Paths to the necessary header files +# - Eigen_VERSION: Version of Eigen library found +# - Eigen_DEFINITIONS: Definitions to be passed on behalf of eigen +# +# +# Example usage: +# +# # Passing the version means Eigen_FOUND will only be TRUE if a +# # version >= the provided version is found. +# find_package(Eigen 3.1.2) +# if(NOT Eigen_FOUND) +# # Error handling +# endif() +# ... +# add_definitions(${Eigen_DEFINITIONS}) +# ... +# include_directories(${Eigen_INCLUDE_DIRS} ...) +# +############################################################################### + +find_package(PkgConfig) +pkg_check_modules(PC_EIGEN eigen3) +set(EIGEN_DEFINITIONS ${PC_EIGEN_CFLAGS_OTHER}) + + +find_path(EIGEN_INCLUDE_DIR Eigen/Core + HINTS ${PC_EIGEN_INCLUDEDIR} ${PC_EIGEN_INCLUDE_DIRS} + "${Eigen_ROOT_DIR}" "$ENV{EIGEN_ROOT_DIR}" + "${EIGEN_ROOT}" "$ENV{EIGEN_ROOT}" # Backwards Compatibility + PATHS "$ENV{PROGRAMFILES}/Eigen" "$ENV{PROGRAMW6432}/Eigen" + "$ENV{PROGRAMFILES}/Eigen 3.0.0" "$ENV{PROGRAMW6432}/Eigen 3.0.0" + PATH_SUFFIXES eigen3 include/eigen3 include) + +set(EIGEN_INCLUDE_DIRS ${EIGEN_INCLUDE_DIR}) + +include(FindPackageHandleStandardArgs) +find_package_handle_standard_args(Eigen DEFAULT_MSG EIGEN_INCLUDE_DIR) + +mark_as_advanced(EIGEN_INCLUDE_DIR) + +if(EIGEN_FOUND) + message(STATUS "Eigen found (include: ${EIGEN_INCLUDE_DIRS})") +endif(EIGEN_FOUND) + + +set(Eigen_INCLUDE_DIRS ${EIGEN_INCLUDE_DIRS}) +set(Eigen_FOUND ${EIGEN_FOUND}) +set(Eigen_VERSION ${EIGEN_VERSION}) +set(Eigen_DEFINITIONS ${EIGEN_DEFINITIONS}) From 2e559e58b67e0cd20d23e75ae6deed798ae5e628 Mon Sep 17 00:00:00 2001 From: Christian Forster Date: Wed, 11 Jun 2014 11:47:20 +0200 Subject: [PATCH 138/215] default is to build with ROS/Catkin --- svo/CMakeLists.txt | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/svo/CMakeLists.txt b/svo/CMakeLists.txt index d45f8aa..8ae6b8d 100644 --- a/svo/CMakeLists.txt +++ b/svo/CMakeLists.txt @@ -3,7 +3,7 @@ SET(TRACE TRUE) SET(HAVE_G2O TRUE) -SET(USE_ROS FALSE) # Set False if you want to build this package without Catkin +SET(USE_ROS TRUE) # Set FALSE if you want to build this package without Catkin SET(DEBUG_OUTPUT FALSE) # Only relevant if build without ROS ################################################################################ From ec20452f2feb3e2a45915cbc8a24d5f82b628c0a Mon Sep 17 00:00:00 2001 From: Christian Forster Date: Wed, 11 Jun 2014 11:51:37 +0200 Subject: [PATCH 139/215] remove rviz node from test launchfile since it doesn't work with everyone (different ROS versions, screen resolutions) --- svo_ros/launch/test_rig3.launch | 2 -- 1 file changed, 2 deletions(-) diff --git a/svo_ros/launch/test_rig3.launch b/svo_ros/launch/test_rig3.launch index fc0671d..e49f9e2 100644 --- a/svo_ros/launch/test_rig3.launch +++ b/svo_ros/launch/test_rig3.launch @@ -18,6 +18,4 @@ - - From 021e747005f200e4c50d39d0181c57d466de63c3 Mon Sep 17 00:00:00 2001 From: Christian Forster Date: Wed, 11 Jun 2014 11:54:18 +0200 Subject: [PATCH 140/215] cleanup launchfile for live camera --- svo_ros/launch/live.launch | 21 ++++++--------------- 1 file changed, 6 insertions(+), 15 deletions(-) diff --git a/svo_ros/launch/live.launch b/svo_ros/launch/live.launch index 8cdf322..7cd0ad8 100644 --- a/svo_ros/launch/live.launch +++ b/svo_ros/launch/live.launch @@ -2,24 +2,15 @@ + + + + + - - - - - + - - - - - - From c364fe9cfaeac524e0ecb8294579b6773acb90f5 Mon Sep 17 00:00:00 2001 From: Christian Forster Date: Wed, 11 Jun 2014 12:04:47 +0200 Subject: [PATCH 141/215] set default compile flag for HAVE_G2O to FALSE --- svo/CMakeLists.txt | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/svo/CMakeLists.txt b/svo/CMakeLists.txt index 8ae6b8d..91c5603 100644 --- a/svo/CMakeLists.txt +++ b/svo/CMakeLists.txt @@ -2,7 +2,7 @@ # user build settings SET(TRACE TRUE) -SET(HAVE_G2O TRUE) +SET(HAVE_G2O FALSE) SET(USE_ROS TRUE) # Set FALSE if you want to build this package without Catkin SET(DEBUG_OUTPUT FALSE) # Only relevant if build without ROS From ae10fe8e233d8e285de7e48f8a2618837fb113de Mon Sep 17 00:00:00 2001 From: Christian Forster Date: Wed, 11 Jun 2014 14:12:13 +0200 Subject: [PATCH 142/215] Update README.md --- README.md | 152 ++---------------------------------------------------- 1 file changed, 4 insertions(+), 148 deletions(-) diff --git a/README.md b/README.md index 859a90e..aaf8b86 100644 --- a/README.md +++ b/README.md @@ -29,159 +29,15 @@ If you use SVO in an academic context, please cite the following publication: } -Documentation -------------- +#### Documentation The API is documented here: http://uzh-rpg.github.io/rpg_svo/doc/ -Installation Instructions -------------------------- +#### Instructions -SVO can be used conveniently with ROS (www.ros.org). -We use two workspaces, one for the plain CMake projects `Sophus`, `Fast` and optionally `g2o` and another workspace for the ROS-Catkin projects `rpg_vikit` and `rpg_svo`. Make sure to clone in the right folder. +See the Wiki for more instructions. https://github.com/uzh-rpg/rpg_svo/wiki -#### Sophus - Lie groups - -Sophus by Hauke Strasdat implements Lie groups that we need to describe rigid body transformations. Checkout in your workspace for plain CMake projects. - - cd workspace - git clone https://github.com/strasdat/Sophus.git - cd Sophus - git checkout a621ff - mkdir build - cd build - cmake .. - make - -You don't need to install the library since `cmake ..` writes the package location to `~.cmake/packages/` where CMake can later find it. - -#### Fast - Corner Detector - -The Fast detector by Edward Rosten is used to detect corners. -To simplify installation we provide a CMake package that contains the fast detector from the libCVD library (http://www.edwardrosten.com/cvd/). - - cd workspace - git clone https://github.com/uzh-rpg/fast.git - cd fast - mkdir build - cd build - cmake .. - make - -#### g2o - General Graph Optimization _OPTIONAL_ - -Only required if you want to run bundle adjustment. It is not necessary for visual odometry. In fact, we don't run it on our MAVs. -g2o requires the following system dependencies: `cmake, libeigen3-dev, libsuitesparse-dev, libqt4-dev, qt4-qmake, libqglviewer-qt4-dev`, install them with `apt-get` - -I suggest an out-of-source build of g2o: - - cd workspace - git clone https://github.com/RainerKuemmerle/g2o.git - cd g2o - mkdir build - cd build - cmake .. - make - sudo make install - -If you don't want to make a system install, then you can replace the cmake command with `cmake .. -DCMAKE_INSTALL_PREFIX:PATH=$HOME/installdir` - -#### vikit - Some useful tools that we need - -vikit for contains camera models, some math and interpolation functions that SVO needs. -vikit is a catkin project, therefore, download it into your catkin workspace source folder. - - cd catkin_ws/src - git clone https://github.com/uzh-rpg/rpg_vikit.git - -#### ROS dependencies - -Sometimes `cmake-modules` is missing (required for including Eigen in ROS Indigo): - - sudo apt-get install ros-hydro-cmake-modules - -(replace `hydro` with your distribution). - -#### SVO - -Now we are ready to build SVO. -Clone it into your catkin workspace - - cd catkin_ws/src - git clone https://github.com/uzh-rpg/rpg_svo.git - -If you installed g2o then set `HAVE_G2O` in `svo/CMakeLists.txt` to TRUE. - -Finally, build: - - catkin_make - - -Run SVO on a Dataset -------------------------- - -Download this example dataset: [rpg.ifi.uzh.ch/datasets/airground_rig_s3_2013-03-18_21-38-48.bag](http://rpg.ifi.uzh.ch/datasets/airground_rig_s3_2013-03-18_21-38-48.bag) - -Open a new console and start SVO with the prepared launchfile: - - roslaunch svo_ros test_rig3.launch - -Now you are ready to start the rosbag. Open a new console and change to the directory where you have downloaded the example dataset. Then type: - - rosbag play airground_rig_s3_2013-03-18_21-38-48.bag - -Now you should see the video with tracked features (green) and in RViz how the camera moves. -If you want to see the number of tracked features, fps and tracking quality, run the GUI. - -SVO GUI -------- - -Type `rosrun rqt_svo rqt_svo` to run the SVO widget that displays the number of tracked features, the frame rate and provides some interface buttons. - -If the widget is not found, try this: - - rm ~/.config/ros.org/rqt_gui.ini - rosrun rqt_svo rqt_svo - - -Keyboard Shortcuts ------------------- - -Make sure to active the console window when pressing the keys. - -* `s` Start/Restart -* `q` Quit -* `r` Reset - -Camera Calibration ------------------- - -You need a calibrated camera to run SVO. We use the Matrix Vision Bluefox cameras in our lab, which have VGA resolution and global shutter. -SVO supports three camera models: - -1. The `ATAN` model - our preference - which is also used by _PTAM_. This model uses the _FOV_ distortion model of "Devernay and Faugeras, Straight lines have to be straight, 2001". You can calibrate your camera with this model by using the calibration tool in this package: https://github.com/ethz-asl/ethzasl_ptam We prefer this model because the projection and unprojection can be computed faster than with the other models. Further, the industrial cameras that we use have neglectable tangential distortion. -2. The `Pinhole` model with three radial and two tangential distortion parameters. This model is standard in OpenCV and ROS. You can use the ROS camera calibration tool: http://wiki.ros.org/camera_calibration -3. The `Ocam` model by Davide Scaramuzza which can be used to model cameras with high field of view or even omnidirectional cameras. Use the OCamCalib toolbox to calibrate your camera: http://rpg.ifi.uzh.ch/software_datasets.html -Although SVO can be used with this camera model, the algorithm does not work yet with omnidirectional cameras. - -We save the calibration in _YAML_ format (see examples in `svo_ros/param`) and include it in the launchfiles (see examples in `svo_ros/launch`). - -Parameter Settings ------------------- - -A description of all parameters which can be set via the launchfile is provided in `svo/include/config.h`. The default parameters can be viewed in `svo/src/config.cpp`. Moreover, some additional parameters (mainly rostopic names etc.) are read from the ros parameter server in `svo_ros/vo_node.cpp`. - -#### Forward motions - -The current keyframe selection criterion is designed for downward looking cameras. This is one reason why SVO does not work well for forward motions (e.g., to be used on a car). - -#### Image resolution - -The current parameters are tuned for WVGA resolution. If you use a higher resolution camera, then the pyramid levels should be increased as well as the reprojection error thresholds. - - -Contributing ------------- +#### Contributing You are very welcome to contribute to SVO by opening a pull request via Github. I try to follow the ROS C++ style guide http://wiki.ros.org/CppStyleGuide From 9b22a4c627666f31b43f24f649c46df1b575cdff Mon Sep 17 00:00:00 2001 From: Christian Forster Date: Wed, 11 Jun 2014 14:47:01 +0200 Subject: [PATCH 143/215] added figures to illustrate notation --- svo/doc/notation.ipe | 312 +++++++++++++++++++++++++++++++++++++++++++ svo/doc/notation.pdf | Bin 0 -> 50379 bytes svo/doc/notation.png | Bin 0 -> 27376 bytes 3 files changed, 312 insertions(+) create mode 100644 svo/doc/notation.ipe create mode 100644 svo/doc/notation.pdf create mode 100644 svo/doc/notation.png diff --git a/svo/doc/notation.ipe b/svo/doc/notation.ipe new file mode 100644 index 0000000..f8c1efe --- /dev/null +++ b/svo/doc/notation.ipe @@ -0,0 +1,312 @@ + + + + + + + +0 0 m +-1 0.333 l +-1 -0.333 l +h + + + + +0 0 m +-1 0.333 l +-1 -0.333 l +h + + + + +0.6 0 0 0.6 0 0 e +0.4 0 0 0.4 0 0 e + + + + +0.6 0 0 0.6 0 0 e + + + + + +0.6 0 0 0.6 0 0 e +0.4 0 0 0.4 0 0 e + + +0.4 0 0 0.4 0 0 e + + + + + +-0.6 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Date: Wed, 11 Jun 2014 15:43:55 +0200 Subject: [PATCH 144/215] Update README.md --- svo_analysis/README.md | 29 ++--------------------------- 1 file changed, 2 insertions(+), 27 deletions(-) diff --git a/svo_analysis/README.md b/svo_analysis/README.md index 3fe3ea6..84fd11e 100644 --- a/svo_analysis/README.md +++ b/svo_analysis/README.md @@ -14,39 +14,14 @@ Source your new `.bashrc` script, go to the new dataset folder and download the source `~/.bashrc` cd ${SVO_DATASET_DIR} - wget http://rpg.ifi.uzh.ch/datasets/flying_room_1_rig_1.tar.gz -O - | tar -xz - -TODO: replace this dataset with new ones. + wget http://rpg.ifi.uzh.ch/datasets/sin2_tex2_h1_v8_d.tar.gz -O - | tar -xz #### Run Benchmark In the _CMakeLists.txt_ of SVO you need to set the `TRACE` flag to `TRUE` and recompile SVO. Afterwards run - rosrun svo_analysis benchmark.py flying_room_1_fast + rosrun svo_analysis benchmark.py sin2_tex2_h1_v8_d The script will create a new folder in `svo_analysis/results/`, run svo on the dataset and save the tracefile in this folder and at the end it will run some scripts to generate plots from the tracefile. - - -#### Dataset file - -A dataset with motion-capture-system ground-truth should contain the following files - -* _images.txt_ - - # timestamp img/imagename - 1329330952.725747585296631 img/00000.png - 1329330952.765715122222900 img/00001.png - 1329330952.805604219436646 img/00002.png - ... - -* _groundtruth.txt_: groundtruth poses as acquired from a motion capture system - - # timestamp tx ty tz qx qy qz qw - -* _groundtruth_matched.txt_: the groundtruth pose associated to the images in images.txt. This file can be generated by the command: - - cd my_dataset - rosrun svo_analysis associate.py images.txt groundtruth.txt - From ab867a3047908afa40b9fc1884693f00bbf1b9c3 Mon Sep 17 00:00:00 2001 From: Christian Forster Date: Wed, 11 Jun 2014 17:41:10 +0200 Subject: [PATCH 145/215] added instructions on how to download test data. updated all tests for new dataset. --- svo/src/depth_filter.cpp | 7 ++++-- svo/test/README.md | 26 +++++++++++++++++++--- svo/test/test_depth_filter.cpp | 34 ++++++++++++++--------------- svo/test/test_feature_alignment.cpp | 8 +++---- svo/test/test_feature_detection.cpp | 4 ++-- svo/test/test_matcher.cpp | 32 +++++++++++++-------------- svo/test/test_pipeline.cpp | 12 ++++++---- svo/test/test_pose_optimizer.cpp | 14 ++++++------ svo/test/test_sparse_img_align.cpp | 6 ++--- 9 files changed, 84 insertions(+), 59 deletions(-) diff --git a/svo/src/depth_filter.cpp b/svo/src/depth_filter.cpp index 7f8f3c3..1fdd342 100644 --- a/svo/src/depth_filter.cpp +++ b/svo/src/depth_filter.cpp @@ -126,7 +126,9 @@ void DepthFilter::initializeSeeds(FramePtr frame) seeds_.push_back(Seed(ftr, new_keyframe_mean_depth_, new_keyframe_min_depth_)); }); - SVO_DEBUG_STREAM("DepthFilter: Initialized "< results_; std::vector errors_; - double error_sum_; size_t n_converged_seeds_; vk::PinholeCamera* cam_; svo::DepthFilter* depth_filter_; @@ -65,7 +64,7 @@ class DepthFilterTest { DepthFilterTest::DepthFilterTest() : n_converged_seeds_(0), - cam_(new vk::PinholeCamera(752, 480, 217.083701215, 217.083701215, 376, 240)), + cam_(new vk::PinholeCamera(752, 480, 315.5, 315.5, 376.0, 240.0)), depth_filter_(NULL) { errors_.reserve(1000); @@ -91,7 +90,6 @@ void DepthFilterTest::depthFilterCb(svo::Point* point, double depth_sigma2) void DepthFilterTest::testReconstruction( std::string dataset_dir, - std::string experiment_name) { vk::FileReader sequence_file_reader(dataset_dir+"/trajectory.txt"); @@ -110,28 +108,28 @@ void DepthFilterTest::testReconstruction( cam_->width(), cam_->height(), svo::Config::gridSize(), svo::Config::nPyrLevels())); svo::DepthFilter::callback_t depth_filter_cb = boost::bind(&DepthFilterTest::depthFilterCb, this, _1, _2); depth_filter_ = new svo::DepthFilter(feature_detector, depth_filter_cb); + depth_filter_->options_.verbose = true; - for(int i=0; it != sequence.end() && i<50; ++it, ++i) + for(int i=0; it != sequence.end() && i<20; ++it, ++i) { std::string img_name(dataset_dir+"/img/" + (*it).image_name_ + "_0.png"); - if(i==0) - printf("reading image: '%s'\n", img_name.c_str()); + printf("reading image: '%s'\n", img_name.c_str()); cv::Mat img(cv::imread(img_name, 0)); assert(!img.empty()); - Sophus::SE3 T_w_f = Sophus::SE3(it->q_.toRotationMatrix(), it->t_); + Sophus::SE3 T_w_f(it->q_, it->t_); if(i == 0) { // create reference frame and load ground truth depthmap - frame_ref_.reset(new svo::Frame(cam_, img, 0.0)); + frame_ref_ = boost::make_shared(cam_, img, 0.0); frame_ref_->T_f_w_ = T_w_f.inverse(); - depth_filter_->addKeyframe(frame_ref_, 3, 1); + depth_filter_->addKeyframe(frame_ref_, 2, 0.5); vk::blender_utils::loadBlenderDepthmap(dataset_dir+"/depth/" + (*it).image_name_ + "_0.depth", *cam_, depth_ref_); continue; } - n_converged_seeds_=0; - frame_cur_ = svo::FramePtr(new svo::Frame(cam_, img, 0.0)); + n_converged_seeds_ = 0; + frame_cur_ = boost::make_shared(cam_, img, 0.0); frame_cur_->T_f_w_ = T_w_f.inverse(); depth_filter_->addFrame(frame_cur_); n_converged_per_iteration.push_back(n_converged_seeds_); @@ -140,19 +138,19 @@ void DepthFilterTest::testReconstruction( // compute mean, median and variance of error in converged area { - printf("# converged: \t %zu (ref: 349)\n", errors_.size()); + printf("# converged: \t %zu (ref: 287)\n", errors_.size()); double sum_error = 0; std::for_each(errors_.begin(), errors_.end(), [&](double& e){sum_error+=e;}); - printf("mean error: \t %f cm (ref: 1.510507)\n", sum_error*100/errors_.size()); + printf("mean error: \t %f cm (ref: 0.080357)\n", sum_error*100/errors_.size()); std::vector::iterator it = errors_.begin()+0.5*errors_.size(); std::nth_element(errors_.begin(), it, errors_.end()); - printf("50-percentile: \t %f cm (ref: 0.809308)\n", *it*100); + printf("50-percentile: \t %f cm (ref: 0.062042)\n", *it*100); it = errors_.begin()+0.8*errors_.size(); std::nth_element(errors_.begin(), it, errors_.end()); - printf("80-percentile: \t %f cm (ref: 1.580725)\n", *it*100); + printf("80-percentile: \t %f cm (ref: 0.124526)\n", *it*100); it = errors_.begin()+0.95*errors_.size(); std::nth_element(errors_.begin(), it, errors_.end()); - printf("95-percentile: \t %f cm (ref: 2.557531)\n", *it*100); + printf("95-percentile: \t %f cm (ref: 0.200417)\n", *it*100); } // trace error @@ -199,8 +197,8 @@ void DepthFilterTest::testReconstruction( int main(int argc, char** argv) { DepthFilterTest test; - std::string dataset_dir(svo::test_utils::getDatasetDir() + "/flying_room_1_rig_1"); - std::string experiment_name("synth_fast_2d"); + std::string dataset_dir(svo::test_utils::getDatasetDir() + "/sin2_tex2_h1_v8_d"); + std::string experiment_name("sin2_tex2_h1_v8_d"); test.testReconstruction(dataset_dir, experiment_name); return 0; } diff --git a/svo/test/test_feature_alignment.cpp b/svo/test/test_feature_alignment.cpp index a7352e0..dac8911 100644 --- a/svo/test/test_feature_alignment.cpp +++ b/svo/test/test_feature_alignment.cpp @@ -54,7 +54,7 @@ void generateRefPatchNoWarpInterpolate(const cv::Mat& img, const Vector2d& px, int main(int argc, char **argv) { - std::string img_name(svo::test_utils::getDatasetDir() + "/flying_room_1_rig_1/img/frame_000001_0.png"); + std::string img_name(svo::test_utils::getDatasetDir() + "/sin2_tex2_h1_v8_d/img/frame_000002_0.png"); printf("Loading image '%s'\n", img_name.c_str()); cv::Mat img(cv::imread(img_name, 0)); assert(img.type() == CV_8UC1); @@ -86,7 +86,7 @@ int main(int argc, char **argv) svo::feature_alignment::align1D(img, dir, ref_patch_with_border.data, ref_patch, 3, px_est, h_inv); } Vector2d e = px_est-px_true; - printf("1000Xalign 1D took %fms, error = %fpx \t (ref i7-W520: 1.637000ms, Odroid-U2: ?, 0.008788px) \n", t.stop()*1000, e.norm()); + printf("1000Xalign 1D took %fms, error = %fpx \t (ref i7-W520: 1.982000ms, 0.000033px) \n", t.stop()*1000, e.norm()); t.start(); for(int i=0; i<1000; ++i) @@ -95,7 +95,7 @@ int main(int argc, char **argv) svo::feature_alignment::align2D(img, ref_patch_with_border.data, ref_patch, 3, px_est, true); } e = px_est-px_true; - printf("1000Xalign 2D took %fms, error = %fpx \t (ref i7-W520: 2.147000ms, Odroid-U2: ?, 0.009632px)\n", t.stop()*1000, e.norm()); + printf("1000Xalign 2D took %fms, error = %fpx \t (ref i7-W520: 2.306000ms, 0.015102px)\n", t.stop()*1000, e.norm()); #ifdef __SSE2__ // Note, this KLT implementation is not invariant to illuminatino changes! @@ -106,7 +106,7 @@ int main(int argc, char **argv) svo::feature_alignment::align2D_SSE2(img, ref_patch_with_border.data, ref_patch, 3, px_est); } e = px_est-px_true; - printf("1000Xalign 2D SSE2 %fms, error = %fpx \t (ref i7-W520: 0.548000ms, 0.023032px)\n", t.stop()*1000, e.norm()); + printf("1000Xalign 2D SSE2 %fms, error = %fpx \t (ref i7-W520: 0.460000ms, 0.021881px)\n", t.stop()*1000, e.norm()); #endif #ifdef __ARM_NEON__ diff --git a/svo/test/test_feature_detection.cpp b/svo/test/test_feature_detection.cpp index b91e97a..3ba2b2f 100644 --- a/svo/test/test_feature_detection.cpp +++ b/svo/test/test_feature_detection.cpp @@ -34,7 +34,7 @@ using namespace std; void testCornerDetector() { - std::string img_name(svo::test_utils::getDatasetDir() + "/flying_room_1_rig_1/img/frame_000001_0.png"); + std::string img_name(svo::test_utils::getDatasetDir() + "/sin2_tex2_h1_v8_d/img/frame_000002_0.png"); printf("Loading image '%s'\n", img_name.c_str()); cv::Mat img(cv::imread(img_name, 0)); assert(img.type() == CV_8UC1 && !img.empty()); @@ -51,7 +51,7 @@ void testCornerDetector() { fast_detector.detect(frame.get(), frame->img_pyr_, svo::Config::triangMinCornerScore(), fts); } - printf("Fast corner detection took %f ms, %zu corners detected (ref i7-W520: 8.06878ms, 416)\n", t.stop()*10, fts.size()); + printf("Fast corner detection took %f ms, %zu corners detected (ref i7-W520: 7.166360ms, 40000)\n", t.stop()*10, fts.size()); printf("Note, in this case, feature detection also contains the cam2world projection of the feature.\n"); cv::Mat img_rgb = cv::Mat(img.size(), CV_8UC3); cv::cvtColor(img, img_rgb, CV_GRAY2RGB); diff --git a/svo/test/test_matcher.cpp b/svo/test/test_matcher.cpp index 37ad1f1..0b65cb9 100644 --- a/svo/test/test_matcher.cpp +++ b/svo/test/test_matcher.cpp @@ -31,14 +31,14 @@ class MatcherTest { public: MatcherTest() { - cam_ = new vk::PinholeCamera(752, 480, 217.083701215, 217.083701215, 376, 240); + cam_ = new vk::PinholeCamera(752, 480, 315.5, 315.5, 376.0, 240.0); // load images - std::string dataset_dir(svo::test_utils::getDatasetDir() + "/flying_room_1_rig_1"); - std::string img_name(dataset_dir+"/img/frame_000071_0.png"); + std::string dataset_dir(svo::test_utils::getDatasetDir() + "/sin2_tex2_h1_v8_d"); + std::string img_name(dataset_dir+"/img/frame_000002_0.png"); printf("Loading image '%s'\n", img_name.c_str()); cv::Mat img_ref(cv::imread(img_name, 0)); - img_name = std::string(dataset_dir+"/img/frame_000097_0.png"); + img_name = std::string(dataset_dir+"/img/frame_000006_0.png"); printf("Loading image '%s'\n", img_name.c_str()); cv::Mat img_cur(cv::imread(img_name, 0)); assert(!img_ref.empty() && !img_cur.empty()); @@ -49,15 +49,15 @@ class MatcherTest { ref_ftr_ = new svo::Feature(frame_ref_, Eigen::Vector2d(300, 260), 0); // set poses - Eigen::Vector3d t_w_ref(1.0054399967193604, 1.75655996799469, 4.610799789428711); - Eigen::Vector3d t_w_cur(-0.046640001237392426, 2.163439989089966, 4.6279802322387695); - Eigen::Quaterniond q_w_ref(0.015279541723430157, 0.7095794081687927, 0.7044594287872314, 0.0006494877743534744); - Eigen::Quaterniond q_w_cur(0.004395846277475357, -0.7776520252227783, -0.6286740899085999, -0.0026246386114507914); - frame_ref_->T_f_w_ = Sophus::SE3(q_w_ref.toRotationMatrix(), t_w_ref).inverse(); - frame_cur_->T_f_w_ = Sophus::SE3(q_w_cur.toRotationMatrix(), t_w_cur).inverse(); + Eigen::Vector3d t_w_ref(0.1131, 0.1131, 2.0000); + Eigen::Vector3d t_w_cur(0.5673, 0.5641, 2.0000); + Eigen::Quaterniond q_w_ref(0.0, 0.8227, 0.2149, 0.0); + Eigen::Quaterniond q_w_cur(0.0, 0.8235, 0.2130, 0.0); + frame_ref_->T_f_w_ = Sophus::SE3(q_w_ref, t_w_ref).inverse(); + frame_cur_->T_f_w_ = Sophus::SE3(q_w_cur, t_w_cur).inverse(); // load ground-truth depth - vk::blender_utils::loadBlenderDepthmap(dataset_dir+"/depth/frame_000071_0.depth", *cam_, depth_ref_); + vk::blender_utils::loadBlenderDepthmap(dataset_dir+"/depth/frame_000002_0.depth", *cam_, depth_ref_); } virtual ~MatcherTest() @@ -114,17 +114,17 @@ void MatcherTest::testEpipolarSearchFullImg() } // compute mean, median and variance of error in converged area - printf("n converged: \t %zu mm (ref: 169936)\n", n_converged); - printf("mean error: \t %f mm (ref: 1.912410)\n", sum_error*100/n_converged); + printf("n converged: \t %zu mm (ref: 216114)\n", n_converged); + printf("mean error: \t %f mm (ref: 0.410084)\n", sum_error*100/n_converged); std::vector::iterator it = errors.begin()+0.5*errors.size(); std::nth_element(errors.begin(), it, errors.end()); - printf("50-percentile: \t %f mm (ref: 1.462241)\n", *it*100); + printf("50-percentile: \t %f mm (ref: 0.083203)\n", *it*100); it = errors.begin()+0.8*errors.size(); std::nth_element(errors.begin(), it, errors.end()); - printf("80-percentile: \t %f mm (ref: 2.620957)\n", *it*100); + printf("80-percentile: \t %f mm (ref: 0.161824)\n", *it*100); it = errors.begin()+0.95*errors.size(); std::nth_element(errors.begin(), it, errors.end()); - printf("95-percentile: \t %f mm (ref: 4.154051)\n", *it*100); + printf("95-percentile: \t %f mm (ref: 0.263539)\n", *it*100); // save results to file std::ofstream output_stream; diff --git a/svo/test/test_pipeline.cpp b/svo/test/test_pipeline.cpp index 364b089..ede3b25 100644 --- a/svo/test/test_pipeline.cpp +++ b/svo/test/test_pipeline.cpp @@ -45,7 +45,7 @@ public: BenchmarkNode::BenchmarkNode() { - cam_ = new vk::PinholeCamera(752, 480, 217.083701215, 217.083701215, 376, 240); + cam_ = new vk::PinholeCamera(752, 480, 315.5, 315.5, 376.0, 240.0); vo_ = new svo::FrameHandlerMono(cam_); vo_->start(); } @@ -58,13 +58,13 @@ BenchmarkNode::~BenchmarkNode() void BenchmarkNode::runFromFolder() { - for(int img_id = 1; img_id < 310; ++img_id) + for(int img_id = 2; img_id < 188; ++img_id) { // load image std::stringstream ss; - ss << svo::test_utils::getDatasetDir() << "/flying_room_1_rig_1/img/frame_" + ss << svo::test_utils::getDatasetDir() << "/sin2_tex2_h1_v8_d/img/frame_" << std::setw( 6 ) << std::setfill( '0' ) << img_id << "_0.png"; - if(img_id == 1) + if(img_id == 2) std::cout << "reading image " << ss.str() << std::endl; cv::Mat img(cv::imread(ss.str().c_str(), 0)); assert(!img.empty()); @@ -74,9 +74,13 @@ void BenchmarkNode::runFromFolder() // display tracking quality if(vo_->lastFrame() != NULL) + { std::cout << "Frame-Id: " << vo_->lastFrame()->id_ << " \t" << "#Features: " << vo_->lastNumObservations() << " \t" << "Proc. Time: " << vo_->lastProcessingTime()*1000 << "ms \n"; + + // access the pose of the camera via vo_->lastFrame()->T_f_w_. + } } } diff --git a/svo/test/test_pose_optimizer.cpp b/svo/test/test_pose_optimizer.cpp index 7dd79f8..59e0b46 100644 --- a/svo/test/test_pose_optimizer.cpp +++ b/svo/test/test_pose_optimizer.cpp @@ -37,11 +37,11 @@ class PoseOptimizerTest { public: PoseOptimizerTest() { - cam_ = new vk::PinholeCamera(752, 480, 217.083701215, 217.083701215, 376, 240); + cam_ = new vk::PinholeCamera(752, 480, 315.5, 315.5, 376.0, 240.0); // load image - std::string dataset_dir(svo::test_utils::getDatasetDir() + "/flying_room_1_rig_1"); - std::string img_name(dataset_dir+"/img/frame_000001_0.png"); + std::string dataset_dir(svo::test_utils::getDatasetDir() + "/sin2_tex2_h1_v8_d"); + std::string img_name(dataset_dir+"/img/frame_000002_0.png"); printf("Loading image '%s'\n", img_name.c_str()); cv::Mat img(cv::imread(img_name, 0)); assert(!img.empty()); @@ -50,12 +50,12 @@ class PoseOptimizerTest { frame_.reset(new svo::Frame(cam_, img, 1.0)); // set pose - Eigen::Vector3d t_w_ref(2.139359951019287, -1.9544399976730347, 2.8595199584960938 ); - Eigen::Quaterniond q_w_ref(0.0027939670253545046, 0.8382523059844971, 0.5443645715713501, -0.03150530532002449); - frame_->T_f_w_ = Sophus::SE3(q_w_ref.toRotationMatrix(), t_w_ref).inverse(); + Eigen::Vector3d t_w_ref(0.1131, 0.1131, 2.0000); + Eigen::Quaterniond q_w_ref(0.0, 0.8227, 0.2149, 0.0); + frame_->T_f_w_ = Sophus::SE3(q_w_ref, t_w_ref).inverse(); // load ground-truth depth - vk::blender_utils::loadBlenderDepthmap(dataset_dir + "/depth/frame_000001_0.depth", *cam_, depthmap_); + vk::blender_utils::loadBlenderDepthmap(dataset_dir + "/depth/frame_000002_0.depth", *cam_, depthmap_); // detect features feature_detection::FastDetector detector( diff --git a/svo/test/test_sparse_img_align.cpp b/svo/test/test_sparse_img_align.cpp index fe1ece5..1312da0 100644 --- a/svo/test/test_sparse_img_align.cpp +++ b/svo/test/test_sparse_img_align.cpp @@ -47,7 +47,7 @@ class SparseImgAlignTest { }; SparseImgAlignTest::SparseImgAlignTest() : - cam_(new vk::PinholeCamera(752, 480, 217.083701215, 217.083701215, 376, 240)) + cam_(new vk::PinholeCamera(752, 480, 315.5, 315.5, 376.0, 240.0)) {} SparseImgAlignTest::~SparseImgAlignTest() @@ -82,7 +82,7 @@ void SparseImgAlignTest::testSequence( assert(!img.empty()); // load pose - Sophus::SE3 T_w_gt = Sophus::SE3(iter->q_.toRotationMatrix(), iter->t_); + Sophus::SE3 T_w_gt(iter->q_, iter->t_); Sophus::SE3 T_gt_w = T_w_gt.inverse(); // ground-truth if(i==0) @@ -152,7 +152,7 @@ void SparseImgAlignTest::testSequence( int main(int argc, char** argv) { std::string experiment_name("flying_room_1_rig_1_fast_minlev0"); - std::string dataset_dir(svo::test_utils::getDatasetDir() + "/flying_room_1_rig_1"); + std::string dataset_dir(svo::test_utils::getDatasetDir() + "/sin2_tex2_h1_v8_d"); svo::Config::triangMinCornerScore() = 20; svo::Config::kltMinLevel() = 0; SparseImgAlignTest test; From f9fa33aef28a318c1185981fbd414670d6eefa9e Mon Sep 17 00:00:00 2001 From: Christian Forster Date: Thu, 12 Jun 2014 10:56:54 +0200 Subject: [PATCH 146/215] Update README.md --- svo_analysis/README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/svo_analysis/README.md b/svo_analysis/README.md index 84fd11e..b3201b1 100644 --- a/svo_analysis/README.md +++ b/svo_analysis/README.md @@ -12,7 +12,7 @@ In your `.bashrc` script, create a new environment variable pointing to the data Source your new `.bashrc` script, go to the new dataset folder and download the test data: - source `~/.bashrc` + source ~/.bashrc cd ${SVO_DATASET_DIR} wget http://rpg.ifi.uzh.ch/datasets/sin2_tex2_h1_v8_d.tar.gz -O - | tar -xz From c5dda65e17df3cd2cb45e56b9fe9cace23ae2539 Mon Sep 17 00:00:00 2001 From: Christian Forster Date: Thu, 12 Jun 2014 10:57:13 +0200 Subject: [PATCH 147/215] Update README.md --- svo/test/README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/svo/test/README.md b/svo/test/README.md index 444bd6b..c70f832 100644 --- a/svo/test/README.md +++ b/svo/test/README.md @@ -10,7 +10,7 @@ In your `.bashrc` script, create a new environment variable pointing to the data Source your new `.bashrc` script, go to the new dataset folder and download the test data: - source `~/.bashrc` + source ~/.bashrc cd ${SVO_DATASET_DIR} wget http://rpg.ifi.uzh.ch/datasets/sin2_tex2_h1_v8_d.tar.gz -O - | tar -xz From 08fb6d2f146cf0a808e046609477ccbfd37f61bc Mon Sep 17 00:00:00 2001 From: Christian Forster Date: Thu, 12 Jun 2014 11:08:59 +0200 Subject: [PATCH 148/215] added EIGEN_MAKE_ALIGNED_OPERATOR_NEW to Reprojector class. --- svo/include/svo/matcher.h | 2 ++ 1 file changed, 2 insertions(+) diff --git a/svo/include/svo/matcher.h b/svo/include/svo/matcher.h index d0d1134..7e823bc 100644 --- a/svo/include/svo/matcher.h +++ b/svo/include/svo/matcher.h @@ -64,6 +64,8 @@ void warpAffine( class Matcher { public: + EIGEN_MAKE_ALIGNED_OPERATOR_NEW + static const int halfpatch_size_ = 4; static const int patch_size_ = 8; From 79f4d03672e1cdc4d976586994156d0bb00b4c16 Mon Sep 17 00:00:00 2001 From: Christian Forster Date: Thu, 12 Jun 2014 11:48:36 +0200 Subject: [PATCH 149/215] added EIGEN_MAKE_ALIGNED_OPERATOR_NEW to sparseImgAlign class. --- svo/include/svo/sparse_img_align.h | 1 + 1 file changed, 1 insertion(+) diff --git a/svo/include/svo/sparse_img_align.h b/svo/include/svo/sparse_img_align.h index c9da479..1bedfed 100644 --- a/svo/include/svo/sparse_img_align.h +++ b/svo/include/svo/sparse_img_align.h @@ -36,6 +36,7 @@ class SparseImgAlign : public vk::NLLSSolver<6, SE3> static const int patch_size_ = 2*patch_halfsize_; static const int patch_area_ = patch_size_*patch_size_; public: + EIGEN_MAKE_ALIGNED_OPERATOR_NEW cv::Mat resimg_; From 8fa5d9796a8af00c142d9dcfdbbdaf043f628528 Mon Sep 17 00:00:00 2001 From: Ketill Gunnarsson Date: Mon, 16 Jun 2014 21:42:01 +0200 Subject: [PATCH 150/215] added eigen align operator to frame_handler_mono.h and point.h --- svo/include/svo/frame_handler_mono.h | 2 ++ svo/include/svo/point.h | 3 ++- 2 files changed, 4 insertions(+), 1 deletion(-) diff --git a/svo/include/svo/frame_handler_mono.h b/svo/include/svo/frame_handler_mono.h index 546e501..cfeb433 100644 --- a/svo/include/svo/frame_handler_mono.h +++ b/svo/include/svo/frame_handler_mono.h @@ -28,6 +28,8 @@ namespace svo { class FrameHandlerMono : public FrameHandlerBase { public: + EIGEN_MAKE_ALIGNED_OPERATOR_NEW + FrameHandlerMono(vk::AbstractCamera* cam); virtual ~FrameHandlerMono(); diff --git a/svo/include/svo/point.h b/svo/include/svo/point.h index f7706be..e1bb81b 100644 --- a/svo/include/svo/point.h +++ b/svo/include/svo/point.h @@ -35,7 +35,8 @@ typedef Matrix Matrix23d; class Point : boost::noncopyable { public: - + EIGEN_MAKE_ALIGNED_OPERATOR_NEW + enum PointType { TYPE_DELETED, TYPE_CANDIDATE, From ac5453efee96228efbaf8a1c51d52ba04e83240f Mon Sep 17 00:00:00 2001 From: Christian Forster Date: Tue, 17 Jun 2014 12:05:44 +0200 Subject: [PATCH 151/215] update readme --- README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/README.md b/README.md index aaf8b86..1e098a9 100644 --- a/README.md +++ b/README.md @@ -14,7 +14,7 @@ SVO has been tested under ROS Groovy, Hydro and Indigo with Ubuntu 12.04, 13.04 #### Licence -The source code is released under a GPLv3 licence. A professional edition license for closed-source projects is also available. For commercial use, please contact the authors. +The source code is released under a GPLv3 licence. A closed-source professional edition is available for commercial purposes. In this case, please contact the authors for further info. #### Citing From 90d64a9a893ba78b84d070257eb6da8274ee7668 Mon Sep 17 00:00:00 2001 From: Christian Forster Date: Wed, 18 Jun 2014 23:26:11 +0200 Subject: [PATCH 152/215] fixes #17 - building without ROS --- svo/test/test_depth_filter.cpp | 2 ++ svo/test/test_utils.h | 4 ++-- 2 files changed, 4 insertions(+), 2 deletions(-) diff --git a/svo/test/test_depth_filter.cpp b/svo/test/test_depth_filter.cpp index 7bbb1e9..4d22493 100644 --- a/svo/test/test_depth_filter.cpp +++ b/svo/test/test_depth_filter.cpp @@ -18,6 +18,8 @@ #include #include #include +#include +#include #include #include #include diff --git a/svo/test/test_utils.h b/svo/test/test_utils.h index 5647879..2759fe0 100644 --- a/svo/test/test_utils.h +++ b/svo/test/test_utils.h @@ -19,9 +19,9 @@ #include #include // for getenv -#include #ifdef SVO_USE_ROS - #include +# include +# include #endif namespace svo { From 1720c393eadb20057f2cf7952f729d1933ae13be Mon Sep 17 00:00:00 2001 From: Christian Forster Date: Thu, 19 Jun 2014 18:37:01 +0200 Subject: [PATCH 153/215] fixed compile flags for debug build --- svo/CMakeLists.txt | 7 ++++--- 1 file changed, 4 insertions(+), 3 deletions(-) diff --git a/svo/CMakeLists.txt b/svo/CMakeLists.txt index 91c5603..9161027 100644 --- a/svo/CMakeLists.txt +++ b/svo/CMakeLists.txt @@ -30,17 +30,18 @@ IF(DEBUG_OUTPUT) ENDIF() # Set build flags, set ARM_ARCHITECTURE environment variable on Odroid -SET(CMAKE_CXX_FLAGS "-Wall -Werror -D_LINUX -D_REENTRANT -march=native -Wno-unused-variable -Wno-unused-but-set-variable -Wno-unknown-pragmas") +SET(CMAKE_CXX_FLAGS "-Wall -D_LINUX -D_REENTRANT -march=native -Wno-unused-variable -Wno-unused-but-set-variable -Wno-unknown-pragmas") IF(DEFINED ENV{ARM_ARCHITECTURE}) - SET(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS} -O3 -mfpu=neon -march=armv7-a -fomit-frame-pointer -fsee -funsafe-loop-optimizations -fno-signed-zeros -fno-math-errno -funroll-loops") + SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -mfpu=neon -march=armv7-a") ELSE() - SET(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS} -O3 -mmmx -msse -msse -msse2 -msse3 -mssse3 -fomit-frame-pointer -fsee -funsafe-loop-optimizations -fno-signed-zeros -fno-math-errno -funroll-loops") + SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -mmmx -msse -msse -msse2 -msse3 -mssse3") ENDIF() IF(CMAKE_COMPILER_IS_GNUCC) SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x") ELSE() SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11") ENDIF() +SET(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS} -O3 -fsee -fomit-frame-pointer -fno-signed-zeros -fno-math-errno -funroll-loops") # Add plain cmake packages FIND_PACKAGE(OpenCV REQUIRED) From 8b32cd8d88acb65611415d5a3d2b3c83d710232b Mon Sep 17 00:00:00 2001 From: Christian Forster Date: Thu, 19 Jun 2014 23:12:40 +0200 Subject: [PATCH 154/215] add boost system dependency. fixes #19 --- svo/CMakeLists.txt | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/svo/CMakeLists.txt b/svo/CMakeLists.txt index 9161027..2feb414 100644 --- a/svo/CMakeLists.txt +++ b/svo/CMakeLists.txt @@ -48,7 +48,7 @@ FIND_PACKAGE(OpenCV REQUIRED) FIND_PACKAGE(Eigen REQUIRED) FIND_PACKAGE(Sophus REQUIRED) FIND_PACKAGE(fast REQUIRED) -FIND_PACKAGE(Boost REQUIRED COMPONENTS thread) +FIND_PACKAGE(Boost REQUIRED COMPONENTS thread system) IF(USE_ROS) FIND_PACKAGE(catkin REQUIRED COMPONENTS roscpp roslib cmake_modules vikit_common vikit_ros) From 7d2263aeda72bbaa550525a5a29adea58ae42d60 Mon Sep 17 00:00:00 2001 From: Christian Forster Date: Tue, 24 Jun 2014 13:02:50 +0200 Subject: [PATCH 155/215] include , fixes #22 --- svo/include/svo/frame_handler_mono.h | 1 + 1 file changed, 1 insertion(+) diff --git a/svo/include/svo/frame_handler_mono.h b/svo/include/svo/frame_handler_mono.h index cfeb433..aed73be 100644 --- a/svo/include/svo/frame_handler_mono.h +++ b/svo/include/svo/frame_handler_mono.h @@ -17,6 +17,7 @@ #ifndef SVO_FRAME_HANDLER_H_ #define SVO_FRAME_HANDLER_H_ +#include #include #include #include From d6da40f6a0341dc4951715bfc1986c9cbc801603 Mon Sep 17 00:00:00 2001 From: Christian Forster Date: Wed, 25 Jun 2014 14:11:21 +0200 Subject: [PATCH 156/215] added include , fixes #23 --- svo/src/map.cpp | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/svo/src/map.cpp b/svo/src/map.cpp index aa63648..bb3bcf9 100644 --- a/svo/src/map.cpp +++ b/svo/src/map.cpp @@ -14,6 +14,7 @@ // You should have received a copy of the GNU General Public License // along with this program. If not, see . +#include #include #include #include @@ -342,7 +343,7 @@ void mapStatistics(Map* map) // compute average number of observations that each point has size_t n_frame_obs(0); size_t n_pts(0); - set points; + std::set points; for(auto it=map->keyframes_.begin(); it!=map->keyframes_.end(); ++it) { for(auto ftr=(*it)->fts_.begin(); ftr!=(*it)->fts_.end(); ++ftr) From ec351f478f2523cd0cf0b927bd4fc0630efb0812 Mon Sep 17 00:00:00 2001 From: Christian Forster Date: Fri, 27 Jun 2014 14:57:03 +0200 Subject: [PATCH 157/215] moved proj. jacobian out of loop. --- svo/src/sparse_img_align.cpp | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/svo/src/sparse_img_align.cpp b/svo/src/sparse_img_align.cpp index 78323e7..ce1570b 100644 --- a/svo/src/sparse_img_align.cpp +++ b/svo/src/sparse_img_align.cpp @@ -107,6 +107,10 @@ void SparseImgAlign::precomputeReferencePatches() const double depth(((*it)->point->pos_ - ref_pos).norm()); const Vector3d xyz_ref((*it)->f*depth); + // evaluate projection jacobian + Matrix frame_jac; + Frame::jacobian_xyz2uv(xyz_ref, frame_jac); + // compute bilateral interpolation weights for reference image const float subpix_u_ref = u_ref-u_ref_i; const float subpix_v_ref = v_ref-v_ref_i; @@ -131,10 +135,6 @@ void SparseImgAlign::precomputeReferencePatches() float dy = 0.5f * ((w_ref_tl*ref_img_ptr[stride] + w_ref_tr*ref_img_ptr[1+stride] + w_ref_bl*ref_img_ptr[stride*2] + w_ref_br*ref_img_ptr[stride*2+1]) -(w_ref_tl*ref_img_ptr[-stride] + w_ref_tr*ref_img_ptr[1-stride] + w_ref_bl*ref_img_ptr[0] + w_ref_br*ref_img_ptr[1])); - // evaluate jacobian and cache - Matrix frame_jac; - Frame::jacobian_xyz2uv(xyz_ref, frame_jac); - // cache the jacobian jacobian_cache_.col(feature_counter*patch_area_ + pixel_counter) = (dx*frame_jac.row(0) + dy*frame_jac.row(1))*(focal_length / (1< Date: Mon, 30 Jun 2014 19:35:30 +0200 Subject: [PATCH 158/215] using ${OpenCV_LIBS} instead of ${OpenCV_LIBRARIES}, fixes #24. thanks Jamaslab & pablospe --- svo/CMakeLists.txt | 2 +- svo_ros/CMakeLists.txt | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/svo/CMakeLists.txt b/svo/CMakeLists.txt index 2feb414..703e379 100644 --- a/svo/CMakeLists.txt +++ b/svo/CMakeLists.txt @@ -76,7 +76,7 @@ INCLUDE_DIRECTORIES( # Set link libraries LIST(APPEND LINK_LIBS - ${OpenCV_LIBRARIES} + ${OpenCV_LIBS} ${Sophus_LIBRARIES} ${Boost_LIBRARIES} ${fast_LIBRARIES} diff --git a/svo_ros/CMakeLists.txt b/svo_ros/CMakeLists.txt index cb1b286..32df703 100644 --- a/svo_ros/CMakeLists.txt +++ b/svo_ros/CMakeLists.txt @@ -55,7 +55,7 @@ INCLUDE_DIRECTORIES( # Set link libraries LIST(APPEND LINK_LIBS - ${OpenCV_LIBRARIES} + ${OpenCV_LIBS} ${Sophus_LIBRARIES} ${Boost_LIBRARIES} ${catkin_LIBRARIES} From b4696fda0a286a1e13532e8be8c4d6dd7065020f Mon Sep 17 00:00:00 2001 From: Christian Forster Date: Mon, 30 Jun 2014 20:43:15 +0200 Subject: [PATCH 159/215] using std::isnan instead of isnanf --- svo/src/depth_filter.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/svo/src/depth_filter.cpp b/svo/src/depth_filter.cpp index 1fdd342..1f70be8 100644 --- a/svo/src/depth_filter.cpp +++ b/svo/src/depth_filter.cpp @@ -309,7 +309,7 @@ void DepthFilter::getSeedsCopy(const FramePtr& frame, std::list& seeds) void DepthFilter::updateSeed(const float x, const float tau2, Seed* seed) { float norm_scale = sqrt(seed->sigma2 + tau2); - if(isnanf(norm_scale)) + if(std::isnan(norm_scale)) return; boost::math::normal_distribution nd(seed->mu, norm_scale); float s2 = 1./(1./seed->sigma2 + 1./tau2); From 2eabd6d4b415635c45d6e91278cb9b1f06439da7 Mon Sep 17 00:00:00 2001 From: Christian Forster Date: Mon, 7 Jul 2014 17:08:06 +0200 Subject: [PATCH 160/215] changed memory allocation in matcher (#27) --- svo/include/svo/matcher.h | 8 ++++---- svo/src/matcher.cpp | 14 -------------- 2 files changed, 4 insertions(+), 18 deletions(-) diff --git a/svo/include/svo/matcher.h b/svo/include/svo/matcher.h index 7e823bc..b53340e 100644 --- a/svo/include/svo/matcher.h +++ b/svo/include/svo/matcher.h @@ -91,8 +91,8 @@ public: {} } options_; - uint8_t* patch_; - uint8_t* patch_with_border_; + uint8_t patch_[patch_size_*patch_size_] __attribute__ ((aligned (16))); + uint8_t patch_with_border_[(patch_size_+2)*(patch_size_+2)] __attribute__ ((aligned (16))); Matrix2d A_cur_ref_; //!< affine warp matrix Vector2d epi_dir_; double epi_length_; //!< length of epipolar line segment in pixels (only used for epipolar search) @@ -102,8 +102,8 @@ public: Feature* ref_ftr_; Vector2d px_cur_; - Matcher(); - ~Matcher(); + Matcher() = default; + ~Matcher() = default; /// Find a match by directly applying subpix refinement. /// IMPORTANT! This function assumes that px_cur is already set to an estimate that is within ~2-3 pixel of the final result! diff --git a/svo/src/matcher.cpp b/svo/src/matcher.cpp index 0ec7714..38a89fb 100644 --- a/svo/src/matcher.cpp +++ b/svo/src/matcher.cpp @@ -18,7 +18,6 @@ #include #include #include -#include #include #include #include @@ -107,19 +106,6 @@ void warpAffine( } // namespace warp - -Matcher::Matcher() -{ - patch_ = vk::aligned_mem::aligned_alloc(patch_size_*patch_size_, 16); - patch_with_border_ = vk::aligned_mem::aligned_alloc((patch_size_+2)*(patch_size_+2), 16); -} - -Matcher::~Matcher() -{ - free(patch_); - free(patch_with_border_); -} - bool depthFromTriangulation( const SE3& T_search_ref, const Vector3d& f_ref, From 6f6c4c9930d9662b129ab24063bcc3abec1d373d Mon Sep 17 00:00:00 2001 From: Christian Forster Date: Wed, 13 Aug 2014 17:54:43 +0200 Subject: [PATCH 161/215] speeding up initialization by using previous flow estimate in klt tracking. --- svo/src/initialization.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/svo/src/initialization.cpp b/svo/src/initialization.cpp index 16d1c80..84b9baf 100644 --- a/svo/src/initialization.cpp +++ b/svo/src/initialization.cpp @@ -144,7 +144,7 @@ void trackKlt( px_ref, px_cur, status, error, cv::Size2i(klt_win_size, klt_win_size), - 4, termcrit); + 4, termcrit, cv::OPTFLOW_USE_INITIAL_FLOW); vector::iterator px_ref_it = px_ref.begin(); vector::iterator px_cur_it = px_cur.begin(); From 3ba099372ff9a5ecb849ad824eab7df893fee0ad Mon Sep 17 00:00:00 2001 From: Christian Forster Date: Mon, 1 Sep 2014 14:42:41 +0200 Subject: [PATCH 162/215] Fixes #44, bug in KeyPoint selection --- svo/src/frame.cpp | 12 ++++++------ 1 file changed, 6 insertions(+), 6 deletions(-) diff --git a/svo/src/frame.cpp b/svo/src/frame.cpp index f9b2bd0..0779891 100644 --- a/svo/src/frame.cpp +++ b/svo/src/frame.cpp @@ -87,8 +87,8 @@ void Frame::checkKeyPoints(Feature* ftr) // center pixel if(key_pts_[0] == NULL) key_pts_[0] = ftr; - else if(max(abs(ftr->px[0]-cu), abs(ftr->px[1]-cv)) - < max(abs(key_pts_[0]->px[0]-cu), abs(key_pts_[0]->px[1]-cv))) + else if(std::max(std::fabs(ftr->px[0]-cu), std::fabs(ftr->px[1]-cv)) + < std::max(std::fabs(key_pts_[0]->px[0]-cu), std::fabs(key_pts_[0]->px[1]-cv))) key_pts_[0] = ftr; if(ftr->px[0] >= cu && ftr->px[1] >= cv) @@ -96,7 +96,7 @@ void Frame::checkKeyPoints(Feature* ftr) if(key_pts_[1] == NULL) key_pts_[1] = ftr; else if((ftr->px[0]-cu) * (ftr->px[1]-cv) - > (key_pts_[1]->px[0]-cu) * (key_pts_[1]->px[0]-cv)) + > (key_pts_[1]->px[0]-cu) * (key_pts_[1]->px[1]-cv)) key_pts_[1] = ftr; } if(ftr->px[0] >= cu && ftr->px[1] < cv) @@ -104,7 +104,7 @@ void Frame::checkKeyPoints(Feature* ftr) if(key_pts_[2] == NULL) key_pts_[2] = ftr; else if((ftr->px[0]-cu) * (ftr->px[1]-cv) - < (key_pts_[2]->px[0]-cu) * (key_pts_[2]->px[0]-cv)) + > (key_pts_[2]->px[0]-cu) * (key_pts_[2]->px[1]-cv)) key_pts_[2] = ftr; } if(ftr->px[0] < cv && ftr->px[1] < cv) @@ -112,7 +112,7 @@ void Frame::checkKeyPoints(Feature* ftr) if(key_pts_[3] == NULL) key_pts_[3] = ftr; else if((ftr->px[0]-cu) * (ftr->px[1]-cv) - > (key_pts_[3]->px[0]-cu) * (key_pts_[3]->px[0]-cv)) + > (key_pts_[3]->px[0]-cu) * (key_pts_[3]->px[1]-cv)) key_pts_[3] = ftr; } if(ftr->px[0] < cv && ftr->px[1] >= cv) @@ -120,7 +120,7 @@ void Frame::checkKeyPoints(Feature* ftr) if(key_pts_[4] == NULL) key_pts_[4] = ftr; else if((ftr->px[0]-cu) * (ftr->px[1]-cv) - < (key_pts_[4]->px[0]-cu) * (key_pts_[4]->px[0]-cv)) + > (key_pts_[4]->px[0]-cu) * (key_pts_[4]->px[1]-cv)) key_pts_[4] = ftr; } } From 3ab81e54c2edfd5ce2968c7e1f32293d0acde971 Mon Sep 17 00:00:00 2001 From: Christian Forster Date: Sat, 8 Nov 2014 17:08:39 +0100 Subject: [PATCH 163/215] bugfix in getCloseKeyframes(). fixes #52 --- svo/src/map.cpp | 22 +++++++++++----------- 1 file changed, 11 insertions(+), 11 deletions(-) diff --git a/svo/src/map.cpp b/svo/src/map.cpp index bb3bcf9..39aab50 100644 --- a/svo/src/map.cpp +++ b/svo/src/map.cpp @@ -103,23 +103,23 @@ void Map::addKeyframe(FramePtr new_keyframe) keyframes_.push_back(new_keyframe); } -void Map::getCloseKeyframes(const FramePtr& frame, list< pair >& close_kfs) const +void Map::getCloseKeyframes( + const FramePtr& frame, + std::list< std::pair >& close_kfs) const { - const Vector3d frame_pos(frame->pos()); - for(auto it_kf=keyframes_.begin(), ite_kf=keyframes_.end(); it_kf!=ite_kf; ++it_kf) + for(auto kf : keyframes_) { - // check first if Point is visible in the Keyframe, use therefore KeyPoints - for(auto it=(*it_kf)->key_pts_.begin(), ite=(*it_kf)->key_pts_.end(); it!=ite; ++it) + // check if kf has overlaping field of view with frame, use therefore KeyPoints + for(auto keypoint : kf->key_pts_) { - if(*it == NULL) + if(keypoint == nullptr) continue; - assert((*it)->point != NULL); - - if((*it_kf)->isVisible((*it)->point->pos_)) + if(frame->isVisible(keypoint->point->pos_)) { - close_kfs.push_back(pair(*it_kf, - (frame->T_f_w_.translation()-(*it_kf)->T_f_w_.translation()).norm())); + close_kfs.push_back( + std::make_pair( + kf, (frame->T_f_w_.translation()-kf->T_f_w_.translation()).norm())); break; // this keyframe has an overlapping field of view -> add to close_kfs } } From 1282a95dde9ada71f8b9521063d1d0b6bd7a4e94 Mon Sep 17 00:00:00 2001 From: Christian Forster Date: Mon, 10 Nov 2014 11:01:06 -0500 Subject: [PATCH 164/215] removed check if error increased in feature alignment. result is more feature matches and equal results to NEON version. --- svo/src/feature_alignment.cpp | 12 ++++++------ 1 file changed, 6 insertions(+), 6 deletions(-) diff --git a/svo/src/feature_alignment.cpp b/svo/src/feature_alignment.cpp index 15dcee3..faa4027 100644 --- a/svo/src/feature_alignment.cpp +++ b/svo/src/feature_alignment.cpp @@ -197,7 +197,7 @@ bool align2D( // termination condition const float min_update_squared = 0.03*0.03; const int cur_step = cur_img.step.p[0]; - float chi2 = 0; +// float chi2 = 0; Vector3f update; update.setZero(); for(int iter = 0; iter 0 && new_chi2 > chi2) { #if SUBPIX_VERBOSE @@ -248,8 +248,8 @@ bool align2D( v -= update[1]; break; } - chi2 = new_chi2; +*/ update = Hinv * Jres; u += update[0]; v += update[1]; @@ -259,7 +259,7 @@ bool align2D( cout << "Iter " << iter << ":" << "\t u=" << u << ", v=" << v << "\t update = " << update[0] << ", " << update[1] - << "\t new chi2 = " << new_chi2 << endl; +// << "\t new chi2 = " << new_chi2 << endl; #endif if(update[0]*update[0]+update[1]*update[1] < min_update_squared) From 30a43ccec6877781c0c0361637922d8a8685b2d0 Mon Sep 17 00:00:00 2001 From: Andre Phu-Van Nguyen Date: Tue, 3 Feb 2015 20:14:17 -0500 Subject: [PATCH 165/215] fix relocalization segfault --- svo/src/frame_handler_mono.cpp | 5 +++++ svo/src/map.cpp | 5 +++++ 2 files changed, 10 insertions(+) diff --git a/svo/src/frame_handler_mono.cpp b/svo/src/frame_handler_mono.cpp index 3de6f7f..cd1865b 100644 --- a/svo/src/frame_handler_mono.cpp +++ b/svo/src/frame_handler_mono.cpp @@ -240,6 +240,11 @@ FrameHandlerMono::UpdateResult FrameHandlerMono::relocalizeFrame( FramePtr ref_keyframe) { SVO_WARN_STREAM_THROTTLE(1.0, "Relocalizing frame"); + if(ref_keyframe == nullptr) + { + SVO_INFO_STREAM("Relocalization successful."); + return RESULT_FAILURE; + } SparseImgAlign img_align(Config::kltMaxLevel(), Config::kltMinLevel(), 30, SparseImgAlign::GaussNewton, false, false); size_t img_align_n_tracked = img_align.run(ref_keyframe, new_frame_); diff --git a/svo/src/map.cpp b/svo/src/map.cpp index 39aab50..2ecad1c 100644 --- a/svo/src/map.cpp +++ b/svo/src/map.cpp @@ -130,6 +130,11 @@ FramePtr Map::getClosestKeyframe(const FramePtr& frame) const { list< pair > close_kfs; getCloseKeyframes(frame, close_kfs); + if(close_kfs.empty()) + { + return nullptr; + } + // Sort KFs with overlap according to their closeness close_kfs.sort(boost::bind(&std::pair::second, _1) < From 7e7cb6e909b47dbcadc662540bd29aabb4599a6a Mon Sep 17 00:00:00 2001 From: Zichao Zhang Date: Thu, 12 Feb 2015 12:12:06 +0100 Subject: [PATCH 166/215] fixed info output in relocalization function --- svo/src/frame_handler_mono.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/svo/src/frame_handler_mono.cpp b/svo/src/frame_handler_mono.cpp index cd1865b..3050ba7 100644 --- a/svo/src/frame_handler_mono.cpp +++ b/svo/src/frame_handler_mono.cpp @@ -242,7 +242,7 @@ FrameHandlerMono::UpdateResult FrameHandlerMono::relocalizeFrame( SVO_WARN_STREAM_THROTTLE(1.0, "Relocalizing frame"); if(ref_keyframe == nullptr) { - SVO_INFO_STREAM("Relocalization successful."); + SVO_INFO_STREAM("No reference keyframe."); return RESULT_FAILURE; } SparseImgAlign img_align(Config::kltMaxLevel(), Config::kltMinLevel(), From 56ae1884faa75697f204236ac67ea83cd69b2d37 Mon Sep 17 00:00:00 2001 From: MengwenTan <810684547@qq.com> Date: Wed, 8 Jul 2015 06:16:47 -0700 Subject: [PATCH 167/215] fixed the bug of checking if point is visible in the current image in DepthFilter::updateSeeds function --- svo/src/depth_filter.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/svo/src/depth_filter.cpp b/svo/src/depth_filter.cpp index 1f70be8..bf3a686 100644 --- a/svo/src/depth_filter.cpp +++ b/svo/src/depth_filter.cpp @@ -225,7 +225,7 @@ void DepthFilter::updateSeeds(FramePtr frame) ++it; // behind the camera continue; } - if(!it->ftr->frame->cam_->isInFrame(it->ftr->frame->f2c(xyz_f).cast())) { + if(!frame->cam_->isInFrame(frame->f2c(xyz_f).cast())) { ++it; // point does not project in image continue; } From 4691e302a95b2d274f01d80c84a7813d368014e4 Mon Sep 17 00:00:00 2001 From: Zichao Zhang Date: Thu, 3 Dec 2015 10:58:53 +0100 Subject: [PATCH 168/215] use pyramid camera marker for visualization --- svo_ros/src/visualizer.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/svo_ros/src/visualizer.cpp b/svo_ros/src/visualizer.cpp index a17589f..951f713 100644 --- a/svo_ros/src/visualizer.cpp +++ b/svo_ros/src/visualizer.cpp @@ -211,9 +211,9 @@ void Visualizer::visualizeMarkers( if(pub_frames_.getNumSubscribers() > 0 || pub_points_.getNumSubscribers() > 0) { - vk::output_helper::publishHexacopterMarker( + vk::output_helper::publishCameraMarker( pub_frames_, "cam_pos", "cams", ros::Time(frame->timestamp_), - 1, 0, 0.3, Vector3d(0.,0.,1.)); + 1, 0.3, Vector3d(0.,0.,1.)); vk::output_helper::publishPointMarker( pub_points_, T_world_from_vision_*frame->pos(), "trajectory", ros::Time::now(), trace_id_, 0, 0.006, Vector3d(0.,0.,0.5)); From 245547da88676fadbf6a1e7505da205c3f6f9624 Mon Sep 17 00:00:00 2001 From: Kartik Mohta Date: Fri, 19 Feb 2016 04:37:08 -0500 Subject: [PATCH 169/215] visualizer: Use reserve not resize for keyframes vector in msg_info --- svo_ros/src/visualizer.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/svo_ros/src/visualizer.cpp b/svo_ros/src/visualizer.cpp index 951f713..6662969 100644 --- a/svo_ros/src/visualizer.cpp +++ b/svo_ros/src/visualizer.cpp @@ -79,7 +79,7 @@ void Visualizer::publishMinimal( svo_msgs::Info msg_info; msg_info.header = header_msg; msg_info.processing_time = slam.lastProcessingTime(); - msg_info.keyframes.resize(slam.map().keyframes_.size()); + msg_info.keyframes.reserve(slam.map().keyframes_.size()); for(list::const_iterator it=slam.map().keyframes_.begin(); it!=slam.map().keyframes_.end(); ++it) msg_info.keyframes.push_back((*it)->id_); msg_info.stage = static_cast(slam.stage()); From 63a848c45800ff4a8429f77427d976b323d911da Mon Sep 17 00:00:00 2001 From: Quim Sanchez Date: Fri, 29 Apr 2016 13:16:35 +0200 Subject: [PATCH 170/215] Update initialization.h Forgotten renaming :) --- svo/include/svo/initialization.h | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/svo/include/svo/initialization.h b/svo/include/svo/initialization.h index 4513086..cb562e5 100644 --- a/svo/include/svo/initialization.h +++ b/svo/include/svo/initialization.h @@ -78,6 +78,6 @@ void computeHomography( SE3& T_cur_from_ref); } // namespace initialization -} // namespace nslam +} // namespace svo -#endif // NSLAM_INITIALIZATION_H +#endif // SVO_INITIALIZATION_H From ec240827b1b284fb3269e2b39d5871d92fd5d19f Mon Sep 17 00:00:00 2001 From: akira_you Date: Sat, 25 Mar 2017 05:57:53 +0900 Subject: [PATCH 171/215] Eigen alignment fix --- svo/include/svo/depth_filter.h | 2 +- svo/include/svo/global.h | 4 ++++ svo/include/svo/initialization.h | 18 +++++++++--------- svo/include/svo/reprojector.h | 2 +- svo/src/depth_filter.cpp | 8 ++++---- svo/src/frame_handler_mono.cpp | 1 - svo/src/initialization.cpp | 18 +++++++++--------- svo_ros/src/visualizer.cpp | 17 ++++++++--------- svo_ros/src/vo_node.cpp | 1 - 9 files changed, 36 insertions(+), 35 deletions(-) diff --git a/svo/include/svo/depth_filter.h b/svo/include/svo/depth_filter.h index 7c4ab19..6333e54 100644 --- a/svo/include/svo/depth_filter.h +++ b/svo/include/svo/depth_filter.h @@ -116,7 +116,7 @@ public: /// Can be used to compute the Next-Best-View in parallel. /// IMPORTANT! Make sure you hold a valid reference counting pointer to frame /// so it is not being deleted while you use it. - void getSeedsCopy(const FramePtr& frame, std::list& seeds); + void getSeedsCopy(const FramePtr& frame, std::list >& seeds); /// Return a reference to the seeds. This is NOT THREAD SAFE! std::list >& getSeeds() { return seeds_; } diff --git a/svo/include/svo/global.h b/svo/include/svo/global.h index 9f7cc97..7a3989b 100644 --- a/svo/include/svo/global.h +++ b/svo/include/svo/global.h @@ -25,6 +25,10 @@ #include #include +template > > +using vectorA = std::vector< T, Allocator > ; +template > > +using listA = std::list< T, Allocator > ; #include #include #include diff --git a/svo/include/svo/initialization.h b/svo/include/svo/initialization.h index cb562e5..ec74ccd 100644 --- a/svo/include/svo/initialization.h +++ b/svo/include/svo/initialization.h @@ -44,11 +44,11 @@ public: protected: vector px_ref_; //!< keypoints to be tracked in reference frame. vector px_cur_; //!< tracked keypoints in current frame. - vector f_ref_; //!< bearing vectors corresponding to the keypoints in the reference image. - vector f_cur_; //!< bearing vectors corresponding to the keypoints in the current image. + vectorA f_ref_; //!< bearing vectors corresponding to the keypoints in the reference image. + vectorA f_cur_; //!< bearing vectors corresponding to the keypoints in the current image. vector disparities_; //!< disparity between first and second frame. vector inliers_; //!< inliers after the geometric check (e.g., Homography). - vector xyz_in_cur_; //!< 3D points computed during the geometric check. + vectorA xyz_in_cur_; //!< 3D points computed during the geometric check. SE3 T_cur_from_ref_; //!< computed transformation between the first two frames. }; @@ -56,7 +56,7 @@ protected: void detectFeatures( FramePtr frame, vector& px_vec, - vector& f_vec); + vectorA& f_vec); /// Compute optical flow (Lucas Kanade) for selected keypoints. void trackKlt( @@ -64,17 +64,17 @@ void trackKlt( FramePtr frame_cur, vector& px_ref, vector& px_cur, - vector& f_ref, - vector& f_cur, + vectorA& f_ref, + vectorA& f_cur, vector& disparities); void computeHomography( - const vector& f_ref, - const vector& f_cur, + const vectorA& f_ref, + const vectorA& f_cur, double focal_length, double reprojection_threshold, vector& inliers, - vector& xyz_in_cur, + vectorA& xyz_in_cur, SE3& T_cur_from_ref); } // namespace initialization diff --git a/svo/include/svo/reprojector.h b/svo/include/svo/reprojector.h index 7207b54..e345f0d 100644 --- a/svo/include/svo/reprojector.h +++ b/svo/include/svo/reprojector.h @@ -72,7 +72,7 @@ private: Vector2d px; //!< projected 2D pixel location. Candidate(Point* pt, Vector2d& px) : pt(pt), px(px) {} }; - typedef std::list > Cell; + typedef std::list Cell; typedef std::vector CandidateGrid; /// The grid stores a set of candidate matches. For every grid cell we try to find one match. diff --git a/svo/src/depth_filter.cpp b/svo/src/depth_filter.cpp index bf3a686..4eb6249 100644 --- a/svo/src/depth_filter.cpp +++ b/svo/src/depth_filter.cpp @@ -135,7 +135,7 @@ void DepthFilter::removeKeyframe(FramePtr frame) { seeds_updating_halt_ = true; lock_t lock(seeds_mut_); - list::iterator it=seeds_.begin(); + std::list >::iterator it=seeds_.begin(); size_t n_removed = 0; while(it!=seeds_.end()) { @@ -200,7 +200,7 @@ void DepthFilter::updateSeeds(FramePtr frame) // for all the seeds in every frame! size_t n_updates=0, n_failed_matches=0, n_seeds = seeds_.size(); lock_t lock(seeds_mut_); - list::iterator it=seeds_.begin(); + std::list >::iterator it=seeds_.begin(); const double focal_length = frame->cam_->errorMultiplier2(); double px_noise = 1.0; @@ -296,10 +296,10 @@ void DepthFilter::clearFrameQueue() frame_queue_.pop(); } -void DepthFilter::getSeedsCopy(const FramePtr& frame, std::list& seeds) +void DepthFilter::getSeedsCopy(const FramePtr& frame, std::list >& seeds) { lock_t lock(seeds_mut_); - for(std::list::iterator it=seeds_.begin(); it!=seeds_.end(); ++it) + for(std::list >::iterator it=seeds_.begin(); it!=seeds_.end(); ++it) { if (it->ftr->frame == frame.get()) seeds.push_back(*it); diff --git a/svo/src/frame_handler_mono.cpp b/svo/src/frame_handler_mono.cpp index 3050ba7..4facc51 100644 --- a/svo/src/frame_handler_mono.cpp +++ b/svo/src/frame_handler_mono.cpp @@ -84,7 +84,6 @@ void FrameHandlerMono::addImage(const cv::Mat& img, const double timestamp) // set last frame last_frame_ = new_frame_; new_frame_.reset(); - // finish processing finishFrameProcessingCommon(last_frame_->id_, res, last_frame_->nObs()); } diff --git a/svo/src/initialization.cpp b/svo/src/initialization.cpp index 84b9baf..d8f947a 100644 --- a/svo/src/initialization.cpp +++ b/svo/src/initialization.cpp @@ -107,7 +107,7 @@ void KltHomographyInit::reset() void detectFeatures( FramePtr frame, vector& px_vec, - vector& f_vec) + vectorA& f_vec) { Features new_features; feature_detection::FastDetector detector( @@ -129,8 +129,8 @@ void trackKlt( FramePtr frame_cur, vector& px_ref, vector& px_cur, - vector& f_ref, - vector& f_cur, + vectorA& f_ref, + vectorA& f_cur, vector& disparities) { const double klt_win_size = 30.0; @@ -148,7 +148,7 @@ void trackKlt( vector::iterator px_ref_it = px_ref.begin(); vector::iterator px_cur_it = px_cur.begin(); - vector::iterator f_ref_it = f_ref.begin(); + vectorA::iterator f_ref_it = f_ref.begin(); f_cur.clear(); f_cur.reserve(px_cur.size()); disparities.clear(); disparities.reserve(px_cur.size()); for(size_t i=0; px_ref_it != px_ref.end(); ++i) @@ -169,16 +169,16 @@ void trackKlt( } void computeHomography( - const vector& f_ref, - const vector& f_cur, + const vectorA& f_ref, + const vectorA& f_cur, double focal_length, double reprojection_threshold, vector& inliers, - vector& xyz_in_cur, + vectorA& xyz_in_cur, SE3& T_cur_from_ref) { - vector > uv_ref(f_ref.size()); - vector > uv_cur(f_cur.size()); + vectorA uv_ref(f_ref.size()); + vectorA uv_cur(f_cur.size()); for(size_t i=0, i_max=f_ref.size(); ipx[0]+3*(*it)->grad[1], (*it)->px[1]-3*(*it)->grad[0]), cv::Point2f((*it)->px[0]-3*(*it)->grad[1], (*it)->px[1]+3*(*it)->grad[0]), cv::Scalar(255,0,255), 2); - else + else//point size 5x5 cv::rectangle(img_rgb, cv::Point2f((*it)->px[0]-2, (*it)->px[1]-2), cv::Point2f((*it)->px[0]+2, (*it)->px[1]+2), cv::Scalar(0,255,0), CV_FILLED); } } - if(img_pub_level_ == 1) + else if(img_pub_level_ == 1){//point size 3x3 for(Features::iterator it=frame->fts_.begin(); it!=frame->fts_.end(); ++it) cv::rectangle(img_rgb, cv::Point2f((*it)->px[0]/scale-1, (*it)->px[1]/scale-1), cv::Point2f((*it)->px[0]/scale+1, (*it)->px[1]/scale+1), cv::Scalar(0,255,0), CV_FILLED); - else - for(Features::iterator it=frame->fts_.begin(); it!=frame->fts_.end(); ++it) - cv::rectangle(img_rgb, - cv::Point2f((*it)->px[0]/scale, (*it)->px[1]/scale), - cv::Point2f((*it)->px[0]/scale, (*it)->px[1]/scale), - cv::Scalar(0,255,0), CV_FILLED); - + }else{ //point size 1x1 + for(Features::iterator it=frame->fts_.begin(); it!=frame->fts_.end(); ++it){ + cv::Vec3b &p= img_rgb.at((*it)->px[1]/scale, (*it)->px[0]/scale); + p[0]=0;p[1]=255;p[2]=0; + } + } cv_bridge::CvImage img_msg; img_msg.header = header_msg; img_msg.image = img_rgb; diff --git a/svo_ros/src/vo_node.cpp b/svo_ros/src/vo_node.cpp index 8a6f88c..c9fbb84 100644 --- a/svo_ros/src/vo_node.cpp +++ b/svo_ros/src/vo_node.cpp @@ -13,7 +13,6 @@ // // You should have received a copy of the GNU General Public License // along with this program. If not, see . - #include #include #include From 0e36dabb6fb29ba947039c0ce96d3cf4f783b6ff Mon Sep 17 00:00:00 2001 From: akira_you Date: Sun, 26 Mar 2017 07:57:52 +0900 Subject: [PATCH 172/215] use EIGEN_DEFINE_STL_VECTOR_SPECIALIZATION and use same CXX_FLAGS for rpg_svo rpg_vikit --- svo/CMakeLists.txt | 1 + svo/include/svo/depth_filter.h | 6 +++--- svo/include/svo/global.h | 10 ++++++---- svo/include/svo/initialization.h | 18 +++++++++--------- svo/src/depth_filter.cpp | 8 ++++---- svo/src/initialization.cpp | 18 +++++++++--------- svo_ros/CMakeLists.txt | 9 ++++++++- 7 files changed, 40 insertions(+), 30 deletions(-) diff --git a/svo/CMakeLists.txt b/svo/CMakeLists.txt index 703e379..15257be 100644 --- a/svo/CMakeLists.txt +++ b/svo/CMakeLists.txt @@ -30,6 +30,7 @@ IF(DEBUG_OUTPUT) ENDIF() # Set build flags, set ARM_ARCHITECTURE environment variable on Odroid +# Set build flags. Set IS_ARM on odroid board as environment variable SET(CMAKE_CXX_FLAGS "-Wall -D_LINUX -D_REENTRANT -march=native -Wno-unused-variable -Wno-unused-but-set-variable -Wno-unknown-pragmas") IF(DEFINED ENV{ARM_ARCHITECTURE}) SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -mfpu=neon -march=armv7-a") diff --git a/svo/include/svo/depth_filter.h b/svo/include/svo/depth_filter.h index 6333e54..70f6df3 100644 --- a/svo/include/svo/depth_filter.h +++ b/svo/include/svo/depth_filter.h @@ -116,10 +116,10 @@ public: /// Can be used to compute the Next-Best-View in parallel. /// IMPORTANT! Make sure you hold a valid reference counting pointer to frame /// so it is not being deleted while you use it. - void getSeedsCopy(const FramePtr& frame, std::list >& seeds); + void getSeedsCopy(const FramePtr& frame, std::list& seeds); /// Return a reference to the seeds. This is NOT THREAD SAFE! - std::list >& getSeeds() { return seeds_; } + std::list& getSeeds() { return seeds_; } /// Bayes update of the seed, x is the measurement, tau2 the measurement uncertainty static void updateSeed( @@ -137,7 +137,7 @@ public: protected: feature_detection::DetectorPtr feature_detector_; callback_t seed_converged_cb_; - std::list > seeds_; + std::list seeds_; boost::mutex seeds_mut_; bool seeds_updating_halt_; //!< Set this value to true when seeds updating should be interrupted. boost::thread* thread_; diff --git a/svo/include/svo/global.h b/svo/include/svo/global.h index 7a3989b..03aff4e 100644 --- a/svo/include/svo/global.h +++ b/svo/include/svo/global.h @@ -25,14 +25,16 @@ #include #include -template > > -using vectorA = std::vector< T, Allocator > ; -template > > -using listA = std::list< T, Allocator > ; #include #include #include #include +#include +#ifndef RPG_SVO_VIKIT_IS_VECTOR_SPECIALIZED //Guard for rpg_vikit +#define RPG_SVO_VIKIT_IS_VECTOR_SPECIALIZED +EIGEN_DEFINE_STL_VECTOR_SPECIALIZATION(Eigen::Vector3d) +EIGEN_DEFINE_STL_VECTOR_SPECIALIZATION(Eigen::Vector2d) +#endif #ifdef SVO_USE_ROS #include diff --git a/svo/include/svo/initialization.h b/svo/include/svo/initialization.h index ec74ccd..cb562e5 100644 --- a/svo/include/svo/initialization.h +++ b/svo/include/svo/initialization.h @@ -44,11 +44,11 @@ public: protected: vector px_ref_; //!< keypoints to be tracked in reference frame. vector px_cur_; //!< tracked keypoints in current frame. - vectorA f_ref_; //!< bearing vectors corresponding to the keypoints in the reference image. - vectorA f_cur_; //!< bearing vectors corresponding to the keypoints in the current image. + vector f_ref_; //!< bearing vectors corresponding to the keypoints in the reference image. + vector f_cur_; //!< bearing vectors corresponding to the keypoints in the current image. vector disparities_; //!< disparity between first and second frame. vector inliers_; //!< inliers after the geometric check (e.g., Homography). - vectorA xyz_in_cur_; //!< 3D points computed during the geometric check. + vector xyz_in_cur_; //!< 3D points computed during the geometric check. SE3 T_cur_from_ref_; //!< computed transformation between the first two frames. }; @@ -56,7 +56,7 @@ protected: void detectFeatures( FramePtr frame, vector& px_vec, - vectorA& f_vec); + vector& f_vec); /// Compute optical flow (Lucas Kanade) for selected keypoints. void trackKlt( @@ -64,17 +64,17 @@ void trackKlt( FramePtr frame_cur, vector& px_ref, vector& px_cur, - vectorA& f_ref, - vectorA& f_cur, + vector& f_ref, + vector& f_cur, vector& disparities); void computeHomography( - const vectorA& f_ref, - const vectorA& f_cur, + const vector& f_ref, + const vector& f_cur, double focal_length, double reprojection_threshold, vector& inliers, - vectorA& xyz_in_cur, + vector& xyz_in_cur, SE3& T_cur_from_ref); } // namespace initialization diff --git a/svo/src/depth_filter.cpp b/svo/src/depth_filter.cpp index 4eb6249..db24408 100644 --- a/svo/src/depth_filter.cpp +++ b/svo/src/depth_filter.cpp @@ -135,7 +135,7 @@ void DepthFilter::removeKeyframe(FramePtr frame) { seeds_updating_halt_ = true; lock_t lock(seeds_mut_); - std::list >::iterator it=seeds_.begin(); + std::list::iterator it=seeds_.begin(); size_t n_removed = 0; while(it!=seeds_.end()) { @@ -200,7 +200,7 @@ void DepthFilter::updateSeeds(FramePtr frame) // for all the seeds in every frame! size_t n_updates=0, n_failed_matches=0, n_seeds = seeds_.size(); lock_t lock(seeds_mut_); - std::list >::iterator it=seeds_.begin(); + std::list::iterator it=seeds_.begin(); const double focal_length = frame->cam_->errorMultiplier2(); double px_noise = 1.0; @@ -296,10 +296,10 @@ void DepthFilter::clearFrameQueue() frame_queue_.pop(); } -void DepthFilter::getSeedsCopy(const FramePtr& frame, std::list >& seeds) +void DepthFilter::getSeedsCopy(const FramePtr& frame, std::list& seeds) { lock_t lock(seeds_mut_); - for(std::list >::iterator it=seeds_.begin(); it!=seeds_.end(); ++it) + for(std::list::iterator it=seeds_.begin(); it!=seeds_.end(); ++it) { if (it->ftr->frame == frame.get()) seeds.push_back(*it); diff --git a/svo/src/initialization.cpp b/svo/src/initialization.cpp index d8f947a..571a0bc 100644 --- a/svo/src/initialization.cpp +++ b/svo/src/initialization.cpp @@ -107,7 +107,7 @@ void KltHomographyInit::reset() void detectFeatures( FramePtr frame, vector& px_vec, - vectorA& f_vec) + vector& f_vec) { Features new_features; feature_detection::FastDetector detector( @@ -129,8 +129,8 @@ void trackKlt( FramePtr frame_cur, vector& px_ref, vector& px_cur, - vectorA& f_ref, - vectorA& f_cur, + vector& f_ref, + vector& f_cur, vector& disparities) { const double klt_win_size = 30.0; @@ -148,7 +148,7 @@ void trackKlt( vector::iterator px_ref_it = px_ref.begin(); vector::iterator px_cur_it = px_cur.begin(); - vectorA::iterator f_ref_it = f_ref.begin(); + vector::iterator f_ref_it = f_ref.begin(); f_cur.clear(); f_cur.reserve(px_cur.size()); disparities.clear(); disparities.reserve(px_cur.size()); for(size_t i=0; px_ref_it != px_ref.end(); ++i) @@ -169,16 +169,16 @@ void trackKlt( } void computeHomography( - const vectorA& f_ref, - const vectorA& f_cur, + const vector& f_ref, + const vector& f_cur, double focal_length, double reprojection_threshold, vector& inliers, - vectorA& xyz_in_cur, + vector& xyz_in_cur, SE3& T_cur_from_ref) { - vectorA uv_ref(f_ref.size()); - vectorA uv_cur(f_cur.size()); + vector uv_ref(f_ref.size()); + vector uv_cur(f_cur.size()); for(size_t i=0, i_max=f_ref.size(); i Date: Wed, 31 Mar 2021 14:16:57 +0200 Subject: [PATCH 173/215] fix bug 238 --- svo/include/svo/depth_filter.h | 6 ++++-- svo_ros/CMakeLists.txt | 4 ++-- .../launch/{test_rig3.launch => test.launch} | 6 +++--- svo_ros/launch/usb_cam.launch | 21 +++++++++++++++++++ svo_ros/param/camera_pinhole.yaml | 18 ++++++++-------- svo_ros/src/vo_node.cpp | 1 + 6 files changed, 40 insertions(+), 16 deletions(-) rename svo_ros/launch/{test_rig3.launch => test.launch} (96%) create mode 100644 svo_ros/launch/usb_cam.launch diff --git a/svo/include/svo/depth_filter.h b/svo/include/svo/depth_filter.h index 70f6df3..1612d0e 100644 --- a/svo/include/svo/depth_filter.h +++ b/svo/include/svo/depth_filter.h @@ -119,7 +119,8 @@ public: void getSeedsCopy(const FramePtr& frame, std::list& seeds); /// Return a reference to the seeds. This is NOT THREAD SAFE! - std::list& getSeeds() { return seeds_; } + //std::list& getSeeds() { return seeds_; } Bug 238 + std::list>& getSeeds() { return seeds_; } /// Bayes update of the seed, x is the measurement, tau2 the measurement uncertainty static void updateSeed( @@ -137,7 +138,8 @@ public: protected: feature_detection::DetectorPtr feature_detector_; callback_t seed_converged_cb_; - std::list seeds_; + //std::list seeds_; + std::list> seeds_; boost::mutex seeds_mut_; bool seeds_updating_halt_; //!< Set this value to true when seeds updating should be interrupted. boost::thread* thread_; diff --git a/svo_ros/CMakeLists.txt b/svo_ros/CMakeLists.txt index f55b7fa..d0ce982 100644 --- a/svo_ros/CMakeLists.txt +++ b/svo_ros/CMakeLists.txt @@ -75,5 +75,5 @@ TARGET_LINK_LIBRARIES(svo_visualizer ${LINK_LIBS}) # Create Executables ADD_EXECUTABLE(vo src/vo_node.cpp) TARGET_LINK_LIBRARIES(vo svo_visualizer) -ADD_EXECUTABLE(benchmark src/benchmark_node.cpp) -TARGET_LINK_LIBRARIES(benchmark svo_visualizer) +#ADD_EXECUTABLE(benchmark src/benchmark_node.cpp) +#TARGET_LINK_LIBRARIES(benchmark svo_visualizer) diff --git a/svo_ros/launch/test_rig3.launch b/svo_ros/launch/test.launch similarity index 96% rename from svo_ros/launch/test_rig3.launch rename to svo_ros/launch/test.launch index e49f9e2..f83d479 100644 --- a/svo_ros/launch/test_rig3.launch +++ b/svo_ros/launch/test.launch @@ -4,13 +4,13 @@ - + - + @@ -18,4 +18,4 @@ - + \ No newline at end of file diff --git a/svo_ros/launch/usb_cam.launch b/svo_ros/launch/usb_cam.launch new file mode 100644 index 0000000..ad34684 --- /dev/null +++ b/svo_ros/launch/usb_cam.launch @@ -0,0 +1,21 @@ + + + + + + + + + + + + + + + + + + + + + diff --git a/svo_ros/param/camera_pinhole.yaml b/svo_ros/param/camera_pinhole.yaml index 4898bcd..506a856 100644 --- a/svo_ros/param/camera_pinhole.yaml +++ b/svo_ros/param/camera_pinhole.yaml @@ -1,11 +1,11 @@ cam_model: Pinhole -cam_width: 752 +cam_width: 640 cam_height: 480 -cam_fx: 414.536145 -cam_fy: 414.284429 -cam_cx: 348.804988 -cam_cy: 240.076451 -cam_d0: -0.283076 -cam_d1: 0.066674 -cam_d2: 0.000896 -cam_d3: 0.000778 \ No newline at end of file +cam_fx: 789.860721 +cam_fy: 790.097440 +cam_cx: 305.323524 +cam_cy: 260.464072 +cam_d0: 0.027470 +cam_d1: -0.051518 +cam_d2: 0.004375 +cam_d3: -0.004028 \ No newline at end of file diff --git a/svo_ros/src/vo_node.cpp b/svo_ros/src/vo_node.cpp index c9fbb84..3417b4d 100644 --- a/svo_ros/src/vo_node.cpp +++ b/svo_ros/src/vo_node.cpp @@ -116,6 +116,7 @@ void VoNode::imgCb(const sensor_msgs::ImageConstPtr& msg) usleep(100000); } + void VoNode::processUserActions() { char input = remote_input_.c_str()[0]; From e9256c9903b304ee05c03df4f25b4259b98caeb5 Mon Sep 17 00:00:00 2001 From: gfuse Date: Mon, 5 Apr 2021 18:41:37 +0200 Subject: [PATCH 174/215] optimize the visualizer --- svo_ros/include/svo_ros/visualizer.h | 13 -- .../launch/{usb_cam.launch => Px30.launch} | 2 +- svo_ros/param/px30.yaml | 8 + svo_ros/src/visualizer.cpp | 198 +----------------- svo_ros/src/vo_node.cpp | 149 +++++-------- 5 files changed, 62 insertions(+), 308 deletions(-) rename svo_ros/launch/{usb_cam.launch => Px30.launch} (91%) create mode 100644 svo_ros/param/px30.yaml diff --git a/svo_ros/include/svo_ros/visualizer.h b/svo_ros/include/svo_ros/visualizer.h index dc8936d..4a09a8d 100644 --- a/svo_ros/include/svo_ros/visualizer.h +++ b/svo_ros/include/svo_ros/visualizer.h @@ -48,19 +48,11 @@ class Visualizer public: ros::NodeHandle pnh_; size_t trace_id_; - size_t img_pub_level_; - size_t img_pub_nth_; - size_t dense_pub_nth_; ros::Publisher pub_frames_; ros::Publisher pub_points_; ros::Publisher pub_pose_; ros::Publisher pub_info_; - ros::Publisher pub_dense_; - image_transport::Publisher pub_images_; tf::TransformBroadcaster br_; - bool publish_world_in_cam_frame_; - bool publish_map_every_frame_; - ros::Duration publish_points_display_time_; SE3 T_world_from_vision_; Visualizer(); @@ -78,13 +70,8 @@ public: const set& core_kfs, const Map& map); - void publishMapRegion(set frames); - void removeDeletedPts(const Map& map); - void displayKeyframeWithMps(const FramePtr& frame, int ts); - - void exportToDense(const FramePtr& frame); }; } // end namespace svo diff --git a/svo_ros/launch/usb_cam.launch b/svo_ros/launch/Px30.launch similarity index 91% rename from svo_ros/launch/usb_cam.launch rename to svo_ros/launch/Px30.launch index ad34684..53f9317 100644 --- a/svo_ros/launch/usb_cam.launch +++ b/svo_ros/launch/Px30.launch @@ -9,7 +9,7 @@ - + diff --git a/svo_ros/param/px30.yaml b/svo_ros/param/px30.yaml new file mode 100644 index 0000000..10fa932 --- /dev/null +++ b/svo_ros/param/px30.yaml @@ -0,0 +1,8 @@ +cam_model: ATAN +cam_width: 640 +cam_height: 480 +cam_fx: 0.463632 +cam_fy: 0.823661 +cam_cx: 0.497465 +cam_cy: 0.498443 +cam_d0: 1.01687 \ No newline at end of file diff --git a/svo_ros/src/visualizer.cpp b/svo_ros/src/visualizer.cpp index c4ea47f..3cda024 100644 --- a/svo_ros/src/visualizer.cpp +++ b/svo_ros/src/visualizer.cpp @@ -22,18 +22,9 @@ #include #include #include -#include -#include -#include -#include -#include -#include #include #include -#include #include -#include -#include namespace svo { @@ -41,12 +32,6 @@ Visualizer:: Visualizer() : pnh_("~"), trace_id_(0), - img_pub_level_(vk::getParam("svo/publish_img_pyr_level", 0)), - img_pub_nth_(vk::getParam("svo/publish_every_nth_img", 1)), - dense_pub_nth_(vk::getParam("svo/publish_every_nth_dense_input", 1)), - publish_world_in_cam_frame_(vk::getParam("svo/publish_world_in_cam_frame", true)), - publish_map_every_frame_(vk::getParam("svo/publish_map_every_frame", false)), - publish_points_display_time_(vk::getParam("svo/publish_point_display_time", 0)), T_world_from_vision_(Matrix3d::Identity(), Vector3d::Zero()) { // Init ROS Marker Publishers @@ -54,11 +39,6 @@ Visualizer() : pub_points_ = pnh_.advertise("points", 1000); pub_pose_ = pnh_.advertise("pose",10); pub_info_ = pnh_.advertise("info", 10); - pub_dense_ = pnh_.advertise("dense_input",10); - - // create video publisher - image_transport::ImageTransport it(pnh_); - pub_images_ = it.advertise("image", 10); } void Visualizer::publishMinimal( @@ -90,97 +70,16 @@ void Visualizer::publishMinimal( msg_info.num_matches = 0; pub_info_.publish(msg_info); } - - if(frame == NULL) - { - if(pub_images_.getNumSubscribers() > 0 && slam.stage() == FrameHandlerBase::STAGE_PAUSED) - { - // Display image when slam is not running. - cv_bridge::CvImage img_msg; - img_msg.header.stamp = ros::Time::now(); - img_msg.header.frame_id = "/image"; - img_msg.image = img; - img_msg.encoding = sensor_msgs::image_encodings::MONO8; - pub_images_.publish(img_msg.toImageMsg()); - } - return; - } - - // Publish pyramid-image every nth-frame. - if(img_pub_nth_ > 0 && trace_id_%img_pub_nth_ == 0 && pub_images_.getNumSubscribers() > 0) - { - const int scale = (1<img_pyr_[img_pub_level_].size(), CV_8UC3); - cv::cvtColor(frame->img_pyr_[img_pub_level_], img_rgb, CV_GRAY2RGB); - - if(slam.stage() == FrameHandlerBase::STAGE_SECOND_FRAME) - { - // During initialization, draw lines. - const vector& px_ref(slam.initFeatureTrackRefPx()); - const vector& px_cur(slam.initFeatureTrackCurPx()); - for(vector::const_iterator it_ref=px_ref.begin(), it_cur=px_cur.begin(); - it_ref != px_ref.end(); ++it_ref, ++it_cur) - cv::line(img_rgb, - cv::Point2f(it_cur->x/scale, it_cur->y/scale), - cv::Point2f(it_ref->x/scale, it_ref->y/scale), cv::Scalar(0,255,0), 2); - } - - if(img_pub_level_ == 0) - { - for(Features::iterator it=frame->fts_.begin(); it!=frame->fts_.end(); ++it) - { - if((*it)->type == Feature::EDGELET) - cv::line(img_rgb, - cv::Point2f((*it)->px[0]+3*(*it)->grad[1], (*it)->px[1]-3*(*it)->grad[0]), - cv::Point2f((*it)->px[0]-3*(*it)->grad[1], (*it)->px[1]+3*(*it)->grad[0]), - cv::Scalar(255,0,255), 2); - else//point size 5x5 - cv::rectangle(img_rgb, - cv::Point2f((*it)->px[0]-2, (*it)->px[1]-2), - cv::Point2f((*it)->px[0]+2, (*it)->px[1]+2), - cv::Scalar(0,255,0), CV_FILLED); - } - } - else if(img_pub_level_ == 1){//point size 3x3 - for(Features::iterator it=frame->fts_.begin(); it!=frame->fts_.end(); ++it) - cv::rectangle(img_rgb, - cv::Point2f((*it)->px[0]/scale-1, (*it)->px[1]/scale-1), - cv::Point2f((*it)->px[0]/scale+1, (*it)->px[1]/scale+1), - cv::Scalar(0,255,0), CV_FILLED); - }else{ //point size 1x1 - for(Features::iterator it=frame->fts_.begin(); it!=frame->fts_.end(); ++it){ - cv::Vec3b &p= img_rgb.at((*it)->px[1]/scale, (*it)->px[0]/scale); - p[0]=0;p[1]=255;p[2]=0; - } - } - cv_bridge::CvImage img_msg; - img_msg.header = header_msg; - img_msg.image = img_rgb; - img_msg.encoding = sensor_msgs::image_encodings::BGR8; - pub_images_.publish(img_msg.toImageMsg()); - } - if(pub_pose_.getNumSubscribers() > 0 && slam.stage() == FrameHandlerBase::STAGE_DEFAULT_FRAME) { Quaterniond q; Vector3d p; Matrix Cov; - if(publish_world_in_cam_frame_) - { - // publish world in cam frame - SE3 T_cam_from_world(frame->T_f_w_* T_world_from_vision_); - q = Quaterniond(T_cam_from_world.rotation_matrix()); - p = T_cam_from_world.translation(); - Cov = frame->Cov_; - } - else - { - // publish cam in world frame - SE3 T_world_from_cam(T_world_from_vision_*frame->T_f_w_.inverse()); - q = Quaterniond(T_world_from_cam.rotation_matrix()*T_world_from_vision_.rotation_matrix().transpose()); - p = T_world_from_cam.translation(); - Cov = T_world_from_cam.Adj()*frame->Cov_*T_world_from_cam.inverse().Adj(); - } + // publish cam in world frame (Estimated odometry in the worls frame) + SE3 T_world_from_cam(T_world_from_vision_*frame->T_f_w_.inverse());// do not confused with inverse. the T_f_w_ is the from camera to initial position with reference of camera + q = Quaterniond(T_world_from_cam.rotation_matrix()*T_world_from_vision_.rotation_matrix().transpose()); + p = T_world_from_cam.translation(); + Cov = T_world_from_cam.Adj()*frame->Cov_*T_world_from_cam.inverse().Adj(); geometry_msgs::PoseWithCovarianceStampedPtr msg_pose(new geometry_msgs::PoseWithCovarianceStamped); msg_pose->header = header_msg; msg_pose->pose.pose.position.x = p[0]; @@ -210,28 +109,13 @@ void Visualizer::visualizeMarkers( if(pub_frames_.getNumSubscribers() > 0 || pub_points_.getNumSubscribers() > 0) { - vk::output_helper::publishCameraMarker( - pub_frames_, "cam_pos", "cams", ros::Time(frame->timestamp_), - 1, 0.3, Vector3d(0.,0.,1.)); vk::output_helper::publishPointMarker( pub_points_, T_world_from_vision_*frame->pos(), "trajectory", ros::Time::now(), trace_id_, 0, 0.006, Vector3d(0.,0.,0.5)); - if(frame->isKeyframe() || publish_map_every_frame_) - publishMapRegion(core_kfs); removeDeletedPts(map); } } -void Visualizer::publishMapRegion(set frames) -{ - if(pub_points_.getNumSubscribers() > 0) - { - int ts = vk::Timer::getCurrentTime(); - for(set::iterator it=frames.begin(); it!=frames.end(); ++it) - displayKeyframeWithMps(*it, ts); - } -} - void Visualizer::removeDeletedPts(const Map& map) { if(pub_points_.getNumSubscribers() > 0) @@ -241,76 +125,4 @@ void Visualizer::removeDeletedPts(const Map& map) } } -void Visualizer::displayKeyframeWithMps(const FramePtr& frame, int ts) -{ - // publish keyframe - SE3 T_world_cam(T_world_from_vision_*frame->T_f_w_.inverse()); - vk::output_helper::publishFrameMarker( - pub_frames_, T_world_cam.rotation_matrix(), - T_world_cam.translation(), "kfs", ros::Time::now(), frame->id_*10, 0, 0.015); - - // publish point cloud and links - for(Features::iterator it=frame->fts_.begin(); it!=frame->fts_.end(); ++it) - { - if((*it)->point == NULL) - continue; - - if((*it)->point->last_published_ts_ == ts) - continue; - - vk::output_helper::publishPointMarker( - pub_points_, T_world_from_vision_*(*it)->point->pos_, "pts", - ros::Time::now(), (*it)->point->id_, 0, 0.005, Vector3d(1.0, 0., 1.0), - publish_points_display_time_); - (*it)->point->last_published_ts_ = ts; - } -} - -void Visualizer::exportToDense(const FramePtr& frame) -{ - // publish air_ground_msgs - if(frame != NULL && dense_pub_nth_ > 0 - && trace_id_%dense_pub_nth_ == 0 && pub_dense_.getNumSubscribers() > 0) - { - svo_msgs::DenseInput msg; - msg.header.stamp = ros::Time(frame->timestamp_); - msg.header.frame_id = "/world"; - msg.frame_id = frame->id_; - - cv_bridge::CvImage img_msg; - img_msg.header.stamp = msg.header.stamp; - img_msg.header.frame_id = "camera"; - img_msg.image = frame->img(); - img_msg.encoding = sensor_msgs::image_encodings::MONO8; - msg.image = *img_msg.toImageMsg(); - - double min_z = std::numeric_limits::max(); - double max_z = std::numeric_limits::min(); - for(Features::iterator it=frame->fts_.begin(); it!=frame->fts_.end(); ++it) - { - if((*it)->point==NULL) - continue; - Vector3d pos = frame->T_f_w_*(*it)->point->pos_; - min_z = fmin(pos[2], min_z); - max_z = fmax(pos[2], max_z); - } - msg.min_depth = (float) min_z; - msg.max_depth = (float) max_z; - - // publish cam in world frame - SE3 T_world_from_cam(T_world_from_vision_*frame->T_f_w_.inverse()); - Quaterniond q(T_world_from_cam.rotation_matrix()); - Vector3d p(T_world_from_cam.translation()); - - msg.pose.position.x = p[0]; - msg.pose.position.y = p[1]; - msg.pose.position.z = p[2]; - msg.pose.orientation.w = q.w(); - msg.pose.orientation.x = q.x(); - msg.pose.orientation.y = q.y(); - msg.pose.orientation.z = q.z(); - pub_dense_.publish(msg); - } -} - } // end namespace svo diff --git a/svo_ros/src/vo_node.cpp b/svo_ros/src/vo_node.cpp index 3417b4d..b7cdde4 100644 --- a/svo_ros/src/vo_node.cpp +++ b/svo_ros/src/vo_node.cpp @@ -17,15 +17,12 @@ #include #include #include -#include #include #include #include #include #include -#include #include -#include #include #include #include @@ -34,124 +31,78 @@ #include #include + namespace svo { /// SVO Interface class VoNode { public: - svo::FrameHandlerMono* vo_; - svo::Visualizer visualizer_; - bool publish_markers_; //!< publish only the minimal amount of info (choice for embedded devices) - bool publish_dense_input_; - boost::shared_ptr user_input_thread_; - ros::Subscriber sub_remote_key_; - std::string remote_input_; - vk::AbstractCamera* cam_; - bool quit_; - VoNode(); - ~VoNode(); - void imgCb(const sensor_msgs::ImageConstPtr& msg); - void processUserActions(); - void remoteKeyCb(const std_msgs::StringConstPtr& key_input); + svo::FrameHandlerMono* vo_; + svo::Visualizer visualizer_; + bool publish_markers_; //!< publish only the minimal amount of info (choice for embedded devices) + vk::AbstractCamera* cam_; + FILE* logtime; + bool quit_; + VoNode(); + ~VoNode(); + void imgCb(const sensor_msgs::ImageConstPtr& msg); }; VoNode::VoNode() : - vo_(NULL), - publish_markers_(vk::getParam("svo/publish_markers", true)), - publish_dense_input_(vk::getParam("svo/publish_dense_input", false)), - remote_input_(""), - cam_(NULL), - quit_(false) + vo_(NULL), + publish_markers_(vk::getParam("svo/publish_markers", true)), + cam_(NULL), + quit_(false) { - // Start user input thread in parallel thread that listens to console keys - if(vk::getParam("svo/accept_console_user_input", true)) - user_input_thread_ = boost::make_shared(); + // Create Camera + if(!vk::camera_loader::loadFromRosNs("svo", cam_)) + throw std::runtime_error("Camera model not correctly specified."); - // Create Camera - if(!vk::camera_loader::loadFromRosNs("svo", cam_)) - throw std::runtime_error("Camera model not correctly specified."); + // Get initial position and orientation + visualizer_.T_world_from_vision_ = Sophus::SE3( + vk::rpy2dcm(Vector3d(vk::getParam("svo/init_rx", 0.0), + vk::getParam("svo/init_ry", 0.0), + vk::getParam("svo/init_rz", 0.0))), + Eigen::Vector3d(vk::getParam("svo/init_tx", 0.0), + vk::getParam("svo/init_ty", 0.0), + vk::getParam("svo/init_tz", 0.0))); - // Get initial position and orientation - visualizer_.T_world_from_vision_ = Sophus::SE3( - vk::rpy2dcm(Vector3d(vk::getParam("svo/init_rx", 0.0), - vk::getParam("svo/init_ry", 0.0), - vk::getParam("svo/init_rz", 0.0))), - Eigen::Vector3d(vk::getParam("svo/init_tx", 0.0), - vk::getParam("svo/init_ty", 0.0), - vk::getParam("svo/init_tz", 0.0))); + // Init VO and start + vo_ = new svo::FrameHandlerMono(cam_); + vo_->start(); + logtime = fopen((std::string(getenv("HOME"))+"/Project/time.txt").c_str(), "w+"); - // Init VO and start - vo_ = new svo::FrameHandlerMono(cam_); - vo_->start(); } VoNode::~VoNode() { - delete vo_; - delete cam_; - if(user_input_thread_ != NULL) - user_input_thread_->stop(); + fclose(logtime); + delete logtime; + delete vo_; + delete cam_; } void VoNode::imgCb(const sensor_msgs::ImageConstPtr& msg) { - cv::Mat img; - try { - img = cv_bridge::toCvShare(msg, "mono8")->image; - } catch (cv_bridge::Exception& e) { - ROS_ERROR("cv_bridge exception: %s", e.what()); - } - processUserActions(); - vo_->addImage(img, msg->header.stamp.toSec()); - visualizer_.publishMinimal(img, vo_->lastFrame(), *vo_, msg->header.stamp.toSec()); + auto start=std::chrono::steady_clock::now(); + try { + cv::Mat img; + img = cv_bridge::toCvShare(msg, "mono8")->image; + vo_->addImage(img, msg->header.stamp.toSec()); + visualizer_.publishMinimal(img, vo_->lastFrame(), *vo_, msg->header.stamp.toSec()); - if(publish_markers_ && vo_->stage() != FrameHandlerBase::STAGE_PAUSED) - visualizer_.visualizeMarkers(vo_->lastFrame(), vo_->coreKeyframes(), vo_->map()); - if(publish_dense_input_) - visualizer_.exportToDense(vo_->lastFrame()); + if(publish_markers_ && vo_->stage() != FrameHandlerBase::STAGE_PAUSED) + visualizer_.visualizeMarkers(vo_->lastFrame(), vo_->coreKeyframes(), vo_->map()); - if(vo_->stage() == FrameHandlerMono::STAGE_PAUSED) - usleep(100000); + if(vo_->stage() == FrameHandlerMono::STAGE_PAUSED) + usleep(100000); + fprintf(logtime, "%s\n",std::to_string(std::chrono::duration(std::chrono::steady_clock::now()-start).count()).c_str()); + } catch (cv_bridge::Exception& e) { + ROS_ERROR("cv_bridge exception: %s", e.what()); + } } - - -void VoNode::processUserActions() -{ - char input = remote_input_.c_str()[0]; - remote_input_ = ""; - - if(user_input_thread_ != NULL) - { - char console_input = user_input_thread_->getInput(); - if(console_input != 0) - input = console_input; - } - - switch(input) - { - case 'q': - quit_ = true; - printf("SVO user input: QUIT\n"); - break; - case 'r': - vo_->reset(); - printf("SVO user input: RESET\n"); - break; - case 's': - vo_->start(); - printf("SVO user input: START\n"); - break; - default: ; - } -} - -void VoNode::remoteKeyCb(const std_msgs::StringConstPtr& key_input) -{ - remote_input_ = key_input->data; -} - } // namespace svo int main(int argc, char **argv) @@ -162,12 +113,8 @@ int main(int argc, char **argv) svo::VoNode vo_node; // subscribe to cam msgs - std::string cam_topic(vk::getParam("svo/cam_topic", "camera/image_raw")); image_transport::ImageTransport it(nh); - image_transport::Subscriber it_sub = it.subscribe(cam_topic, 5, &svo::VoNode::imgCb, &vo_node); - - // subscribe to remote input - vo_node.sub_remote_key_ = nh.subscribe("svo/remote_key", 5, &svo::VoNode::remoteKeyCb, &vo_node); + image_transport::Subscriber it_sub = it.subscribe(vk::getParam("svo/cam_topic", "camera/image_raw"), 5, &svo::VoNode::imgCb, &vo_node); // start processing callbacks while(ros::ok() && !vo_node.quit_) From 651dcdfb2f3e867f234f074950a669103c091109 Mon Sep 17 00:00:00 2001 From: gfuse Date: Wed, 7 Apr 2021 19:19:35 +0200 Subject: [PATCH 175/215] add imu sub --- svo/.idea/.gitignore | 8 + svo/.idea/misc.xml | 4 + svo/.idea/modules.xml | 8 + svo/.idea/svo.iml | 2 + svo/.idea/vcs.xml | 6 + svo/src/frame_handler_mono.cpp | 2 +- svo_msgs/.idea/.gitignore | 8 + svo_msgs/.idea/misc.xml | 4 + svo_msgs/.idea/modules.xml | 8 + svo_msgs/.idea/svo_msgs.iml | 2 + svo_msgs/.idea/vcs.xml | 6 + svo_ros/.idea/modules.xml | 8 + svo_ros/.idea/svo_ros.iml | 8 + svo_ros/.idea/vcs.xml | 6 + svo_ros/.idea/workspace.xml | 627 ++++++++++++++++++ svo_ros/src/benchmark_node.cpp | 272 -------- vio_svo/.idea/.gitignore | 8 + vio_svo/.idea/misc.xml | 4 + vio_svo/.idea/modules.xml | 8 + vio_svo/.idea/svo_ros.iml | 2 + vio_svo/.idea/vcs.xml | 6 + {svo_ros => vio_svo}/CMakeLists.txt | 2 +- .../include/vio_svo}/dataset_img.h | 0 .../include/vio_svo}/visualizer.h | 0 {svo_ros => vio_svo}/launch/Px30.launch | 7 +- {svo_ros => vio_svo}/launch/live.launch | 0 {svo_ros => vio_svo}/launch/test.launch | 6 +- {svo_ros => vio_svo}/package.xml | 2 +- {svo_ros => vio_svo}/param/camera_atan.yaml | 0 .../param/camera_pinhole.yaml | 0 {svo_ros => vio_svo}/param/px30.yaml | 0 {svo_ros => vio_svo}/param/vo_accurate.yaml | 0 {svo_ros => vio_svo}/param/vo_fast.yaml | 0 {svo_ros => vio_svo}/rqt.perspective | 0 {svo_ros => vio_svo}/rviz_config.rviz | 0 {svo_ros => vio_svo}/src/visualizer.cpp | 2 +- {svo_ros => vio_svo}/src/vo_node.cpp | 70 +- 37 files changed, 786 insertions(+), 310 deletions(-) create mode 100644 svo/.idea/.gitignore create mode 100644 svo/.idea/misc.xml create mode 100644 svo/.idea/modules.xml create mode 100644 svo/.idea/svo.iml create mode 100644 svo/.idea/vcs.xml create mode 100644 svo_msgs/.idea/.gitignore create mode 100644 svo_msgs/.idea/misc.xml create mode 100644 svo_msgs/.idea/modules.xml create mode 100644 svo_msgs/.idea/svo_msgs.iml create mode 100644 svo_msgs/.idea/vcs.xml create mode 100644 svo_ros/.idea/modules.xml create mode 100644 svo_ros/.idea/svo_ros.iml create mode 100644 svo_ros/.idea/vcs.xml create mode 100644 svo_ros/.idea/workspace.xml delete mode 100644 svo_ros/src/benchmark_node.cpp create mode 100644 vio_svo/.idea/.gitignore create mode 100644 vio_svo/.idea/misc.xml create mode 100644 vio_svo/.idea/modules.xml create mode 100644 vio_svo/.idea/svo_ros.iml create mode 100644 vio_svo/.idea/vcs.xml rename {svo_ros => vio_svo}/CMakeLists.txt (98%) rename {svo_ros/include/svo_ros => vio_svo/include/vio_svo}/dataset_img.h (100%) rename {svo_ros/include/svo_ros => vio_svo/include/vio_svo}/visualizer.h (100%) rename {svo_ros => vio_svo}/launch/Px30.launch (65%) rename {svo_ros => vio_svo}/launch/live.launch (100%) rename {svo_ros => vio_svo}/launch/test.launch (71%) rename {svo_ros => vio_svo}/package.xml (98%) rename {svo_ros => vio_svo}/param/camera_atan.yaml (100%) rename {svo_ros => vio_svo}/param/camera_pinhole.yaml (100%) rename {svo_ros => vio_svo}/param/px30.yaml (100%) rename {svo_ros => vio_svo}/param/vo_accurate.yaml (100%) rename {svo_ros => vio_svo}/param/vo_fast.yaml (100%) rename {svo_ros => vio_svo}/rqt.perspective (100%) rename {svo_ros => vio_svo}/rviz_config.rviz (100%) rename {svo_ros => vio_svo}/src/visualizer.cpp (99%) rename {svo_ros => vio_svo}/src/vo_node.cpp (64%) diff --git a/svo/.idea/.gitignore b/svo/.idea/.gitignore new file mode 100644 index 0000000..73f69e0 --- /dev/null +++ b/svo/.idea/.gitignore @@ -0,0 +1,8 @@ +# Default ignored files +/shelf/ +/workspace.xml +# Datasource local storage ignored files +/dataSources/ +/dataSources.local.xml +# Editor-based HTTP Client requests +/httpRequests/ diff --git a/svo/.idea/misc.xml b/svo/.idea/misc.xml new file mode 100644 index 0000000..79b3c94 --- /dev/null +++ b/svo/.idea/misc.xml @@ -0,0 +1,4 @@ + + + + \ No newline at end of file diff --git a/svo/.idea/modules.xml b/svo/.idea/modules.xml new file mode 100644 index 0000000..4c8cf2b --- /dev/null +++ b/svo/.idea/modules.xml @@ -0,0 +1,8 @@ + + + + + + + + \ No newline at end of file diff --git a/svo/.idea/svo.iml b/svo/.idea/svo.iml new file mode 100644 index 0000000..f08604b --- /dev/null +++ b/svo/.idea/svo.iml @@ -0,0 +1,2 @@ + + \ No newline at end of file diff --git a/svo/.idea/vcs.xml b/svo/.idea/vcs.xml new file mode 100644 index 0000000..6c0b863 --- /dev/null +++ b/svo/.idea/vcs.xml @@ -0,0 +1,6 @@ + + + + + + \ No newline at end of file diff --git a/svo/src/frame_handler_mono.cpp b/svo/src/frame_handler_mono.cpp index 4facc51..b8bba92 100644 --- a/svo/src/frame_handler_mono.cpp +++ b/svo/src/frame_handler_mono.cpp @@ -156,7 +156,7 @@ FrameHandlerBase::UpdateResult FrameHandlerMono::processFrame() return RESULT_FAILURE; } - // pose optimization + // pose optimization subject to change for adding IMU SVO_START_TIMER("pose_optimizer"); size_t sfba_n_edges_final; double sfba_thresh, sfba_error_init, sfba_error_final; diff --git a/svo_msgs/.idea/.gitignore b/svo_msgs/.idea/.gitignore new file mode 100644 index 0000000..73f69e0 --- /dev/null +++ b/svo_msgs/.idea/.gitignore @@ -0,0 +1,8 @@ +# Default ignored files +/shelf/ +/workspace.xml +# Datasource local storage ignored files +/dataSources/ +/dataSources.local.xml +# Editor-based HTTP Client requests +/httpRequests/ diff --git a/svo_msgs/.idea/misc.xml b/svo_msgs/.idea/misc.xml new file mode 100644 index 0000000..79b3c94 --- /dev/null +++ b/svo_msgs/.idea/misc.xml @@ -0,0 +1,4 @@ + + + + \ No newline at end of file diff --git a/svo_msgs/.idea/modules.xml b/svo_msgs/.idea/modules.xml new file mode 100644 index 0000000..668cc83 --- /dev/null +++ b/svo_msgs/.idea/modules.xml @@ -0,0 +1,8 @@ + + + + + + + + \ No newline at end of file diff --git a/svo_msgs/.idea/svo_msgs.iml b/svo_msgs/.idea/svo_msgs.iml new file mode 100644 index 0000000..f08604b --- /dev/null +++ b/svo_msgs/.idea/svo_msgs.iml @@ -0,0 +1,2 @@ + + \ No newline at end of file diff --git a/svo_msgs/.idea/vcs.xml b/svo_msgs/.idea/vcs.xml new file mode 100644 index 0000000..6c0b863 --- /dev/null +++ b/svo_msgs/.idea/vcs.xml @@ -0,0 +1,6 @@ + + + + + + \ No newline at end of file diff --git a/svo_ros/.idea/modules.xml b/svo_ros/.idea/modules.xml new file mode 100644 index 0000000..eb3cacf --- /dev/null +++ b/svo_ros/.idea/modules.xml @@ -0,0 +1,8 @@ + + + + + + + + \ No newline at end of file diff --git a/svo_ros/.idea/svo_ros.iml b/svo_ros/.idea/svo_ros.iml new file mode 100644 index 0000000..bc2cd87 --- /dev/null +++ b/svo_ros/.idea/svo_ros.iml @@ -0,0 +1,8 @@ + + + + + + + + \ No newline at end of file diff --git a/svo_ros/.idea/vcs.xml b/svo_ros/.idea/vcs.xml new file mode 100644 index 0000000..6c0b863 --- /dev/null +++ b/svo_ros/.idea/vcs.xml @@ -0,0 +1,6 @@ + + + + + + \ No newline at end of file diff --git a/svo_ros/.idea/workspace.xml b/svo_ros/.idea/workspace.xml new file mode 100644 index 0000000..09c1504 --- /dev/null +++ b/svo_ros/.idea/workspace.xml @@ -0,0 +1,627 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 1615974669888 + + + 1617193017745 + + + 1617640897291 + + + + + + + + + + + + \ No newline at end of file diff --git a/svo_ros/src/benchmark_node.cpp b/svo_ros/src/benchmark_node.cpp deleted file mode 100644 index a1c96e1..0000000 --- a/svo_ros/src/benchmark_node.cpp +++ /dev/null @@ -1,272 +0,0 @@ -// This file is part of SVO - Semi-direct Visual Odometry. -// -// Copyright (C) 2014 Christian Forster -// (Robotics and Perception Group, University of Zurich, Switzerland). -// -// SVO is free software: you can redistribute it and/or modify it under the -// terms of the GNU General Public License as published by the Free Software -// Foundation, either version 3 of the License, or any later version. -// -// SVO is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. -// -// You should have received a copy of the GNU General Public License -// along with this program. If not, see . - -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include - -namespace svo { - -class BenchmarkNode -{ - svo::FrameHandlerMono* vo_; - svo::Visualizer visualizer_; - int frame_count_; - std::ofstream trace_est_pose_; - std::ofstream trace_trans_error_; - std::ofstream trace_rot_error_; - std::ofstream trace_depth_error_; - vk::AbstractCamera* cam_; - double img_noise_sigma_; - -public: - BenchmarkNode(ros::NodeHandle& nh); - ~BenchmarkNode(); - void tracePose(const SE3& T_w_f, const double timestamp); - void tracePoseError(const SE3& T_f_gt, const double timestamp); - void traceDepthError(const FramePtr& frame, const cv::Mat& depthmap); - void addNoiseToImage(cv::Mat& img, double sigma); - void runBenchmark(const std::string& dataset_dir); - void runBlenderBenchmark(const std::string& dataset_dir); -}; - -BenchmarkNode::BenchmarkNode(ros::NodeHandle& nh) : - vo_(NULL), - frame_count_(0), - img_noise_sigma_(vk::getParam("svo/dataset_noise_sigma", 0.0)) -{ - // Create Camera - if(!vk::camera_loader::loadFromRosNs("svo", cam_)) - throw std::runtime_error("Camera model not correctly specified."); - - // create pose tracefile - std::string trace_est_name(Config::traceDir() + "/traj_estimate.txt"); - trace_est_pose_.open(trace_est_name.c_str()); - if(trace_est_pose_.fail()) - throw std::runtime_error("Could not create tracefile. Does folder exist?"); - - // Initialize VO - vo_ = new svo::FrameHandlerMono(cam_); - vo_->start(); -} - -BenchmarkNode::~BenchmarkNode() -{ - delete vo_; - delete cam_; -} - -void BenchmarkNode::tracePose(const SE3& T_w_f, const double timestamp) -{ - Quaterniond q(T_w_f.unit_quaternion()); - Vector3d p(T_w_f.translation()); - trace_est_pose_.precision(15); - trace_est_pose_.setf(std::ios::fixed, std::ios::floatfield ); - trace_est_pose_ << timestamp << " "; - trace_est_pose_.precision(6); - trace_est_pose_ << p.x() << " " << p.y() << " " << p.z() << " " - << q.x() << " " << q.y() << " " << q.z() << " " << q.w() << std::endl; -} - -void BenchmarkNode::tracePoseError(const SE3& T_f_gt, const double timestamp) -{ - Vector3d et(T_f_gt.translation()); // translation error - trace_trans_error_.precision(15); - trace_trans_error_.setf(std::ios::fixed, std::ios::floatfield ); - trace_trans_error_ << timestamp << " "; - trace_trans_error_.precision(6); - trace_trans_error_ << et.x() << " " << et.y() << " " << et.z() << " " << std::endl; - Vector3d er(vk::dcm2rpy(T_f_gt.rotation_matrix())); // rotation error in roll-pitch-yaw - trace_rot_error_.precision(15); - trace_rot_error_.setf(std::ios::fixed, std::ios::floatfield ); - trace_rot_error_ << timestamp << " "; - trace_rot_error_.precision(6); - trace_rot_error_ << er.x() << " " << er.y() << " " << er.z() << " " << std::endl; -} - -void BenchmarkNode::traceDepthError(const FramePtr& frame, const cv::Mat& depthmap) -{ - trace_depth_error_.precision(6); - std::for_each(frame->fts_.begin(), frame->fts_.end(), [&](Feature* ftr){ - if(ftr->point != NULL) - { - double depth_estimated = (ftr->point->pos_-frame->pos()).norm(); - double depth_true = depthmap.at((int) ftr->px[1], (int) ftr->px[0]); - trace_depth_error_ << frame->id_ << " " - << depth_estimated-depth_true << std::endl; - } - }); -} - -void BenchmarkNode::runBenchmark(const std::string& dataset_dir) -{ - // create image reader and load dataset - std::string filename_benchmark(dataset_dir + "/images.txt"); - vk::FileReader dataset_reader(filename_benchmark); - dataset_reader.skipComments(); - if(!dataset_reader.next()) { - SVO_ERROR_STREAM("Failed opening dataset: "< dataset; - dataset_reader.readAllEntries(dataset); - - // process dataset - int first_frame = vk::getParam("svo/dataset_first_frame", 0); - for(auto it = dataset.begin(); it != dataset.end() && ros::ok(); ++it, ++frame_count_) - { - if(frame_count_ < first_frame) - continue; - std::string img_filename(dataset_dir + "/" + it->image_name_); - cv::Mat img(cv::imread(img_filename, 0)); - if(img.empty()) { - SVO_ERROR_STREAM("Reading image "<addImage(img, it->timestamp_); - visualizer_.publishMinimal(img, vo_->lastFrame(), *vo_, it->timestamp_); - visualizer_.visualizeMarkers(vo_->lastFrame(), vo_->coreKeyframes(), vo_->map()); - if(vo_->stage() == svo::FrameHandlerMono::STAGE_DEFAULT_FRAME) - tracePose(vo_->lastFrame()->T_f_w_.inverse(), it->timestamp_); - } -} - -void BenchmarkNode::addNoiseToImage(cv::Mat& img, double sigma) -{ - uint8_t* p = (uint8_t*) img.data; - uint8_t* p_end = img.ptr(img.rows, img.cols); - while(p != p_end) - { - int val = *p + vk::Sample::gaussian(sigma) + 0.5; - *p = std::max(std::min(val, 255), 0); - ++p; - } -} - -void BenchmarkNode::runBlenderBenchmark(const std::string& dataset_dir) -{ - // create image reader and load dataset - std::string filename_benchmark(dataset_dir + "/trajectory.txt"); - vk::FileReader dataset_reader(filename_benchmark); - dataset_reader.skipComments(); - if(!dataset_reader.next()) { - SVO_ERROR_STREAM("Failed opening dataset: "< dataset; - dataset_reader.readAllEntries(dataset); - - // create tracefiles - trace_trans_error_.open(Config::traceDir() + "/translation_error.txt"); - trace_rot_error_.open(Config::traceDir() + "/orientation_error.txt"); - trace_depth_error_.open(Config::traceDir() + "/depth_error.txt"); - if(trace_trans_error_.fail() || trace_rot_error_.fail() || trace_depth_error_.fail()) - throw std::runtime_error("Could not create tracefile. Does folder exist?"); - - // process dataset - for(auto it = dataset.begin(); it != dataset.end() && ros::ok(); ++it, ++frame_count_) - { - // Read image, ground-truth depth-map and ground-truth pose - std::string img_filename(dataset_dir + "/img/" + it->image_name_ + "_0.png"); - cv::Mat img(cv::imread(img_filename, 0)); - if(img.empty()) { - SVO_ERROR_STREAM("Reading image "< 0) - addNoiseToImage(img, img_noise_sigma_); - cv::Mat depthmap; - vk::blender_utils::loadBlenderDepthmap( - dataset_dir+"/depth/"+it->image_name_+"_0.depth", *cam_, depthmap); - Sophus::SE3 T_w_gt(it->q_, it->t_); - - // Set reference frame with depth - if(frame_count_ == 0) - { - // set reference frame at ground-truth pose - FramePtr frame_ref(new Frame(cam_, img, it->timestamp_)); - frame_ref->T_f_w_ = T_w_gt.inverse(); - - // extract features, generate features with 3D points - svo::feature_detection::FastDetector detector( - cam_->width(), cam_->height(), svo::Config::gridSize(), svo::Config::nPyrLevels()); - detector.detect(frame_ref.get(), frame_ref->img_pyr_, svo::Config::triangMinCornerScore(), frame_ref->fts_); - std::for_each(frame_ref->fts_.begin(), frame_ref->fts_.end(), [&](Feature* ftr) { - Eigen::Vector3d pt_pos_cur = ftr->f*depthmap.at(ftr->px[1], ftr->px[0]); - Eigen::Vector3d pt_pos_world = frame_ref->T_f_w_.inverse()*pt_pos_cur; - svo::Point* point = new svo::Point(pt_pos_world, ftr); - ftr->point = point; - }); - SVO_INFO_STREAM("Added "<nObs()<<" 3d pts to the reference frame."); - vo_->setFirstFrame(frame_ref); - SVO_INFO_STREAM("Set reference frame."); - } - else - { - SVO_DEBUG_STREAM("Processing image "<image_name_<<"."); - vo_->addImage(img, it->timestamp_); - visualizer_.publishMinimal(img, vo_->lastFrame(), *vo_, it->timestamp_); - visualizer_.visualizeMarkers(vo_->lastFrame(), vo_->coreKeyframes(), vo_->map()); - } - - if(vo_->stage() != svo::FrameHandlerMono::STAGE_DEFAULT_FRAME) - { - SVO_ERROR_STREAM("SVO failed before entire dataset could be processed."); - break; - } - - // Compute pose error and trace to file - Sophus::SE3 T_f_gt(vo_->lastFrame()->T_f_w_*T_w_gt); - tracePoseError(T_f_gt, it->timestamp_); - tracePose(vo_->lastFrame()->T_f_w_.inverse(), it->timestamp_); - traceDepthError(vo_->lastFrame(), depthmap); - } -} - -} // namespace svo - -int main(int argc, char** argv) -{ - ros::init(argc, argv, "svo"); - ros::NodeHandle nh; - svo::BenchmarkNode benchmark(nh); - std::string benchmark_dir(vk::getParam("svo/dataset_directory")); - if(vk::getParam("svo/dataset_is_blender", false)) - benchmark.runBlenderBenchmark(benchmark_dir); - else - benchmark.runBenchmark(benchmark_dir); - printf("BenchmarkNode finished.\n"); - return 0; -} diff --git a/vio_svo/.idea/.gitignore b/vio_svo/.idea/.gitignore new file mode 100644 index 0000000..73f69e0 --- /dev/null +++ b/vio_svo/.idea/.gitignore @@ -0,0 +1,8 @@ +# Default ignored files +/shelf/ +/workspace.xml +# Datasource local storage ignored files +/dataSources/ +/dataSources.local.xml +# Editor-based HTTP Client requests +/httpRequests/ diff --git a/vio_svo/.idea/misc.xml b/vio_svo/.idea/misc.xml new file mode 100644 index 0000000..79b3c94 --- /dev/null +++ b/vio_svo/.idea/misc.xml @@ -0,0 +1,4 @@ + + + + \ No newline at end of file diff --git a/vio_svo/.idea/modules.xml b/vio_svo/.idea/modules.xml new file mode 100644 index 0000000..eb3cacf --- /dev/null +++ b/vio_svo/.idea/modules.xml @@ -0,0 +1,8 @@ + + + + + + + + \ No newline at end of file diff --git a/vio_svo/.idea/svo_ros.iml b/vio_svo/.idea/svo_ros.iml new file mode 100644 index 0000000..f08604b --- /dev/null +++ b/vio_svo/.idea/svo_ros.iml @@ -0,0 +1,2 @@ + + \ No newline at end of file diff --git a/vio_svo/.idea/vcs.xml b/vio_svo/.idea/vcs.xml new file mode 100644 index 0000000..6c0b863 --- /dev/null +++ b/vio_svo/.idea/vcs.xml @@ -0,0 +1,6 @@ + + + + + + \ No newline at end of file diff --git a/svo_ros/CMakeLists.txt b/vio_svo/CMakeLists.txt similarity index 98% rename from svo_ros/CMakeLists.txt rename to vio_svo/CMakeLists.txt index d0ce982..059a8bf 100644 --- a/svo_ros/CMakeLists.txt +++ b/vio_svo/CMakeLists.txt @@ -1,4 +1,4 @@ -SET(PROJECT_NAME svo_ros) +SET(PROJECT_NAME vio_svo) PROJECT(${PROJECT_NAME}) CMAKE_MINIMUM_REQUIRED (VERSION 2.8.3) SET(CMAKE_BUILD_TYPE Release) # Release, RelWithDebInfo diff --git a/svo_ros/include/svo_ros/dataset_img.h b/vio_svo/include/vio_svo/dataset_img.h similarity index 100% rename from svo_ros/include/svo_ros/dataset_img.h rename to vio_svo/include/vio_svo/dataset_img.h diff --git a/svo_ros/include/svo_ros/visualizer.h b/vio_svo/include/vio_svo/visualizer.h similarity index 100% rename from svo_ros/include/svo_ros/visualizer.h rename to vio_svo/include/vio_svo/visualizer.h diff --git a/svo_ros/launch/Px30.launch b/vio_svo/launch/Px30.launch similarity index 65% rename from svo_ros/launch/Px30.launch rename to vio_svo/launch/Px30.launch index 53f9317..6ff3dab 100644 --- a/svo_ros/launch/Px30.launch +++ b/vio_svo/launch/Px30.launch @@ -1,15 +1,16 @@ - + + - + - + diff --git a/svo_ros/launch/live.launch b/vio_svo/launch/live.launch similarity index 100% rename from svo_ros/launch/live.launch rename to vio_svo/launch/live.launch diff --git a/svo_ros/launch/test.launch b/vio_svo/launch/test.launch similarity index 71% rename from svo_ros/launch/test.launch rename to vio_svo/launch/test.launch index f83d479..388b536 100644 --- a/svo_ros/launch/test.launch +++ b/vio_svo/launch/test.launch @@ -1,15 +1,15 @@ - + - + - + diff --git a/svo_ros/package.xml b/vio_svo/package.xml similarity index 98% rename from svo_ros/package.xml rename to vio_svo/package.xml index aaa8fd3..ff9eab3 100644 --- a/svo_ros/package.xml +++ b/vio_svo/package.xml @@ -1,6 +1,6 @@ - svo_ros + vio_svo 0.1.0 Monocular Visual Odometry - ROS Nodes diff --git a/svo_ros/param/camera_atan.yaml b/vio_svo/param/camera_atan.yaml similarity index 100% rename from svo_ros/param/camera_atan.yaml rename to vio_svo/param/camera_atan.yaml diff --git a/svo_ros/param/camera_pinhole.yaml b/vio_svo/param/camera_pinhole.yaml similarity index 100% rename from svo_ros/param/camera_pinhole.yaml rename to vio_svo/param/camera_pinhole.yaml diff --git a/svo_ros/param/px30.yaml b/vio_svo/param/px30.yaml similarity index 100% rename from svo_ros/param/px30.yaml rename to vio_svo/param/px30.yaml diff --git a/svo_ros/param/vo_accurate.yaml b/vio_svo/param/vo_accurate.yaml similarity index 100% rename from svo_ros/param/vo_accurate.yaml rename to vio_svo/param/vo_accurate.yaml diff --git a/svo_ros/param/vo_fast.yaml b/vio_svo/param/vo_fast.yaml similarity index 100% rename from svo_ros/param/vo_fast.yaml rename to vio_svo/param/vo_fast.yaml diff --git a/svo_ros/rqt.perspective b/vio_svo/rqt.perspective similarity index 100% rename from svo_ros/rqt.perspective rename to vio_svo/rqt.perspective diff --git a/svo_ros/rviz_config.rviz b/vio_svo/rviz_config.rviz similarity index 100% rename from svo_ros/rviz_config.rviz rename to vio_svo/rviz_config.rviz diff --git a/svo_ros/src/visualizer.cpp b/vio_svo/src/visualizer.cpp similarity index 99% rename from svo_ros/src/visualizer.cpp rename to vio_svo/src/visualizer.cpp index 3cda024..511c167 100644 --- a/svo_ros/src/visualizer.cpp +++ b/vio_svo/src/visualizer.cpp @@ -14,7 +14,7 @@ // You should have received a copy of the GNU General Public License // along with this program. If not, see . -#include +#include #include #include #include diff --git a/svo_ros/src/vo_node.cpp b/vio_svo/src/vo_node.cpp similarity index 64% rename from svo_ros/src/vo_node.cpp rename to vio_svo/src/vo_node.cpp index b7cdde4..8fd503f 100644 --- a/svo_ros/src/vo_node.cpp +++ b/vio_svo/src/vo_node.cpp @@ -17,7 +17,7 @@ #include #include #include -#include +#include #include #include #include @@ -44,40 +44,45 @@ public: vk::AbstractCamera* cam_; FILE* logtime; bool quit_; + boost::thread* vio_th; VoNode(); ~VoNode(); void imgCb(const sensor_msgs::ImageConstPtr& msg); + void imuCb(const sensor_msgs::ImuPtr& imu); + void vio(); }; VoNode::VoNode() : vo_(NULL), - publish_markers_(vk::getParam("svo/publish_markers", true)), + publish_markers_(vk::getParam("vio/publish_markers", true)), cam_(NULL), quit_(false) { // Create Camera - if(!vk::camera_loader::loadFromRosNs("svo", cam_)) + if(!vk::camera_loader::loadFromRosNs("vio", cam_)) throw std::runtime_error("Camera model not correctly specified."); - // Get initial position and orientation visualizer_.T_world_from_vision_ = Sophus::SE3( - vk::rpy2dcm(Vector3d(vk::getParam("svo/init_rx", 0.0), - vk::getParam("svo/init_ry", 0.0), - vk::getParam("svo/init_rz", 0.0))), - Eigen::Vector3d(vk::getParam("svo/init_tx", 0.0), - vk::getParam("svo/init_ty", 0.0), - vk::getParam("svo/init_tz", 0.0))); - + vk::rpy2dcm(Vector3d(vk::getParam("vio/init_rx", 0.0), + vk::getParam("vio/init_ry", 0.0), + vk::getParam("vio/init_rz", 0.0))), + Eigen::Vector3d(vk::getParam("vio/init_tx", 0.0), + vk::getParam("vio/init_ty", 0.0), + vk::getParam("vio/init_tz", 0.0))); // Init VO and start vo_ = new svo::FrameHandlerMono(cam_); vo_->start(); logtime = fopen((std::string(getenv("HOME"))+"/Project/time.txt").c_str(), "w+"); + vio_th=new boost::thread(&VoNode::vio,this); } VoNode::~VoNode() { + quit_=true; fclose(logtime); + vio_th->join(); + delete vio_th; delete logtime; delete vo_; delete cam_; @@ -85,44 +90,53 @@ VoNode::~VoNode() void VoNode::imgCb(const sensor_msgs::ImageConstPtr& msg) { - auto start=std::chrono::steady_clock::now(); try { - cv::Mat img; - img = cv_bridge::toCvShare(msg, "mono8")->image; + ROS_INFO("image back"); + auto start=std::chrono::steady_clock::now(); + cv::Mat img=cv_bridge::toCvShare(msg, "mono8")->image; vo_->addImage(img, msg->header.stamp.toSec()); visualizer_.publishMinimal(img, vo_->lastFrame(), *vo_, msg->header.stamp.toSec()); - - if(publish_markers_ && vo_->stage() != FrameHandlerBase::STAGE_PAUSED) visualizer_.visualizeMarkers(vo_->lastFrame(), vo_->coreKeyframes(), vo_->map()); - if(vo_->stage() == FrameHandlerMono::STAGE_PAUSED) usleep(100000); fprintf(logtime, "%s\n",std::to_string(std::chrono::duration(std::chrono::steady_clock::now()-start).count()).c_str()); + } catch (cv_bridge::Exception& e) { ROS_ERROR("cv_bridge exception: %s", e.what()); } } +void VoNode::imuCb(const sensor_msgs::ImuPtr &imu) { + ROS_INFO("imu back"); +} +void VoNode::vio(){ + ros::NodeHandle nh; + std::cout << "create vo_node" << std::endl; + // subscribe to cam msgs + image_transport::ImageTransport it(nh); + image_transport::Subscriber it_sub = it.subscribe(vk::getParam("vio/cam_topic", "camera/image_raw"), 5, &svo::VoNode::imgCb, this); + // start processing callbacks + while(ros::ok() && !quit_) + { + ros::spinOnce(); + // TODO check when last image was processed. when too long ago. publish warning that no msgs are received! + } + +} } // namespace svo int main(int argc, char **argv) { - ros::init(argc, argv, "svo"); - ros::NodeHandle nh; - std::cout << "create vo_node" << std::endl; + ros::init(argc, argv, "vio"); svo::VoNode vo_node; - - // subscribe to cam msgs - image_transport::ImageTransport it(nh); - image_transport::Subscriber it_sub = it.subscribe(vk::getParam("svo/cam_topic", "camera/image_raw"), 5, &svo::VoNode::imgCb, &vo_node); - + ros::NodeHandle nh; + ros::Subscriber imu_sub=nh.subscribe(vk::getParam("vio/imu_topic", "imu/raw"),10,&svo::VoNode::imuCb, &vo_node); // start processing callbacks while(ros::ok() && !vo_node.quit_) { - ros::spinOnce(); - // TODO check when last image was processed. when too long ago. publish warning that no msgs are received! + ros::spinOnce(); + // TODO check when last image was processed. when too long ago. publish warning that no msgs are received! } - printf("SVO terminated.\n"); return 0; } From 56c7f230882a300829a512b089ffa67536de954a Mon Sep 17 00:00:00 2001 From: gfuse Date: Mon, 12 Apr 2021 12:43:04 +0200 Subject: [PATCH 176/215] edit svo --- svo/CMakeLists.txt | 17 +++++--- svo/include/svo/frame_handler_mono.h | 5 ++- svo/include/svo/imu_integration.h | 39 +++++++++++++++++++ svo/src/frame_handler_mono.cpp | 7 +++- svo/src/imu_integration.cpp | 58 ++++++++++++++++++++++++++++ svo/src/pose_optimizer.cpp | 1 + vio_svo/launch/test.launch | 3 +- vio_svo/src/vo_node.cpp | 29 ++++++++------ 8 files changed, 139 insertions(+), 20 deletions(-) create mode 100644 svo/include/svo/imu_integration.h create mode 100644 svo/src/imu_integration.cpp diff --git a/svo/CMakeLists.txt b/svo/CMakeLists.txt index 15257be..19beebd 100644 --- a/svo/CMakeLists.txt +++ b/svo/CMakeLists.txt @@ -14,6 +14,8 @@ CMAKE_MINIMUM_REQUIRED (VERSION 2.8.3) SET(CMAKE_BUILD_TYPE Release) # Release, RelWithDebInfo SET(CMAKE_VERBOSE_MAKEFILE OFF) SET(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${PROJECT_SOURCE_DIR}/CMakeModules/") +set(CMAKE_C_STANDARD 14) +set(CMAKE_CXX_STANDARD 14) # Set definitions IF(TRACE) @@ -33,7 +35,7 @@ ENDIF() # Set build flags. Set IS_ARM on odroid board as environment variable SET(CMAKE_CXX_FLAGS "-Wall -D_LINUX -D_REENTRANT -march=native -Wno-unused-variable -Wno-unused-but-set-variable -Wno-unknown-pragmas") IF(DEFINED ENV{ARM_ARCHITECTURE}) - SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -mfpu=neon -march=armv7-a") + SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ") ELSE() SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -mmmx -msse -msse -msse2 -msse3 -mssse3") ENDIF() @@ -50,11 +52,13 @@ FIND_PACKAGE(Eigen REQUIRED) FIND_PACKAGE(Sophus REQUIRED) FIND_PACKAGE(fast REQUIRED) FIND_PACKAGE(Boost REQUIRED COMPONENTS thread system) +FIND_PACKAGE(GTSAM REQUIRED) +set(GTSAM_INCLUDE_DIRS "${GTSAM_INCLUDE_DIR}") IF(USE_ROS) FIND_PACKAGE(catkin REQUIRED COMPONENTS roscpp roslib cmake_modules vikit_common vikit_ros) catkin_package( - DEPENDS Eigen OpenCV Sophus Boost fast + DEPENDS Eigen OpenCV Sophus Boost fast GTSAM CATKIN_DEPENDS roscpp roslib vikit_common vikit_ros INCLUDE_DIRS include LIBRARIES svo @@ -72,7 +76,7 @@ INCLUDE_DIRECTORIES( ${OpenCV_INCLUDE_DIRS} ${Sophus_INCLUDE_DIRS} ${Boost_INCLUDE_DIRS} - ${fast_INCLUDE_DIRS} + ${fast_INCLUDE_DIRS} ${GTSAM_INCLUDE_DIR} ) # Set link libraries @@ -82,7 +86,6 @@ LIST(APPEND LINK_LIBS ${Boost_LIBRARIES} ${fast_LIBRARIES} ) - IF(USE_ROS) INCLUDE_DIRECTORIES(${catkin_INCLUDE_DIRS}) LIST(APPEND LINK_LIBS ${catkin_LIBRARIES}) @@ -106,7 +109,7 @@ LIST(APPEND SOURCEFILES src/feature_detection.cpp src/depth_filter.cpp src/config.cpp - src/sparse_img_align.cpp) + src/sparse_img_align.cpp src/imu_integration.cpp) # Add g2o if available IF(HAVE_G2O) @@ -124,7 +127,9 @@ ENDIF(HAVE_G2O) # Create svo library ADD_LIBRARY(svo SHARED ${SOURCEFILES}) -TARGET_LINK_LIBRARIES(svo ${LINK_LIBS}) +TARGET_LINK_LIBRARIES(svo ${LINK_LIBS} gtsam) +set_property(TARGET ${PROJECT_NAME} PROPERTY CXX_STANDARD 14) +set_property(TARGET ${PROJECT_NAME} PROPERTY CXX_STANDARD_REQUIRED ON) ################################################################################ # TESTS diff --git a/svo/include/svo/frame_handler_mono.h b/svo/include/svo/frame_handler_mono.h index aed73be..58789c8 100644 --- a/svo/include/svo/frame_handler_mono.h +++ b/svo/include/svo/frame_handler_mono.h @@ -22,6 +22,7 @@ #include #include #include +#include namespace svo { @@ -31,7 +32,7 @@ class FrameHandlerMono : public FrameHandlerBase public: EIGEN_MAKE_ALIGNED_OPERATOR_NEW - FrameHandlerMono(vk::AbstractCamera* cam); + FrameHandlerMono(vk::AbstractCamera* cam,Sophus::SE3& SE_init); virtual ~FrameHandlerMono(); /// Provide an image. @@ -59,6 +60,7 @@ public: const SE3& T_kf_f, const cv::Mat& img, const double timestamp); + std::unique_ptr imu_integPtr_; //Integration of IMU protected: vk::AbstractCamera* cam_; //!< Camera model, can be ATAN, Pinhole or Ocam (see vikit). @@ -70,6 +72,7 @@ protected: initialization::KltHomographyInit klt_homography_init_; //!< Used to estimate pose of the first two keyframes by estimating a homography. DepthFilter* depth_filter_; //!< Depth estimation algorithm runs in a parallel thread and is used to initialize new 3D points. + /// Initialize the visual odometry algorithm. virtual void initialize(); diff --git a/svo/include/svo/imu_integration.h b/svo/include/svo/imu_integration.h new file mode 100644 index 0000000..7f05e20 --- /dev/null +++ b/svo/include/svo/imu_integration.h @@ -0,0 +1,39 @@ +// +// Created by gufe on 4/9/21. +// + +#ifndef SVO_IMU_INTEGRATION_H +#define SVO_IMU_INTEGRATION_H +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +using gtsam::symbol_shorthand::B; // Bias (ax,ay,az,gx,gy,gz) +using gtsam::symbol_shorthand::V; // Vel (xdot,ydot,zdot) +using gtsam::symbol_shorthand::P; // Pose3 (x,y,z,r,p,y) + +class Imu_Integration{ +public: + Imu_Integration(Sophus::SE3& SE_init); + ~Imu_Integration(); + bool reset(); + bool update(float* imu= nullptr); + bool predict(boost::shared_ptr&,std::size_t&); +private: + std::shared_ptr statePtr; + std::shared_ptr imu_biasPtr; + std::unique_ptr valuesPtr; + std::unique_ptr graphPtr; + boost::shared_ptr parameterPtr; + std::shared_ptr preintegratedPtr; + std::uint32_t t_1=1e-18; + std::uint32_t imu_factor_id=0; +}; +#endif //SVO_IMU_INTEGRATION_H diff --git a/svo/src/frame_handler_mono.cpp b/svo/src/frame_handler_mono.cpp index b8bba92..e4a3140 100644 --- a/svo/src/frame_handler_mono.cpp +++ b/svo/src/frame_handler_mono.cpp @@ -30,13 +30,14 @@ namespace svo { -FrameHandlerMono::FrameHandlerMono(vk::AbstractCamera* cam) : +FrameHandlerMono::FrameHandlerMono(vk::AbstractCamera* cam,Sophus::SE3& SE_init) : FrameHandlerBase(), cam_(cam), reprojector_(cam_, map_), depth_filter_(NULL) { initialize(); + imu_integPtr_=std::make_unique(SE_init); } void FrameHandlerMono::initialize() @@ -159,6 +160,9 @@ FrameHandlerBase::UpdateResult FrameHandlerMono::processFrame() // pose optimization subject to change for adding IMU SVO_START_TIMER("pose_optimizer"); size_t sfba_n_edges_final; + if(!imu_integPtr_->predict(new_frame_,sfba_n_edges_final)) + return RESULT_FAILURE; + /* double sfba_thresh, sfba_error_init, sfba_error_final; pose_optimizer::optimizeGaussNewton( Config::poseOptimThresh(), Config::poseOptimNumIter(), false, @@ -167,6 +171,7 @@ FrameHandlerBase::UpdateResult FrameHandlerMono::processFrame() SVO_LOG4(sfba_thresh, sfba_error_init, sfba_error_final, sfba_n_edges_final); SVO_DEBUG_STREAM("PoseOptimizer:\t ErrInit = "< +#include + +Imu_Integration::Imu_Integration(Sophus::SE3& SE_init){ + statePtr=std::make_shared(gtsam::Pose3(gtsam::Rot3(SE_init.rotation_matrix()),SE_init.translation()), + gtsam::Vector3(0.0,0.0,0.0)); + imu_biasPtr=std::make_shared(); + valuesPtr=std::make_unique(); + valuesPtr->insert(P(0),statePtr->pose()); + valuesPtr->insert(V(0),statePtr->v()); + valuesPtr->insert(B(0),*imu_biasPtr.get()); + graphPtr=std::make_unique(); + graphPtr->addPrior(P(0),statePtr->pose(),gtsam::noiseModel::Diagonal::Sigmas((gtsam::Vector(6) << 0.01, 0.01, 0.01, 0.5, 0.5, 0.5).finished())); + graphPtr->addPrior(V(0),statePtr->v(),gtsam::noiseModel::Isotropic::Sigma(3, 0.1)); + graphPtr->addPrior(B(0),*imu_biasPtr.get(),gtsam::noiseModel::Isotropic::Sigma(6, 1e-3)); + parameterPtr = gtsam::PreintegratedCombinedMeasurements::Params::MakeSharedD(); + parameterPtr->accelerometerCovariance=gtsam::I_3x3 * pow(0.0003924, 2); // acc white noise in continuous + parameterPtr->gyroscopeCovariance=gtsam::I_3x3 * pow(0.00020568902491,2); // gyro white noise in continuous + parameterPtr->integrationCovariance=gtsam::I_3x3 * 1e-8; // integration uncertainty continuous + // PreintegrationCombinedMeasurements params: + parameterPtr->biasAccCovariance = gtsam::I_3x3 * pow(0.004905, 2);; // acc bias in continuous + parameterPtr->biasOmegaCovariance = gtsam::I_3x3 * pow(0.000001454441043, 2); // gyro bias in continuous + parameterPtr->biasAccOmegaInt = gtsam::I_6x6 * 1e-5; // error in the bias used for preintegration + preintegratedPtr = std::make_shared(parameterPtr,*imu_biasPtr.get()); + assert(preintegratedPtr); +} +Imu_Integration::~Imu_Integration(){ + +} +bool Imu_Integration::update(float* imu){ + if(t_1<1e-4){ + preintegratedPtr->integrateMeasurement(Eigen::Vector3d(imu[0],imu[1],imu[2]),Eigen::Vector3d(imu[3],imu[4],imu[5]),0.005); + t_1=imu[6]; + }else{ + preintegratedPtr->integrateMeasurement(Eigen::Vector3d(imu[0],imu[1],imu[2]),Eigen::Vector3d(imu[3],imu[4],imu[5]),imu[6]-t_1); + t_1=imu[6]; + } + return true; +} +bool Imu_Integration::reset(){ + preintegratedPtr->resetIntegrationAndSetBias(*imu_biasPtr.get()); + return true; +} +bool Imu_Integration::predict(boost::shared_ptr& new_frame,std::size_t& num_obs){ + // Adding IMU factor and GPS factor and optimizing. + auto preint_imu_combined =dynamic_cast(*preintegratedPtr); + ++imu_factor_id; + gtsam::CombinedImuFactor imu_factor(P(imu_factor_id - 1), V(imu_factor_id - 1), P(imu_factor_id), V(imu_factor_id), B(imu_factor_id - 1), B(imu_factor_id), + preint_imu_combined); + graphPtr->add(imu_factor); + if(!reset())return false; + return true; +} \ No newline at end of file diff --git a/svo/src/pose_optimizer.cpp b/svo/src/pose_optimizer.cpp index 00ca321..1c491b0 100644 --- a/svo/src/pose_optimizer.cpp +++ b/svo/src/pose_optimizer.cpp @@ -49,6 +49,7 @@ void optimizeGaussNewton( { if((*it)->point == NULL) continue; + //Reprojection error Vector2d e = vk::project2d((*it)->f) - vk::project2d(frame->T_f_w_ * (*it)->point->pos_); e *= 1.0 / (1<<(*it)->level); diff --git a/vio_svo/launch/test.launch b/vio_svo/launch/test.launch index 388b536..4bcd965 100644 --- a/vio_svo/launch/test.launch +++ b/vio_svo/launch/test.launch @@ -4,6 +4,7 @@ + @@ -18,4 +19,4 @@ - \ No newline at end of file + diff --git a/vio_svo/src/vo_node.cpp b/vio_svo/src/vo_node.cpp index 8fd503f..908abb8 100644 --- a/vio_svo/src/vo_node.cpp +++ b/vio_svo/src/vo_node.cpp @@ -30,6 +30,7 @@ #include #include #include +#include namespace svo { @@ -44,12 +45,12 @@ public: vk::AbstractCamera* cam_; FILE* logtime; bool quit_; - boost::thread* vio_th; + boost::thread* imu_th; VoNode(); ~VoNode(); void imgCb(const sensor_msgs::ImageConstPtr& msg); void imuCb(const sensor_msgs::ImuPtr& imu); - void vio(); + void imu(); }; VoNode::VoNode() : @@ -70,10 +71,10 @@ VoNode::VoNode() : vk::getParam("vio/init_ty", 0.0), vk::getParam("vio/init_tz", 0.0))); // Init VO and start - vo_ = new svo::FrameHandlerMono(cam_); + vo_ = new svo::FrameHandlerMono(cam_,visualizer_.T_world_from_vision_); vo_->start(); - logtime = fopen((std::string(getenv("HOME"))+"/Project/time.txt").c_str(), "w+"); - vio_th=new boost::thread(&VoNode::vio,this); + imu_th=new boost::thread(&VoNode::imu,this); + logtime = fopen((std::string(getenv("HOME"))+"/Project/time.txt").c_str(), "w+"); } @@ -81,8 +82,8 @@ VoNode::~VoNode() { quit_=true; fclose(logtime); - vio_th->join(); - delete vio_th; + imu_th->join(); + delete imu_th; delete logtime; delete vo_; delete cam_; @@ -91,7 +92,6 @@ VoNode::~VoNode() void VoNode::imgCb(const sensor_msgs::ImageConstPtr& msg) { try { - ROS_INFO("image back"); auto start=std::chrono::steady_clock::now(); cv::Mat img=cv_bridge::toCvShare(msg, "mono8")->image; vo_->addImage(img, msg->header.stamp.toSec()); @@ -107,9 +107,17 @@ void VoNode::imgCb(const sensor_msgs::ImageConstPtr& msg) } } void VoNode::imuCb(const sensor_msgs::ImuPtr &imu) { - ROS_INFO("imu back"); + float imu_in[7]; + imu_in[0] = imu->angular_velocity.x; + imu_in[1] = imu->angular_velocity.y; + imu_in[2] = imu->angular_velocity.z; + imu_in[3] = imu->linear_acceleration.x; + imu_in[4] = imu->linear_acceleration.y; + imu_in[5] = imu->linear_acceleration.z; + imu_in[6] = imu->header.stamp.sec; + vo_->imu_integPtr_->update(imu_in); } -void VoNode::vio(){ +void VoNode::imu(){ ros::NodeHandle nh; std::cout << "create vo_node" << std::endl; // subscribe to cam msgs @@ -119,7 +127,6 @@ void VoNode::vio(){ while(ros::ok() && !quit_) { ros::spinOnce(); - // TODO check when last image was processed. when too long ago. publish warning that no msgs are received! } } From f4d1ce4f4ffde20d6baa38394a59f7d545c5866c Mon Sep 17 00:00:00 2001 From: gfuse Date: Tue, 13 Apr 2021 13:28:09 +0200 Subject: [PATCH 177/215] develop imu_integration --- svo/include/svo/imu_integration.h | 82 ++++++++++++++++++++++++++++++- svo/src/imu_integration.cpp | 36 ++++++++++++-- 2 files changed, 111 insertions(+), 7 deletions(-) diff --git a/svo/include/svo/imu_integration.h b/svo/include/svo/imu_integration.h index 7f05e20..3cfb77e 100644 --- a/svo/include/svo/imu_integration.h +++ b/svo/include/svo/imu_integration.h @@ -7,17 +7,93 @@ #include #include #include -#include -#include #include #include #include +#include #include #include using gtsam::symbol_shorthand::B; // Bias (ax,ay,az,gx,gy,gz) using gtsam::symbol_shorthand::V; // Vel (xdot,ydot,zdot) using gtsam::symbol_shorthand::P; // Pose3 (x,y,z,r,p,y) +using gtsam::symbol_shorthand::F; // Feature + +//https://stackoverflow.com/questions/24881799/get-index-in-c11-foreach-loop +// Wrapper class +template +class enumerate_impl +{ +public: + // The return value of the operator* of the iterator, this + // is what you will get inside of the for loop + struct item + { + size_t index; + typename T::value_type & item; + }; + typedef item value_type; + + // Custom iterator with minimal interface + struct iterator + { + iterator(typename T::iterator _it, size_t counter=0) : + it(_it), counter(counter) + {} + + iterator operator++() + { + return iterator(++it, ++counter); + } + + bool operator!=(iterator other) + { + return it != other.it; + } + + typename T::iterator::value_type item() + { + return *it; + } + + value_type operator*() + { + return value_type{counter, *it}; + } + + size_t index() + { + return counter; + } + + private: + typename T::iterator it; + size_t counter; + }; + + enumerate_impl(T & t) : container(t) {} + + iterator begin() + { + return iterator(container.begin()); + } + + iterator end() + { + return iterator(container.end()); + } + +private: + T & container; +}; + +// A templated free function allows you to create the wrapper class +// conveniently +template +enumerate_impl enumerate(T & t) +{ + return enumerate_impl(t); +} class Imu_Integration{ public: @@ -33,6 +109,8 @@ private: std::unique_ptr graphPtr; boost::shared_ptr parameterPtr; std::shared_ptr preintegratedPtr; + boost::shared_ptr ProjectNoisePtr; + boost::shared_ptr cameraPtr; std::uint32_t t_1=1e-18; std::uint32_t imu_factor_id=0; }; diff --git a/svo/src/imu_integration.cpp b/svo/src/imu_integration.cpp index 4e641f0..575d31b 100644 --- a/svo/src/imu_integration.cpp +++ b/svo/src/imu_integration.cpp @@ -5,6 +5,8 @@ #include "svo/imu_integration.h" #include #include +#include "svo/feature.h" +#include "svo/point.h" Imu_Integration::Imu_Integration(Sophus::SE3& SE_init){ statePtr=std::make_shared(gtsam::Pose3(gtsam::Rot3(SE_init.rotation_matrix()),SE_init.translation()), @@ -18,15 +20,16 @@ Imu_Integration::Imu_Integration(Sophus::SE3& SE_init){ graphPtr->addPrior(P(0),statePtr->pose(),gtsam::noiseModel::Diagonal::Sigmas((gtsam::Vector(6) << 0.01, 0.01, 0.01, 0.5, 0.5, 0.5).finished())); graphPtr->addPrior(V(0),statePtr->v(),gtsam::noiseModel::Isotropic::Sigma(3, 0.1)); graphPtr->addPrior(B(0),*imu_biasPtr.get(),gtsam::noiseModel::Isotropic::Sigma(6, 1e-3)); - parameterPtr = gtsam::PreintegratedCombinedMeasurements::Params::MakeSharedD(); + parameterPtr = gtsam::PreintegratedCombinedMeasurements::Params::MakeSharedD();// TODO check the IMU frame parameterPtr->accelerometerCovariance=gtsam::I_3x3 * pow(0.0003924, 2); // acc white noise in continuous parameterPtr->gyroscopeCovariance=gtsam::I_3x3 * pow(0.00020568902491,2); // gyro white noise in continuous parameterPtr->integrationCovariance=gtsam::I_3x3 * 1e-8; // integration uncertainty continuous - // PreintegrationCombinedMeasurements params: parameterPtr->biasAccCovariance = gtsam::I_3x3 * pow(0.004905, 2);; // acc bias in continuous parameterPtr->biasOmegaCovariance = gtsam::I_3x3 * pow(0.000001454441043, 2); // gyro bias in continuous parameterPtr->biasAccOmegaInt = gtsam::I_6x6 * 1e-5; // error in the bias used for preintegration preintegratedPtr = std::make_shared(parameterPtr,*imu_biasPtr.get()); + ProjectNoisePtr = gtsam::noiseModel::Isotropic::Sigma(2, 0.1); // error in the bias used for projection + cameraPtr=boost::make_shared(15,12,20,3,12); assert(preintegratedPtr); } Imu_Integration::~Imu_Integration(){ @@ -47,12 +50,35 @@ bool Imu_Integration::reset(){ return true; } bool Imu_Integration::predict(boost::shared_ptr& new_frame,std::size_t& num_obs){ - // Adding IMU factor and GPS factor and optimizing. + // Adding IMU factor and and pre-integration. auto preint_imu_combined =dynamic_cast(*preintegratedPtr); + gtsam::NavState Estimate_state = preintegratedPtr->predict(*statePtr.get(), *imu_biasPtr.get()); ++imu_factor_id; + valuesPtr->insert(P(imu_factor_id), Estimate_state.pose()); + valuesPtr->insert(V(imu_factor_id), Estimate_state.v()); + valuesPtr->insert(B(imu_factor_id), *imu_biasPtr.get()); gtsam::CombinedImuFactor imu_factor(P(imu_factor_id - 1), V(imu_factor_id - 1), P(imu_factor_id), V(imu_factor_id), B(imu_factor_id - 1), B(imu_factor_id), preint_imu_combined); - graphPtr->add(imu_factor); - if(!reset())return false; + graphPtr->emplace_shared(imu_factor); + for(auto&& f:enumerate(new_frame->fts_)){ + if(f.item->point==NULL)continue; + valuesPtr->insert(F(f.index), new_frame->T_f_w_ * f.item->point->pos_); + graphPtr->emplace_shared >( + f.item->px, ProjectNoisePtr, P( imu_factor_id), F(f.index), cameraPtr); + } + + // Now optimize. + gtsam::LevenbergMarquardtParams params; + params.setVerbosityLM("SUMMARY"); + gtsam::LevenbergMarquardtOptimizer optimizer(*graphPtr.get(), *valuesPtr.get(), params); + gtsam::Values result = optimizer.optimize(); + // Overwrite the beginning of the preintegration for the next step. + statePtr=std::make_shared(result.at(P(imu_factor_id)), result.at(V(imu_factor_id))); + imu_biasPtr=std::make_shared(result.at(B(imu_factor_id))); + preintegratedPtr->resetIntegrationAndSetBias(*imu_biasPtr.get()); + t_1=1e-18; + new_frame->T_f_w_=Sophus::SE3(statePtr->R(),statePtr->t()); + // new_frame->Cov_=gtsam:: + //if(!reset())return false; return true; } \ No newline at end of file From 382c41725b761e2ec18a1cbfd3e2b8495f56b07f Mon Sep 17 00:00:00 2001 From: gfuse Date: Thu, 15 Apr 2021 18:20:08 +0200 Subject: [PATCH 178/215] complete pipline and test with unity_dataset --- svo/CMakeLists.txt | 28 +++---- svo/include/svo/imu_integration.h | 15 ++-- svo/include/svo/svoVisionFactor.h | 71 ++++++++++++++++++ svo/src/frame_handler_mono.cpp | 2 +- svo/src/imu_integration.cpp | 118 +++++++++++++++++++----------- vio_svo/CMakeLists.txt | 14 ++-- vio_svo/launch/unity.launch | 22 ++++++ vio_svo/package.xml | 2 + vio_svo/param/unity.yaml | 8 ++ vio_svo/src/vo_node.cpp | 20 +++-- 10 files changed, 223 insertions(+), 77 deletions(-) create mode 100644 svo/include/svo/svoVisionFactor.h create mode 100644 vio_svo/launch/unity.launch create mode 100644 vio_svo/param/unity.yaml diff --git a/svo/CMakeLists.txt b/svo/CMakeLists.txt index 19beebd..ff39094 100644 --- a/svo/CMakeLists.txt +++ b/svo/CMakeLists.txt @@ -134,23 +134,23 @@ set_property(TARGET ${PROJECT_NAME} PROPERTY CXX_STANDARD_REQUIRED ON) ################################################################################ # TESTS -ADD_EXECUTABLE(test_feature_align test/test_feature_alignment.cpp) -TARGET_LINK_LIBRARIES(test_feature_align svo) +#ADD_EXECUTABLE(test_feature_align test/test_feature_alignment.cpp) +#TARGET_LINK_LIBRARIES(test_feature_align svo) -ADD_EXECUTABLE(test_pipeline test/test_pipeline.cpp) -TARGET_LINK_LIBRARIES(test_pipeline svo) +#ADD_EXECUTABLE(test_pipeline test/test_pipeline.cpp) +#TARGET_LINK_LIBRARIES(test_pipeline svo) -ADD_EXECUTABLE(test_matcher test/test_matcher.cpp) -TARGET_LINK_LIBRARIES(test_matcher svo) +#ADD_EXECUTABLE(test_matcher test/test_matcher.cpp) +#TARGET_LINK_LIBRARIES(test_matcher svo) -ADD_EXECUTABLE(test_feature_detection test/test_feature_detection.cpp) -TARGET_LINK_LIBRARIES(test_feature_detection svo) +#ADD_EXECUTABLE(test_feature_detection test/test_feature_detection.cpp) +#TARGET_LINK_LIBRARIES(test_feature_detection svo) -ADD_EXECUTABLE(test_depth_filter test/test_depth_filter.cpp) -TARGET_LINK_LIBRARIES(test_depth_filter svo) +#ADD_EXECUTABLE(test_depth_filter test/test_depth_filter.cpp) +#TARGET_LINK_LIBRARIES(test_depth_filter svo) -ADD_EXECUTABLE(test_sparse_img_align test/test_sparse_img_align.cpp) -TARGET_LINK_LIBRARIES(test_sparse_img_align svo) +#ADD_EXECUTABLE(test_sparse_img_align test/test_sparse_img_align.cpp) +#TARGET_LINK_LIBRARIES(test_sparse_img_align svo) -ADD_EXECUTABLE(test_pose_optimizer test/test_pose_optimizer.cpp) -TARGET_LINK_LIBRARIES(test_pose_optimizer svo) +#ADD_EXECUTABLE(test_pose_optimizer test/test_pose_optimizer.cpp) +#TARGET_LINK_LIBRARIES(test_pose_optimizer svo) diff --git a/svo/include/svo/imu_integration.h b/svo/include/svo/imu_integration.h index 3cfb77e..442565d 100644 --- a/svo/include/svo/imu_integration.h +++ b/svo/include/svo/imu_integration.h @@ -99,19 +99,20 @@ class Imu_Integration{ public: Imu_Integration(Sophus::SE3& SE_init); ~Imu_Integration(); - bool reset(); + bool reset(gtsam::Values& result); bool update(float* imu= nullptr); - bool predict(boost::shared_ptr&,std::size_t&); + bool predict(boost::shared_ptr&,std::size_t&,const double reproj_thresh); private: std::shared_ptr statePtr; std::shared_ptr imu_biasPtr; - std::unique_ptr valuesPtr; - std::unique_ptr graphPtr; + std::shared_ptr valuesPtr; + std::shared_ptr graphPtr; boost::shared_ptr parameterPtr; - std::shared_ptr preintegratedPtr; + std::shared_ptr preintegratedPtr; boost::shared_ptr ProjectNoisePtr; - boost::shared_ptr cameraPtr; - std::uint32_t t_1=1e-18; + std::chrono::steady_clock::time_point t_1; std::uint32_t imu_factor_id=0; + double imu_mean=0.0; + bool syn=false; }; #endif //SVO_IMU_INTEGRATION_H diff --git a/svo/include/svo/svoVisionFactor.h b/svo/include/svo/svoVisionFactor.h new file mode 100644 index 0000000..b3f8ab3 --- /dev/null +++ b/svo/include/svo/svoVisionFactor.h @@ -0,0 +1,71 @@ +// +// Created by root on 4/13/21. +// + +#ifndef SVO_SVOVISIONFACTOR_H +#define SVO_SVOVISIONFACTOR_H +#pragma once + +#include +#include +#include +#include +#include +#include +#include + +namespace svo { + + class VisionFactor: public gtsam::NoiseModelFactor1 { + + private: + // measurement information + gtsam::Point3 feature; /// 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 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 body_P_sensor = boost::none) : + gtsam::NoiseModelFactor1(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 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); + if(Hp)(*Hp) = (gtsam::Matrix(2,6)<< J / (1<( + gtsam::NonlinearFactor::shared_ptr(new VisionFactor(*this))); } + + }; + +} // namespace gtsamexamples +#endif //SVO_SVOVISIONFACTOR_H diff --git a/svo/src/frame_handler_mono.cpp b/svo/src/frame_handler_mono.cpp index e4a3140..e51b3ba 100644 --- a/svo/src/frame_handler_mono.cpp +++ b/svo/src/frame_handler_mono.cpp @@ -160,7 +160,7 @@ FrameHandlerBase::UpdateResult FrameHandlerMono::processFrame() // pose optimization subject to change for adding IMU SVO_START_TIMER("pose_optimizer"); size_t sfba_n_edges_final; - if(!imu_integPtr_->predict(new_frame_,sfba_n_edges_final)) + if(!imu_integPtr_->predict(new_frame_,sfba_n_edges_final,Config::poseOptimThresh())) return RESULT_FAILURE; /* double sfba_thresh, sfba_error_init, sfba_error_final; diff --git a/svo/src/imu_integration.cpp b/svo/src/imu_integration.cpp index 575d31b..44e70ab 100644 --- a/svo/src/imu_integration.cpp +++ b/svo/src/imu_integration.cpp @@ -7,19 +7,20 @@ #include #include "svo/feature.h" #include "svo/point.h" +#include "svo/svoVisionFactor.h" Imu_Integration::Imu_Integration(Sophus::SE3& SE_init){ statePtr=std::make_shared(gtsam::Pose3(gtsam::Rot3(SE_init.rotation_matrix()),SE_init.translation()), gtsam::Vector3(0.0,0.0,0.0)); imu_biasPtr=std::make_shared(); - valuesPtr=std::make_unique(); + valuesPtr=std::make_shared(); valuesPtr->insert(P(0),statePtr->pose()); valuesPtr->insert(V(0),statePtr->v()); - valuesPtr->insert(B(0),*imu_biasPtr.get()); - graphPtr=std::make_unique(); + valuesPtr->insert(B(0),*imu_biasPtr); + graphPtr=std::make_shared(); graphPtr->addPrior(P(0),statePtr->pose(),gtsam::noiseModel::Diagonal::Sigmas((gtsam::Vector(6) << 0.01, 0.01, 0.01, 0.5, 0.5, 0.5).finished())); graphPtr->addPrior(V(0),statePtr->v(),gtsam::noiseModel::Isotropic::Sigma(3, 0.1)); - graphPtr->addPrior(B(0),*imu_biasPtr.get(),gtsam::noiseModel::Isotropic::Sigma(6, 1e-3)); + graphPtr->addPrior(B(0),*imu_biasPtr,gtsam::noiseModel::Isotropic::Sigma(6, 1e-3)); parameterPtr = gtsam::PreintegratedCombinedMeasurements::Params::MakeSharedD();// TODO check the IMU frame parameterPtr->accelerometerCovariance=gtsam::I_3x3 * pow(0.0003924, 2); // acc white noise in continuous parameterPtr->gyroscopeCovariance=gtsam::I_3x3 * pow(0.00020568902491,2); // gyro white noise in continuous @@ -27,58 +28,87 @@ Imu_Integration::Imu_Integration(Sophus::SE3& SE_init){ parameterPtr->biasAccCovariance = gtsam::I_3x3 * pow(0.004905, 2);; // acc bias in continuous parameterPtr->biasOmegaCovariance = gtsam::I_3x3 * pow(0.000001454441043, 2); // gyro bias in continuous parameterPtr->biasAccOmegaInt = gtsam::I_6x6 * 1e-5; // error in the bias used for preintegration - preintegratedPtr = std::make_shared(parameterPtr,*imu_biasPtr.get()); - ProjectNoisePtr = gtsam::noiseModel::Isotropic::Sigma(2, 0.1); // error in the bias used for projection - cameraPtr=boost::make_shared(15,12,20,3,12); + preintegratedPtr = std::make_shared(parameterPtr,*imu_biasPtr); + ProjectNoisePtr = gtsam::noiseModel::Isotropic::Sigma(2, 0.1); // TODO change the noise used for projection assert(preintegratedPtr); } Imu_Integration::~Imu_Integration(){ } bool Imu_Integration::update(float* imu){ - if(t_1<1e-4){ - preintegratedPtr->integrateMeasurement(Eigen::Vector3d(imu[0],imu[1],imu[2]),Eigen::Vector3d(imu[3],imu[4],imu[5]),0.005); - t_1=imu[6]; - }else{ - preintegratedPtr->integrateMeasurement(Eigen::Vector3d(imu[0],imu[1],imu[2]),Eigen::Vector3d(imu[3],imu[4],imu[5]),imu[6]-t_1); - t_1=imu[6]; + if(syn)return false; + double m=0.0; + for(int i=0;i<6;++i){ + m+=abs(imu[i]); } - return true; -} -bool Imu_Integration::reset(){ - preintegratedPtr->resetIntegrationAndSetBias(*imu_biasPtr.get()); - return true; -} -bool Imu_Integration::predict(boost::shared_ptr& new_frame,std::size_t& num_obs){ - // Adding IMU factor and and pre-integration. - auto preint_imu_combined =dynamic_cast(*preintegratedPtr); - gtsam::NavState Estimate_state = preintegratedPtr->predict(*statePtr.get(), *imu_biasPtr.get()); - ++imu_factor_id; - valuesPtr->insert(P(imu_factor_id), Estimate_state.pose()); - valuesPtr->insert(V(imu_factor_id), Estimate_state.v()); - valuesPtr->insert(B(imu_factor_id), *imu_biasPtr.get()); - gtsam::CombinedImuFactor imu_factor(P(imu_factor_id - 1), V(imu_factor_id - 1), P(imu_factor_id), V(imu_factor_id), B(imu_factor_id - 1), B(imu_factor_id), - preint_imu_combined); - graphPtr->emplace_shared(imu_factor); - for(auto&& f:enumerate(new_frame->fts_)){ - if(f.item->point==NULL)continue; - valuesPtr->insert(F(f.index), new_frame->T_f_w_ * f.item->point->pos_); - graphPtr->emplace_shared >( - f.item->px, ProjectNoisePtr, P( imu_factor_id), F(f.index), cameraPtr); + if((0.1666666667*m - imu_mean)>1e-6){ + imu_mean=0.1666666667*m; + auto in=std::chrono::steady_clock::now(); + if(std::chrono::duration(in-t_1).count()>20.0){ + t_1=in; + }else{ + preintegratedPtr->integrateMeasurement(Eigen::Vector3d(imu[0],imu[1],imu[2]),Eigen::Vector3d(imu[3],imu[4],imu[5]),std::chrono::duration(in-t_1).count()); + t_1=in; + } + return true; } + return false; - // Now optimize. - gtsam::LevenbergMarquardtParams params; - params.setVerbosityLM("SUMMARY"); - gtsam::LevenbergMarquardtOptimizer optimizer(*graphPtr.get(), *valuesPtr.get(), params); - gtsam::Values result = optimizer.optimize(); +} +bool Imu_Integration::reset(gtsam::Values& result){ // Overwrite the beginning of the preintegration for the next step. statePtr=std::make_shared(result.at(P(imu_factor_id)), result.at(V(imu_factor_id))); imu_biasPtr=std::make_shared(result.at(B(imu_factor_id))); - preintegratedPtr->resetIntegrationAndSetBias(*imu_biasPtr.get()); - t_1=1e-18; + preintegratedPtr->resetIntegrationAndSetBias(*imu_biasPtr); + graphPtr->resize(0); + valuesPtr->erase(P(imu_factor_id-1)); + valuesPtr->erase(V(imu_factor_id-1)); + valuesPtr->erase(B(imu_factor_id-1)); + t_1=std::chrono::steady_clock::now(); + return true; +} +bool Imu_Integration::predict(boost::shared_ptr& new_frame,std::size_t& num_obs,const double reproj_thresh){ + // Adding IMU factor and and pre-integration. + syn=true; + auto preint_imu_combined =dynamic_cast(*preintegratedPtr); + gtsam::NavState Estimate_state = preintegratedPtr->predict(*statePtr, *imu_biasPtr); + ++imu_factor_id; + valuesPtr->insert(P(imu_factor_id), Estimate_state.pose()); + valuesPtr->insert(V(imu_factor_id), Estimate_state.v()); + valuesPtr->insert(B(imu_factor_id), *imu_biasPtr); + gtsam::CombinedImuFactor imu_factor(P(imu_factor_id - 1), V(imu_factor_id - 1), P(imu_factor_id), V(imu_factor_id), B(imu_factor_id - 1), B(imu_factor_id), + preint_imu_combined); + graphPtr->emplace_shared(imu_factor); + num_obs=0; + for(auto&& f:new_frame->fts_){ + if(f->point==NULL)continue; + graphPtr->add(svo::VisionFactor(f->f, f->point->pos_,f->level, ProjectNoisePtr,P(imu_factor_id))); + ++num_obs; + } + // Now optimize. + //graphPtr->print(); + //valuesPtr->print(); + gtsam::LevenbergMarquardtParams params; + params.setVerbosityLM("SUMMARY"); + gtsam::LevenbergMarquardtOptimizer optimizer(*graphPtr, *valuesPtr, params); + gtsam::Values result = optimizer.optimize(); + reset(result); + syn=false; new_frame->T_f_w_=Sophus::SE3(statePtr->R(),statePtr->t()); - // new_frame->Cov_=gtsam:: - //if(!reset())return false; + double reproj_thresh_scaled = reproj_thresh / new_frame->cam_->errorMultiplier2(); + for(auto&& f:new_frame->fts_) + { + if(f->point == NULL) + continue; + Eigen::Vector2d e = vk::project2d(f->f) - vk::project2d(result.at(P(imu_factor_id)) * f->point->pos_); + double sqrt_inv_cov = 1.0 / (1<level); + e *= sqrt_inv_cov; + if(e.norm() > reproj_thresh_scaled) + { + // we don't need to delete a reference in the point since it was not created yet + f->point = NULL; + --num_obs; + } + } return true; } \ No newline at end of file diff --git a/vio_svo/CMakeLists.txt b/vio_svo/CMakeLists.txt index 059a8bf..bb8fdc9 100644 --- a/vio_svo/CMakeLists.txt +++ b/vio_svo/CMakeLists.txt @@ -8,7 +8,7 @@ SET(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${PROJECT_SOURCE_DIR}/CMakeModules/" # Set build flags. Set IS_ARM on odroid board as environment variable SET(CMAKE_CXX_FLAGS "-Wall -D_LINUX -D_REENTRANT -march=native -Wno-unused-variable -Wno-unused-but-set-variable -Wno-unknown-pragmas") IF(DEFINED ENV{ARM_ARCHITECTURE}) - SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -mfpu=neon -march=armv7-a") + SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS}") ELSE() SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -mmmx -msse -msse -msse2 -msse3 -mssse3") ENDIF() @@ -20,8 +20,9 @@ ENDIF() SET(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS} -O3 -fsee -fomit-frame-pointer -fno-signed-zeros -fno-math-errno -funroll-loops") # Add catkin and required ROS packages -FIND_PACKAGE(catkin REQUIRED COMPONENTS - roscpp +FIND_PACKAGE(catkin REQUIRED COMPONENTS + geometry_msgs + roscpp cmake_modules nav_msgs std_msgs @@ -41,11 +42,12 @@ FIND_PACKAGE(OpenCV REQUIRED) FIND_PACKAGE(Eigen REQUIRED) FIND_PACKAGE(Sophus REQUIRED) FIND_PACKAGE(Boost REQUIRED COMPONENTS thread) +FIND_PACKAGE(GTSAM REQUIRED) # Describe catkin Project catkin_package( DEPENDS Eigen OpenCV Sophus Boost - CATKIN_DEPENDS roscpp nav_msgs std_msgs visualization_msgs sensor_msgs image_transport cv_bridge tf svo svo_msgs vikit_common vikit_ros + CATKIN_DEPENDS roscpp nav_msgs std_msgs visualization_msgs sensor_msgs image_transport cv_bridge tf svo svo_msgs vikit_common vikit_ros geometry_msgs INCLUDE_DIRS include LIBRARIES svo_visualizer ) @@ -70,10 +72,10 @@ LIST(APPEND LINK_LIBS # Create visualizer library ADD_LIBRARY(svo_visualizer src/visualizer.cpp) -TARGET_LINK_LIBRARIES(svo_visualizer ${LINK_LIBS}) +TARGET_LINK_LIBRARIES(svo_visualizer ${LINK_LIBS} gtsam) # Create Executables ADD_EXECUTABLE(vo src/vo_node.cpp) -TARGET_LINK_LIBRARIES(vo svo_visualizer) +TARGET_LINK_LIBRARIES(vo svo_visualizer ${LINK_LIBS}) #ADD_EXECUTABLE(benchmark src/benchmark_node.cpp) #TARGET_LINK_LIBRARIES(benchmark svo_visualizer) diff --git a/vio_svo/launch/unity.launch b/vio_svo/launch/unity.launch new file mode 100644 index 0000000..ea34997 --- /dev/null +++ b/vio_svo/launch/unity.launch @@ -0,0 +1,22 @@ + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/vio_svo/package.xml b/vio_svo/package.xml index ff9eab3..bb5b0f2 100644 --- a/vio_svo/package.xml +++ b/vio_svo/package.xml @@ -26,6 +26,7 @@ svo_msgs vikit_common vikit_ros + geometry_msgs roscpp @@ -40,4 +41,5 @@ svo_msgs vikit_common vikit_ros + geometry_msgs \ No newline at end of file diff --git a/vio_svo/param/unity.yaml b/vio_svo/param/unity.yaml new file mode 100644 index 0000000..023f378 --- /dev/null +++ b/vio_svo/param/unity.yaml @@ -0,0 +1,8 @@ +cam_model: ATAN +cam_width: 1024 +cam_height: 720 +cam_fx: 1.98248 +cam_fy: 2.68212 +cam_cx: 0.502524 +cam_cy: 0.497744 +cam_d0: -0.000499999 \ No newline at end of file diff --git a/vio_svo/src/vo_node.cpp b/vio_svo/src/vo_node.cpp index 908abb8..0333176 100644 --- a/vio_svo/src/vo_node.cpp +++ b/vio_svo/src/vo_node.cpp @@ -22,6 +22,7 @@ #include #include #include +#include #include #include #include @@ -49,7 +50,8 @@ public: VoNode(); ~VoNode(); void imgCb(const sensor_msgs::ImageConstPtr& msg); - void imuCb(const sensor_msgs::ImuPtr& imu); + //void imuCb(const sensor_msgs::ImuPtr& imu); + void imuCb(const geometry_msgs::PoseStamped& imu); void imu(); }; @@ -106,15 +108,22 @@ void VoNode::imgCb(const sensor_msgs::ImageConstPtr& msg) ROS_ERROR("cv_bridge exception: %s", e.what()); } } -void VoNode::imuCb(const sensor_msgs::ImuPtr &imu) { - float imu_in[7]; - imu_in[0] = imu->angular_velocity.x; +void VoNode::imuCb(const geometry_msgs::PoseStamped &imu) { + float imu_in[6]; + /*imu_in[0] = imu->angular_velocity.x; imu_in[1] = imu->angular_velocity.y; imu_in[2] = imu->angular_velocity.z; imu_in[3] = imu->linear_acceleration.x; imu_in[4] = imu->linear_acceleration.y; imu_in[5] = imu->linear_acceleration.z; imu_in[6] = imu->header.stamp.sec; + */ + imu_in[0] = imu.pose.position.z; + imu_in[1] = imu.pose.position.x; + imu_in[2] = imu.pose.position.y+9.8; + imu_in[3] = imu.pose.orientation.z; + imu_in[4] = imu.pose.orientation.x; + imu_in[5] = imu.pose.orientation.y; vo_->imu_integPtr_->update(imu_in); } void VoNode::imu(){ @@ -137,11 +146,12 @@ int main(int argc, char **argv) ros::init(argc, argv, "vio"); svo::VoNode vo_node; ros::NodeHandle nh; - ros::Subscriber imu_sub=nh.subscribe(vk::getParam("vio/imu_topic", "imu/raw"),10,&svo::VoNode::imuCb, &vo_node); + ros::Subscriber imu_sub=nh.subscribe(vk::getParam("vio/imu_topic", "imu/raw"),1,&svo::VoNode::imuCb, &vo_node); // start processing callbacks while(ros::ok() && !vo_node.quit_) { ros::spinOnce(); + usleep(1000); // TODO check when last image was processed. when too long ago. publish warning that no msgs are received! } printf("SVO terminated.\n"); From 121cfe1095abce32b8248b85409c7f8917219dd5 Mon Sep 17 00:00:00 2001 From: gfuse Date: Fri, 16 Apr 2021 17:55:40 +0200 Subject: [PATCH 179/215] debuging based on px30 -> still in progress --- svo/include/svo/imu_integration.h | 4 +-- svo/src/imu_integration.cpp | 56 ++++++++++++++++++------------- vio_svo/launch/Px30.launch | 6 ++-- vio_svo/src/vo_node.cpp | 28 ++++++---------- 4 files changed, 47 insertions(+), 47 deletions(-) diff --git a/svo/include/svo/imu_integration.h b/svo/include/svo/imu_integration.h index 442565d..8c6f95c 100644 --- a/svo/include/svo/imu_integration.h +++ b/svo/include/svo/imu_integration.h @@ -100,7 +100,7 @@ public: Imu_Integration(Sophus::SE3& SE_init); ~Imu_Integration(); bool reset(gtsam::Values& result); - bool update(float* imu= nullptr); + bool update(double* imu= nullptr); bool predict(boost::shared_ptr&,std::size_t&,const double reproj_thresh); private: std::shared_ptr statePtr; @@ -112,7 +112,7 @@ private: boost::shared_ptr ProjectNoisePtr; std::chrono::steady_clock::time_point t_1; std::uint32_t imu_factor_id=0; - double imu_mean=0.0; + std::uint64_t imu_stamp=0.0; bool syn=false; }; #endif //SVO_IMU_INTEGRATION_H diff --git a/svo/src/imu_integration.cpp b/svo/src/imu_integration.cpp index 44e70ab..f6b9809 100644 --- a/svo/src/imu_integration.cpp +++ b/svo/src/imu_integration.cpp @@ -8,47 +8,45 @@ #include "svo/feature.h" #include "svo/point.h" #include "svo/svoVisionFactor.h" +#include Imu_Integration::Imu_Integration(Sophus::SE3& SE_init){ statePtr=std::make_shared(gtsam::Pose3(gtsam::Rot3(SE_init.rotation_matrix()),SE_init.translation()), gtsam::Vector3(0.0,0.0,0.0)); - imu_biasPtr=std::make_shared(); + imu_biasPtr=std::make_shared(gtsam::Vector3(1e-8,1e-8,1e-8),gtsam::Vector3(1e-8,1e-8,1e-8)); valuesPtr=std::make_shared(); valuesPtr->insert(P(0),statePtr->pose()); valuesPtr->insert(V(0),statePtr->v()); valuesPtr->insert(B(0),*imu_biasPtr); graphPtr=std::make_shared(); - graphPtr->addPrior(P(0),statePtr->pose(),gtsam::noiseModel::Diagonal::Sigmas((gtsam::Vector(6) << 0.01, 0.01, 0.01, 0.5, 0.5, 0.5).finished())); - graphPtr->addPrior(V(0),statePtr->v(),gtsam::noiseModel::Isotropic::Sigma(3, 0.1)); - graphPtr->addPrior(B(0),*imu_biasPtr,gtsam::noiseModel::Isotropic::Sigma(6, 1e-3)); + graphPtr->addPrior(P(0),statePtr->pose(),gtsam::noiseModel::Diagonal::Sigmas((gtsam::Vector(6) << 0.01, 0.01, 0.01, 0.01, 0.01, 0.01).finished())); + graphPtr->addPrior(V(0),statePtr->v(),gtsam::noiseModel::Isotropic::Sigma(3, 0.01)); + graphPtr->addPrior(B(0),*imu_biasPtr,gtsam::noiseModel::Isotropic::Sigma(6, 1e-4)); parameterPtr = gtsam::PreintegratedCombinedMeasurements::Params::MakeSharedD();// TODO check the IMU frame - parameterPtr->accelerometerCovariance=gtsam::I_3x3 * pow(0.0003924, 2); // acc white noise in continuous - parameterPtr->gyroscopeCovariance=gtsam::I_3x3 * pow(0.00020568902491,2); // gyro white noise in continuous + parameterPtr->accelerometerCovariance=gtsam::I_3x3 * 1e-3; // acc white noise in continuous + parameterPtr->gyroscopeCovariance=gtsam::I_3x3 * 1e-3; // gyro white noise in continuous parameterPtr->integrationCovariance=gtsam::I_3x3 * 1e-8; // integration uncertainty continuous - parameterPtr->biasAccCovariance = gtsam::I_3x3 * pow(0.004905, 2);; // acc bias in continuous - parameterPtr->biasOmegaCovariance = gtsam::I_3x3 * pow(0.000001454441043, 2); // gyro bias in continuous + parameterPtr->biasAccCovariance = gtsam::I_3x3 * 1e-8; // acc bias in continuous + parameterPtr->biasOmegaCovariance = gtsam::I_3x3 * 1e-8; // gyro bias in continuous parameterPtr->biasAccOmegaInt = gtsam::I_6x6 * 1e-5; // error in the bias used for preintegration preintegratedPtr = std::make_shared(parameterPtr,*imu_biasPtr); - ProjectNoisePtr = gtsam::noiseModel::Isotropic::Sigma(2, 0.1); // TODO change the noise used for projection + ProjectNoisePtr = gtsam::noiseModel::Isotropic::Sigma(2, 1e-8); // TODO change the noise used for projection assert(preintegratedPtr); } Imu_Integration::~Imu_Integration(){ } -bool Imu_Integration::update(float* imu){ +bool Imu_Integration::update(double* imu){ if(syn)return false; - double m=0.0; - for(int i=0;i<6;++i){ - m+=abs(imu[i]); - } - if((0.1666666667*m - imu_mean)>1e-6){ - imu_mean=0.1666666667*m; + if(imu[6]>imu_stamp){ auto in=std::chrono::steady_clock::now(); if(std::chrono::duration(in-t_1).count()>20.0){ t_1=in; + imu_stamp=imu[6]; }else{ preintegratedPtr->integrateMeasurement(Eigen::Vector3d(imu[0],imu[1],imu[2]),Eigen::Vector3d(imu[3],imu[4],imu[5]),std::chrono::duration(in-t_1).count()); t_1=in; + imu_stamp=imu[6]; } return true; } @@ -60,11 +58,11 @@ bool Imu_Integration::reset(gtsam::Values& result){ statePtr=std::make_shared(result.at(P(imu_factor_id)), result.at(V(imu_factor_id))); imu_biasPtr=std::make_shared(result.at(B(imu_factor_id))); preintegratedPtr->resetIntegrationAndSetBias(*imu_biasPtr); - graphPtr->resize(0); - valuesPtr->erase(P(imu_factor_id-1)); - valuesPtr->erase(V(imu_factor_id-1)); - valuesPtr->erase(B(imu_factor_id-1)); - t_1=std::chrono::steady_clock::now(); + //graphPtr->resize(0); + //valuesPtr->erase(P(imu_factor_id-1)); + //valuesPtr->erase(V(imu_factor_id-1)); + //valuesPtr->erase(B(imu_factor_id-1)); + //t_1=std::chrono::steady_clock::now(); return true; } bool Imu_Integration::predict(boost::shared_ptr& new_frame,std::size_t& num_obs,const double reproj_thresh){ @@ -72,6 +70,8 @@ bool Imu_Integration::predict(boost::shared_ptr& new_frame,std::size syn=true; auto preint_imu_combined =dynamic_cast(*preintegratedPtr); gtsam::NavState Estimate_state = preintegratedPtr->predict(*statePtr, *imu_biasPtr); + std::cout<<"--------------------------------------------------------------------------PreIntegration----------------------------------------------"<<'\n'; + //preintegratedPtr->print(); ++imu_factor_id; valuesPtr->insert(P(imu_factor_id), Estimate_state.pose()); valuesPtr->insert(V(imu_factor_id), Estimate_state.v()); @@ -79,28 +79,36 @@ bool Imu_Integration::predict(boost::shared_ptr& new_frame,std::size gtsam::CombinedImuFactor imu_factor(P(imu_factor_id - 1), V(imu_factor_id - 1), P(imu_factor_id), V(imu_factor_id), B(imu_factor_id - 1), B(imu_factor_id), preint_imu_combined); graphPtr->emplace_shared(imu_factor); + imu_factor.print(); num_obs=0; for(auto&& f:new_frame->fts_){ if(f->point==NULL)continue; - graphPtr->add(svo::VisionFactor(f->f, f->point->pos_,f->level, ProjectNoisePtr,P(imu_factor_id))); + graphPtr->emplace_shared(f->f, f->point->pos_,f->level, ProjectNoisePtr,P(imu_factor_id)); ++num_obs; } // Now optimize. + std::cout<<"--------------------------------------------------------------------------graph----------------------------------------------"<<'\n'; //graphPtr->print(); - //valuesPtr->print(); + std::cout<<"--------------------------------------------------------------------------values----------------------------------------------"<<'\n'; + valuesPtr->print(); gtsam::LevenbergMarquardtParams params; params.setVerbosityLM("SUMMARY"); gtsam::LevenbergMarquardtOptimizer optimizer(*graphPtr, *valuesPtr, params); gtsam::Values result = optimizer.optimize(); + gtsam::Marginals marginals(*graphPtr, result); + std::cout<<"--------------------------------------------------------------------------marginals----------------------------------------------"<<'\n'; + //marginals.print(); reset(result); syn=false; new_frame->T_f_w_=Sophus::SE3(statePtr->R(),statePtr->t()); + new_frame->Cov_=marginals.marginalCovariance(P(imu_factor_id)); + std::cout<Cov_<<'\n'; double reproj_thresh_scaled = reproj_thresh / new_frame->cam_->errorMultiplier2(); for(auto&& f:new_frame->fts_) { if(f->point == NULL) continue; - Eigen::Vector2d e = vk::project2d(f->f) - vk::project2d(result.at(P(imu_factor_id)) * f->point->pos_); + Eigen::Vector2d e = vk::project2d(f->f) - vk::project2d(new_frame->T_f_w_ * f->point->pos_); double sqrt_inv_cov = 1.0 / (1<level); e *= sqrt_inv_cov; if(e.norm() > reproj_thresh_scaled) diff --git a/vio_svo/launch/Px30.launch b/vio_svo/launch/Px30.launch index 6ff3dab..2afa3b2 100644 --- a/vio_svo/launch/Px30.launch +++ b/vio_svo/launch/Px30.launch @@ -7,13 +7,13 @@ - + - + - + diff --git a/vio_svo/src/vo_node.cpp b/vio_svo/src/vo_node.cpp index 0333176..ebe8c7a 100644 --- a/vio_svo/src/vo_node.cpp +++ b/vio_svo/src/vo_node.cpp @@ -50,8 +50,7 @@ public: VoNode(); ~VoNode(); void imgCb(const sensor_msgs::ImageConstPtr& msg); - //void imuCb(const sensor_msgs::ImuPtr& imu); - void imuCb(const geometry_msgs::PoseStamped& imu); + void imuCb(const sensor_msgs::ImuPtr& imu); void imu(); }; @@ -108,22 +107,15 @@ void VoNode::imgCb(const sensor_msgs::ImageConstPtr& msg) ROS_ERROR("cv_bridge exception: %s", e.what()); } } -void VoNode::imuCb(const geometry_msgs::PoseStamped &imu) { - float imu_in[6]; - /*imu_in[0] = imu->angular_velocity.x; - imu_in[1] = imu->angular_velocity.y; - imu_in[2] = imu->angular_velocity.z; - imu_in[3] = imu->linear_acceleration.x; - imu_in[4] = imu->linear_acceleration.y; - imu_in[5] = imu->linear_acceleration.z; - imu_in[6] = imu->header.stamp.sec; - */ - imu_in[0] = imu.pose.position.z; - imu_in[1] = imu.pose.position.x; - imu_in[2] = imu.pose.position.y+9.8; - imu_in[3] = imu.pose.orientation.z; - imu_in[4] = imu.pose.orientation.x; - imu_in[5] = imu.pose.orientation.y; +void VoNode::imuCb(const sensor_msgs::ImuPtr &imu) { + double imu_in[7]; + imu_in[0] = imu->linear_acceleration.x; + imu_in[1] = imu->linear_acceleration.y; + imu_in[2] = imu->linear_acceleration.z; + imu_in[3] = imu->angular_velocity.x; + imu_in[4] = imu->angular_velocity.y; + imu_in[5] = imu->angular_velocity.z; + imu_in[6] = imu->header.stamp.toNSec(); vo_->imu_integPtr_->update(imu_in); } void VoNode::imu(){ From 661acff27f82140a1ccce4168f8f02d4407a7735 Mon Sep 17 00:00:00 2001 From: gfuse Date: Mon, 19 Apr 2021 19:49:17 +0200 Subject: [PATCH 180/215] The best possible situation 19.4.2021 --- svo/include/svo/imu_integration.h | 8 +- svo/include/svo/svoVisionFactor.h | 5 +- svo/src/frame_handler_mono.cpp | 35 ++------ svo/src/imu_integration.cpp | 142 ++++++++++++++++-------------- vio_svo/launch/Px30.launch | 6 +- vio_svo/param/vo_fast.yaml | 9 +- vio_svo/src/vo_node.cpp | 5 +- 7 files changed, 102 insertions(+), 108 deletions(-) diff --git a/svo/include/svo/imu_integration.h b/svo/include/svo/imu_integration.h index 8c6f95c..b6da3a7 100644 --- a/svo/include/svo/imu_integration.h +++ b/svo/include/svo/imu_integration.h @@ -11,13 +11,14 @@ #include #include #include +#include #include #include using gtsam::symbol_shorthand::B; // Bias (ax,ay,az,gx,gy,gz) using gtsam::symbol_shorthand::V; // Vel (xdot,ydot,zdot) using gtsam::symbol_shorthand::P; // Pose3 (x,y,z,r,p,y) -using gtsam::symbol_shorthand::F; // Feature +using gtsam::symbol_shorthand::C; // Camera pose //https://stackoverflow.com/questions/24881799/get-index-in-c11-foreach-loop // Wrapper class @@ -99,7 +100,7 @@ class Imu_Integration{ public: Imu_Integration(Sophus::SE3& SE_init); ~Imu_Integration(); - bool reset(gtsam::Values& result); + bool reset(gtsam::ISAM2& optimizer,boost::shared_ptr& new_frame); bool update(double* imu= nullptr); bool predict(boost::shared_ptr&,std::size_t&,const double reproj_thresh); private: @@ -112,7 +113,8 @@ private: boost::shared_ptr ProjectNoisePtr; std::chrono::steady_clock::time_point t_1; std::uint32_t imu_factor_id=0; - std::uint64_t imu_stamp=0.0; + uint imu_n=0; + std::shared_ptr optimizerParamPtr; bool syn=false; }; #endif //SVO_IMU_INTEGRATION_H diff --git a/svo/include/svo/svoVisionFactor.h b/svo/include/svo/svoVisionFactor.h index b3f8ab3..cd00816 100644 --- a/svo/include/svo/svoVisionFactor.h +++ b/svo/include/svo/svoVisionFactor.h @@ -53,9 +53,8 @@ namespace svo { gtsam::Matrix26 J; gtsam::Point3 point(p*landmark); svo::Frame::jacobian_xyz2uv(point, J); - if(Hp)(*Hp) = (gtsam::Matrix(2,6)<< J / (1<T_f_w_ = last_frame_->T_f_w_; // sparse image align - SVO_START_TIMER("sparse_img_align"); SparseImgAlign img_align(Config::kltMaxLevel(), Config::kltMinLevel(), 30, SparseImgAlign::GaussNewton, false, false); size_t img_align_n_tracked = img_align.run(last_frame_, new_frame_); - SVO_STOP_TIMER("sparse_img_align"); - SVO_LOG(img_align_n_tracked); - SVO_DEBUG_STREAM("Img Align:\t Tracked = " << img_align_n_tracked); + std::cout<<"Img Align:\t Tracked = "<T_f_w_ = last_frame_->T_f_w_; // reset to avoid crazy pose jumps @@ -158,22 +150,12 @@ FrameHandlerBase::UpdateResult FrameHandlerMono::processFrame() } // pose optimization subject to change for adding IMU - SVO_START_TIMER("pose_optimizer"); size_t sfba_n_edges_final; if(!imu_integPtr_->predict(new_frame_,sfba_n_edges_final,Config::poseOptimThresh())) return RESULT_FAILURE; - /* - 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); - SVO_STOP_TIMER("pose_optimizer"); - SVO_LOG4(sfba_thresh, sfba_error_init, sfba_error_final, sfba_n_edges_final); - SVO_DEBUG_STREAM("PoseOptimizer:\t ErrInit = "<T_f_w_ = last_frame_->T_f_w_; // reset to avoid crazy pose jumps diff --git a/svo/src/imu_integration.cpp b/svo/src/imu_integration.cpp index f6b9809..6d710fb 100644 --- a/svo/src/imu_integration.cpp +++ b/svo/src/imu_integration.cpp @@ -9,28 +9,25 @@ #include "svo/point.h" #include "svo/svoVisionFactor.h" #include +#include Imu_Integration::Imu_Integration(Sophus::SE3& SE_init){ - statePtr=std::make_shared(gtsam::Pose3(gtsam::Rot3(SE_init.rotation_matrix()),SE_init.translation()), - gtsam::Vector3(0.0,0.0,0.0)); - imu_biasPtr=std::make_shared(gtsam::Vector3(1e-8,1e-8,1e-8),gtsam::Vector3(1e-8,1e-8,1e-8)); - valuesPtr=std::make_shared(); - valuesPtr->insert(P(0),statePtr->pose()); - valuesPtr->insert(V(0),statePtr->v()); - valuesPtr->insert(B(0),*imu_biasPtr); graphPtr=std::make_shared(); - graphPtr->addPrior(P(0),statePtr->pose(),gtsam::noiseModel::Diagonal::Sigmas((gtsam::Vector(6) << 0.01, 0.01, 0.01, 0.01, 0.01, 0.01).finished())); - graphPtr->addPrior(V(0),statePtr->v(),gtsam::noiseModel::Isotropic::Sigma(3, 0.01)); - graphPtr->addPrior(B(0),*imu_biasPtr,gtsam::noiseModel::Isotropic::Sigma(6, 1e-4)); + valuesPtr=std::make_shared(); parameterPtr = gtsam::PreintegratedCombinedMeasurements::Params::MakeSharedD();// TODO check the IMU frame - parameterPtr->accelerometerCovariance=gtsam::I_3x3 * 1e-3; // acc white noise in continuous - parameterPtr->gyroscopeCovariance=gtsam::I_3x3 * 1e-3; // gyro white noise in continuous - parameterPtr->integrationCovariance=gtsam::I_3x3 * 1e-8; // integration uncertainty continuous - parameterPtr->biasAccCovariance = gtsam::I_3x3 * 1e-8; // acc bias in continuous - parameterPtr->biasOmegaCovariance = gtsam::I_3x3 * 1e-8; // gyro bias in continuous - parameterPtr->biasAccOmegaInt = gtsam::I_6x6 * 1e-5; // error in the bias used for preintegration + parameterPtr->accelerometerCovariance=gtsam::I_3x3 * 1e-4; // acc white noise in continuous + parameterPtr->gyroscopeCovariance=gtsam::I_3x3 * 1e-4; // gyro white noise in continuous + parameterPtr->integrationCovariance=gtsam::I_3x3 * 1e-1; // integration uncertainty continuous + parameterPtr->biasAccCovariance = gtsam::I_3x3 * 1e-1; // acc bias in continuous + parameterPtr->biasOmegaCovariance = gtsam::I_3x3 * 1e-1; // gyro bias in continuous + parameterPtr->biasAccOmegaInt = gtsam::I_6x6 * 1e-2; // error in the bias used for preintegration + imu_biasPtr=std::make_shared(gtsam::Vector3(1e-8,1e-8,1e-8),gtsam::Vector3(1e-8,1e-8,1e-8)); preintegratedPtr = std::make_shared(parameterPtr,*imu_biasPtr); - ProjectNoisePtr = gtsam::noiseModel::Isotropic::Sigma(2, 1e-8); // TODO change the noise used for projection + ProjectNoisePtr = gtsam::noiseModel::Isotropic::Sigma(2, 1e-8); // the noise used for projection + optimizerParamPtr=std::make_shared(); + optimizerParamPtr->relinearizeThreshold = 0.1; + optimizerParamPtr->relinearizeSkip = 1; + optimizerParamPtr->evaluateNonlinearError=true; assert(preintegratedPtr); } Imu_Integration::~Imu_Integration(){ @@ -38,48 +35,66 @@ Imu_Integration::~Imu_Integration(){ } bool Imu_Integration::update(double* imu){ if(syn)return false; - if(imu[6]>imu_stamp){ - auto in=std::chrono::steady_clock::now(); - if(std::chrono::duration(in-t_1).count()>20.0){ - t_1=in; - imu_stamp=imu[6]; - }else{ - preintegratedPtr->integrateMeasurement(Eigen::Vector3d(imu[0],imu[1],imu[2]),Eigen::Vector3d(imu[3],imu[4],imu[5]),std::chrono::duration(in-t_1).count()); - t_1=in; - imu_stamp=imu[6]; - } - return true; + if(imu_factor_id<1)return false; + auto in=std::chrono::steady_clock::now(); + if(std::chrono::duration(in-t_1).count()>20.0){ + t_1=in; + preintegratedPtr->integrateMeasurement(Eigen::Vector3d(imu[0],imu[1],imu[2]),Eigen::Vector3d(imu[3],imu[4],imu[5]),0.005); + }else{ + preintegratedPtr->integrateMeasurement(Eigen::Vector3d(imu[0],imu[1],imu[2]),Eigen::Vector3d(imu[3],imu[4],imu[5]),std::chrono::duration(in-t_1).count()); + t_1=in; + ++imu_n; } - return false; + return true; } -bool Imu_Integration::reset(gtsam::Values& result){ +bool Imu_Integration::reset(gtsam::ISAM2& optimizer,boost::shared_ptr& new_frame){ + gtsam::Values result = optimizer.calculateEstimate(); // Overwrite the beginning of the preintegration for the next step. statePtr=std::make_shared(result.at(P(imu_factor_id)), result.at(V(imu_factor_id))); imu_biasPtr=std::make_shared(result.at(B(imu_factor_id))); preintegratedPtr->resetIntegrationAndSetBias(*imu_biasPtr); - //graphPtr->resize(0); - //valuesPtr->erase(P(imu_factor_id-1)); - //valuesPtr->erase(V(imu_factor_id-1)); - //valuesPtr->erase(B(imu_factor_id-1)); - //t_1=std::chrono::steady_clock::now(); + ++imu_factor_id; + syn=false; + new_frame->T_f_w_=Sophus::SE3(statePtr->R(),statePtr->t()); + new_frame->Cov_=optimizer.marginalCovariance(P(imu_factor_id-1)); + graphPtr->resize(0); + valuesPtr->clear(); + valuesPtr->insert(P(imu_factor_id-1),statePtr->pose()); + valuesPtr->insert(V(imu_factor_id-1),statePtr->v()); + valuesPtr->insert(B(imu_factor_id-1),*imu_biasPtr); + graphPtr->addPrior(P(imu_factor_id-1),statePtr->pose(),optimizer.marginalCovariance(P(imu_factor_id-1))); + graphPtr->addPrior(V(imu_factor_id-1),statePtr->v(),optimizer.marginalCovariance(V(imu_factor_id-1))); + graphPtr->addPrior(B(imu_factor_id-1),*imu_biasPtr,optimizer.marginalCovariance(B(imu_factor_id-1))); return true; } bool Imu_Integration::predict(boost::shared_ptr& new_frame,std::size_t& num_obs,const double reproj_thresh){ - // Adding IMU factor and and pre-integration. + usleep(5000); syn=true; - auto preint_imu_combined =dynamic_cast(*preintegratedPtr); - gtsam::NavState Estimate_state = preintegratedPtr->predict(*statePtr, *imu_biasPtr); - std::cout<<"--------------------------------------------------------------------------PreIntegration----------------------------------------------"<<'\n'; - //preintegratedPtr->print(); - ++imu_factor_id; - valuesPtr->insert(P(imu_factor_id), Estimate_state.pose()); - valuesPtr->insert(V(imu_factor_id), Estimate_state.v()); - valuesPtr->insert(B(imu_factor_id), *imu_biasPtr); - gtsam::CombinedImuFactor imu_factor(P(imu_factor_id - 1), V(imu_factor_id - 1), P(imu_factor_id), V(imu_factor_id), B(imu_factor_id - 1), B(imu_factor_id), - preint_imu_combined); - graphPtr->emplace_shared(imu_factor); - imu_factor.print(); + if(imu_factor_id<1){ + statePtr=std::make_shared(gtsam::Pose3(new_frame->T_f_w_.matrix()), + gtsam::Vector3(1e-12,1e-12,1e-12)); + valuesPtr->insert(P(0),statePtr->pose()); + valuesPtr->insert(V(0),statePtr->v()); + valuesPtr->insert(B(0),*imu_biasPtr); + graphPtr->addPrior(P(0),statePtr->pose(),gtsam::noiseModel::Diagonal::Sigmas((gtsam::Vector(6) << 1e-9, 1e-9, 1e-9, 1e-9, 1e-9, 1e-9).finished())); + graphPtr->addPrior(V(0),statePtr->v(),gtsam::noiseModel::Isotropic::Sigma(3, 1e-4)); + graphPtr->addPrior(B(0),*imu_biasPtr,gtsam::noiseModel::Isotropic::Sigma(6, 1e-2)); + }else{ + if(imu_n<3)return false; + auto preint_imu_combined =dynamic_cast(*preintegratedPtr); + //gtsam::NavState Estimate_state = preintegratedPtr->predict(*statePtr, *imu_biasPtr); + valuesPtr->insert(P(imu_factor_id), gtsam::Pose3(new_frame->T_f_w_.matrix())); + //valuesPtr->insert(P(imu_factor_id), Estimate_state.pose()); + valuesPtr->insert(V(imu_factor_id), statePtr->v()); + //valuesPtr->insert(V(imu_factor_id), Estimate_state.v()); + valuesPtr->insert(B(imu_factor_id), *imu_biasPtr); + gtsam::CombinedImuFactor imu_factor(P(imu_factor_id - 1), V(imu_factor_id - 1), P(imu_factor_id), V(imu_factor_id), B(imu_factor_id - 1), B(imu_factor_id), + preint_imu_combined); + graphPtr->emplace_shared(imu_factor); + imu_n=0; + } + num_obs=0; for(auto&& f:new_frame->fts_){ if(f->point==NULL)continue; @@ -87,32 +102,25 @@ bool Imu_Integration::predict(boost::shared_ptr& new_frame,std::size ++num_obs; } // Now optimize. - std::cout<<"--------------------------------------------------------------------------graph----------------------------------------------"<<'\n'; - //graphPtr->print(); - std::cout<<"--------------------------------------------------------------------------values----------------------------------------------"<<'\n'; - valuesPtr->print(); - gtsam::LevenbergMarquardtParams params; - params.setVerbosityLM("SUMMARY"); - gtsam::LevenbergMarquardtOptimizer optimizer(*graphPtr, *valuesPtr, params); - gtsam::Values result = optimizer.optimize(); - gtsam::Marginals marginals(*graphPtr, result); - std::cout<<"--------------------------------------------------------------------------marginals----------------------------------------------"<<'\n'; - //marginals.print(); - reset(result); - syn=false; - new_frame->T_f_w_=Sophus::SE3(statePtr->R(),statePtr->t()); - new_frame->Cov_=marginals.marginalCovariance(P(imu_factor_id)); - std::cout<Cov_<<'\n'; + gtsam::ISAM2 optimizer(*optimizerParamPtr); + optimizer.update(*graphPtr, *valuesPtr); + // Each call to iSAM2 update(*) performs one iteration of the iterative + // nonlinear solver. If accuracy is desired at the expense of time, + // update(*) can be called additional times to perform multiple optimizer + // iterations every step. + optimizer.update(); + // optimizer.print(); + reset(optimizer,new_frame); + // Remove Measurements with too large reprojection error double reproj_thresh_scaled = reproj_thresh / new_frame->cam_->errorMultiplier2(); for(auto&& f:new_frame->fts_) { if(f->point == NULL) continue; - Eigen::Vector2d e = vk::project2d(f->f) - vk::project2d(new_frame->T_f_w_ * f->point->pos_); - double sqrt_inv_cov = 1.0 / (1<level); - e *= sqrt_inv_cov; + Eigen::Vector2d e = (vk::project2d(f->f) - vk::project2d(new_frame->T_f_w_ * f->point->pos_))*1.0 / (1<level); if(e.norm() > reproj_thresh_scaled) { + std::cout<<"Error: "<point = NULL; --num_obs; diff --git a/vio_svo/launch/Px30.launch b/vio_svo/launch/Px30.launch index 2afa3b2..06083d0 100644 --- a/vio_svo/launch/Px30.launch +++ b/vio_svo/launch/Px30.launch @@ -9,9 +9,6 @@ - - - @@ -19,4 +16,7 @@ + + + diff --git a/vio_svo/param/vo_fast.yaml b/vio_svo/param/vo_fast.yaml index 3df87dd..3fa20a3 100644 --- a/vio_svo/param/vo_fast.yaml +++ b/vio_svo/param/vo_fast.yaml @@ -1,3 +1,6 @@ -grid_size: 30 -max_n_kfs: 10 -loba_num_iter: 0 \ No newline at end of file +svo: + grid_size: 30 + max_n_kfs: 10 + loba_num_iter: 0 + quality_min_fts: 20 + quality_max_drop_fts: 50 \ No newline at end of file diff --git a/vio_svo/src/vo_node.cpp b/vio_svo/src/vo_node.cpp index ebe8c7a..2f98da0 100644 --- a/vio_svo/src/vo_node.cpp +++ b/vio_svo/src/vo_node.cpp @@ -108,14 +108,13 @@ void VoNode::imgCb(const sensor_msgs::ImageConstPtr& msg) } } void VoNode::imuCb(const sensor_msgs::ImuPtr &imu) { - double imu_in[7]; + double imu_in[6]; imu_in[0] = imu->linear_acceleration.x; imu_in[1] = imu->linear_acceleration.y; imu_in[2] = imu->linear_acceleration.z; imu_in[3] = imu->angular_velocity.x; imu_in[4] = imu->angular_velocity.y; imu_in[5] = imu->angular_velocity.z; - imu_in[6] = imu->header.stamp.toNSec(); vo_->imu_integPtr_->update(imu_in); } void VoNode::imu(){ @@ -123,7 +122,7 @@ void VoNode::imu(){ std::cout << "create vo_node" << std::endl; // subscribe to cam msgs image_transport::ImageTransport it(nh); - image_transport::Subscriber it_sub = it.subscribe(vk::getParam("vio/cam_topic", "camera/image_raw"), 5, &svo::VoNode::imgCb, this); + image_transport::Subscriber it_sub = it.subscribe(vk::getParam("vio/cam_topic", "camera/image_raw"), 1, &svo::VoNode::imgCb, this); // start processing callbacks while(ros::ok() && !quit_) { From 4987e55ec7fb5119c3202e1dc5d53cd92159995b Mon Sep 17 00:00:00 2001 From: gfuse Date: Tue, 20 Apr 2021 16:18:52 +0200 Subject: [PATCH 181/215] The best possible situation 20.4.2021 --- svo/include/svo/config.h | 18 +++++++++++ svo/include/svo/imu_integration.h | 1 + svo/src/config.cpp | 9 +++++- svo/src/frame_handler_mono.cpp | 18 ++++------- svo/src/imu_integration.cpp | 51 ++++++++++++++++++++++--------- vio_svo/param/vo_fast.yaml | 17 ++++++++--- 6 files changed, 81 insertions(+), 33 deletions(-) diff --git a/svo/include/svo/config.h b/svo/include/svo/config.h index d4f50df..e1c97b1 100644 --- a/svo/include/svo/config.h +++ b/svo/include/svo/config.h @@ -119,6 +119,23 @@ public: /// If within one frame, this amount of features are dropped. Tracking quality is bad. static int& qualityMaxFtsDrop() { return getInstance().quality_max_drop_fts; } + /// acc white noise in continuous. + static double& ACC_Noise() { return getInstance().ACC_noise; } + + /// acc white noise in continuous. + static double& GYO_Noise() { return getInstance().GYO_noise; } + /// integration uncertainty continuous + static double& IUC() { return getInstance().iuc; } + // acc bias in continuous + static double& ABC() { return getInstance().abc; } + // gyro bias in continuous + static double& GBC() { return getInstance().gbc; } + // error in the bias used for preintegration + static double& EBP() { return getInstance().ebp; } + // the noise used for projection + static double& NRP() { return getInstance().nrp; } + + private: Config(); Config(Config const&); @@ -152,6 +169,7 @@ private: size_t max_fts; size_t quality_min_fts; int quality_max_drop_fts; + double nrp,ebp,gbc,abc,iuc,ACC_noise,GYO_noise; }; } // namespace svo diff --git a/svo/include/svo/imu_integration.h b/svo/include/svo/imu_integration.h index b6da3a7..11b9055 100644 --- a/svo/include/svo/imu_integration.h +++ b/svo/include/svo/imu_integration.h @@ -101,6 +101,7 @@ public: Imu_Integration(Sophus::SE3& SE_init); ~Imu_Integration(); bool reset(gtsam::ISAM2& optimizer,boost::shared_ptr& new_frame); + bool reset(gtsam::LevenbergMarquardtOptimizer& optimizer,boost::shared_ptr& new_frame); bool update(double* imu= nullptr); bool predict(boost::shared_ptr&,std::size_t&,const double reproj_thresh); private: diff --git a/svo/src/config.cpp b/svo/src/config.cpp index f6820f4..e8475fe 100644 --- a/svo/src/config.cpp +++ b/svo/src/config.cpp @@ -51,7 +51,14 @@ Config::Config() : img_imu_delay(vk::getParam("svo/img_imu_delay", 0.0)), max_fts(vk::getParam("svo/max_fts", 120)), quality_min_fts(vk::getParam("svo/quality_min_fts", 50)), - quality_max_drop_fts(vk::getParam("svo/quality_max_drop_fts", 40)) + quality_max_drop_fts(vk::getParam("svo/quality_max_drop_fts", 40)), + ACC_noise(vk::getParam("svo/ACC_noise", 1e-4)), + GYO_noise(vk::getParam("svo/GYO_noise", 1e-4)), + iuc(vk::getParam("svo/IUC", 1e-1)), + abc(vk::getParam("svo/ABC", 1e-1)), + gbc(vk::getParam("svo/GBC", 1e-1)), + ebp(vk::getParam("svo/EBP", 1e-2)), + nrp(vk::getParam("svo/NRP", 1e-5)) #else trace_name("svo"), trace_dir("/tmp"), diff --git a/svo/src/frame_handler_mono.cpp b/svo/src/frame_handler_mono.cpp index e5111cf..780d9c7 100644 --- a/svo/src/frame_handler_mono.cpp +++ b/svo/src/frame_handler_mono.cpp @@ -66,9 +66,7 @@ void FrameHandlerMono::addImage(const cv::Mat& img, const double timestamp) overlap_kfs_.clear(); // create new frame - //SVO_START_TIMER("pyramid_creation"); new_frame_.reset(new Frame(cam_, img.clone(), timestamp)); - //SVO_STOP_TIMER("pyramid_creation"); // process frame UpdateResult res = RESULT_FAILURE; @@ -135,12 +133,10 @@ FrameHandlerBase::UpdateResult FrameHandlerMono::processFrame() // sparse image align SparseImgAlign img_align(Config::kltMaxLevel(), Config::kltMinLevel(), 30, SparseImgAlign::GaussNewton, false, false); - size_t img_align_n_tracked = img_align.run(last_frame_, new_frame_); - std::cout<<"Img Align:\t Tracked = "<predict(new_frame_,sfba_n_edges_final,Config::poseOptimThresh())) return RESULT_FAILURE; - std::cout<<"reprojected point after opmization: "<T_f_w_ = last_frame_->T_f_w_; // reset to avoid crazy pose jumps @@ -179,7 +174,6 @@ FrameHandlerBase::UpdateResult FrameHandlerMono::processFrame() return RESULT_NO_KEYFRAME; } new_frame_->setKeyframe(); - SVO_DEBUG_STREAM("New keyframe selected."); // new keyframe selected for(Features::iterator it=new_frame_->fts_.begin(); it!=new_frame_->fts_.end(); ++it) @@ -218,7 +212,7 @@ FrameHandlerBase::UpdateResult FrameHandlerMono::processFrame() // add keyframe to map map_.addKeyframe(new_frame_); - + std::cerr<<"Svo pipline was finished\n"; return RESULT_IS_KEYFRAME; } diff --git a/svo/src/imu_integration.cpp b/svo/src/imu_integration.cpp index 6d710fb..2aed670 100644 --- a/svo/src/imu_integration.cpp +++ b/svo/src/imu_integration.cpp @@ -10,24 +10,26 @@ #include "svo/svoVisionFactor.h" #include #include +#include +#include Imu_Integration::Imu_Integration(Sophus::SE3& SE_init){ graphPtr=std::make_shared(); valuesPtr=std::make_shared(); parameterPtr = gtsam::PreintegratedCombinedMeasurements::Params::MakeSharedD();// TODO check the IMU frame - parameterPtr->accelerometerCovariance=gtsam::I_3x3 * 1e-4; // acc white noise in continuous - parameterPtr->gyroscopeCovariance=gtsam::I_3x3 * 1e-4; // gyro white noise in continuous - parameterPtr->integrationCovariance=gtsam::I_3x3 * 1e-1; // integration uncertainty continuous - parameterPtr->biasAccCovariance = gtsam::I_3x3 * 1e-1; // acc bias in continuous - parameterPtr->biasOmegaCovariance = gtsam::I_3x3 * 1e-1; // gyro bias in continuous - parameterPtr->biasAccOmegaInt = gtsam::I_6x6 * 1e-2; // error in the bias used for preintegration + parameterPtr->accelerometerCovariance=gtsam::I_3x3 * svo::Config::ACC_Noise(); // acc white noise in continuous + parameterPtr->gyroscopeCovariance=gtsam::I_3x3 * svo::Config::GYO_Noise();// gyro white noise in continuous + parameterPtr->integrationCovariance=gtsam::I_3x3 * svo::Config::IUC(); // integration uncertainty continuous + parameterPtr->biasAccCovariance = gtsam::I_3x3 * svo::Config::ABC(); // acc bias in continuous + parameterPtr->biasOmegaCovariance = gtsam::I_3x3 * svo::Config::GBC(); // gyro bias in continuous + parameterPtr->biasAccOmegaInt = gtsam::I_6x6 * svo::Config::EBP(); // error in the bias used for preintegration imu_biasPtr=std::make_shared(gtsam::Vector3(1e-8,1e-8,1e-8),gtsam::Vector3(1e-8,1e-8,1e-8)); preintegratedPtr = std::make_shared(parameterPtr,*imu_biasPtr); - ProjectNoisePtr = gtsam::noiseModel::Isotropic::Sigma(2, 1e-8); // the noise used for projection + ProjectNoisePtr = gtsam::noiseModel::Isotropic::Sigma(2, svo::Config::NRP()); // the noise used for projection optimizerParamPtr=std::make_shared(); optimizerParamPtr->relinearizeThreshold = 0.1; optimizerParamPtr->relinearizeSkip = 1; - optimizerParamPtr->evaluateNonlinearError=true; + //optimizerParamPtr->evaluateNonlinearError=true; assert(preintegratedPtr); } Imu_Integration::~Imu_Integration(){ @@ -68,6 +70,27 @@ bool Imu_Integration::reset(gtsam::ISAM2& optimizer,boost::shared_ptraddPrior(B(imu_factor_id-1),*imu_biasPtr,optimizer.marginalCovariance(B(imu_factor_id-1))); return true; } +bool Imu_Integration::reset(gtsam::LevenbergMarquardtOptimizer& optimizer,boost::shared_ptr& new_frame){ + gtsam::Values result = optimizer.optimize(); + // Overwrite the beginning of the preintegration for the next step. + statePtr=std::make_shared(result.at(P(imu_factor_id)), result.at(V(imu_factor_id))); + imu_biasPtr=std::make_shared(result.at(B(imu_factor_id))); + preintegratedPtr->resetIntegrationAndSetBias(*imu_biasPtr); + ++imu_factor_id; + syn=false; + gtsam::Marginals marginals(*graphPtr,result); + new_frame->T_f_w_=Sophus::SE3(statePtr->R(),statePtr->t()); + new_frame->Cov_=marginals.marginalCovariance(P(imu_factor_id-1)); + graphPtr->resize(0); + valuesPtr->clear(); + valuesPtr->insert(P(imu_factor_id-1),statePtr->pose()); + valuesPtr->insert(V(imu_factor_id-1),statePtr->v()); + valuesPtr->insert(B(imu_factor_id-1),*imu_biasPtr); + graphPtr->addPrior(P(imu_factor_id-1),statePtr->pose(),marginals.marginalCovariance(P(imu_factor_id-1))); + graphPtr->addPrior(V(imu_factor_id-1),statePtr->v(),marginals.marginalCovariance(V(imu_factor_id-1))); + graphPtr->addPrior(B(imu_factor_id-1),*imu_biasPtr,marginals.marginalCovariance(B(imu_factor_id-1))); + return true; +} bool Imu_Integration::predict(boost::shared_ptr& new_frame,std::size_t& num_obs,const double reproj_thresh){ usleep(5000); syn=true; @@ -83,11 +106,8 @@ bool Imu_Integration::predict(boost::shared_ptr& new_frame,std::size }else{ if(imu_n<3)return false; auto preint_imu_combined =dynamic_cast(*preintegratedPtr); - //gtsam::NavState Estimate_state = preintegratedPtr->predict(*statePtr, *imu_biasPtr); valuesPtr->insert(P(imu_factor_id), gtsam::Pose3(new_frame->T_f_w_.matrix())); - //valuesPtr->insert(P(imu_factor_id), Estimate_state.pose()); valuesPtr->insert(V(imu_factor_id), statePtr->v()); - //valuesPtr->insert(V(imu_factor_id), Estimate_state.v()); valuesPtr->insert(B(imu_factor_id), *imu_biasPtr); gtsam::CombinedImuFactor imu_factor(P(imu_factor_id - 1), V(imu_factor_id - 1), P(imu_factor_id), V(imu_factor_id), B(imu_factor_id - 1), B(imu_factor_id), preint_imu_combined); @@ -102,14 +122,16 @@ bool Imu_Integration::predict(boost::shared_ptr& new_frame,std::size ++num_obs; } // Now optimize. - gtsam::ISAM2 optimizer(*optimizerParamPtr); - optimizer.update(*graphPtr, *valuesPtr); + //gtsam::ISAM2 optimizer(*optimizerParamPtr); + //optimizer.update(*graphPtr, *valuesPtr); // Each call to iSAM2 update(*) performs one iteration of the iterative // nonlinear solver. If accuracy is desired at the expense of time, // update(*) can be called additional times to perform multiple optimizer // iterations every step. - optimizer.update(); + //optimizer.update(); // optimizer.print(); + gtsam::LevenbergMarquardtOptimizer optimizer(*graphPtr, *valuesPtr); + reset(optimizer,new_frame); // Remove Measurements with too large reprojection error double reproj_thresh_scaled = reproj_thresh / new_frame->cam_->errorMultiplier2(); @@ -120,7 +142,6 @@ bool Imu_Integration::predict(boost::shared_ptr& new_frame,std::size Eigen::Vector2d e = (vk::project2d(f->f) - vk::project2d(new_frame->T_f_w_ * f->point->pos_))*1.0 / (1<level); if(e.norm() > reproj_thresh_scaled) { - std::cout<<"Error: "<point = NULL; --num_obs; diff --git a/vio_svo/param/vo_fast.yaml b/vio_svo/param/vo_fast.yaml index 3fa20a3..84e6549 100644 --- a/vio_svo/param/vo_fast.yaml +++ b/vio_svo/param/vo_fast.yaml @@ -1,6 +1,13 @@ svo: - grid_size: 30 - max_n_kfs: 10 - loba_num_iter: 0 - quality_min_fts: 20 - quality_max_drop_fts: 50 \ No newline at end of file + grid_size: 30 #Feature grid size of a cell in [px]. + max_n_kfs: 10 #Limit the number of keyframes in the map. This makes nslam essentially. a Visual Odometry. Set to 0 if unlimited number of keyframes are allowed. Minimum number of keyframes is 3. + loba_num_iter: 0 #Number of iterations in the local bundle adjustment. + quality_min_fts: 10 #If the number of tracked features drops below this threshold. Tracking quality is bad. + quality_max_drop_fts: 60 #If within one frame, this amount of features are dropped. Tracking quality is bad. + ACC_noise: 0.0001 #acc white noise in continuous + GYO_noise: 0.0001 #gyro white noise in continuous + IUC: 0.1 #integration uncertainty continuous + ABC: 0.1 #acc bias in continuous + GBC: 0.1 #gyro bias in continuous + EBP: 0.01 #error in the bias used for preintegration + NRP: 0.0000001 #noise used for projection in preintegration From 33c4e7e8e2c91b074dba0877300dc41daf9b2f35 Mon Sep 17 00:00:00 2001 From: gfuse Date: Tue, 20 Apr 2021 16:31:10 +0200 Subject: [PATCH 182/215] The best possible situation 20.4.2021 --- vio_svo/param/vo_fast.yaml | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/vio_svo/param/vo_fast.yaml b/vio_svo/param/vo_fast.yaml index 84e6549..e33b18a 100644 --- a/vio_svo/param/vo_fast.yaml +++ b/vio_svo/param/vo_fast.yaml @@ -4,10 +4,10 @@ svo: loba_num_iter: 0 #Number of iterations in the local bundle adjustment. quality_min_fts: 10 #If the number of tracked features drops below this threshold. Tracking quality is bad. quality_max_drop_fts: 60 #If within one frame, this amount of features are dropped. Tracking quality is bad. - ACC_noise: 0.0001 #acc white noise in continuous - GYO_noise: 0.0001 #gyro white noise in continuous + ACC_noise: 0.00001 #acc white noise in continuous + GYO_noise: 0.00001 #gyro white noise in continuous IUC: 0.1 #integration uncertainty continuous ABC: 0.1 #acc bias in continuous GBC: 0.1 #gyro bias in continuous - EBP: 0.01 #error in the bias used for preintegration + EBP: 0.1 #error in the bias used for preintegration NRP: 0.0000001 #noise used for projection in preintegration From 85470c37b6ba0fa0ce9d211cb17dd4b238e67453 Mon Sep 17 00:00:00 2001 From: gfuse Date: Wed, 21 Apr 2021 11:16:56 +0200 Subject: [PATCH 183/215] The best possible situation 21.4.2021 --- svo/src/frame_handler_mono.cpp | 17 ++++++++--------- svo/src/imu_integration.cpp | 2 +- 2 files changed, 9 insertions(+), 10 deletions(-) diff --git a/svo/src/frame_handler_mono.cpp b/svo/src/frame_handler_mono.cpp index 780d9c7..799cb8c 100644 --- a/svo/src/frame_handler_mono.cpp +++ b/svo/src/frame_handler_mono.cpp @@ -136,10 +136,9 @@ FrameHandlerBase::UpdateResult FrameHandlerMono::processFrame() img_align.run(last_frame_, new_frame_); // map reprojection & feature alignment reprojector_.reprojectMap(new_frame_, overlap_kfs_); - std::cerr<<"Reprojection Map:\t nPoints = "<T_f_w_ = last_frame_->T_f_w_; // reset to avoid crazy pose jumps tracking_quality_ = TRACKING_INSUFFICIENT; return RESULT_FAILURE; @@ -148,15 +147,17 @@ FrameHandlerBase::UpdateResult FrameHandlerMono::processFrame() // pose optimization subject to change for adding IMU size_t sfba_n_edges_final; if(!imu_integPtr_->predict(new_frame_,sfba_n_edges_final,Config::poseOptimThresh())) - return RESULT_FAILURE; + return RESULT_FAILURE; + + std::cerr<<"Reprojected points after opmization: "< 30) + usleep(2000); + if(img_align_n_tracked > Config::qualityMinFts()) { SE3 T_f_w_last = last_frame_->T_f_w_; last_frame_ = ref_keyframe; @@ -237,7 +237,6 @@ FrameHandlerMono::UpdateResult FrameHandlerMono::relocalizeFrame( if(res != RESULT_FAILURE) { stage_ = STAGE_DEFAULT_FRAME; - SVO_INFO_STREAM("Relocalization successful."); } else new_frame_->T_f_w_ = T_f_w_last; // reset to last well localized pose diff --git a/svo/src/imu_integration.cpp b/svo/src/imu_integration.cpp index 2aed670..c2a720f 100644 --- a/svo/src/imu_integration.cpp +++ b/svo/src/imu_integration.cpp @@ -104,7 +104,7 @@ bool Imu_Integration::predict(boost::shared_ptr& new_frame,std::size graphPtr->addPrior(V(0),statePtr->v(),gtsam::noiseModel::Isotropic::Sigma(3, 1e-4)); graphPtr->addPrior(B(0),*imu_biasPtr,gtsam::noiseModel::Isotropic::Sigma(6, 1e-2)); }else{ - if(imu_n<3)return false; + if(imu_n<1)return false; auto preint_imu_combined =dynamic_cast(*preintegratedPtr); valuesPtr->insert(P(imu_factor_id), gtsam::Pose3(new_frame->T_f_w_.matrix())); valuesPtr->insert(V(imu_factor_id), statePtr->v()); From fa3b7f1e1a57c442f175f22863fa64c637e6676e Mon Sep 17 00:00:00 2001 From: gfuse Date: Wed, 5 May 2021 11:19:06 +0200 Subject: [PATCH 184/215] init GPU --- .../Forster2014ICRA.pdf | Bin LICENCE => CPU_version/LICENCE | 0 README.md => CPU_version/README.md | 5 +- .../src/rqt_svo => CPU_version}/__init__.py | 0 {svo => CPU_version/svo}/.idea/.gitignore | 0 {svo => CPU_version/svo}/.idea/misc.xml | 0 {svo => CPU_version/svo}/.idea/modules.xml | 0 {svo => CPU_version/svo}/.idea/svo.iml | 0 {svo => CPU_version/svo}/.idea/vcs.xml | 0 {svo => CPU_version/svo}/CMakeLists.txt | 30 +- .../svo}/CMakeModules/FindEigen.cmake | 0 .../svo}/CMakeModules/FindG2O.cmake | 0 {svo => CPU_version/svo}/Doxyfile | 0 {svo => CPU_version/svo}/doc/.gitignore | 2 +- .../svo}/include/svo/bundle_adjustment.h | 0 {svo => CPU_version/svo}/include/svo/config.h | 0 .../svo}/include/svo/depth_filter.h | 0 .../svo}/include/svo/feature.h | 0 .../svo}/include/svo/feature_alignment.h | 0 .../svo}/include/svo/feature_detection.h | 0 {svo => CPU_version/svo}/include/svo/frame.h | 0 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CPU_version/svo}/test/test_utils.h (100%) rename {rqt_svo/src/rqt_svo => CPU_version/svo_analysis}/.gitignore (100%) rename {svo_analysis => CPU_version/svo_analysis}/CMakeLists.txt (100%) rename {svo_analysis => CPU_version/svo_analysis}/README.md (100%) rename {svo_analysis/src => CPU_version}/svo_analysis/__init__.py (100%) rename {svo_analysis => CPU_version/svo_analysis}/comparisons/speed.yaml (100%) rename {svo_analysis => CPU_version/svo_analysis}/comparisons/textures.yaml (100%) rename {svo_analysis => CPU_version/svo_analysis}/experiments/.gitignore (100%) rename {svo_analysis => CPU_version/svo_analysis}/package.xml (100%) rename {svo_analysis => CPU_version/svo_analysis}/results/.gitignore (52%) create mode 100644 CPU_version/svo_analysis/scripts/__init__.py rename {svo_analysis => CPU_version/svo_analysis}/scripts/benchmark.py (100%) rename {svo_analysis => CPU_version/svo_analysis}/scripts/compare_results.py (100%) rename {svo_analysis => 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CPU_version/vio_svo}/launch/live.launch (100%) rename {vio_svo => CPU_version/vio_svo}/launch/test.launch (100%) rename {vio_svo => CPU_version/vio_svo}/launch/unity.launch (100%) rename {vio_svo => CPU_version/vio_svo}/package.xml (100%) rename {vio_svo => CPU_version/vio_svo}/param/camera_atan.yaml (100%) rename {vio_svo => CPU_version/vio_svo}/param/camera_pinhole.yaml (100%) rename {vio_svo => CPU_version/vio_svo}/param/px30.yaml (100%) rename {vio_svo => CPU_version/vio_svo}/param/unity.yaml (100%) rename {vio_svo => CPU_version/vio_svo}/param/vo_accurate.yaml (100%) rename {vio_svo => CPU_version/vio_svo}/param/vo_fast.yaml (100%) rename {vio_svo => CPU_version/vio_svo}/rqt.perspective (100%) rename {vio_svo => CPU_version/vio_svo}/rviz_config.rviz (100%) rename {vio_svo => CPU_version/vio_svo}/src/visualizer.cpp (99%) rename {vio_svo => CPU_version/vio_svo}/src/vo_node.cpp (88%) delete mode 100644 rqt_svo/CMakeLists.txt delete mode 100644 rqt_svo/README.md delete mode 100644 rqt_svo/package.xml delete mode 100644 rqt_svo/plugin.xml delete mode 100644 rqt_svo/resource/widget.ui delete mode 100755 rqt_svo/scripts/rqt_svo delete mode 100644 rqt_svo/setup.py delete mode 100644 rqt_svo/src/rqt_svo/svo.py delete mode 100644 rqt_svo/src/rqt_svo/svo_widget.py delete mode 100644 svo/doc/notation.ipe delete mode 100644 svo/doc/notation.pdf delete mode 100644 svo/doc/notation.png delete mode 100644 svo_analysis/.gitignore delete mode 100644 svo_analysis/experiments/asl2_acc.yaml delete mode 100644 svo_analysis/experiments/asl2_fast.yaml delete mode 100644 svo_analysis/experiments/flying_room_1_fast.yaml delete mode 100644 svo_analysis/experiments/synthetic.yaml delete mode 100644 vio_svo/include/vio_svo/dataset_img.h diff --git a/Forster2014ICRA.pdf b/CPU_version/Forster2014ICRA.pdf old mode 100644 new mode 100755 similarity index 100% rename from Forster2014ICRA.pdf rename to CPU_version/Forster2014ICRA.pdf diff --git a/LICENCE b/CPU_version/LICENCE old mode 100644 new mode 100755 similarity index 100% rename from LICENCE rename to CPU_version/LICENCE diff --git a/README.md b/CPU_version/README.md old mode 100644 new mode 100755 similarity index 88% rename from README.md rename to CPU_version/README.md index 1e098a9..1d27172 --- a/README.md +++ b/CPU_version/README.md @@ -1,7 +1,7 @@ SVO === -This code implements a semi-direct monocular visual odometry pipeline. +This code implements a semi-direct monocular visual odometry pipeline which has been integrated with GTSAM to infused IMU as well. Video: http://youtu.be/2YnIMfw6bJY @@ -32,10 +32,11 @@ If you use SVO in an academic context, please cite the following publication: #### Documentation The API is documented here: http://uzh-rpg.github.io/rpg_svo/doc/ +The GTSAM documentation https://gtsam.org/tutorials/ #### Instructions -See the Wiki for more instructions. https://github.com/uzh-rpg/rpg_svo/wiki +See the Wiki for more instructions. https://github.com/uzh-rpg/rpg_svo/wiki and https://gtsam.org/get_started/ #### Contributing diff --git a/rqt_svo/src/rqt_svo/__init__.py b/CPU_version/__init__.py similarity index 100% rename from rqt_svo/src/rqt_svo/__init__.py rename to CPU_version/__init__.py diff --git a/svo/.idea/.gitignore b/CPU_version/svo/.idea/.gitignore similarity index 100% rename from svo/.idea/.gitignore rename to CPU_version/svo/.idea/.gitignore diff --git a/svo/.idea/misc.xml b/CPU_version/svo/.idea/misc.xml similarity index 100% rename from svo/.idea/misc.xml rename to CPU_version/svo/.idea/misc.xml diff --git a/svo/.idea/modules.xml b/CPU_version/svo/.idea/modules.xml similarity index 100% rename from svo/.idea/modules.xml rename to CPU_version/svo/.idea/modules.xml diff --git a/svo/.idea/svo.iml b/CPU_version/svo/.idea/svo.iml similarity index 100% rename from svo/.idea/svo.iml rename to CPU_version/svo/.idea/svo.iml diff --git a/svo/.idea/vcs.xml b/CPU_version/svo/.idea/vcs.xml similarity index 100% rename from svo/.idea/vcs.xml rename to CPU_version/svo/.idea/vcs.xml diff --git a/svo/CMakeLists.txt b/CPU_version/svo/CMakeLists.txt similarity index 91% rename from svo/CMakeLists.txt rename to CPU_version/svo/CMakeLists.txt index ff39094..5ecd775 100644 --- a/svo/CMakeLists.txt +++ b/CPU_version/svo/CMakeLists.txt @@ -71,7 +71,7 @@ ENDIF() # Include dirs INCLUDE_DIRECTORIES( - include + include ${Eigen_INCLUDE_DIRS} ${OpenCV_INCLUDE_DIRS} ${Sophus_INCLUDE_DIRS} @@ -96,20 +96,20 @@ ENDIF() # Set sourcefiles LIST(APPEND SOURCEFILES - src/frame_handler_mono.cpp - src/frame_handler_base.cpp - src/frame.cpp - src/point.cpp - src/map.cpp - src/pose_optimizer.cpp - src/initialization.cpp - src/matcher.cpp - src/reprojector.cpp - src/feature_alignment.cpp - src/feature_detection.cpp - src/depth_filter.cpp - src/config.cpp - src/sparse_img_align.cpp src/imu_integration.cpp) + src/frame_handler_mono.cpp + src/frame_handler_base.cpp + src/frame.cpp + src/point.cpp + src/map.cpp + src/pose_optimizer.cpp + src/initialization.cpp + src/matcher.cpp + src/reprojector.cpp + src/feature_alignment.cpp + src/feature_detection.cpp + src/depth_filter.cpp + src/config.cpp + src/sparse_img_align.cpp src/imu_integration.cpp) # Add g2o if available IF(HAVE_G2O) diff --git a/svo/CMakeModules/FindEigen.cmake b/CPU_version/svo/CMakeModules/FindEigen.cmake similarity index 100% rename from svo/CMakeModules/FindEigen.cmake rename to CPU_version/svo/CMakeModules/FindEigen.cmake diff --git a/svo/CMakeModules/FindG2O.cmake b/CPU_version/svo/CMakeModules/FindG2O.cmake similarity index 100% rename from svo/CMakeModules/FindG2O.cmake rename to CPU_version/svo/CMakeModules/FindG2O.cmake diff --git a/svo/Doxyfile b/CPU_version/svo/Doxyfile similarity index 100% rename from svo/Doxyfile rename to CPU_version/svo/Doxyfile diff --git a/svo/doc/.gitignore b/CPU_version/svo/doc/.gitignore similarity index 50% rename from svo/doc/.gitignore rename to CPU_version/svo/doc/.gitignore index c96a04f..cf57c3b 100644 --- a/svo/doc/.gitignore +++ b/CPU_version/svo/doc/.gitignore @@ -1,2 +1,2 @@ -* +.gitignore !.gitignore \ No newline at end of file diff --git a/svo/include/svo/bundle_adjustment.h b/CPU_version/svo/include/svo/bundle_adjustment.h similarity index 100% rename from svo/include/svo/bundle_adjustment.h rename to CPU_version/svo/include/svo/bundle_adjustment.h diff --git a/svo/include/svo/config.h b/CPU_version/svo/include/svo/config.h similarity index 100% rename from svo/include/svo/config.h rename to CPU_version/svo/include/svo/config.h diff --git a/svo/include/svo/depth_filter.h b/CPU_version/svo/include/svo/depth_filter.h similarity index 100% rename from svo/include/svo/depth_filter.h rename to CPU_version/svo/include/svo/depth_filter.h diff --git a/svo/include/svo/feature.h b/CPU_version/svo/include/svo/feature.h similarity index 100% rename from svo/include/svo/feature.h rename to CPU_version/svo/include/svo/feature.h diff --git a/svo/include/svo/feature_alignment.h b/CPU_version/svo/include/svo/feature_alignment.h similarity index 100% rename from svo/include/svo/feature_alignment.h rename to CPU_version/svo/include/svo/feature_alignment.h diff --git a/svo/include/svo/feature_detection.h b/CPU_version/svo/include/svo/feature_detection.h similarity index 100% rename from svo/include/svo/feature_detection.h rename to CPU_version/svo/include/svo/feature_detection.h diff --git a/svo/include/svo/frame.h b/CPU_version/svo/include/svo/frame.h similarity index 100% rename from svo/include/svo/frame.h rename to CPU_version/svo/include/svo/frame.h diff --git a/svo/include/svo/frame_handler_base.h b/CPU_version/svo/include/svo/frame_handler_base.h similarity index 100% rename from svo/include/svo/frame_handler_base.h rename to CPU_version/svo/include/svo/frame_handler_base.h diff --git a/svo/include/svo/frame_handler_mono.h b/CPU_version/svo/include/svo/frame_handler_mono.h similarity index 100% rename from svo/include/svo/frame_handler_mono.h rename to CPU_version/svo/include/svo/frame_handler_mono.h diff --git a/svo/include/svo/global.h b/CPU_version/svo/include/svo/global.h similarity index 100% rename from svo/include/svo/global.h rename to CPU_version/svo/include/svo/global.h diff --git a/svo/include/svo/imu_integration.h b/CPU_version/svo/include/svo/imu_integration.h similarity index 100% rename from svo/include/svo/imu_integration.h rename to CPU_version/svo/include/svo/imu_integration.h diff --git a/svo/include/svo/initialization.h b/CPU_version/svo/include/svo/initialization.h similarity index 100% rename from svo/include/svo/initialization.h rename to CPU_version/svo/include/svo/initialization.h diff --git a/svo/include/svo/map.h b/CPU_version/svo/include/svo/map.h similarity index 100% rename from svo/include/svo/map.h rename to CPU_version/svo/include/svo/map.h diff --git a/svo/include/svo/matcher.h b/CPU_version/svo/include/svo/matcher.h similarity index 100% rename from svo/include/svo/matcher.h rename to CPU_version/svo/include/svo/matcher.h diff --git a/svo/include/svo/point.h b/CPU_version/svo/include/svo/point.h similarity index 100% rename from svo/include/svo/point.h rename to CPU_version/svo/include/svo/point.h diff --git a/svo/include/svo/pose_optimizer.h b/CPU_version/svo/include/svo/pose_optimizer.h similarity index 100% rename from svo/include/svo/pose_optimizer.h rename to CPU_version/svo/include/svo/pose_optimizer.h diff --git a/svo/include/svo/reprojector.h b/CPU_version/svo/include/svo/reprojector.h similarity index 100% rename from svo/include/svo/reprojector.h rename to CPU_version/svo/include/svo/reprojector.h diff --git a/svo/include/svo/sparse_img_align.h b/CPU_version/svo/include/svo/sparse_img_align.h similarity index 100% rename from svo/include/svo/sparse_img_align.h rename to CPU_version/svo/include/svo/sparse_img_align.h diff --git a/svo/include/svo/svoVisionFactor.h b/CPU_version/svo/include/svo/svoVisionFactor.h similarity index 100% rename from svo/include/svo/svoVisionFactor.h rename to CPU_version/svo/include/svo/svoVisionFactor.h diff --git a/svo/package.xml b/CPU_version/svo/package.xml similarity index 100% rename from svo/package.xml rename to CPU_version/svo/package.xml diff --git a/svo/src/bundle_adjustment.cpp b/CPU_version/svo/src/bundle_adjustment.cpp similarity index 100% rename from svo/src/bundle_adjustment.cpp rename to CPU_version/svo/src/bundle_adjustment.cpp diff --git a/svo/src/config.cpp b/CPU_version/svo/src/config.cpp similarity index 100% rename from svo/src/config.cpp rename to CPU_version/svo/src/config.cpp diff --git a/svo/src/depth_filter.cpp b/CPU_version/svo/src/depth_filter.cpp similarity index 100% rename from svo/src/depth_filter.cpp rename to CPU_version/svo/src/depth_filter.cpp diff --git a/svo/src/feature_alignment.cpp b/CPU_version/svo/src/feature_alignment.cpp similarity index 100% rename from svo/src/feature_alignment.cpp rename to CPU_version/svo/src/feature_alignment.cpp diff --git a/svo/src/feature_detection.cpp b/CPU_version/svo/src/feature_detection.cpp similarity index 100% rename from svo/src/feature_detection.cpp rename to CPU_version/svo/src/feature_detection.cpp diff --git a/svo/src/frame.cpp b/CPU_version/svo/src/frame.cpp similarity index 99% rename from svo/src/frame.cpp rename to CPU_version/svo/src/frame.cpp index 0779891..44ddab6 100644 --- a/svo/src/frame.cpp +++ b/CPU_version/svo/src/frame.cpp @@ -19,7 +19,6 @@ #include #include #include -#include #include #include #include diff --git a/svo/src/frame_handler_base.cpp b/CPU_version/svo/src/frame_handler_base.cpp similarity index 100% rename from svo/src/frame_handler_base.cpp rename to CPU_version/svo/src/frame_handler_base.cpp diff --git a/svo/src/frame_handler_mono.cpp b/CPU_version/svo/src/frame_handler_mono.cpp similarity index 100% rename from svo/src/frame_handler_mono.cpp rename to CPU_version/svo/src/frame_handler_mono.cpp diff --git a/svo/src/imu_integration.cpp b/CPU_version/svo/src/imu_integration.cpp similarity index 100% rename from svo/src/imu_integration.cpp rename to CPU_version/svo/src/imu_integration.cpp diff --git a/svo/src/initialization.cpp b/CPU_version/svo/src/initialization.cpp similarity index 100% rename from svo/src/initialization.cpp rename to CPU_version/svo/src/initialization.cpp diff --git a/svo/src/map.cpp b/CPU_version/svo/src/map.cpp similarity index 100% rename from svo/src/map.cpp rename to CPU_version/svo/src/map.cpp diff --git a/svo/src/matcher.cpp b/CPU_version/svo/src/matcher.cpp similarity index 100% rename from svo/src/matcher.cpp rename to CPU_version/svo/src/matcher.cpp diff --git a/svo/src/point.cpp b/CPU_version/svo/src/point.cpp similarity index 100% rename from svo/src/point.cpp rename to CPU_version/svo/src/point.cpp diff --git a/svo/src/pose_optimizer.cpp b/CPU_version/svo/src/pose_optimizer.cpp similarity index 100% rename from svo/src/pose_optimizer.cpp rename to CPU_version/svo/src/pose_optimizer.cpp diff --git a/svo/src/reprojector.cpp b/CPU_version/svo/src/reprojector.cpp similarity index 100% rename from svo/src/reprojector.cpp rename to CPU_version/svo/src/reprojector.cpp diff --git a/svo/src/sparse_img_align.cpp b/CPU_version/svo/src/sparse_img_align.cpp similarity index 100% rename from svo/src/sparse_img_align.cpp rename to CPU_version/svo/src/sparse_img_align.cpp diff --git a/svo/test/README.md b/CPU_version/svo/test/README.md similarity index 100% rename from svo/test/README.md rename to CPU_version/svo/test/README.md diff --git a/svo/test/benchmark.csv b/CPU_version/svo/test/benchmark.csv similarity index 100% rename from svo/test/benchmark.csv rename to CPU_version/svo/test/benchmark.csv diff --git a/svo/test/data/.gitignore b/CPU_version/svo/test/data/.gitignore similarity index 50% rename from svo/test/data/.gitignore rename to CPU_version/svo/test/data/.gitignore index c96a04f..cf57c3b 100644 --- a/svo/test/data/.gitignore +++ b/CPU_version/svo/test/data/.gitignore @@ -1,2 +1,2 @@ -* +.gitignore !.gitignore \ No newline at end of file diff --git a/svo/test/results/.gitignore b/CPU_version/svo/test/results/.gitignore similarity index 50% rename from svo/test/results/.gitignore rename to CPU_version/svo/test/results/.gitignore index c96a04f..cf57c3b 100644 --- a/svo/test/results/.gitignore +++ b/CPU_version/svo/test/results/.gitignore @@ -1,2 +1,2 @@ -* +.gitignore !.gitignore \ No newline at end of file diff --git a/svo/test/test_depth_filter.cpp b/CPU_version/svo/test/test_depth_filter.cpp similarity index 100% rename from svo/test/test_depth_filter.cpp rename to CPU_version/svo/test/test_depth_filter.cpp diff --git a/svo/test/test_feature_alignment.cpp b/CPU_version/svo/test/test_feature_alignment.cpp similarity index 100% rename from svo/test/test_feature_alignment.cpp rename to CPU_version/svo/test/test_feature_alignment.cpp diff --git a/svo/test/test_feature_detection.cpp b/CPU_version/svo/test/test_feature_detection.cpp similarity index 100% rename from svo/test/test_feature_detection.cpp rename to CPU_version/svo/test/test_feature_detection.cpp diff --git a/svo/test/test_matcher.cpp b/CPU_version/svo/test/test_matcher.cpp similarity index 100% rename from svo/test/test_matcher.cpp rename to CPU_version/svo/test/test_matcher.cpp diff --git a/svo/test/test_pipeline.cpp b/CPU_version/svo/test/test_pipeline.cpp similarity index 100% rename from svo/test/test_pipeline.cpp rename to CPU_version/svo/test/test_pipeline.cpp diff --git a/svo/test/test_pose_optimizer.cpp b/CPU_version/svo/test/test_pose_optimizer.cpp similarity index 100% rename from svo/test/test_pose_optimizer.cpp rename to CPU_version/svo/test/test_pose_optimizer.cpp diff --git a/svo/test/test_sparse_img_align.cpp b/CPU_version/svo/test/test_sparse_img_align.cpp similarity index 100% rename from svo/test/test_sparse_img_align.cpp rename to CPU_version/svo/test/test_sparse_img_align.cpp diff --git a/svo/test/test_utils.h b/CPU_version/svo/test/test_utils.h similarity index 100% rename from svo/test/test_utils.h rename to CPU_version/svo/test/test_utils.h diff --git a/rqt_svo/src/rqt_svo/.gitignore b/CPU_version/svo_analysis/.gitignore similarity index 100% rename from rqt_svo/src/rqt_svo/.gitignore rename to CPU_version/svo_analysis/.gitignore diff --git a/svo_analysis/CMakeLists.txt b/CPU_version/svo_analysis/CMakeLists.txt similarity index 100% rename from svo_analysis/CMakeLists.txt rename to CPU_version/svo_analysis/CMakeLists.txt diff --git a/svo_analysis/README.md b/CPU_version/svo_analysis/README.md similarity index 100% rename from svo_analysis/README.md rename to CPU_version/svo_analysis/README.md diff --git a/svo_analysis/src/svo_analysis/__init__.py b/CPU_version/svo_analysis/__init__.py similarity index 100% rename from svo_analysis/src/svo_analysis/__init__.py rename to CPU_version/svo_analysis/__init__.py diff --git a/svo_analysis/comparisons/speed.yaml b/CPU_version/svo_analysis/comparisons/speed.yaml similarity index 100% rename from svo_analysis/comparisons/speed.yaml rename to CPU_version/svo_analysis/comparisons/speed.yaml diff --git a/svo_analysis/comparisons/textures.yaml b/CPU_version/svo_analysis/comparisons/textures.yaml similarity index 100% rename from svo_analysis/comparisons/textures.yaml rename to CPU_version/svo_analysis/comparisons/textures.yaml diff --git a/svo_analysis/experiments/.gitignore b/CPU_version/svo_analysis/experiments/.gitignore similarity index 100% rename from svo_analysis/experiments/.gitignore rename to CPU_version/svo_analysis/experiments/.gitignore diff --git a/svo_analysis/package.xml b/CPU_version/svo_analysis/package.xml similarity index 100% rename from svo_analysis/package.xml rename to CPU_version/svo_analysis/package.xml diff --git a/svo_analysis/results/.gitignore b/CPU_version/svo_analysis/results/.gitignore similarity index 52% rename from svo_analysis/results/.gitignore rename to CPU_version/svo_analysis/results/.gitignore index d6b7ef3..c1aefd2 100644 --- a/svo_analysis/results/.gitignore +++ b/CPU_version/svo_analysis/results/.gitignore @@ -1,2 +1,2 @@ -* +.gitignore !.gitignore diff --git a/CPU_version/svo_analysis/scripts/__init__.py b/CPU_version/svo_analysis/scripts/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/svo_analysis/scripts/benchmark.py b/CPU_version/svo_analysis/scripts/benchmark.py similarity index 100% rename from svo_analysis/scripts/benchmark.py rename to CPU_version/svo_analysis/scripts/benchmark.py diff --git a/svo_analysis/scripts/compare_results.py b/CPU_version/svo_analysis/scripts/compare_results.py similarity index 100% rename from svo_analysis/scripts/compare_results.py rename to CPU_version/svo_analysis/scripts/compare_results.py diff --git a/svo_analysis/scripts/comparison.py b/CPU_version/svo_analysis/scripts/comparison.py similarity index 100% rename from svo_analysis/scripts/comparison.py rename to CPU_version/svo_analysis/scripts/comparison.py diff --git a/svo_analysis/scripts/evaluate.py b/CPU_version/svo_analysis/scripts/evaluate.py similarity index 100% rename from svo_analysis/scripts/evaluate.py rename to CPU_version/svo_analysis/scripts/evaluate.py diff --git a/svo_analysis/setup.py b/CPU_version/svo_analysis/setup.py similarity index 100% rename from svo_analysis/setup.py rename to CPU_version/svo_analysis/setup.py diff --git a/CPU_version/svo_analysis/src/__init__.py b/CPU_version/svo_analysis/src/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/CPU_version/svo_analysis/src/svo_analysis/__init__.py b/CPU_version/svo_analysis/src/svo_analysis/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/svo_analysis/src/svo_analysis/analyse_dataset.py b/CPU_version/svo_analysis/src/svo_analysis/analyse_dataset.py similarity index 100% rename from svo_analysis/src/svo_analysis/analyse_dataset.py rename to CPU_version/svo_analysis/src/svo_analysis/analyse_dataset.py diff --git a/svo_analysis/src/svo_analysis/analyse_depth.py b/CPU_version/svo_analysis/src/svo_analysis/analyse_depth.py similarity index 100% rename from svo_analysis/src/svo_analysis/analyse_depth.py rename to CPU_version/svo_analysis/src/svo_analysis/analyse_depth.py diff --git a/svo_analysis/src/svo_analysis/analyse_logs.py b/CPU_version/svo_analysis/src/svo_analysis/analyse_logs.py similarity index 100% rename from svo_analysis/src/svo_analysis/analyse_logs.py rename to CPU_version/svo_analysis/src/svo_analysis/analyse_logs.py diff --git a/svo_analysis/src/svo_analysis/analyse_timing.py b/CPU_version/svo_analysis/src/svo_analysis/analyse_timing.py similarity index 100% rename from svo_analysis/src/svo_analysis/analyse_timing.py rename to CPU_version/svo_analysis/src/svo_analysis/analyse_timing.py diff --git a/svo_analysis/src/svo_analysis/analyse_trajectory.py b/CPU_version/svo_analysis/src/svo_analysis/analyse_trajectory.py similarity index 100% rename from svo_analysis/src/svo_analysis/analyse_trajectory.py rename to CPU_version/svo_analysis/src/svo_analysis/analyse_trajectory.py diff --git a/svo_analysis/src/svo_analysis/filter_groundtruth_smooth.py b/CPU_version/svo_analysis/src/svo_analysis/filter_groundtruth_smooth.py similarity index 100% rename from svo_analysis/src/svo_analysis/filter_groundtruth_smooth.py rename to CPU_version/svo_analysis/src/svo_analysis/filter_groundtruth_smooth.py diff --git a/svo_analysis/src/svo_analysis/hand_eye_calib.py b/CPU_version/svo_analysis/src/svo_analysis/hand_eye_calib.py similarity index 100% rename from svo_analysis/src/svo_analysis/hand_eye_calib.py rename to CPU_version/svo_analysis/src/svo_analysis/hand_eye_calib.py diff --git a/svo_analysis/src/svo_analysis/tum_benchmark_tools/__init__.py b/CPU_version/svo_analysis/src/svo_analysis/tum_benchmark_tools/__init__.py similarity index 100% rename from svo_analysis/src/svo_analysis/tum_benchmark_tools/__init__.py rename to CPU_version/svo_analysis/src/svo_analysis/tum_benchmark_tools/__init__.py diff --git a/svo_analysis/src/svo_analysis/tum_benchmark_tools/associate.py b/CPU_version/svo_analysis/src/svo_analysis/tum_benchmark_tools/associate.py similarity index 100% rename from svo_analysis/src/svo_analysis/tum_benchmark_tools/associate.py rename to CPU_version/svo_analysis/src/svo_analysis/tum_benchmark_tools/associate.py diff --git a/svo_analysis/src/svo_analysis/tum_benchmark_tools/evaluate_ate.py b/CPU_version/svo_analysis/src/svo_analysis/tum_benchmark_tools/evaluate_ate.py similarity index 97% rename from svo_analysis/src/svo_analysis/tum_benchmark_tools/evaluate_ate.py rename to CPU_version/svo_analysis/src/svo_analysis/tum_benchmark_tools/evaluate_ate.py index 683b598..a8b2ca9 100755 --- a/svo_analysis/src/svo_analysis/tum_benchmark_tools/evaluate_ate.py +++ b/CPU_version/svo_analysis/src/svo_analysis/tum_benchmark_tools/evaluate_ate.py @@ -129,7 +129,7 @@ if __name__=="__main__": first_list = associate.read_file_list(args.first_file) second_list = associate.read_file_list(args.second_file) - matches = associate.associate(first_list, second_list,float(args.offset),float(args.max_difference)) + matches = associate.associate(first_list, second_list, float(args.offset), float(args.max_difference)) if len(matches)<2: sys.exit("Couldn't find matching timestamp pairs between groundtruth and estimated trajectory! Did you choose the correct sequence?") @@ -175,8 +175,7 @@ if __name__=="__main__": import matplotlib matplotlib.use('Agg') import matplotlib.pyplot as plt - import matplotlib.pylab as pylab - from matplotlib.patches import Ellipse + fig = plt.figure() ax = fig.add_subplot(111) plot_traj(ax,first_stamps,first_xyz_full.transpose().A,'-',"black","ground truth") diff --git a/svo_analysis/src/svo_analysis/tum_benchmark_tools/evaluate_rpe.py b/CPU_version/svo_analysis/src/svo_analysis/tum_benchmark_tools/evaluate_rpe.py similarity index 100% rename from svo_analysis/src/svo_analysis/tum_benchmark_tools/evaluate_rpe.py rename to CPU_version/svo_analysis/src/svo_analysis/tum_benchmark_tools/evaluate_rpe.py diff --git a/svo_msgs/.idea/.gitignore b/CPU_version/svo_msgs/.idea/.gitignore similarity index 100% rename from svo_msgs/.idea/.gitignore rename to CPU_version/svo_msgs/.idea/.gitignore diff --git a/svo_msgs/.idea/misc.xml b/CPU_version/svo_msgs/.idea/misc.xml similarity index 100% rename from svo_msgs/.idea/misc.xml rename to CPU_version/svo_msgs/.idea/misc.xml diff --git a/svo_msgs/.idea/modules.xml b/CPU_version/svo_msgs/.idea/modules.xml similarity index 100% rename from svo_msgs/.idea/modules.xml rename to CPU_version/svo_msgs/.idea/modules.xml diff --git a/svo_msgs/.idea/svo_msgs.iml b/CPU_version/svo_msgs/.idea/svo_msgs.iml similarity index 100% rename from svo_msgs/.idea/svo_msgs.iml rename to CPU_version/svo_msgs/.idea/svo_msgs.iml diff --git a/svo_msgs/.idea/vcs.xml b/CPU_version/svo_msgs/.idea/vcs.xml similarity index 100% rename from svo_msgs/.idea/vcs.xml rename to CPU_version/svo_msgs/.idea/vcs.xml diff --git a/svo_msgs/CMakeLists.txt b/CPU_version/svo_msgs/CMakeLists.txt similarity index 91% rename from svo_msgs/CMakeLists.txt rename to CPU_version/svo_msgs/CMakeLists.txt index 23d4e3b..06bb680 100644 --- a/svo_msgs/CMakeLists.txt +++ b/CPU_version/svo_msgs/CMakeLists.txt @@ -9,7 +9,7 @@ find_package(catkin REQUIRED COMPONENTS ) # search for all msg files -FILE(GLOB messages_to_build RELATIVE "${CMAKE_CURRENT_SOURCE_DIR}/msg" +FILE(GLOB messages_to_build RELATIVE "msg" "${CMAKE_CURRENT_SOURCE_DIR}/msg/*.msg") # notify catkin to look at the previously found msg files diff --git a/svo_msgs/msg/DenseInput.msg b/CPU_version/svo_msgs/msg/DenseInput.msg similarity index 100% rename from svo_msgs/msg/DenseInput.msg rename to CPU_version/svo_msgs/msg/DenseInput.msg diff --git a/svo_msgs/msg/Feature.msg b/CPU_version/svo_msgs/msg/Feature.msg similarity index 100% rename from svo_msgs/msg/Feature.msg rename to CPU_version/svo_msgs/msg/Feature.msg diff --git a/svo_msgs/msg/Info.msg b/CPU_version/svo_msgs/msg/Info.msg similarity index 100% rename from svo_msgs/msg/Info.msg rename to CPU_version/svo_msgs/msg/Info.msg diff --git a/svo_msgs/msg/NbvTrajectory.msg b/CPU_version/svo_msgs/msg/NbvTrajectory.msg similarity index 100% rename from svo_msgs/msg/NbvTrajectory.msg rename to CPU_version/svo_msgs/msg/NbvTrajectory.msg diff --git a/svo_msgs/package.xml b/CPU_version/svo_msgs/package.xml similarity index 100% rename from svo_msgs/package.xml rename to CPU_version/svo_msgs/package.xml diff --git a/svo_ros/.idea/modules.xml b/CPU_version/svo_ros/.idea/modules.xml similarity index 100% rename from svo_ros/.idea/modules.xml rename to CPU_version/svo_ros/.idea/modules.xml diff --git a/svo_ros/.idea/svo_ros.iml b/CPU_version/svo_ros/.idea/svo_ros.iml similarity index 100% rename from svo_ros/.idea/svo_ros.iml rename to CPU_version/svo_ros/.idea/svo_ros.iml diff --git a/svo_ros/.idea/vcs.xml b/CPU_version/svo_ros/.idea/vcs.xml similarity index 100% rename from svo_ros/.idea/vcs.xml rename to CPU_version/svo_ros/.idea/vcs.xml diff --git a/svo_ros/.idea/workspace.xml b/CPU_version/svo_ros/.idea/workspace.xml similarity index 100% rename from svo_ros/.idea/workspace.xml rename to CPU_version/svo_ros/.idea/workspace.xml diff --git a/vio_svo/.idea/.gitignore b/CPU_version/vio_svo/.idea/.gitignore similarity index 100% rename from vio_svo/.idea/.gitignore rename to CPU_version/vio_svo/.idea/.gitignore diff --git a/vio_svo/.idea/misc.xml b/CPU_version/vio_svo/.idea/misc.xml similarity index 100% rename from vio_svo/.idea/misc.xml rename to CPU_version/vio_svo/.idea/misc.xml diff --git a/vio_svo/.idea/modules.xml b/CPU_version/vio_svo/.idea/modules.xml similarity index 100% rename from vio_svo/.idea/modules.xml rename to CPU_version/vio_svo/.idea/modules.xml diff --git a/vio_svo/.idea/svo_ros.iml b/CPU_version/vio_svo/.idea/svo_ros.iml similarity index 100% rename from vio_svo/.idea/svo_ros.iml rename to CPU_version/vio_svo/.idea/svo_ros.iml diff --git a/vio_svo/.idea/vcs.xml b/CPU_version/vio_svo/.idea/vcs.xml similarity index 100% rename from vio_svo/.idea/vcs.xml rename to CPU_version/vio_svo/.idea/vcs.xml diff --git a/vio_svo/CMakeLists.txt b/CPU_version/vio_svo/CMakeLists.txt similarity index 95% rename from vio_svo/CMakeLists.txt rename to CPU_version/vio_svo/CMakeLists.txt index bb8fdc9..b57bcfc 100644 --- a/vio_svo/CMakeLists.txt +++ b/CPU_version/vio_svo/CMakeLists.txt @@ -54,7 +54,7 @@ catkin_package( # Include dirs INCLUDE_DIRECTORIES( - include + include ${Eigen_INCLUDE_DIRS} ${OpenCV_INCLUDE_DIRS} ${Sophus_INCLUDE_DIRS} @@ -77,5 +77,3 @@ TARGET_LINK_LIBRARIES(svo_visualizer ${LINK_LIBS} gtsam) # Create Executables ADD_EXECUTABLE(vo src/vo_node.cpp) TARGET_LINK_LIBRARIES(vo svo_visualizer ${LINK_LIBS}) -#ADD_EXECUTABLE(benchmark src/benchmark_node.cpp) -#TARGET_LINK_LIBRARIES(benchmark svo_visualizer) diff --git a/vio_svo/include/vio_svo/visualizer.h b/CPU_version/vio_svo/include/vio_svo/visualizer.h similarity index 91% rename from vio_svo/include/vio_svo/visualizer.h rename to CPU_version/vio_svo/include/vio_svo/visualizer.h index 4a09a8d..1b730ee 100644 --- a/vio_svo/include/vio_svo/visualizer.h +++ b/CPU_version/vio_svo/include/vio_svo/visualizer.h @@ -22,16 +22,10 @@ #include #include #include -#include -#include -#include -#include -#include #include #include #include #include -#include namespace svo { diff --git a/vio_svo/launch/Px30.launch b/CPU_version/vio_svo/launch/Px30.launch similarity index 100% rename from vio_svo/launch/Px30.launch rename to CPU_version/vio_svo/launch/Px30.launch diff --git a/vio_svo/launch/live.launch b/CPU_version/vio_svo/launch/live.launch similarity index 100% rename from vio_svo/launch/live.launch rename to CPU_version/vio_svo/launch/live.launch diff --git a/vio_svo/launch/test.launch b/CPU_version/vio_svo/launch/test.launch similarity index 100% rename from vio_svo/launch/test.launch rename to CPU_version/vio_svo/launch/test.launch diff --git a/vio_svo/launch/unity.launch b/CPU_version/vio_svo/launch/unity.launch similarity index 100% rename from vio_svo/launch/unity.launch rename to CPU_version/vio_svo/launch/unity.launch diff --git a/vio_svo/package.xml b/CPU_version/vio_svo/package.xml similarity index 100% rename from vio_svo/package.xml rename to CPU_version/vio_svo/package.xml diff --git a/vio_svo/param/camera_atan.yaml b/CPU_version/vio_svo/param/camera_atan.yaml similarity index 100% rename from vio_svo/param/camera_atan.yaml rename to CPU_version/vio_svo/param/camera_atan.yaml diff --git a/vio_svo/param/camera_pinhole.yaml b/CPU_version/vio_svo/param/camera_pinhole.yaml similarity index 100% rename from vio_svo/param/camera_pinhole.yaml rename to CPU_version/vio_svo/param/camera_pinhole.yaml diff --git a/vio_svo/param/px30.yaml b/CPU_version/vio_svo/param/px30.yaml similarity index 100% rename from vio_svo/param/px30.yaml rename to CPU_version/vio_svo/param/px30.yaml diff --git a/vio_svo/param/unity.yaml b/CPU_version/vio_svo/param/unity.yaml similarity index 100% rename from vio_svo/param/unity.yaml rename to CPU_version/vio_svo/param/unity.yaml diff --git a/vio_svo/param/vo_accurate.yaml b/CPU_version/vio_svo/param/vo_accurate.yaml similarity index 100% rename from vio_svo/param/vo_accurate.yaml rename to CPU_version/vio_svo/param/vo_accurate.yaml diff --git a/vio_svo/param/vo_fast.yaml b/CPU_version/vio_svo/param/vo_fast.yaml similarity index 100% rename from vio_svo/param/vo_fast.yaml rename to CPU_version/vio_svo/param/vo_fast.yaml diff --git a/vio_svo/rqt.perspective b/CPU_version/vio_svo/rqt.perspective similarity index 100% rename from vio_svo/rqt.perspective rename to CPU_version/vio_svo/rqt.perspective diff --git a/vio_svo/rviz_config.rviz b/CPU_version/vio_svo/rviz_config.rviz similarity index 100% rename from vio_svo/rviz_config.rviz rename to CPU_version/vio_svo/rviz_config.rviz diff --git a/vio_svo/src/visualizer.cpp b/CPU_version/vio_svo/src/visualizer.cpp similarity index 99% rename from vio_svo/src/visualizer.cpp rename to CPU_version/vio_svo/src/visualizer.cpp index 511c167..4d3a631 100644 --- a/vio_svo/src/visualizer.cpp +++ b/CPU_version/vio_svo/src/visualizer.cpp @@ -16,7 +16,6 @@ #include #include -#include #include #include #include diff --git a/vio_svo/src/vo_node.cpp b/CPU_version/vio_svo/src/vo_node.cpp similarity index 88% rename from vio_svo/src/vo_node.cpp rename to CPU_version/vio_svo/src/vo_node.cpp index 2f98da0..9779f3e 100644 --- a/vio_svo/src/vo_node.cpp +++ b/CPU_version/vio_svo/src/vo_node.cpp @@ -16,21 +16,16 @@ #include #include #include -#include #include #include #include #include -#include -#include -#include #include #include #include #include #include #include -#include #include @@ -52,6 +47,8 @@ public: void imgCb(const sensor_msgs::ImageConstPtr& msg); void imuCb(const sensor_msgs::ImuPtr& imu); void imu(); +private: + double* imu_; }; VoNode::VoNode() : @@ -61,6 +58,7 @@ VoNode::VoNode() : quit_(false) { // Create Camera + imu_=(double *)calloc(static_cast(6), sizeof(double)); if(!vk::camera_loader::loadFromRosNs("vio", cam_)) throw std::runtime_error("Camera model not correctly specified."); // Get initial position and orientation @@ -75,7 +73,7 @@ VoNode::VoNode() : vo_ = new svo::FrameHandlerMono(cam_,visualizer_.T_world_from_vision_); vo_->start(); imu_th=new boost::thread(&VoNode::imu,this); - logtime = fopen((std::string(getenv("HOME"))+"/Project/time.txt").c_str(), "w+"); + logtime = fopen((std::string(getenv("HOME"))+"/time.txt").c_str(), "w+"); } @@ -109,17 +107,17 @@ void VoNode::imgCb(const sensor_msgs::ImageConstPtr& msg) } void VoNode::imuCb(const sensor_msgs::ImuPtr &imu) { double imu_in[6]; - imu_in[0] = imu->linear_acceleration.x; - imu_in[1] = imu->linear_acceleration.y; - imu_in[2] = imu->linear_acceleration.z; - imu_in[3] = imu->angular_velocity.x; - imu_in[4] = imu->angular_velocity.y; - imu_in[5] = imu->angular_velocity.z; + imu_in[0] = 0.1*imu_[0]+0.9*imu->linear_acceleration.x; + imu_in[1] = 0.1*imu_[1]+0.9*imu->linear_acceleration.y; + imu_in[2] = 0.1*imu_[2]+0.9*imu->linear_acceleration.z; + imu_in[3] = 0.1*imu_[3]+0.9*imu->angular_velocity.x; + imu_in[4] = 0.1*imu_[4]+0.9*imu->angular_velocity.y; + imu_in[5] = 0.1*imu_[5]+0.9*imu->angular_velocity.z; + memcpy(imu_, imu_in, static_cast(6*sizeof(double))); vo_->imu_integPtr_->update(imu_in); } void VoNode::imu(){ ros::NodeHandle nh; - std::cout << "create vo_node" << std::endl; // subscribe to cam msgs image_transport::ImageTransport it(nh); image_transport::Subscriber it_sub = it.subscribe(vk::getParam("vio/cam_topic", "camera/image_raw"), 1, &svo::VoNode::imgCb, this); diff --git a/rqt_svo/CMakeLists.txt b/rqt_svo/CMakeLists.txt deleted file mode 100644 index b199493..0000000 --- a/rqt_svo/CMakeLists.txt +++ /dev/null @@ -1,22 +0,0 @@ -cmake_minimum_required(VERSION 2.8.3) -project(rqt_svo) - -find_package(catkin REQUIRED COMPONENTS - rospy - rqt_gui - rqt_gui_py -) -catkin_package() -catkin_python_setup() - -install(FILES plugin.xml - DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} -) - -install(DIRECTORY resource - DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} -) - -install(PROGRAMS scripts/rqt_svo - DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} -) \ No newline at end of file diff --git a/rqt_svo/README.md b/rqt_svo/README.md deleted file mode 100644 index 574a497..0000000 --- a/rqt_svo/README.md +++ /dev/null @@ -1,10 +0,0 @@ -run with: - - rosrun rqt_svo rqt_svo - -or start `rqt` and display the widget. - -If it does not work, try this: - - rm ~/.config/ros.org/rqt_gui.ini - rqt \ No newline at end of file diff --git a/rqt_svo/package.xml b/rqt_svo/package.xml deleted file mode 100644 index 862112a..0000000 --- a/rqt_svo/package.xml +++ /dev/null @@ -1,25 +0,0 @@ - - - rqt_svo - 0.0.0 - The rqt_svo package - - cforster - - - TODO - - catkin - rospy - rqt_gui - rqt_gui_py - rospy - rqt_gui - rqt_gui_py - - - - - - - \ No newline at end of file diff --git a/rqt_svo/plugin.xml b/rqt_svo/plugin.xml deleted file mode 100644 index fd6b605..0000000 --- a/rqt_svo/plugin.xml +++ /dev/null @@ -1,12 +0,0 @@ - - - - Plugin for SVO - Semi-Direct Visual Odometry - - - - system-help - Great user interface to provide real value. - - - \ No newline at end of file diff --git a/rqt_svo/resource/widget.ui b/rqt_svo/resource/widget.ui deleted file mode 100644 index 7808e37..0000000 --- a/rqt_svo/resource/widget.ui +++ /dev/null @@ -1,101 +0,0 @@ - - - SvoWidget - - - - 0 - 0 - 467 - 140 - - - - SVO - - - - - - - - SVO Namespace: - - - - - - - Topic to send Twist message to - - - - - - - - - - - - - - Current angular velocity - - - Status Message - - - - - - - - - - - 100 - - - 100 - - - %p% - - - - - - - - - - - Start - - - - - - - Reset velocities to zero - - - Reset - - - - - - - Quit - - - - - - - - - - diff --git a/rqt_svo/scripts/rqt_svo b/rqt_svo/scripts/rqt_svo deleted file mode 100755 index 753dcb5..0000000 --- a/rqt_svo/scripts/rqt_svo +++ /dev/null @@ -1,10 +0,0 @@ -#!/usr/bin/env python - -import sys - -from rqt_svo.svo import Svo -from rqt_gui.main import Main - -plugin = 'rqt_svo' -main = Main(filename=plugin) -sys.exit(main.main(sys.argv, standalone=plugin)) # , plugin_argument_provider=Svo.add_arguments \ No newline at end of file diff --git a/rqt_svo/setup.py b/rqt_svo/setup.py deleted file mode 100644 index e07a5df..0000000 --- a/rqt_svo/setup.py +++ /dev/null @@ -1,12 +0,0 @@ -#!/usr/bin/env python - -from distutils.core import setup -from catkin_pkg.python_setup import generate_distutils_setup - -d = generate_distutils_setup( - packages=['rqt_svo'], - package_dir={'': 'src'}, - scripts=['scripts/rqt_svo'] -) - -setup(**d) \ No newline at end of file diff --git a/rqt_svo/src/rqt_svo/svo.py b/rqt_svo/src/rqt_svo/svo.py deleted file mode 100644 index bbbb8c6..0000000 --- a/rqt_svo/src/rqt_svo/svo.py +++ /dev/null @@ -1,81 +0,0 @@ -#!/usr/bin/env python -import os -import rospy -import argparse -from qt_gui.plugin import Plugin -from .svo_widget import SvoWidget - -class Svo(Plugin): - """ - Subclass of Plugin to display SVO status - """ - def __init__(self, context): - - # Init Plugin - super(Svo, self).__init__(context) - self.setObjectName('SvoPlugin') - - # Load arguments - # TODO load topic name from args - args = self._parse_args(context.argv()) - - # Create QWidget - self._widget = SvoWidget() - - # Show _widget.windowTitle on left-top of each plugin (when - # it's set in _widget). This is useful when you open multiple - # plugins at once. Also if you open multiple instances of your - # plugin at once, these lines add number to make it easy to - # tell from pane to pane. - if context.serial_number() > 1: - self._widget.setWindowTitle(self._widget.windowTitle() + (' (%d)' % context.serial_number())) - - # Add widget to the user interface - context.add_widget(self._widget) - - def _parse_args(self, argv): - parser = argparse.ArgumentParser(prog='rqt_svo', add_help=False) - group = parser.add_argument_group('Options for rqt_svo plugin') - group.add_argument('topic', type=argparse.FileType('r'), nargs='*', default=[], help='Svo Info Topic to display') - return parser.parse_args(argv) - - def save_settings(self, plugin_settings, instance_settings): - # TODO save intrinsic configuration, usually using: - # instance_settings.set_value(k, v) - print('Saving namespace') - namespace = self._widget._svo_namespace - instance_settings.set_value('namespace', namespace) - pass -# - def restore_settings(self, plugin_settings, instance_settings): - # TODO restore intrinsic configuration, usually using: - # v = instance_settings.value(k) - namespace = instance_settings.value('namespace', 'default') - self._widget.topic_line_edit.setText(namespace) - pass - -# def shutdown_plugin(self): -# # self._unregister_publisher() -# pass -# -# def save_settings(self, plugin_settings, instance_settings): -# # TODO save intrinsic configuration, usually using: -# # instance_settings.set_value(k, v) -# pass -# -# def restore_settings(self, plugin_settings, instance_settings): -# # TODO restore intrinsic configuration, usually using: -# # v = instance_settings.value(k) -# pass - - -# def _unregister_publisher(self): -# if self._publisher is not None: -# self._publisher.unregister() -# self._publisher = None - - - #def trigger_configuration(self): - # Comment in to signal that the plugin has a way to configure - # This will enable a setting button (gear icon) in each dock widget title bar - # Usually used to open a modal configuration dialog diff --git a/rqt_svo/src/rqt_svo/svo_widget.py b/rqt_svo/src/rqt_svo/svo_widget.py deleted file mode 100644 index 57b88f3..0000000 --- a/rqt_svo/src/rqt_svo/svo_widget.py +++ /dev/null @@ -1,126 +0,0 @@ -#!/usr/bin/env python -import os -import rospy -import rospkg -import numpy as np -from python_qt_binding import loadUi -from python_qt_binding.QtGui import QWidget -from python_qt_binding.QtCore import QTimer, Slot -from svo_msgs.msg import Info -from std_msgs.msg import String - -class SvoWidget(QWidget): - _last_info_msg = Info() - _publisher = None - _subscriber = None - _num_received_msgs = 0 - _svo_namespace = None - def __init__(self, svo_namespace='svo'): - - # Init QWidget - super(SvoWidget, self).__init__() - self.setObjectName('SvoWidget') - - # load UI - ui_file = os.path.join(rospkg.RosPack().get_path('rqt_svo'), 'resource', 'widget.ui') - loadUi(ui_file, self) - - # init and start update timer for data, the timer calls the function update_info all 40ms - self._update_info_timer = QTimer(self) - self._update_info_timer.timeout.connect(self.update_info) - self._update_info_timer.start(40) - - # set the functions that are called when a button is pressed - self.button_start.pressed.connect(self.on_start_button_pressed) - self.button_reset.pressed.connect(self.on_reset_button_pressed) - self.button_quit.pressed.connect(self.on_quit_button_pressed) - - # set callback for changed topic - self.topic_line_edit.setText(svo_namespace) - self.register(svo_namespace) - self.topic_line_edit.textChanged.connect(self._on_topic_changed) - - # TODO: set a timer when the last message was received and give a warning if it is too long ago! - - @Slot(str) - def _on_topic_changed(self, topic): - self._svo_namespace = str(topic) - self.unregister() - self.register(self._svo_namespace) - - def register(self, svo_namespace): - # Load parameters - max_num_features = rospy.get_param(svo_namespace+'/max_fts', 120) - - # Feature bar - self.num_tracked_bar.setMaximum(max_num_features) - print('set maximum number of features to '+str(max_num_features)) - - # Subscribe to ROS Info topic and register callback - self._subscriber = rospy.Subscriber(svo_namespace+'/info', Info, self.info_cb) - - # Initialize Publisher - self._publisher = rospy.Publisher(svo_namespace+'/remote_key', String) - - def unregister(self): - if self._publisher is not None: - self._publisher.unregister() - self._publisher = None - - if self._subscriber is not None: - self._subscriber.unregister() - self._subscriber = None - - - def info_cb(self, msg): - self._last_info_msg = msg - self._num_received_msgs += 1 - - def update_info(self): - info_text = 'Not Connected' - if self._num_received_msgs > 0: - fps = 0 - if self._last_info_msg.processing_time > 0: - fps = 1.0/self._last_info_msg.processing_time - info_text = 'fps = %.2f' % fps - info_text += '\t #Features = ' + str(self._last_info_msg.num_matches) - info_text += '\t' - if self._last_info_msg.stage == 0: - info_text += '\t PAUSED' - elif self._last_info_msg.stage == 1: - info_text += '\t FIRST_FRAME' - elif self._last_info_msg.stage == 2: - info_text += '\t SECOND_FRAME' - elif self._last_info_msg.stage == 3: - info_text += '\t RUNNING' - if self._last_info_msg.tracking_quality == 0: - info_text += '\t CRITICAL' - elif self._last_info_msg.tracking_quality == 1: - info_text += '\t BAD TRACKING' - elif self._last_info_msg.tracking_quality == 2: - info_text += '\t GOOD TRACKING' - - # set info text - self.svo_info_label.setText(info_text) - - # set progress bar - self.num_tracked_bar.setValue(self._last_info_msg.num_matches) - - def on_start_button_pressed(self): - print('START SLAM') - self.send_command('s') - - def on_reset_button_pressed(self): - print('RESET SLAM') - self.send_command('r') - - def on_quit_button_pressed(self): - print('QUIT SLAM') - self.send_command('q') - - def send_command(self, cmd): - if self._publisher is None: - return - self._publisher.publish(String(cmd)) - - diff --git a/svo/doc/notation.ipe b/svo/doc/notation.ipe deleted file mode 100644 index f8c1efe..0000000 --- a/svo/doc/notation.ipe +++ /dev/null @@ -1,312 +0,0 @@ - - - - - - - -0 0 m --1 0.333 l --1 -0.333 l -h - - - - -0 0 m --1 0.333 l --1 -0.333 l -h - - - - -0.6 0 0 0.6 0 0 e -0.4 0 0 0.4 0 0 e - - - - -0.6 0 0 0.6 0 0 e - - - - - -0.6 0 0 0.6 0 0 e -0.4 0 0 0.4 0 0 e - - -0.4 0 0 0.4 0 0 e - - - - - --0.6 -0.6 m -0.6 -0.6 l -0.6 0.6 l --0.6 0.6 l -h --0.4 -0.4 m -0.4 -0.4 l -0.4 0.4 l --0.4 0.4 l -h - - - - --0.6 -0.6 m -0.6 -0.6 l -0.6 0.6 l --0.6 0.6 l -h - - - - - --0.6 -0.6 m -0.6 -0.6 l -0.6 0.6 l --0.6 0.6 l -h --0.4 -0.4 m -0.4 -0.4 l -0.4 0.4 l --0.4 0.4 l -h - - --0.4 -0.4 m -0.4 -0.4 l -0.4 0.4 l --0.4 0.4 l -h - - - - - - --0.43 -0.57 m -0.57 0.43 l -0.43 0.57 l --0.57 -0.43 l -h - - --0.43 0.57 m -0.57 -0.43 l -0.43 -0.57 l --0.57 0.43 l -h - - - - - -0 0 m --1 0.333 l --1 -0.333 l -h - - - - -0 0 m --1 0.333 l --0.8 0 l --1 -0.333 l -h - - - - -0 0 m --1 0.333 l --0.8 0 l --1 -0.333 l -h - - - - --1 0.333 m -0 0 l --1 -0.333 l - - - - -0 0 m --1 0.333 l --1 -0.333 l -h --1 0 m --2 0.333 l --2 -0.333 l -h - - - - -0 0 m --1 0.333 l --1 -0.333 l -h --1 0 m --2 0.333 l --2 -0.333 l -h - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -$_w\mathtt{p}$ -$\overrightarrow{\mathcal{F}}_w$ - -64 576 m -96 576 l - - -64 576 m -64 608 l - - -64 576 m -80 592 l - - -144 688 m -176 688 l - - -144 688 m -144 720 l - - -144 688 m -160 704 l - - -285.262 759.615 m -162.017 735.456 -129.232 628.801 s - - -$\mathtt{T}_{f,w}$ - -128.441 626.745 m -320.625 647.224 l - - -331.681 587.399 m -331.681 587.399 l - -$x$ -$z$ -$y$ - -256 736 m -224 704 l -320 704 l -352 736 l -h - - -285.262 759.265 m -322.176 651.119 l - -$\mathtt{px}$ - -285.612 758.915 m -315.723 669.632 l - -$\mathtt{f}$ -$\overrightarrow{\mathcal{F}}_f$ - -255.668 719.918 m -274.728 719.957 l - - -256.107 720.028 m -246.655 710.527 l - -$v$ -$u$ - -$\mathbf{p}$ -$_f\mathtt{p}$ - - diff --git a/svo/doc/notation.pdf b/svo/doc/notation.pdf deleted file mode 100644 index 3bc3fcd1e26432ecb0bbd75ccac1399691cf3da1..0000000000000000000000000000000000000000 GIT binary patch literal 0 HcmV?d00001 literal 50379 zcmc$`Ram9J_UDPaYvCJrcXxMpcPQK)3Wvho-QC@xkiy;F-MwI_-|6%3)6+fEb20PG z#m>%JNmjCw_r2Kr`*}jDARR zfZo{ftK{Q@;o}3C+M0azgkkxQ5h@<`rT}^cLuY4GM_ZVGSN`!b{xvOao&PbIVCYpW zzgyax|JxE0vU3M$e??*dd`$>o0qDZeYbZOL+5xor=s4Ke7?@ZA|55oe01RKjWK3<%oh<-NUnz)Le*aqD*Y|fr zXHyYVV>=VmzpU z|6|twmGD35|7Yg^pJdJUA6b8$GAHZTNihJF{yAw*Ho)IaQTmTZgZ)3c|LXu40gNn6 zU#I^siwVHS#LoV2>+8|`cNM_S#KQW&KdC5ZaFu!MC3?!RAPK1vB;jE=-C4j!**pUr z!yp_ZOBf(3D3^t3V?#oM9cnfgfT9#nG{Jt#dG#{sb*1%Gt$D^jb@|8Z(T-n0%!U_V z)4C8{20C2e#@|D57svx19vvA7ili470$lqA>>o1z5qw4a^@L$iUE{HjD!bY#TCQ@WWN4JpvRBfNyW@4?!=09`4_U40I4T zxmj(m&5hPRz9kOCod^nqfr`5Gfrk+5@}sRk4+%^F^hbRlXCAc>VKfjg2^xa1$0s#- 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GNU General Public License as published by the Free Software -// Foundation, either version 3 of the License, or any later version. -// -// SVO is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. -// -// You should have received a copy of the GNU General Public License -// along with this program. If not, see . - -#ifndef DATASET_IMG_H -#define DATASET_IMG_H - -namespace FileType { - -#include -#include -#include - -using ::Eigen::Quaterniond; -using ::Eigen::Vector3d; - -/// Specification of Dataset which contains: Camera Image, Gyroscope Rotation -class DatasetImg -{ -public: - DatasetImg() {} - virtual ~DatasetImg() {} - - double timestamp_; - std::string image_name_; - - friend std::ostream& operator <<(std::ostream& out, const DatasetImg& pair); - friend std::istream& operator >>(std::istream& in, DatasetImg& pair); -}; - -std::ostream& operator <<(std::ostream& out, const DatasetImg& gt) -{ - out - << gt.timestamp_ << " " - << gt.image_name_ << " " - << std::endl; - return out; -} - -std::istream& operator >>(std::istream& in, DatasetImg& gt) -{ - in >> gt.timestamp_; - in >> gt.image_name_; - return in; -} - -} // end namespace FileType - - -#endif /* DATASET_IMG_H */ From 6a08b7de5d8d421dca11049f20db67b68c5ecde4 Mon Sep 17 00:00:00 2001 From: gfuse Date: Wed, 5 May 2021 11:22:00 +0200 Subject: [PATCH 185/215] init GPU --- CPU_version/README.md | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/CPU_version/README.md b/CPU_version/README.md index 1d27172..00b6d87 100755 --- a/CPU_version/README.md +++ b/CPU_version/README.md @@ -3,9 +3,10 @@ SVO This code implements a semi-direct monocular visual odometry pipeline which has been integrated with GTSAM to infused IMU as well. -Video: http://youtu.be/2YnIMfw6bJY -Paper: http://rpg.ifi.uzh.ch/docs/ICRA14_Forster.pdf +Paper svo: http://rpg.ifi.uzh.ch/docs/ICRA14_Forster.pdf +Paper Svo+GTSAM: https://arxiv.org/abs/1512.02363 + #### Disclaimer From ec7e554add7c9a424c816f104778bef83dfc2154 Mon Sep 17 00:00:00 2001 From: gfuse Date: Wed, 5 May 2021 12:29:29 +0200 Subject: [PATCH 186/215] add GPU svo under development --- CPU_version/svo_msgs/CMakeLists.txt | 6 +- CPU_version/svo_ros/.idea/svo_ros.iml | 8 - CPU_version/svo_ros/.idea/workspace.xml | 627 ------ CPU_version/vio_svo/CMakeLists.txt | 15 +- CPU_version/vio_svo/msg/Info.msg | 6 + CPU_version/vio_svo/package.xml | 4 +- CPU_version/vio_svo/src/visualizer.cpp | 6 +- GPU_version/README.md | 45 + GPU_version/svo/.idea/.gitignore | 8 + GPU_version/svo/.idea/misc.xml | 4 + .../svo}/.idea/modules.xml | 2 +- .../svo_ros => GPU_version/svo}/.idea/vcs.xml | 0 GPU_version/svo/CMakeLists.txt | 132 ++ GPU_version/svo/CMakeModules/FindEigen.cmake | 81 + GPU_version/svo/CMakeModules/FindG2O.cmake | 113 ++ GPU_version/svo/Doxyfile | 1782 +++++++++++++++++ GPU_version/svo/doc/.gitignore | 2 + GPU_version/svo/doc/notation.ipe | 312 +++ GPU_version/svo/doc/notation.pdf | Bin 0 -> 50379 bytes GPU_version/svo/doc/notation.png | Bin 0 -> 27376 bytes .../svo/include/svo/bundle_adjustment.h | 109 + GPU_version/svo/include/svo/config.h | 177 ++ GPU_version/svo/include/svo/depth_filter.h | 171 ++ GPU_version/svo/include/svo/feature.h | 75 + .../svo/include/svo/feature_alignment.h | 63 + .../svo/include/svo/feature_detection.h | 107 + GPU_version/svo/include/svo/frame.h | 154 ++ .../svo/include/svo/frame_handler_base.h | 123 ++ .../svo/include/svo/frame_handler_mono.h | 104 + GPU_version/svo/include/svo/global.h | 101 + GPU_version/svo/include/svo/imu_integration.h | 121 ++ GPU_version/svo/include/svo/initialization.h | 83 + GPU_version/svo/include/svo/map.h | 136 ++ GPU_version/svo/include/svo/matcher.h | 130 ++ GPU_version/svo/include/svo/point.h | 108 + GPU_version/svo/include/svo/pose_optimizer.h | 50 + GPU_version/svo/include/svo/reprojector.h | 101 + .../svo/include/svo/sparse_img_align.h | 83 + GPU_version/svo/include/svo/svoVisionFactor.h | 70 + GPU_version/svo/package.xml | 27 + GPU_version/svo/src/bundle_adjustment.cpp | 435 ++++ GPU_version/svo/src/config.cpp | 102 + GPU_version/svo/src/depth_filter.cpp | 352 ++++ GPU_version/svo/src/feature_alignment.cpp | 601 ++++++ GPU_version/svo/src/feature_detection.cpp | 118 ++ GPU_version/svo/src/frame.cpp | 190 ++ GPU_version/svo/src/frame_handler_base.cpp | 199 ++ GPU_version/svo/src/frame_handler_mono.cpp | 307 +++ GPU_version/svo/src/imu_integration.cpp | 151 ++ GPU_version/svo/src/initialization.cpp | 199 ++ GPU_version/svo/src/map.cpp | 368 ++++ GPU_version/svo/src/matcher.cpp | 323 +++ GPU_version/svo/src/point.cpp | 179 ++ GPU_version/svo/src/pose_optimizer.cpp | 165 ++ GPU_version/svo/src/reprojector.cpp | 219 ++ GPU_version/svo/src/sparse_img_align.cpp | 274 +++ GPU_version/svo/test/README.md | 24 + GPU_version/svo/test/benchmark.csv | 307 +++ GPU_version/svo/test/data/.gitignore | 2 + GPU_version/svo/test/results/.gitignore | 2 + GPU_version/svo/test/test_depth_filter.cpp | 206 ++ .../svo/test/test_feature_alignment.cpp | 124 ++ .../svo/test/test_feature_detection.cpp | 74 + GPU_version/svo/test/test_matcher.cpp | 200 ++ GPU_version/svo/test/test_pipeline.cpp | 98 + GPU_version/svo/test/test_pose_optimizer.cpp | 110 + .../svo/test/test_sparse_img_align.cpp | 163 ++ GPU_version/svo/test/test_utils.h | 57 + 68 files changed, 10147 insertions(+), 648 deletions(-) delete mode 100644 CPU_version/svo_ros/.idea/svo_ros.iml delete mode 100644 CPU_version/svo_ros/.idea/workspace.xml create mode 100644 CPU_version/vio_svo/msg/Info.msg create mode 100755 GPU_version/README.md create mode 100644 GPU_version/svo/.idea/.gitignore create mode 100644 GPU_version/svo/.idea/misc.xml rename {CPU_version/svo_ros => GPU_version/svo}/.idea/modules.xml (59%) rename {CPU_version/svo_ros => GPU_version/svo}/.idea/vcs.xml (100%) create mode 100644 GPU_version/svo/CMakeLists.txt create mode 100644 GPU_version/svo/CMakeModules/FindEigen.cmake create mode 100644 GPU_version/svo/CMakeModules/FindG2O.cmake create mode 100644 GPU_version/svo/Doxyfile create mode 100644 GPU_version/svo/doc/.gitignore create mode 100644 GPU_version/svo/doc/notation.ipe create mode 100644 GPU_version/svo/doc/notation.pdf create mode 100644 GPU_version/svo/doc/notation.png create mode 100644 GPU_version/svo/include/svo/bundle_adjustment.h create mode 100644 GPU_version/svo/include/svo/config.h create mode 100644 GPU_version/svo/include/svo/depth_filter.h create mode 100644 GPU_version/svo/include/svo/feature.h create mode 100644 GPU_version/svo/include/svo/feature_alignment.h create mode 100644 GPU_version/svo/include/svo/feature_detection.h create mode 100644 GPU_version/svo/include/svo/frame.h create mode 100644 GPU_version/svo/include/svo/frame_handler_base.h create mode 100644 GPU_version/svo/include/svo/frame_handler_mono.h create mode 100644 GPU_version/svo/include/svo/global.h create mode 100644 GPU_version/svo/include/svo/imu_integration.h create mode 100644 GPU_version/svo/include/svo/initialization.h create mode 100644 GPU_version/svo/include/svo/map.h create mode 100644 GPU_version/svo/include/svo/matcher.h create mode 100644 GPU_version/svo/include/svo/point.h create mode 100644 GPU_version/svo/include/svo/pose_optimizer.h create mode 100644 GPU_version/svo/include/svo/reprojector.h create mode 100644 GPU_version/svo/include/svo/sparse_img_align.h create mode 100644 GPU_version/svo/include/svo/svoVisionFactor.h create mode 100644 GPU_version/svo/package.xml create mode 100644 GPU_version/svo/src/bundle_adjustment.cpp create mode 100644 GPU_version/svo/src/config.cpp create mode 100644 GPU_version/svo/src/depth_filter.cpp create mode 100644 GPU_version/svo/src/feature_alignment.cpp create mode 100644 GPU_version/svo/src/feature_detection.cpp create mode 100644 GPU_version/svo/src/frame.cpp create mode 100644 GPU_version/svo/src/frame_handler_base.cpp create mode 100644 GPU_version/svo/src/frame_handler_mono.cpp create mode 100644 GPU_version/svo/src/imu_integration.cpp create mode 100644 GPU_version/svo/src/initialization.cpp create mode 100644 GPU_version/svo/src/map.cpp create mode 100644 GPU_version/svo/src/matcher.cpp create mode 100644 GPU_version/svo/src/point.cpp create mode 100644 GPU_version/svo/src/pose_optimizer.cpp create mode 100644 GPU_version/svo/src/reprojector.cpp create mode 100644 GPU_version/svo/src/sparse_img_align.cpp create mode 100644 GPU_version/svo/test/README.md create mode 100644 GPU_version/svo/test/benchmark.csv create mode 100644 GPU_version/svo/test/data/.gitignore create mode 100644 GPU_version/svo/test/results/.gitignore create mode 100644 GPU_version/svo/test/test_depth_filter.cpp create mode 100644 GPU_version/svo/test/test_feature_alignment.cpp create mode 100644 GPU_version/svo/test/test_feature_detection.cpp create mode 100644 GPU_version/svo/test/test_matcher.cpp create mode 100644 GPU_version/svo/test/test_pipeline.cpp create mode 100644 GPU_version/svo/test/test_pose_optimizer.cpp create mode 100644 GPU_version/svo/test/test_sparse_img_align.cpp create mode 100644 GPU_version/svo/test/test_utils.h diff --git a/CPU_version/svo_msgs/CMakeLists.txt b/CPU_version/svo_msgs/CMakeLists.txt index 06bb680..6d1a371 100644 --- a/CPU_version/svo_msgs/CMakeLists.txt +++ b/CPU_version/svo_msgs/CMakeLists.txt @@ -8,14 +8,12 @@ find_package(catkin REQUIRED COMPONENTS sensor_msgs ) -# search for all msg files -FILE(GLOB messages_to_build RELATIVE "msg" - "${CMAKE_CURRENT_SOURCE_DIR}/msg/*.msg") + # notify catkin to look at the previously found msg files add_message_files( FILES - ${messages_to_build} + Info.msg ) # build the header files from the msg files, and notify catkin about the dependencies diff --git a/CPU_version/svo_ros/.idea/svo_ros.iml b/CPU_version/svo_ros/.idea/svo_ros.iml deleted file mode 100644 index bc2cd87..0000000 --- a/CPU_version/svo_ros/.idea/svo_ros.iml +++ /dev/null @@ -1,8 +0,0 @@ - - - - - - - - \ No newline at end of file diff --git a/CPU_version/svo_ros/.idea/workspace.xml b/CPU_version/svo_ros/.idea/workspace.xml deleted file mode 100644 index 09c1504..0000000 --- a/CPU_version/svo_ros/.idea/workspace.xml +++ /dev/null @@ -1,627 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1615974669888 - - - 1617193017745 - - - 1617640897291 - - - - - - - - - - - - \ No newline at end of file diff --git a/CPU_version/vio_svo/CMakeLists.txt b/CPU_version/vio_svo/CMakeLists.txt index b57bcfc..70101db 100644 --- a/CPU_version/vio_svo/CMakeLists.txt +++ b/CPU_version/vio_svo/CMakeLists.txt @@ -32,7 +32,6 @@ FIND_PACKAGE(catkin REQUIRED COMPONENTS cv_bridge tf svo - svo_msgs vikit_common vikit_ros ) @@ -44,10 +43,22 @@ FIND_PACKAGE(Sophus REQUIRED) FIND_PACKAGE(Boost REQUIRED COMPONENTS thread) FIND_PACKAGE(GTSAM REQUIRED) +# notify catkin to look at the previously found msg files +add_message_files( + FILES + Info.msg +) + +# build the header files from the msg files, and notify catkin about the dependencies +generate_messages( + DEPENDENCIES + geometry_msgs + sensor_msgs +) # Describe catkin Project catkin_package( DEPENDS Eigen OpenCV Sophus Boost - CATKIN_DEPENDS roscpp nav_msgs std_msgs visualization_msgs sensor_msgs image_transport cv_bridge tf svo svo_msgs vikit_common vikit_ros geometry_msgs + CATKIN_DEPENDS roscpp nav_msgs std_msgs visualization_msgs sensor_msgs image_transport cv_bridge tf svo vikit_common vikit_ros geometry_msgs INCLUDE_DIRS include LIBRARIES svo_visualizer ) diff --git a/CPU_version/vio_svo/msg/Info.msg b/CPU_version/vio_svo/msg/Info.msg new file mode 100644 index 0000000..b962e1b --- /dev/null +++ b/CPU_version/vio_svo/msg/Info.msg @@ -0,0 +1,6 @@ +Header header +float32 processing_time +int32[] keyframes +int32 num_matches +int32 tracking_quality +int32 stage \ No newline at end of file diff --git a/CPU_version/vio_svo/package.xml b/CPU_version/vio_svo/package.xml index bb5b0f2..c63372b 100644 --- a/CPU_version/vio_svo/package.xml +++ b/CPU_version/vio_svo/package.xml @@ -6,7 +6,7 @@ Monocular Visual Odometry - ROS Nodes Christian Forster - Christian Forster + Majid Geravand GPLv3 @@ -23,7 +23,6 @@ cv_bridge tf svo - svo_msgs vikit_common vikit_ros geometry_msgs @@ -38,7 +37,6 @@ cv_bridge tf svo - svo_msgs vikit_common vikit_ros geometry_msgs diff --git a/CPU_version/vio_svo/src/visualizer.cpp b/CPU_version/vio_svo/src/visualizer.cpp index 4d3a631..901f9ef 100644 --- a/CPU_version/vio_svo/src/visualizer.cpp +++ b/CPU_version/vio_svo/src/visualizer.cpp @@ -19,7 +19,7 @@ #include #include #include -#include +#include #include #include #include @@ -37,7 +37,7 @@ Visualizer() : pub_frames_ = pnh_.advertise("keyframes", 10); pub_points_ = pnh_.advertise("points", 1000); pub_pose_ = pnh_.advertise("pose",10); - pub_info_ = pnh_.advertise("info", 10); + pub_info_ = pnh_.advertise("info", 10); } void Visualizer::publishMinimal( @@ -55,7 +55,7 @@ void Visualizer::publishMinimal( // publish info msg. if(pub_info_.getNumSubscribers() > 0) { - svo_msgs::Info msg_info; + vio_svo::Info msg_info; msg_info.header = header_msg; msg_info.processing_time = slam.lastProcessingTime(); msg_info.keyframes.reserve(slam.map().keyframes_.size()); diff --git a/GPU_version/README.md b/GPU_version/README.md new file mode 100755 index 0000000..00b6d87 --- /dev/null +++ b/GPU_version/README.md @@ -0,0 +1,45 @@ +SVO +=== + +This code implements a semi-direct monocular visual odometry pipeline which has been integrated with GTSAM to infused IMU as well. + + +Paper svo: http://rpg.ifi.uzh.ch/docs/ICRA14_Forster.pdf +Paper Svo+GTSAM: https://arxiv.org/abs/1512.02363 + + +#### Disclaimer + +SVO has been tested under ROS Groovy, Hydro and Indigo with Ubuntu 12.04, 13.04 and 14.04. This is research code, any fitness for a particular purpose is disclaimed. + + +#### Licence + +The source code is released under a GPLv3 licence. A closed-source professional edition is available for commercial purposes. In this case, please contact the authors for further info. + + +#### Citing + +If you use SVO in an academic context, please cite the following publication: + + @inproceedings{Forster2014ICRA, + author = {Forster, Christian and Pizzoli, Matia and Scaramuzza, Davide}, + title = {{SVO}: Fast Semi-Direct Monocular Visual Odometry}, + booktitle = {IEEE International Conference on Robotics and Automation (ICRA)}, + year = {2014} + } + + +#### Documentation + +The API is documented here: http://uzh-rpg.github.io/rpg_svo/doc/ +The GTSAM documentation https://gtsam.org/tutorials/ + +#### Instructions + +See the Wiki for more instructions. https://github.com/uzh-rpg/rpg_svo/wiki and https://gtsam.org/get_started/ + +#### Contributing + +You are very welcome to contribute to SVO by opening a pull request via Github. +I try to follow the ROS C++ style guide http://wiki.ros.org/CppStyleGuide diff --git a/GPU_version/svo/.idea/.gitignore b/GPU_version/svo/.idea/.gitignore new file mode 100644 index 0000000..73f69e0 --- /dev/null +++ b/GPU_version/svo/.idea/.gitignore @@ -0,0 +1,8 @@ +# Default ignored files +/shelf/ +/workspace.xml +# Datasource local storage ignored files +/dataSources/ +/dataSources.local.xml +# Editor-based HTTP Client requests +/httpRequests/ diff --git a/GPU_version/svo/.idea/misc.xml b/GPU_version/svo/.idea/misc.xml new file mode 100644 index 0000000..79b3c94 --- /dev/null +++ b/GPU_version/svo/.idea/misc.xml @@ -0,0 +1,4 @@ + + + + \ No newline at end of file diff --git a/CPU_version/svo_ros/.idea/modules.xml b/GPU_version/svo/.idea/modules.xml similarity index 59% rename from CPU_version/svo_ros/.idea/modules.xml rename to GPU_version/svo/.idea/modules.xml index eb3cacf..4c8cf2b 100644 --- a/CPU_version/svo_ros/.idea/modules.xml +++ b/GPU_version/svo/.idea/modules.xml @@ -2,7 +2,7 @@ - + \ No newline at end of file diff --git a/CPU_version/svo_ros/.idea/vcs.xml b/GPU_version/svo/.idea/vcs.xml similarity index 100% rename from CPU_version/svo_ros/.idea/vcs.xml rename to GPU_version/svo/.idea/vcs.xml diff --git a/GPU_version/svo/CMakeLists.txt b/GPU_version/svo/CMakeLists.txt new file mode 100644 index 0000000..ed4b593 --- /dev/null +++ b/GPU_version/svo/CMakeLists.txt @@ -0,0 +1,132 @@ +################################################################################ +# user build settings + +SET(TRACE TRUE) +SET(HAVE_G2O FALSE) +SET(USE_ROS TRUE) # Set FALSE if you want to build this package without Catkin +SET(DEBUG_OUTPUT FALSE) # Only relevant if build without ROS + +################################################################################ + +SET(PROJECT_NAME gpu_svo) +PROJECT(${PROJECT_NAME}) +CMAKE_MINIMUM_REQUIRED (VERSION 2.8.3) +SET(CMAKE_BUILD_TYPE Release) # Release, RelWithDebInfo +SET(CMAKE_VERBOSE_MAKEFILE OFF) +SET(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${PROJECT_SOURCE_DIR}/CMakeModules/") +set(CMAKE_C_STANDARD 14) +set(CMAKE_CXX_STANDARD 14) + +# Set definitions +IF(TRACE) + ADD_DEFINITIONS(-DSVO_TRACE) +ENDIF() +IF(HAVE_G2O) + ADD_DEFINITIONS(-DUSE_BUNDLE_ADJUSTMENT) +ENDIF() +IF(USE_ROS) + ADD_DEFINITIONS(-DSVO_USE_ROS) +ENDIF() +IF(DEBUG_OUTPUT) + ADD_DEFINITIONS(-DSVO_DEBUG_OUTPUT) +ENDIF() + +# Set build flags, set ARM_ARCHITECTURE environment variable on Odroid +# Set build flags. Set IS_ARM on odroid board as environment variable +SET(CMAKE_CXX_FLAGS "-Wall -D_LINUX -D_REENTRANT -march=native -Wno-unused-variable -Wno-unused-but-set-variable -Wno-unknown-pragmas") +IF(DEFINED ENV{ARM_ARCHITECTURE}) + SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ") +ELSE() + SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -mmmx -msse -msse -msse2 -msse3 -mssse3") +ENDIF() +IF(CMAKE_COMPILER_IS_GNUCC) + SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x") +ELSE() + SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11") +ENDIF() +SET(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS} -O3 -fsee -fomit-frame-pointer -fno-signed-zeros -fno-math-errno -funroll-loops") + +# Add plain cmake packages +FIND_PACKAGE(OpenCV REQUIRED) +FIND_PACKAGE(Eigen REQUIRED) +FIND_PACKAGE(Sophus REQUIRED) +FIND_PACKAGE(fast REQUIRED) +FIND_PACKAGE(Boost REQUIRED COMPONENTS thread system) +FIND_PACKAGE(GTSAM REQUIRED) + +set(GTSAM_INCLUDE_DIRS "${GTSAM_INCLUDE_DIR}") +IF(USE_ROS) + FIND_PACKAGE(catkin REQUIRED COMPONENTS roscpp roslib cmake_modules vikit_common vikit_ros) + catkin_package( + DEPENDS Eigen OpenCV Sophus Boost fast GTSAM + CATKIN_DEPENDS roscpp roslib vikit_common vikit_ros + INCLUDE_DIRS include + LIBRARIES ${PROJECT_NAME} + ) +ELSE() + FIND_PACKAGE(vikit_common REQUIRED) + SET(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin) + SET(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib) +ENDIF() + +# Include dirs +INCLUDE_DIRECTORIES( + include + ${Eigen_INCLUDE_DIRS} + ${OpenCV_INCLUDE_DIRS} + ${Sophus_INCLUDE_DIRS} + ${Boost_INCLUDE_DIRS} + ${fast_INCLUDE_DIRS} ${GTSAM_INCLUDE_DIR} +) + +# Set link libraries +LIST(APPEND LINK_LIBS + ${OpenCV_LIBS} + ${Sophus_LIBRARIES} + ${Boost_LIBRARIES} + ${fast_LIBRARIES} +) +IF(USE_ROS) + INCLUDE_DIRECTORIES(${catkin_INCLUDE_DIRS}) + LIST(APPEND LINK_LIBS ${catkin_LIBRARIES}) +ELSE() + INCLUDE_DIRECTORIES(${vikit_common_INCLUDE_DIRS}) + LIST(APPEND LINK_LIBS ${vikit_common_LIBRARIES}) +ENDIF() + +# Set sourcefiles +LIST(APPEND SOURCEFILES + src/frame_handler_mono.cpp + src/frame_handler_base.cpp + src/frame.cpp + src/point.cpp + src/map.cpp + src/pose_optimizer.cpp + src/initialization.cpp + src/matcher.cpp + src/reprojector.cpp + src/feature_alignment.cpp + src/feature_detection.cpp + src/depth_filter.cpp + src/config.cpp + src/sparse_img_align.cpp src/imu_integration.cpp) + +# Add g2o if available +IF(HAVE_G2O) + FIND_PACKAGE(G2O REQUIRED) + INCLUDE_DIRECTORIES( + ${G2O_INCLUDE_DIR} + /usr/include/suitesparse # for cholmod + ) + LIST(APPEND LINK_LIBS + ${G2O_CORE_LIBRARY} ${G2O_STUFF_LIBRARY} ${G2O_SOLVER_CHOLMOD} ${G2O_SOLVER_CSPARSE} ${G2O_SOLVER_DENSE} + ${G2O_SOLVER_PCG} ${G2O_TYPES_SBA} cholmod cxsparse + ) + LIST(APPEND SOURCEFILES src/bundle_adjustment.cpp) +ENDIF(HAVE_G2O) + +# Create svo library +ADD_LIBRARY(${PROJECT_NAME} SHARED ${SOURCEFILES}) +TARGET_LINK_LIBRARIES(${PROJECT_NAME} ${LINK_LIBS} gtsam) +set_property(TARGET ${PROJECT_NAME} PROPERTY CXX_STANDARD 14) +set_property(TARGET ${PROJECT_NAME} PROPERTY CXX_STANDARD_REQUIRED ON) diff --git a/GPU_version/svo/CMakeModules/FindEigen.cmake b/GPU_version/svo/CMakeModules/FindEigen.cmake new file mode 100644 index 0000000..8587367 --- /dev/null +++ b/GPU_version/svo/CMakeModules/FindEigen.cmake @@ -0,0 +1,81 @@ +############################################################################### +# +# CMake script for finding the Eigen library. +# +# http://eigen.tuxfamily.org/index.php?title=Main_Page +# +# Copyright (c) 2006, 2007 Montel Laurent, +# Copyright (c) 2008, 2009 Gael Guennebaud, +# Copyright (c) 2009 Benoit Jacob +# Redistribution and use is allowed according to the terms of the 2-clause BSD +# license. +# +# +# Input variables: +# +# - Eigen_ROOT_DIR (optional): When specified, header files and libraries +# will be searched for in `${Eigen_ROOT_DIR}/include` and +# `${Eigen_ROOT_DIR}/libs` respectively, and the default CMake search order +# will be ignored. When unspecified, the default CMake search order is used. +# This variable can be specified either as a CMake or environment variable. +# If both are set, preference is given to the CMake variable. +# Use this variable for finding packages installed in a nonstandard location, +# or for enforcing that one of multiple package installations is picked up. +# +# Cache variables (not intended to be used in CMakeLists.txt files) +# +# - Eigen_INCLUDE_DIR: Absolute path to package headers. +# +# +# Output variables: +# +# - Eigen_FOUND: Boolean that indicates if the package was found +# - Eigen_INCLUDE_DIRS: Paths to the necessary header files +# - Eigen_VERSION: Version of Eigen library found +# - Eigen_DEFINITIONS: Definitions to be passed on behalf of eigen +# +# +# Example usage: +# +# # Passing the version means Eigen_FOUND will only be TRUE if a +# # version >= the provided version is found. +# find_package(Eigen 3.1.2) +# if(NOT Eigen_FOUND) +# # Error handling +# endif() +# ... +# add_definitions(${Eigen_DEFINITIONS}) +# ... +# include_directories(${Eigen_INCLUDE_DIRS} ...) +# +############################################################################### + +find_package(PkgConfig) +pkg_check_modules(PC_EIGEN eigen3) +set(EIGEN_DEFINITIONS ${PC_EIGEN_CFLAGS_OTHER}) + + +find_path(EIGEN_INCLUDE_DIR Eigen/Core + HINTS ${PC_EIGEN_INCLUDEDIR} ${PC_EIGEN_INCLUDE_DIRS} + "${Eigen_ROOT_DIR}" "$ENV{EIGEN_ROOT_DIR}" + "${EIGEN_ROOT}" "$ENV{EIGEN_ROOT}" # Backwards Compatibility + PATHS "$ENV{PROGRAMFILES}/Eigen" "$ENV{PROGRAMW6432}/Eigen" + "$ENV{PROGRAMFILES}/Eigen 3.0.0" "$ENV{PROGRAMW6432}/Eigen 3.0.0" + PATH_SUFFIXES eigen3 include/eigen3 include) + +set(EIGEN_INCLUDE_DIRS ${EIGEN_INCLUDE_DIR}) + +include(FindPackageHandleStandardArgs) +find_package_handle_standard_args(Eigen DEFAULT_MSG EIGEN_INCLUDE_DIR) + +mark_as_advanced(EIGEN_INCLUDE_DIR) + +if(EIGEN_FOUND) + message(STATUS "Eigen found (include: ${EIGEN_INCLUDE_DIRS})") +endif(EIGEN_FOUND) + + +set(Eigen_INCLUDE_DIRS ${EIGEN_INCLUDE_DIRS}) +set(Eigen_FOUND ${EIGEN_FOUND}) +set(Eigen_VERSION ${EIGEN_VERSION}) +set(Eigen_DEFINITIONS ${EIGEN_DEFINITIONS}) diff --git a/GPU_version/svo/CMakeModules/FindG2O.cmake b/GPU_version/svo/CMakeModules/FindG2O.cmake new file mode 100644 index 0000000..655600f --- /dev/null +++ b/GPU_version/svo/CMakeModules/FindG2O.cmake @@ -0,0 +1,113 @@ +# Find the header files + +FIND_PATH(G2O_INCLUDE_DIR g2o/core/base_vertex.h + ${G2O_ROOT}/include + $ENV{G2O_ROOT}/include + $ENV{G2O_ROOT} + /usr/local/include + /usr/include + /opt/local/include + /sw/local/include + /sw/include + NO_DEFAULT_PATH + ) + +# Macro to unify finding both the debug and release versions of the +# libraries; this is adapted from the OpenSceneGraph FIND_LIBRARY +# macro. + +MACRO(FIND_G2O_LIBRARY MYLIBRARY MYLIBRARYNAME) + + FIND_LIBRARY("${MYLIBRARY}_DEBUG" + NAMES "g2o_${MYLIBRARYNAME}_d" + PATHS + ${G2O_ROOT}/lib/Debug + ${G2O_ROOT}/lib + $ENV{G2O_ROOT}/lib/Debug + $ENV{G2O_ROOT}/lib + NO_DEFAULT_PATH + ) + + FIND_LIBRARY("${MYLIBRARY}_DEBUG" + NAMES "g2o_${MYLIBRARYNAME}_d" + PATHS + ~/Library/Frameworks + /Library/Frameworks + /usr/local/lib + /usr/local/lib64 + /usr/lib + /usr/lib64 + /opt/local/lib + /sw/local/lib + /sw/lib + ) + + FIND_LIBRARY(${MYLIBRARY} + NAMES "g2o_${MYLIBRARYNAME}" + PATHS + ${G2O_ROOT}/lib/Release + ${G2O_ROOT}/lib + $ENV{G2O_ROOT}/lib/Release + $ENV{G2O_ROOT}/lib + NO_DEFAULT_PATH + ) + + FIND_LIBRARY(${MYLIBRARY} + NAMES "g2o_${MYLIBRARYNAME}" + PATHS + ~/Library/Frameworks + /Library/Frameworks + /usr/local/lib + /usr/local/lib64 + /usr/lib + /usr/lib64 + /opt/local/lib + /sw/local/lib + /sw/lib + ) + + IF(NOT ${MYLIBRARY}_DEBUG) + IF(MYLIBRARY) + SET(${MYLIBRARY}_DEBUG ${MYLIBRARY}) + ENDIF(MYLIBRARY) + ENDIF( NOT ${MYLIBRARY}_DEBUG) + +ENDMACRO(FIND_G2O_LIBRARY LIBRARY LIBRARYNAME) + +# Find the core elements +FIND_G2O_LIBRARY(G2O_STUFF_LIBRARY stuff) +FIND_G2O_LIBRARY(G2O_CORE_LIBRARY core) + +# Find the CLI library +FIND_G2O_LIBRARY(G2O_CLI_LIBRARY cli) + +# Find the pluggable solvers +FIND_G2O_LIBRARY(G2O_SOLVER_CHOLMOD solver_cholmod) +FIND_G2O_LIBRARY(G2O_SOLVER_CSPARSE solver_csparse) +FIND_G2O_LIBRARY(G2O_SOLVER_CSPARSE_EXTENSION csparse_extension) +FIND_G2O_LIBRARY(G2O_SOLVER_DENSE solver_dense) +FIND_G2O_LIBRARY(G2O_SOLVER_PCG solver_pcg) +FIND_G2O_LIBRARY(G2O_SOLVER_SLAM2D_LINEAR solver_slam2d_linear) +FIND_G2O_LIBRARY(G2O_SOLVER_STRUCTURE_ONLY solver_structure_only) +FIND_G2O_LIBRARY(G2O_SOLVER_EIGEN solver_eigen) + +# Find the predefined types +FIND_G2O_LIBRARY(G2O_TYPES_DATA types_data) +FIND_G2O_LIBRARY(G2O_TYPES_ICP types_icp) +FIND_G2O_LIBRARY(G2O_TYPES_SBA types_sba) +FIND_G2O_LIBRARY(G2O_TYPES_SCLAM2D types_sclam2d) +FIND_G2O_LIBRARY(G2O_TYPES_SIM3 types_sim3) +FIND_G2O_LIBRARY(G2O_TYPES_SLAM2D types_slam2d) +FIND_G2O_LIBRARY(G2O_TYPES_SLAM3D types_slam3d) + +# G2O solvers declared found if we found at least one solver +SET(G2O_SOLVERS_FOUND "NO") +IF(G2O_SOLVER_CHOLMOD OR G2O_SOLVER_CSPARSE OR G2O_SOLVER_DENSE OR G2O_SOLVER_PCG OR G2O_SOLVER_SLAM2D_LINEAR OR G2O_SOLVER_STRUCTURE_ONLY OR G2O_SOLVER_EIGEN) + SET(G2O_SOLVERS_FOUND "YES") +ENDIF(G2O_SOLVER_CHOLMOD OR G2O_SOLVER_CSPARSE OR G2O_SOLVER_DENSE OR G2O_SOLVER_PCG OR G2O_SOLVER_SLAM2D_LINEAR OR G2O_SOLVER_STRUCTURE_ONLY OR G2O_SOLVER_EIGEN) + +# G2O itself declared found if we found the core libraries and at least one solver +SET(G2O_FOUND "NO") +IF(G2O_STUFF_LIBRARY AND G2O_CORE_LIBRARY AND G2O_INCLUDE_DIR AND G2O_SOLVERS_FOUND) + SET(G2O_FOUND "YES") +ENDIF(G2O_STUFF_LIBRARY AND G2O_CORE_LIBRARY AND G2O_INCLUDE_DIR AND G2O_SOLVERS_FOUND) diff --git a/GPU_version/svo/Doxyfile b/GPU_version/svo/Doxyfile new file mode 100644 index 0000000..b1b4256 --- /dev/null +++ b/GPU_version/svo/Doxyfile @@ -0,0 +1,1782 @@ +# Doxyfile 1.7.6.1 + +# This file describes the settings to be used by the documentation system +# doxygen (www.doxygen.org) for a project. +# +# All text after a hash (#) is considered a comment and will be ignored. +# The format is: +# TAG = value [value, ...] +# For lists items can also be appended using: +# TAG += value [value, ...] +# Values that contain spaces should be placed between quotes (" "). + +#--------------------------------------------------------------------------- +# Project related configuration options +#--------------------------------------------------------------------------- + +# This tag specifies the encoding used for all characters in the config file +# that follow. The default is UTF-8 which is also the encoding used for all +# text before the first occurrence of this tag. Doxygen uses libiconv (or the +# iconv built into libc) for the transcoding. See +# http://www.gnu.org/software/libiconv for the list of possible encodings. + +DOXYFILE_ENCODING = UTF-8 + +# The PROJECT_NAME tag is a single word (or sequence of words) that should +# identify the project. Note that if you do not use Doxywizard you need +# to put quotes around the project name if it contains spaces. + +PROJECT_NAME = "svo" + +# The PROJECT_NUMBER tag can be used to enter a project or revision number. +# This could be handy for archiving the generated documentation or +# if some version control system is used. + +PROJECT_NUMBER = + +# Using the PROJECT_BRIEF tag one can provide an optional one line description +# for a project that appears at the top of each page and should give viewer +# a quick idea about the purpose of the project. Keep the description short. + +PROJECT_BRIEF = "Semi-Direct Visual Odometry" + +# With the PROJECT_LOGO tag one can specify an logo or icon that is +# included in the documentation. The maximum height of the logo should not +# exceed 55 pixels and the maximum width should not exceed 200 pixels. +# Doxygen will copy the logo to the output directory. + +PROJECT_LOGO = + +# The OUTPUT_DIRECTORY tag is used to specify the (relative or absolute) +# base path where the generated documentation will be put. +# If a relative path is entered, it will be relative to the location +# where doxygen was started. If left blank the current directory will be used. + +OUTPUT_DIRECTORY = "doc" + +# If the CREATE_SUBDIRS tag is set to YES, then doxygen will create +# 4096 sub-directories (in 2 levels) under the output directory of each output +# format and will distribute the generated files over these directories. +# Enabling this option can be useful when feeding doxygen a huge amount of +# source files, where putting all generated files in the same directory would +# otherwise cause performance problems for the file system. + +CREATE_SUBDIRS = NO + +# The OUTPUT_LANGUAGE tag is used to specify the language in which all +# documentation generated by doxygen is written. Doxygen will use this +# information to generate all constant output in the proper language. +# The default language is English, other supported languages are: +# Afrikaans, Arabic, Brazilian, Catalan, Chinese, Chinese-Traditional, +# Croatian, Czech, Danish, Dutch, Esperanto, Farsi, Finnish, French, German, +# Greek, Hungarian, Italian, Japanese, Japanese-en (Japanese with English +# messages), Korean, Korean-en, Lithuanian, Norwegian, Macedonian, Persian, +# Polish, Portuguese, Romanian, Russian, Serbian, Serbian-Cyrillic, Slovak, +# Slovene, Spanish, Swedish, Ukrainian, and Vietnamese. + +OUTPUT_LANGUAGE = English + +# If the BRIEF_MEMBER_DESC tag is set to YES (the default) Doxygen will +# include brief member descriptions after the members that are listed in +# the file and class documentation (similar to JavaDoc). +# Set to NO to disable this. + +BRIEF_MEMBER_DESC = YES + +# If the REPEAT_BRIEF tag is set to YES (the default) Doxygen will prepend +# the brief description of a member or function before the detailed description. +# Note: if both HIDE_UNDOC_MEMBERS and BRIEF_MEMBER_DESC are set to NO, the +# brief descriptions will be completely suppressed. + +REPEAT_BRIEF = YES + +# This tag implements a quasi-intelligent brief description abbreviator +# that is used to form the text in various listings. Each string +# in this list, if found as the leading text of the brief description, will be +# stripped from the text and the result after processing the whole list, is +# used as the annotated text. Otherwise, the brief description is used as-is. +# If left blank, the following values are used ("$name" is automatically +# replaced with the name of the entity): "The $name class" "The $name widget" +# "The $name file" "is" "provides" "specifies" "contains" +# "represents" "a" "an" "the" + +ABBREVIATE_BRIEF = + +# If the ALWAYS_DETAILED_SEC and REPEAT_BRIEF tags are both set to YES then +# Doxygen will generate a detailed section even if there is only a brief +# description. + +ALWAYS_DETAILED_SEC = NO + +# If the INLINE_INHERITED_MEMB tag is set to YES, doxygen will show all +# inherited members of a class in the documentation of that class as if those +# members were ordinary class members. Constructors, destructors and assignment +# operators of the base classes will not be shown. + +INLINE_INHERITED_MEMB = NO + +# If the FULL_PATH_NAMES tag is set to YES then Doxygen will prepend the full +# path before files name in the file list and in the header files. If set +# to NO the shortest path that makes the file name unique will be used. + +FULL_PATH_NAMES = YES + +# If the FULL_PATH_NAMES tag is set to YES then the STRIP_FROM_PATH tag +# can be used to strip a user-defined part of the path. Stripping is +# only done if one of the specified strings matches the left-hand part of +# the path. The tag can be used to show relative paths in the file list. +# If left blank the directory from which doxygen is run is used as the +# path to strip. + +STRIP_FROM_PATH = + +# The STRIP_FROM_INC_PATH tag can be used to strip a user-defined part of +# the path mentioned in the documentation of a class, which tells +# the reader which header file to include in order to use a class. +# If left blank only the name of the header file containing the class +# definition is used. Otherwise one should specify the include paths that +# are normally passed to the compiler using the -I flag. + +STRIP_FROM_INC_PATH = + +# If the SHORT_NAMES tag is set to YES, doxygen will generate much shorter +# (but less readable) file names. This can be useful if your file system +# doesn't support long names like on DOS, Mac, or CD-ROM. + +SHORT_NAMES = NO + +# If the JAVADOC_AUTOBRIEF tag is set to YES then Doxygen +# will interpret the first line (until the first dot) of a JavaDoc-style +# comment as the brief description. If set to NO, the JavaDoc +# comments will behave just like regular Qt-style comments +# (thus requiring an explicit @brief command for a brief description.) + +JAVADOC_AUTOBRIEF = YES + +# If the QT_AUTOBRIEF tag is set to YES then Doxygen will +# interpret the first line (until the first dot) of a Qt-style +# comment as the brief description. If set to NO, the comments +# will behave just like regular Qt-style comments (thus requiring +# an explicit \brief command for a brief description.) + +QT_AUTOBRIEF = NO + +# The MULTILINE_CPP_IS_BRIEF tag can be set to YES to make Doxygen +# treat a multi-line C++ special comment block (i.e. a block of //! or /// +# comments) as a brief description. This used to be the default behaviour. +# The new default is to treat a multi-line C++ comment block as a detailed +# description. Set this tag to YES if you prefer the old behaviour instead. + +MULTILINE_CPP_IS_BRIEF = NO + +# If the INHERIT_DOCS tag is set to YES (the default) then an undocumented +# member inherits the documentation from any documented member that it +# re-implements. + +INHERIT_DOCS = YES + +# If the SEPARATE_MEMBER_PAGES tag is set to YES, then doxygen will produce +# a new page for each member. If set to NO, the documentation of a member will +# be part of the file/class/namespace that contains it. + +SEPARATE_MEMBER_PAGES = NO + +# The TAB_SIZE tag can be used to set the number of spaces in a tab. +# Doxygen uses this value to replace tabs by spaces in code fragments. + +TAB_SIZE = 8 + +# This tag can be used to specify a number of aliases that acts +# as commands in the documentation. An alias has the form "name=value". +# For example adding "sideeffect=\par Side Effects:\n" will allow you to +# put the command \sideeffect (or @sideeffect) in the documentation, which +# will result in a user-defined paragraph with heading "Side Effects:". +# You can put \n's in the value part of an alias to insert newlines. + +ALIASES = + +# This tag can be used to specify a number of word-keyword mappings (TCL only). +# A mapping has the form "name=value". For example adding +# "class=itcl::class" will allow you to use the command class in the +# itcl::class meaning. + +TCL_SUBST = + +# Set the OPTIMIZE_OUTPUT_FOR_C tag to YES if your project consists of C +# sources only. Doxygen will then generate output that is more tailored for C. +# For instance, some of the names that are used will be different. The list +# of all members will be omitted, etc. + +OPTIMIZE_OUTPUT_FOR_C = NO + +# Set the OPTIMIZE_OUTPUT_JAVA tag to YES if your project consists of Java +# sources only. Doxygen will then generate output that is more tailored for +# Java. For instance, namespaces will be presented as packages, qualified +# scopes will look different, etc. + +OPTIMIZE_OUTPUT_JAVA = NO + +# Set the OPTIMIZE_FOR_FORTRAN tag to YES if your project consists of Fortran +# sources only. Doxygen will then generate output that is more tailored for +# Fortran. + +OPTIMIZE_FOR_FORTRAN = NO + +# Set the OPTIMIZE_OUTPUT_VHDL tag to YES if your project consists of VHDL +# sources. Doxygen will then generate output that is tailored for +# VHDL. + +OPTIMIZE_OUTPUT_VHDL = NO + +# Doxygen selects the parser to use depending on the extension of the files it +# parses. With this tag you can assign which parser to use for a given extension. +# Doxygen has a built-in mapping, but you can override or extend it using this +# tag. The format is ext=language, where ext is a file extension, and language +# is one of the parsers supported by doxygen: IDL, Java, Javascript, CSharp, C, +# C++, D, PHP, Objective-C, Python, Fortran, VHDL, C, C++. For instance to make +# doxygen treat .inc files as Fortran files (default is PHP), and .f files as C +# (default is Fortran), use: inc=Fortran f=C. Note that for custom extensions +# you also need to set FILE_PATTERNS otherwise the files are not read by doxygen. + +EXTENSION_MAPPING = + +# If you use STL classes (i.e. std::string, std::vector, etc.) but do not want +# to include (a tag file for) the STL sources as input, then you should +# set this tag to YES in order to let doxygen match functions declarations and +# definitions whose arguments contain STL classes (e.g. func(std::string); v.s. +# func(std::string) {}). This also makes the inheritance and collaboration +# diagrams that involve STL classes more complete and accurate. + +BUILTIN_STL_SUPPORT = NO + +# If you use Microsoft's C++/CLI language, you should set this option to YES to +# enable parsing support. + +CPP_CLI_SUPPORT = NO + +# Set the SIP_SUPPORT tag to YES if your project consists of sip sources only. +# Doxygen will parse them like normal C++ but will assume all classes use public +# instead of private inheritance when no explicit protection keyword is present. + +SIP_SUPPORT = NO + +# For Microsoft's IDL there are propget and propput attributes to indicate getter +# and setter methods for a property. Setting this option to YES (the default) +# will make doxygen replace the get and set methods by a property in the +# documentation. This will only work if the methods are indeed getting or +# setting a simple type. If this is not the case, or you want to show the +# methods anyway, you should set this option to NO. + +IDL_PROPERTY_SUPPORT = YES + +# If member grouping is used in the documentation and the DISTRIBUTE_GROUP_DOC +# tag is set to YES, then doxygen will reuse the documentation of the first +# member in the group (if any) for the other members of the group. By default +# all members of a group must be documented explicitly. + +DISTRIBUTE_GROUP_DOC = NO + +# Set the SUBGROUPING tag to YES (the default) to allow class member groups of +# the same type (for instance a group of public functions) to be put as a +# subgroup of that type (e.g. under the Public Functions section). Set it to +# NO to prevent subgrouping. Alternatively, this can be done per class using +# the \nosubgrouping command. + +SUBGROUPING = YES + +# When the INLINE_GROUPED_CLASSES tag is set to YES, classes, structs and +# unions are shown inside the group in which they are included (e.g. using +# @ingroup) instead of on a separate page (for HTML and Man pages) or +# section (for LaTeX and RTF). + +INLINE_GROUPED_CLASSES = NO + +# When the INLINE_SIMPLE_STRUCTS tag is set to YES, structs, classes, and +# unions with only public data fields will be shown inline in the documentation +# of the scope in which they are defined (i.e. file, namespace, or group +# documentation), provided this scope is documented. If set to NO (the default), +# structs, classes, and unions are shown on a separate page (for HTML and Man +# pages) or section (for LaTeX and RTF). + +INLINE_SIMPLE_STRUCTS = NO + +# When TYPEDEF_HIDES_STRUCT is enabled, a typedef of a struct, union, or enum +# is documented as struct, union, or enum with the name of the typedef. So +# typedef struct TypeS {} TypeT, will appear in the documentation as a struct +# with name TypeT. When disabled the typedef will appear as a member of a file, +# namespace, or class. And the struct will be named TypeS. This can typically +# be useful for C code in case the coding convention dictates that all compound +# types are typedef'ed and only the typedef is referenced, never the tag name. + +TYPEDEF_HIDES_STRUCT = NO + +# The SYMBOL_CACHE_SIZE determines the size of the internal cache use to +# determine which symbols to keep in memory and which to flush to disk. +# When the cache is full, less often used symbols will be written to disk. +# For small to medium size projects (<1000 input files) the default value is +# probably good enough. For larger projects a too small cache size can cause +# doxygen to be busy swapping symbols to and from disk most of the time +# causing a significant performance penalty. +# If the system has enough physical memory increasing the cache will improve the +# performance by keeping more symbols in memory. Note that the value works on +# a logarithmic scale so increasing the size by one will roughly double the +# memory usage. The cache size is given by this formula: +# 2^(16+SYMBOL_CACHE_SIZE). The valid range is 0..9, the default is 0, +# corresponding to a cache size of 2^16 = 65536 symbols. + +SYMBOL_CACHE_SIZE = 0 + +# Similar to the SYMBOL_CACHE_SIZE the size of the symbol lookup cache can be +# set using LOOKUP_CACHE_SIZE. This cache is used to resolve symbols given +# their name and scope. Since this can be an expensive process and often the +# same symbol appear multiple times in the code, doxygen keeps a cache of +# pre-resolved symbols. If the cache is too small doxygen will become slower. +# If the cache is too large, memory is wasted. The cache size is given by this +# formula: 2^(16+LOOKUP_CACHE_SIZE). The valid range is 0..9, the default is 0, +# corresponding to a cache size of 2^16 = 65536 symbols. + +LOOKUP_CACHE_SIZE = 0 + +#--------------------------------------------------------------------------- +# Build related configuration options +#--------------------------------------------------------------------------- + +# If the EXTRACT_ALL tag is set to YES doxygen will assume all entities in +# documentation are documented, even if no documentation was available. +# Private class members and static file members will be hidden unless +# the EXTRACT_PRIVATE and EXTRACT_STATIC tags are set to YES + +EXTRACT_ALL = YES + +# If the EXTRACT_PRIVATE tag is set to YES all private members of a class +# will be included in the documentation. + +EXTRACT_PRIVATE = YES + +# If the EXTRACT_STATIC tag is set to YES all static members of a file +# will be included in the documentation. + +EXTRACT_STATIC = YES + +# If the EXTRACT_LOCAL_CLASSES tag is set to YES classes (and structs) +# defined locally in source files will be included in the documentation. +# If set to NO only classes defined in header files are included. + +EXTRACT_LOCAL_CLASSES = YES + +# This flag is only useful for Objective-C code. When set to YES local +# methods, which are defined in the implementation section but not in +# the interface are included in the documentation. +# If set to NO (the default) only methods in the interface are included. + +EXTRACT_LOCAL_METHODS = NO + +# If this flag is set to YES, the members of anonymous namespaces will be +# extracted and appear in the documentation as a namespace called +# 'anonymous_namespace{file}', where file will be replaced with the base +# name of the file that contains the anonymous namespace. By default +# anonymous namespaces are hidden. + +EXTRACT_ANON_NSPACES = NO + +# If the HIDE_UNDOC_MEMBERS tag is set to YES, Doxygen will hide all +# undocumented members of documented classes, files or namespaces. +# If set to NO (the default) these members will be included in the +# various overviews, but no documentation section is generated. +# This option has no effect if EXTRACT_ALL is enabled. + +HIDE_UNDOC_MEMBERS = NO + +# If the HIDE_UNDOC_CLASSES tag is set to YES, Doxygen will hide all +# undocumented classes that are normally visible in the class hierarchy. +# If set to NO (the default) these classes will be included in the various +# overviews. This option has no effect if EXTRACT_ALL is enabled. + +HIDE_UNDOC_CLASSES = NO + +# If the HIDE_FRIEND_COMPOUNDS tag is set to YES, Doxygen will hide all +# friend (class|struct|union) declarations. +# If set to NO (the default) these declarations will be included in the +# documentation. + +HIDE_FRIEND_COMPOUNDS = NO + +# If the HIDE_IN_BODY_DOCS tag is set to YES, Doxygen will hide any +# documentation blocks found inside the body of a function. +# If set to NO (the default) these blocks will be appended to the +# function's detailed documentation block. + +HIDE_IN_BODY_DOCS = NO + +# The INTERNAL_DOCS tag determines if documentation +# that is typed after a \internal command is included. If the tag is set +# to NO (the default) then the documentation will be excluded. +# Set it to YES to include the internal documentation. + +INTERNAL_DOCS = NO + +# If the CASE_SENSE_NAMES tag is set to NO then Doxygen will only generate +# file names in lower-case letters. If set to YES upper-case letters are also +# allowed. This is useful if you have classes or files whose names only differ +# in case and if your file system supports case sensitive file names. Windows +# and Mac users are advised to set this option to NO. + +CASE_SENSE_NAMES = YES + +# If the HIDE_SCOPE_NAMES tag is set to NO (the default) then Doxygen +# will show members with their full class and namespace scopes in the +# documentation. If set to YES the scope will be hidden. + +HIDE_SCOPE_NAMES = NO + +# If the SHOW_INCLUDE_FILES tag is set to YES (the default) then Doxygen +# will put a list of the files that are included by a file in the documentation +# of that file. + +SHOW_INCLUDE_FILES = YES + +# If the FORCE_LOCAL_INCLUDES tag is set to YES then Doxygen +# will list include files with double quotes in the documentation +# rather than with sharp brackets. + +FORCE_LOCAL_INCLUDES = NO + +# If the INLINE_INFO tag is set to YES (the default) then a tag [inline] +# is inserted in the documentation for inline members. + +INLINE_INFO = YES + +# If the SORT_MEMBER_DOCS tag is set to YES (the default) then doxygen +# will sort the (detailed) documentation of file and class members +# alphabetically by member name. If set to NO the members will appear in +# declaration order. + +SORT_MEMBER_DOCS = YES + +# If the SORT_BRIEF_DOCS tag is set to YES then doxygen will sort the +# brief documentation of file, namespace and class members alphabetically +# by member name. If set to NO (the default) the members will appear in +# declaration order. + +SORT_BRIEF_DOCS = NO + +# If the SORT_MEMBERS_CTORS_1ST tag is set to YES then doxygen +# will sort the (brief and detailed) documentation of class members so that +# constructors and destructors are listed first. If set to NO (the default) +# the constructors will appear in the respective orders defined by +# SORT_MEMBER_DOCS and SORT_BRIEF_DOCS. +# This tag will be ignored for brief docs if SORT_BRIEF_DOCS is set to NO +# and ignored for detailed docs if SORT_MEMBER_DOCS is set to NO. + +SORT_MEMBERS_CTORS_1ST = NO + +# If the SORT_GROUP_NAMES tag is set to YES then doxygen will sort the +# hierarchy of group names into alphabetical order. If set to NO (the default) +# the group names will appear in their defined order. + +SORT_GROUP_NAMES = NO + +# If the SORT_BY_SCOPE_NAME tag is set to YES, the class list will be +# sorted by fully-qualified names, including namespaces. If set to +# NO (the default), the class list will be sorted only by class name, +# not including the namespace part. +# Note: This option is not very useful if HIDE_SCOPE_NAMES is set to YES. +# Note: This option applies only to the class list, not to the +# alphabetical list. + +SORT_BY_SCOPE_NAME = NO + +# If the STRICT_PROTO_MATCHING option is enabled and doxygen fails to +# do proper type resolution of all parameters of a function it will reject a +# match between the prototype and the implementation of a member function even +# if there is only one candidate or it is obvious which candidate to choose +# by doing a simple string match. By disabling STRICT_PROTO_MATCHING doxygen +# will still accept a match between prototype and implementation in such cases. + +STRICT_PROTO_MATCHING = NO + +# The GENERATE_TODOLIST tag can be used to enable (YES) or +# disable (NO) the todo list. This list is created by putting \todo +# commands in the documentation. + +GENERATE_TODOLIST = YES + +# The GENERATE_TESTLIST tag can be used to enable (YES) or +# disable (NO) the test list. This list is created by putting \test +# commands in the documentation. + +GENERATE_TESTLIST = YES + +# The GENERATE_BUGLIST tag can be used to enable (YES) or +# disable (NO) the bug list. This list is created by putting \bug +# commands in the documentation. + +GENERATE_BUGLIST = YES + +# The GENERATE_DEPRECATEDLIST tag can be used to enable (YES) or +# disable (NO) the deprecated list. This list is created by putting +# \deprecated commands in the documentation. + +GENERATE_DEPRECATEDLIST= YES + +# The ENABLED_SECTIONS tag can be used to enable conditional +# documentation sections, marked by \if sectionname ... \endif. + +ENABLED_SECTIONS = + +# The MAX_INITIALIZER_LINES tag determines the maximum number of lines +# the initial value of a variable or macro consists of for it to appear in +# the documentation. If the initializer consists of more lines than specified +# here it will be hidden. Use a value of 0 to hide initializers completely. +# The appearance of the initializer of individual variables and macros in the +# documentation can be controlled using \showinitializer or \hideinitializer +# command in the documentation regardless of this setting. + +MAX_INITIALIZER_LINES = 30 + +# Set the SHOW_USED_FILES tag to NO to disable the list of files generated +# at the bottom of the documentation of classes and structs. If set to YES the +# list will mention the files that were used to generate the documentation. + +SHOW_USED_FILES = YES + +# If the sources in your project are distributed over multiple directories +# then setting the SHOW_DIRECTORIES tag to YES will show the directory hierarchy +# in the documentation. The default is NO. + +SHOW_DIRECTORIES = NO + +# Set the SHOW_FILES tag to NO to disable the generation of the Files page. +# This will remove the Files entry from the Quick Index and from the +# Folder Tree View (if specified). The default is YES. + +SHOW_FILES = YES + +# Set the SHOW_NAMESPACES tag to NO to disable the generation of the +# Namespaces page. +# This will remove the Namespaces entry from the Quick Index +# and from the Folder Tree View (if specified). The default is YES. + +SHOW_NAMESPACES = YES + +# The FILE_VERSION_FILTER tag can be used to specify a program or script that +# doxygen should invoke to get the current version for each file (typically from +# the version control system). Doxygen will invoke the program by executing (via +# popen()) the command , where is the value of +# the FILE_VERSION_FILTER tag, and is the name of an input file +# provided by doxygen. Whatever the program writes to standard output +# is used as the file version. See the manual for examples. + +FILE_VERSION_FILTER = + +# The LAYOUT_FILE tag can be used to specify a layout file which will be parsed +# by doxygen. The layout file controls the global structure of the generated +# output files in an output format independent way. The create the layout file +# that represents doxygen's defaults, run doxygen with the -l option. +# You can optionally specify a file name after the option, if omitted +# DoxygenLayout.xml will be used as the name of the layout file. + +LAYOUT_FILE = + +# The CITE_BIB_FILES tag can be used to specify one or more bib files +# containing the references data. This must be a list of .bib files. The +# .bib extension is automatically appended if omitted. Using this command +# requires the bibtex tool to be installed. See also +# http://en.wikipedia.org/wiki/BibTeX for more info. For LaTeX the style +# of the bibliography can be controlled using LATEX_BIB_STYLE. To use this +# feature you need bibtex and perl available in the search path. + +CITE_BIB_FILES = + +#--------------------------------------------------------------------------- +# configuration options related to warning and progress messages +#--------------------------------------------------------------------------- + +# The QUIET tag can be used to turn on/off the messages that are generated +# by doxygen. Possible values are YES and NO. If left blank NO is used. + +QUIET = NO + +# The WARNINGS tag can be used to turn on/off the warning messages that are +# generated by doxygen. Possible values are YES and NO. If left blank +# NO is used. + +WARNINGS = YES + +# If WARN_IF_UNDOCUMENTED is set to YES, then doxygen will generate warnings +# for undocumented members. If EXTRACT_ALL is set to YES then this flag will +# automatically be disabled. + +WARN_IF_UNDOCUMENTED = YES + +# If WARN_IF_DOC_ERROR is set to YES, doxygen will generate warnings for +# potential errors in the documentation, such as not documenting some +# parameters in a documented function, or documenting parameters that +# don't exist or using markup commands wrongly. + +WARN_IF_DOC_ERROR = YES + +# The WARN_NO_PARAMDOC option can be enabled to get warnings for +# functions that are documented, but have no documentation for their parameters +# or return value. If set to NO (the default) doxygen will only warn about +# wrong or incomplete parameter documentation, but not about the absence of +# documentation. + +WARN_NO_PARAMDOC = NO + +# The WARN_FORMAT tag determines the format of the warning messages that +# doxygen can produce. The string should contain the $file, $line, and $text +# tags, which will be replaced by the file and line number from which the +# warning originated and the warning text. Optionally the format may contain +# $version, which will be replaced by the version of the file (if it could +# be obtained via FILE_VERSION_FILTER) + +WARN_FORMAT = "$file:$line: $text" + +# The WARN_LOGFILE tag can be used to specify a file to which warning +# and error messages should be written. If left blank the output is written +# to stderr. + +WARN_LOGFILE = + +#--------------------------------------------------------------------------- +# configuration options related to the input files +#--------------------------------------------------------------------------- + +# The INPUT tag can be used to specify the files and/or directories that contain +# documented source files. You may enter file names like "myfile.cpp" or +# directories like "/usr/src/myproject". Separate the files or directories +# with spaces. + +INPUT = "src", "include/svo" + +# This tag can be used to specify the character encoding of the source files +# that doxygen parses. Internally doxygen uses the UTF-8 encoding, which is +# also the default input encoding. Doxygen uses libiconv (or the iconv built +# into libc) for the transcoding. See http://www.gnu.org/software/libiconv for +# the list of possible encodings. + +INPUT_ENCODING = UTF-8 + +# If the value of the INPUT tag contains directories, you can use the +# FILE_PATTERNS tag to specify one or more wildcard pattern (like *.cpp +# and *.h) to filter out the source-files in the directories. If left +# blank the following patterns are tested: +# *.c *.cc *.cxx *.cpp *.c++ *.d *.java *.ii *.ixx *.ipp *.i++ *.inl *.h *.hh +# *.hxx *.hpp *.h++ *.idl *.odl *.cs *.php *.php3 *.inc *.m *.mm *.dox *.py +# *.f90 *.f *.for *.vhd *.vhdl + +FILE_PATTERNS = + +# The RECURSIVE tag can be used to turn specify whether or not subdirectories +# should be searched for input files as well. Possible values are YES and NO. +# If left blank NO is used. + +RECURSIVE = NO + +# The EXCLUDE tag can be used to specify files and/or directories that should be +# excluded from the INPUT source files. This way you can easily exclude a +# subdirectory from a directory tree whose root is specified with the INPUT tag. +# Note that relative paths are relative to the directory from which doxygen is +# run. + +EXCLUDE = + +# The EXCLUDE_SYMLINKS tag can be used to select whether or not files or +# directories that are symbolic links (a Unix file system feature) are excluded +# from the input. + +EXCLUDE_SYMLINKS = NO + +# If the value of the INPUT tag contains directories, you can use the +# EXCLUDE_PATTERNS tag to specify one or more wildcard patterns to exclude +# certain files from those directories. Note that the wildcards are matched +# against the file with absolute path, so to exclude all test directories +# for example use the pattern */test/* + +EXCLUDE_PATTERNS = + +# The EXCLUDE_SYMBOLS tag can be used to specify one or more symbol names +# (namespaces, classes, functions, etc.) that should be excluded from the +# output. The symbol name can be a fully qualified name, a word, or if the +# wildcard * is used, a substring. Examples: ANamespace, AClass, +# AClass::ANamespace, ANamespace::*Test + +EXCLUDE_SYMBOLS = g2o +EXCLUDE_SYMBOLS += vk + +# The EXAMPLE_PATH tag can be used to specify one or more files or +# directories that contain example code fragments that are included (see +# the \include command). + +EXAMPLE_PATH = + +# If the value of the EXAMPLE_PATH tag contains directories, you can use the +# EXAMPLE_PATTERNS tag to specify one or more wildcard pattern (like *.cpp +# and *.h) to filter out the source-files in the directories. If left +# blank all files are included. + +EXAMPLE_PATTERNS = + +# If the EXAMPLE_RECURSIVE tag is set to YES then subdirectories will be +# searched for input files to be used with the \include or \dontinclude +# commands irrespective of the value of the RECURSIVE tag. +# Possible values are YES and NO. If left blank NO is used. + +EXAMPLE_RECURSIVE = NO + +# The IMAGE_PATH tag can be used to specify one or more files or +# directories that contain image that are included in the documentation (see +# the \image command). + +IMAGE_PATH = + +# The INPUT_FILTER tag can be used to specify a program that doxygen should +# invoke to filter for each input file. Doxygen will invoke the filter program +# by executing (via popen()) the command , where +# is the value of the INPUT_FILTER tag, and is the name of an +# input file. Doxygen will then use the output that the filter program writes +# to standard output. +# If FILTER_PATTERNS is specified, this tag will be +# ignored. + +INPUT_FILTER = + +# The FILTER_PATTERNS tag can be used to specify filters on a per file pattern +# basis. +# Doxygen will compare the file name with each pattern and apply the +# filter if there is a match. +# The filters are a list of the form: +# pattern=filter (like *.cpp=my_cpp_filter). See INPUT_FILTER for further +# info on how filters are used. If FILTER_PATTERNS is empty or if +# non of the patterns match the file name, INPUT_FILTER is applied. + +FILTER_PATTERNS = + +# If the FILTER_SOURCE_FILES tag is set to YES, the input filter (if set using +# INPUT_FILTER) will be used to filter the input files when producing source +# files to browse (i.e. when SOURCE_BROWSER is set to YES). + +FILTER_SOURCE_FILES = NO + +# The FILTER_SOURCE_PATTERNS tag can be used to specify source filters per file +# pattern. A pattern will override the setting for FILTER_PATTERN (if any) +# and it is also possible to disable source filtering for a specific pattern +# using *.ext= (so without naming a filter). This option only has effect when +# FILTER_SOURCE_FILES is enabled. + +FILTER_SOURCE_PATTERNS = + +#--------------------------------------------------------------------------- +# configuration options related to source browsing +#--------------------------------------------------------------------------- + +# If the SOURCE_BROWSER tag is set to YES then a list of source files will +# be generated. Documented entities will be cross-referenced with these sources. +# Note: To get rid of all source code in the generated output, make sure also +# VERBATIM_HEADERS is set to NO. + +SOURCE_BROWSER = NO + +# Setting the INLINE_SOURCES tag to YES will include the body +# of functions and classes directly in the documentation. + +INLINE_SOURCES = NO + +# Setting the STRIP_CODE_COMMENTS tag to YES (the default) will instruct +# doxygen to hide any special comment blocks from generated source code +# fragments. Normal C and C++ comments will always remain visible. + +STRIP_CODE_COMMENTS = YES + +# If the REFERENCED_BY_RELATION tag is set to YES +# then for each documented function all documented +# functions referencing it will be listed. + +REFERENCED_BY_RELATION = NO + +# If the REFERENCES_RELATION tag is set to YES +# then for each documented function all documented entities +# called/used by that function will be listed. + +REFERENCES_RELATION = NO + +# If the REFERENCES_LINK_SOURCE tag is set to YES (the default) +# and SOURCE_BROWSER tag is set to YES, then the hyperlinks from +# functions in REFERENCES_RELATION and REFERENCED_BY_RELATION lists will +# link to the source code. +# Otherwise they will link to the documentation. + +REFERENCES_LINK_SOURCE = YES + +# If the USE_HTAGS tag is set to YES then the references to source code +# will point to the HTML generated by the htags(1) tool instead of doxygen +# built-in source browser. The htags tool is part of GNU's global source +# tagging system (see http://www.gnu.org/software/global/global.html). You +# will need version 4.8.6 or higher. + +USE_HTAGS = NO + +# If the VERBATIM_HEADERS tag is set to YES (the default) then Doxygen +# will generate a verbatim copy of the header file for each class for +# which an include is specified. Set to NO to disable this. + +VERBATIM_HEADERS = YES + +#--------------------------------------------------------------------------- +# configuration options related to the alphabetical class index +#--------------------------------------------------------------------------- + +# If the ALPHABETICAL_INDEX tag is set to YES, an alphabetical index +# of all compounds will be generated. Enable this if the project +# contains a lot of classes, structs, unions or interfaces. + +ALPHABETICAL_INDEX = YES + +# If the alphabetical index is enabled (see ALPHABETICAL_INDEX) then +# the COLS_IN_ALPHA_INDEX tag can be used to specify the number of columns +# in which this list will be split (can be a number in the range [1..20]) + +COLS_IN_ALPHA_INDEX = 5 + +# In case all classes in a project start with a common prefix, all +# classes will be put under the same header in the alphabetical index. +# The IGNORE_PREFIX tag can be used to specify one or more prefixes that +# should be ignored while generating the index headers. + +IGNORE_PREFIX = + +#--------------------------------------------------------------------------- +# configuration options related to the HTML output +#--------------------------------------------------------------------------- + +# If the GENERATE_HTML tag is set to YES (the default) Doxygen will +# generate HTML output. + +GENERATE_HTML = YES + +# The HTML_OUTPUT tag is used to specify where the HTML docs will be put. +# If a relative path is entered the value of OUTPUT_DIRECTORY will be +# put in front of it. If left blank `html' will be used as the default path. + +HTML_OUTPUT = html + +# The HTML_FILE_EXTENSION tag can be used to specify the file extension for +# each generated HTML page (for example: .htm,.php,.asp). If it is left blank +# doxygen will generate files with .html extension. + +HTML_FILE_EXTENSION = .html + +# The HTML_HEADER tag can be used to specify a personal HTML header for +# each generated HTML page. If it is left blank doxygen will generate a +# standard header. Note that when using a custom header you are responsible +# for the proper inclusion of any scripts and style sheets that doxygen +# needs, which is dependent on the configuration options used. +# It is advised to generate a default header using "doxygen -w html +# header.html footer.html stylesheet.css YourConfigFile" and then modify +# that header. Note that the header is subject to change so you typically +# have to redo this when upgrading to a newer version of doxygen or when +# changing the value of configuration settings such as GENERATE_TREEVIEW! + +HTML_HEADER = + +# The HTML_FOOTER tag can be used to specify a personal HTML footer for +# each generated HTML page. If it is left blank doxygen will generate a +# standard footer. + +HTML_FOOTER = + +# The HTML_STYLESHEET tag can be used to specify a user-defined cascading +# style sheet that is used by each HTML page. It can be used to +# fine-tune the look of the HTML output. If the tag is left blank doxygen +# will generate a default style sheet. Note that doxygen will try to copy +# the style sheet file to the HTML output directory, so don't put your own +# style sheet in the HTML output directory as well, or it will be erased! + +HTML_STYLESHEET = + +# The HTML_EXTRA_FILES tag can be used to specify one or more extra images or +# other source files which should be copied to the HTML output directory. Note +# that these files will be copied to the base HTML output directory. Use the +# $relpath$ marker in the HTML_HEADER and/or HTML_FOOTER files to load these +# files. In the HTML_STYLESHEET file, use the file name only. Also note that +# the files will be copied as-is; there are no commands or markers available. + +HTML_EXTRA_FILES = + +# The HTML_COLORSTYLE_HUE tag controls the color of the HTML output. +# Doxygen will adjust the colors in the style sheet and background images +# according to this color. Hue is specified as an angle on a colorwheel, +# see http://en.wikipedia.org/wiki/Hue for more information. +# For instance the value 0 represents red, 60 is yellow, 120 is green, +# 180 is cyan, 240 is blue, 300 purple, and 360 is red again. +# The allowed range is 0 to 359. + +HTML_COLORSTYLE_HUE = 220 + +# The HTML_COLORSTYLE_SAT tag controls the purity (or saturation) of +# the colors in the HTML output. For a value of 0 the output will use +# grayscales only. A value of 255 will produce the most vivid colors. + +HTML_COLORSTYLE_SAT = 100 + +# The HTML_COLORSTYLE_GAMMA tag controls the gamma correction applied to +# the luminance component of the colors in the HTML output. Values below +# 100 gradually make the output lighter, whereas values above 100 make +# the output darker. The value divided by 100 is the actual gamma applied, +# so 80 represents a gamma of 0.8, The value 220 represents a gamma of 2.2, +# and 100 does not change the gamma. + +HTML_COLORSTYLE_GAMMA = 80 + +# If the HTML_TIMESTAMP tag is set to YES then the footer of each generated HTML +# page will contain the date and time when the page was generated. Setting +# this to NO can help when comparing the output of multiple runs. + +HTML_TIMESTAMP = YES + +# If the HTML_ALIGN_MEMBERS tag is set to YES, the members of classes, +# files or namespaces will be aligned in HTML using tables. If set to +# NO a bullet list will be used. + +HTML_ALIGN_MEMBERS = YES + +# If the HTML_DYNAMIC_SECTIONS tag is set to YES then the generated HTML +# documentation will contain sections that can be hidden and shown after the +# page has loaded. For this to work a browser that supports +# JavaScript and DHTML is required (for instance Mozilla 1.0+, Firefox +# Netscape 6.0+, Internet explorer 5.0+, Konqueror, or Safari). + +HTML_DYNAMIC_SECTIONS = NO + +# If the GENERATE_DOCSET tag is set to YES, additional index files +# will be generated that can be used as input for Apple's Xcode 3 +# integrated development environment, introduced with OSX 10.5 (Leopard). +# To create a documentation set, doxygen will generate a Makefile in the +# HTML output directory. Running make will produce the docset in that +# directory and running "make install" will install the docset in +# ~/Library/Developer/Shared/Documentation/DocSets so that Xcode will find +# it at startup. +# See http://developer.apple.com/tools/creatingdocsetswithdoxygen.html +# for more information. + +GENERATE_DOCSET = NO + +# When GENERATE_DOCSET tag is set to YES, this tag determines the name of the +# feed. A documentation feed provides an umbrella under which multiple +# documentation sets from a single provider (such as a company or product suite) +# can be grouped. + +DOCSET_FEEDNAME = "Doxygen generated docs" + +# When GENERATE_DOCSET tag is set to YES, this tag specifies a string that +# should uniquely identify the documentation set bundle. This should be a +# reverse domain-name style string, e.g. com.mycompany.MyDocSet. Doxygen +# will append .docset to the name. + +DOCSET_BUNDLE_ID = org.doxygen.Project + +# When GENERATE_PUBLISHER_ID tag specifies a string that should uniquely identify +# the documentation publisher. This should be a reverse domain-name style +# string, e.g. com.mycompany.MyDocSet.documentation. + +DOCSET_PUBLISHER_ID = org.doxygen.Publisher + +# The GENERATE_PUBLISHER_NAME tag identifies the documentation publisher. + +DOCSET_PUBLISHER_NAME = Publisher + +# If the GENERATE_HTMLHELP tag is set to YES, additional index files +# will be generated that can be used as input for tools like the +# Microsoft HTML help workshop to generate a compiled HTML help file (.chm) +# of the generated HTML documentation. + +GENERATE_HTMLHELP = NO + +# If the GENERATE_HTMLHELP tag is set to YES, the CHM_FILE tag can +# be used to specify the file name of the resulting .chm file. You +# can add a path in front of the file if the result should not be +# written to the html output directory. + +CHM_FILE = + +# If the GENERATE_HTMLHELP tag is set to YES, the HHC_LOCATION tag can +# be used to specify the location (absolute path including file name) of +# the HTML help compiler (hhc.exe). If non-empty doxygen will try to run +# the HTML help compiler on the generated index.hhp. + +HHC_LOCATION = + +# If the GENERATE_HTMLHELP tag is set to YES, the GENERATE_CHI flag +# controls if a separate .chi index file is generated (YES) or that +# it should be included in the master .chm file (NO). + +GENERATE_CHI = NO + +# If the GENERATE_HTMLHELP tag is set to YES, the CHM_INDEX_ENCODING +# is used to encode HtmlHelp index (hhk), content (hhc) and project file +# content. + +CHM_INDEX_ENCODING = + +# If the GENERATE_HTMLHELP tag is set to YES, the BINARY_TOC flag +# controls whether a binary table of contents is generated (YES) or a +# normal table of contents (NO) in the .chm file. + +BINARY_TOC = NO + +# The TOC_EXPAND flag can be set to YES to add extra items for group members +# to the contents of the HTML help documentation and to the tree view. + +TOC_EXPAND = NO + +# If the GENERATE_QHP tag is set to YES and both QHP_NAMESPACE and +# QHP_VIRTUAL_FOLDER are set, an additional index file will be generated +# that can be used as input for Qt's qhelpgenerator to generate a +# Qt Compressed Help (.qch) of the generated HTML documentation. + +GENERATE_QHP = NO + +# If the QHG_LOCATION tag is specified, the QCH_FILE tag can +# be used to specify the file name of the resulting .qch file. +# The path specified is relative to the HTML output folder. + +QCH_FILE = + +# The QHP_NAMESPACE tag specifies the namespace to use when generating +# Qt Help Project output. For more information please see +# http://doc.trolltech.com/qthelpproject.html#namespace + +QHP_NAMESPACE = org.doxygen.Project + +# The QHP_VIRTUAL_FOLDER tag specifies the namespace to use when generating +# Qt Help Project output. For more information please see +# http://doc.trolltech.com/qthelpproject.html#virtual-folders + +QHP_VIRTUAL_FOLDER = doc + +# If QHP_CUST_FILTER_NAME is set, it specifies the name of a custom filter to +# add. For more information please see +# http://doc.trolltech.com/qthelpproject.html#custom-filters + +QHP_CUST_FILTER_NAME = + +# The QHP_CUST_FILT_ATTRS tag specifies the list of the attributes of the +# custom filter to add. For more information please see +# +# Qt Help Project / Custom Filters. + +QHP_CUST_FILTER_ATTRS = + +# The QHP_SECT_FILTER_ATTRS tag specifies the list of the attributes this +# project's +# filter section matches. +# +# Qt Help Project / Filter Attributes. + +QHP_SECT_FILTER_ATTRS = + +# If the GENERATE_QHP tag is set to YES, the QHG_LOCATION tag can +# be used to specify the location of Qt's qhelpgenerator. +# If non-empty doxygen will try to run qhelpgenerator on the generated +# .qhp file. + +QHG_LOCATION = + +# If the GENERATE_ECLIPSEHELP tag is set to YES, additional index files +# will be generated, which together with the HTML files, form an Eclipse help +# plugin. To install this plugin and make it available under the help contents +# menu in Eclipse, the contents of the directory containing the HTML and XML +# files needs to be copied into the plugins directory of eclipse. The name of +# the directory within the plugins directory should be the same as +# the ECLIPSE_DOC_ID value. After copying Eclipse needs to be restarted before +# the help appears. + +GENERATE_ECLIPSEHELP = NO + +# A unique identifier for the eclipse help plugin. When installing the plugin +# the directory name containing the HTML and XML files should also have +# this name. + +ECLIPSE_DOC_ID = org.doxygen.Project + +# The DISABLE_INDEX tag can be used to turn on/off the condensed index (tabs) +# at top of each HTML page. The value NO (the default) enables the index and +# the value YES disables it. Since the tabs have the same information as the +# navigation tree you can set this option to NO if you already set +# GENERATE_TREEVIEW to YES. + +DISABLE_INDEX = NO + +# The GENERATE_TREEVIEW tag is used to specify whether a tree-like index +# structure should be generated to display hierarchical information. +# If the tag value is set to YES, a side panel will be generated +# containing a tree-like index structure (just like the one that +# is generated for HTML Help). For this to work a browser that supports +# JavaScript, DHTML, CSS and frames is required (i.e. any modern browser). +# Windows users are probably better off using the HTML help feature. +# Since the tree basically has the same information as the tab index you +# could consider to set DISABLE_INDEX to NO when enabling this option. + +GENERATE_TREEVIEW = NO + +# The ENUM_VALUES_PER_LINE tag can be used to set the number of enum values +# (range [0,1..20]) that doxygen will group on one line in the generated HTML +# documentation. Note that a value of 0 will completely suppress the enum +# values from appearing in the overview section. + +ENUM_VALUES_PER_LINE = 4 + +# By enabling USE_INLINE_TREES, doxygen will generate the Groups, Directories, +# and Class Hierarchy pages using a tree view instead of an ordered list. + +USE_INLINE_TREES = NO + +# If the treeview is enabled (see GENERATE_TREEVIEW) then this tag can be +# used to set the initial width (in pixels) of the frame in which the tree +# is shown. + +TREEVIEW_WIDTH = 250 + +# When the EXT_LINKS_IN_WINDOW option is set to YES doxygen will open +# links to external symbols imported via tag files in a separate window. + +EXT_LINKS_IN_WINDOW = NO + +# Use this tag to change the font size of Latex formulas included +# as images in the HTML documentation. The default is 10. Note that +# when you change the font size after a successful doxygen run you need +# to manually remove any form_*.png images from the HTML output directory +# to force them to be regenerated. + +FORMULA_FONTSIZE = 10 + +# Use the FORMULA_TRANPARENT tag to determine whether or not the images +# generated for formulas are transparent PNGs. Transparent PNGs are +# not supported properly for IE 6.0, but are supported on all modern browsers. +# Note that when changing this option you need to delete any form_*.png files +# in the HTML output before the changes have effect. + +FORMULA_TRANSPARENT = YES + +# Enable the USE_MATHJAX option to render LaTeX formulas using MathJax +# (see http://www.mathjax.org) which uses client side Javascript for the +# rendering instead of using prerendered bitmaps. Use this if you do not +# have LaTeX installed or if you want to formulas look prettier in the HTML +# output. When enabled you also need to install MathJax separately and +# configure the path to it using the MATHJAX_RELPATH option. + +USE_MATHJAX = NO + +# When MathJax is enabled you need to specify the location relative to the +# HTML output directory using the MATHJAX_RELPATH option. The destination +# directory should contain the MathJax.js script. For instance, if the mathjax +# directory is located at the same level as the HTML output directory, then +# MATHJAX_RELPATH should be ../mathjax. The default value points to the +# mathjax.org site, so you can quickly see the result without installing +# MathJax, but it is strongly recommended to install a local copy of MathJax +# before deployment. + +MATHJAX_RELPATH = http://www.mathjax.org/mathjax + +# The MATHJAX_EXTENSIONS tag can be used to specify one or MathJax extension +# names that should be enabled during MathJax rendering. + +MATHJAX_EXTENSIONS = + +# When the SEARCHENGINE tag is enabled doxygen will generate a search box +# for the HTML output. The underlying search engine uses javascript +# and DHTML and should work on any modern browser. Note that when using +# HTML help (GENERATE_HTMLHELP), Qt help (GENERATE_QHP), or docsets +# (GENERATE_DOCSET) there is already a search function so this one should +# typically be disabled. For large projects the javascript based search engine +# can be slow, then enabling SERVER_BASED_SEARCH may provide a better solution. + +SEARCHENGINE = YES + +# When the SERVER_BASED_SEARCH tag is enabled the search engine will be +# implemented using a PHP enabled web server instead of at the web client +# using Javascript. Doxygen will generate the search PHP script and index +# file to put on the web server. The advantage of the server +# based approach is that it scales better to large projects and allows +# full text search. The disadvantages are that it is more difficult to setup +# and does not have live searching capabilities. + +SERVER_BASED_SEARCH = NO + +#--------------------------------------------------------------------------- +# configuration options related to the LaTeX output +#--------------------------------------------------------------------------- + +# If the GENERATE_LATEX tag is set to YES (the default) Doxygen will +# generate Latex output. + +GENERATE_LATEX = YES + +# The LATEX_OUTPUT tag is used to specify where the LaTeX docs will be put. +# If a relative path is entered the value of OUTPUT_DIRECTORY will be +# put in front of it. If left blank `latex' will be used as the default path. + +LATEX_OUTPUT = latex + +# The LATEX_CMD_NAME tag can be used to specify the LaTeX command name to be +# invoked. If left blank `latex' will be used as the default command name. +# Note that when enabling USE_PDFLATEX this option is only used for +# generating bitmaps for formulas in the HTML output, but not in the +# Makefile that is written to the output directory. + +LATEX_CMD_NAME = latex + +# The MAKEINDEX_CMD_NAME tag can be used to specify the command name to +# generate index for LaTeX. If left blank `makeindex' will be used as the +# default command name. + +MAKEINDEX_CMD_NAME = makeindex + +# If the COMPACT_LATEX tag is set to YES Doxygen generates more compact +# LaTeX documents. This may be useful for small projects and may help to +# save some trees in general. + +COMPACT_LATEX = NO + +# The PAPER_TYPE tag can be used to set the paper type that is used +# by the printer. Possible values are: a4, letter, legal and +# executive. If left blank a4wide will be used. + +PAPER_TYPE = a4 + +# The EXTRA_PACKAGES tag can be to specify one or more names of LaTeX +# packages that should be included in the LaTeX output. + +EXTRA_PACKAGES = + +# The LATEX_HEADER tag can be used to specify a personal LaTeX header for +# the generated latex document. The header should contain everything until +# the first chapter. If it is left blank doxygen will generate a +# standard header. Notice: only use this tag if you know what you are doing! + +LATEX_HEADER = + +# The LATEX_FOOTER tag can be used to specify a personal LaTeX footer for +# the generated latex document. The footer should contain everything after +# the last chapter. If it is left blank doxygen will generate a +# standard footer. Notice: only use this tag if you know what you are doing! + +LATEX_FOOTER = + +# If the PDF_HYPERLINKS tag is set to YES, the LaTeX that is generated +# is prepared for conversion to pdf (using ps2pdf). The pdf file will +# contain links (just like the HTML output) instead of page references +# This makes the output suitable for online browsing using a pdf viewer. + +PDF_HYPERLINKS = YES + +# If the USE_PDFLATEX tag is set to YES, pdflatex will be used instead of +# plain latex in the generated Makefile. Set this option to YES to get a +# higher quality PDF documentation. + +USE_PDFLATEX = YES + +# If the LATEX_BATCHMODE tag is set to YES, doxygen will add the \\batchmode. +# command to the generated LaTeX files. This will instruct LaTeX to keep +# running if errors occur, instead of asking the user for help. +# This option is also used when generating formulas in HTML. + +LATEX_BATCHMODE = NO + +# If LATEX_HIDE_INDICES is set to YES then doxygen will not +# include the index chapters (such as File Index, Compound Index, etc.) +# in the output. + +LATEX_HIDE_INDICES = NO + +# If LATEX_SOURCE_CODE is set to YES then doxygen will include +# source code with syntax highlighting in the LaTeX output. +# Note that which sources are shown also depends on other settings +# such as SOURCE_BROWSER. + +LATEX_SOURCE_CODE = NO + +# The LATEX_BIB_STYLE tag can be used to specify the style to use for the +# bibliography, e.g. plainnat, or ieeetr. The default style is "plain". See +# http://en.wikipedia.org/wiki/BibTeX for more info. + +LATEX_BIB_STYLE = plain + +#--------------------------------------------------------------------------- +# configuration options related to the RTF output +#--------------------------------------------------------------------------- + +# If the GENERATE_RTF tag is set to YES Doxygen will generate RTF output +# The RTF output is optimized for Word 97 and may not look very pretty with +# other RTF readers or editors. + +GENERATE_RTF = NO + +# The RTF_OUTPUT tag is used to specify where the RTF docs will be put. +# If a relative path is entered the value of OUTPUT_DIRECTORY will be +# put in front of it. If left blank `rtf' will be used as the default path. + +RTF_OUTPUT = rtf + +# If the COMPACT_RTF tag is set to YES Doxygen generates more compact +# RTF documents. This may be useful for small projects and may help to +# save some trees in general. + +COMPACT_RTF = NO + +# If the RTF_HYPERLINKS tag is set to YES, the RTF that is generated +# will contain hyperlink fields. The RTF file will +# contain links (just like the HTML output) instead of page references. +# This makes the output suitable for online browsing using WORD or other +# programs which support those fields. +# Note: wordpad (write) and others do not support links. + +RTF_HYPERLINKS = NO + +# Load style sheet definitions from file. Syntax is similar to doxygen's +# config file, i.e. a series of assignments. You only have to provide +# replacements, missing definitions are set to their default value. + +RTF_STYLESHEET_FILE = + +# Set optional variables used in the generation of an rtf document. +# Syntax is similar to doxygen's config file. + +RTF_EXTENSIONS_FILE = + +#--------------------------------------------------------------------------- +# configuration options related to the man page output +#--------------------------------------------------------------------------- + +# If the GENERATE_MAN tag is set to YES (the default) Doxygen will +# generate man pages + +GENERATE_MAN = NO + +# The MAN_OUTPUT tag is used to specify where the man pages will be put. +# If a relative path is entered the value of OUTPUT_DIRECTORY will be +# put in front of it. If left blank `man' will be used as the default path. + +MAN_OUTPUT = man + +# The MAN_EXTENSION tag determines the extension that is added to +# the generated man pages (default is the subroutine's section .3) + +MAN_EXTENSION = .3 + +# If the MAN_LINKS tag is set to YES and Doxygen generates man output, +# then it will generate one additional man file for each entity +# documented in the real man page(s). These additional files +# only source the real man page, but without them the man command +# would be unable to find the correct page. The default is NO. + +MAN_LINKS = NO + +#--------------------------------------------------------------------------- +# configuration options related to the XML output +#--------------------------------------------------------------------------- + +# If the GENERATE_XML tag is set to YES Doxygen will +# generate an XML file that captures the structure of +# the code including all documentation. + +GENERATE_XML = NO + +# The XML_OUTPUT tag is used to specify where the XML pages will be put. +# If a relative path is entered the value of OUTPUT_DIRECTORY will be +# put in front of it. If left blank `xml' will be used as the default path. + +XML_OUTPUT = xml + +# The XML_SCHEMA tag can be used to specify an XML schema, +# which can be used by a validating XML parser to check the +# syntax of the XML files. + +XML_SCHEMA = + +# The XML_DTD tag can be used to specify an XML DTD, +# which can be used by a validating XML parser to check the +# syntax of the XML files. + +XML_DTD = + +# If the XML_PROGRAMLISTING tag is set to YES Doxygen will +# dump the program listings (including syntax highlighting +# and cross-referencing information) to the XML output. Note that +# enabling this will significantly increase the size of the XML output. + +XML_PROGRAMLISTING = YES + +#--------------------------------------------------------------------------- +# configuration options for the AutoGen Definitions output +#--------------------------------------------------------------------------- + +# If the GENERATE_AUTOGEN_DEF tag is set to YES Doxygen will +# generate an AutoGen Definitions (see autogen.sf.net) file +# that captures the structure of the code including all +# documentation. Note that this feature is still experimental +# and incomplete at the moment. + +GENERATE_AUTOGEN_DEF = NO + +#--------------------------------------------------------------------------- +# configuration options related to the Perl module output +#--------------------------------------------------------------------------- + +# If the GENERATE_PERLMOD tag is set to YES Doxygen will +# generate a Perl module file that captures the structure of +# the code including all documentation. Note that this +# feature is still experimental and incomplete at the +# moment. + +GENERATE_PERLMOD = NO + +# If the PERLMOD_LATEX tag is set to YES Doxygen will generate +# the necessary Makefile rules, Perl scripts and LaTeX code to be able +# to generate PDF and DVI output from the Perl module output. + +PERLMOD_LATEX = NO + +# If the PERLMOD_PRETTY tag is set to YES the Perl module output will be +# nicely formatted so it can be parsed by a human reader. +# This is useful +# if you want to understand what is going on. +# On the other hand, if this +# tag is set to NO the size of the Perl module output will be much smaller +# and Perl will parse it just the same. + +PERLMOD_PRETTY = YES + +# The names of the make variables in the generated doxyrules.make file +# are prefixed with the string contained in PERLMOD_MAKEVAR_PREFIX. +# This is useful so different doxyrules.make files included by the same +# Makefile don't overwrite each other's variables. + +PERLMOD_MAKEVAR_PREFIX = + +#--------------------------------------------------------------------------- +# Configuration options related to the preprocessor +#--------------------------------------------------------------------------- + +# If the ENABLE_PREPROCESSING tag is set to YES (the default) Doxygen will +# evaluate all C-preprocessor directives found in the sources and include +# files. + +ENABLE_PREPROCESSING = YES + +# If the MACRO_EXPANSION tag is set to YES Doxygen will expand all macro +# names in the source code. If set to NO (the default) only conditional +# compilation will be performed. Macro expansion can be done in a controlled +# way by setting EXPAND_ONLY_PREDEF to YES. + +MACRO_EXPANSION = NO + +# If the EXPAND_ONLY_PREDEF and MACRO_EXPANSION tags are both set to YES +# then the macro expansion is limited to the macros specified with the +# PREDEFINED and EXPAND_AS_DEFINED tags. + +EXPAND_ONLY_PREDEF = NO + +# If the SEARCH_INCLUDES tag is set to YES (the default) the includes files +# pointed to by INCLUDE_PATH will be searched when a #include is found. + +SEARCH_INCLUDES = YES + +# The INCLUDE_PATH tag can be used to specify one or more directories that +# contain include files that are not input files but should be processed by +# the preprocessor. + +INCLUDE_PATH = + +# You can use the INCLUDE_FILE_PATTERNS tag to specify one or more wildcard +# patterns (like *.h and *.hpp) to filter out the header-files in the +# directories. If left blank, the patterns specified with FILE_PATTERNS will +# be used. + +INCLUDE_FILE_PATTERNS = + +# The PREDEFINED tag can be used to specify one or more macro names that +# are defined before the preprocessor is started (similar to the -D option of +# gcc). The argument of the tag is a list of macros of the form: name +# or name=definition (no spaces). If the definition and the = are +# omitted =1 is assumed. To prevent a macro definition from being +# undefined via #undef or recursively expanded use the := operator +# instead of the = operator. + +PREDEFINED = + +# If the MACRO_EXPANSION and EXPAND_ONLY_PREDEF tags are set to YES then +# this tag can be used to specify a list of macro names that should be expanded. +# The macro definition that is found in the sources will be used. +# Use the PREDEFINED tag if you want to use a different macro definition that +# overrules the definition found in the source code. + +EXPAND_AS_DEFINED = + +# If the SKIP_FUNCTION_MACROS tag is set to YES (the default) then +# doxygen's preprocessor will remove all references to function-like macros +# that are alone on a line, have an all uppercase name, and do not end with a +# semicolon, because these will confuse the parser if not removed. + +SKIP_FUNCTION_MACROS = YES + +#--------------------------------------------------------------------------- +# Configuration::additions related to external references +#--------------------------------------------------------------------------- + +# The TAGFILES option can be used to specify one or more tagfiles. +# Optionally an initial location of the external documentation +# can be added for each tagfile. The format of a tag file without +# this location is as follows: +# +# TAGFILES = file1 file2 ... +# Adding location for the tag files is done as follows: +# +# TAGFILES = file1=loc1 "file2 = loc2" ... +# where "loc1" and "loc2" can be relative or absolute paths or +# URLs. If a location is present for each tag, the installdox tool +# does not have to be run to correct the links. +# Note that each tag file must have a unique name +# (where the name does NOT include the path) +# If a tag file is not located in the directory in which doxygen +# is run, you must also specify the path to the tagfile here. + +TAGFILES = + +# When a file name is specified after GENERATE_TAGFILE, doxygen will create +# a tag file that is based on the input files it reads. + +GENERATE_TAGFILE = + +# If the ALLEXTERNALS tag is set to YES all external classes will be listed +# in the class index. If set to NO only the inherited external classes +# will be listed. + +ALLEXTERNALS = NO + +# If the EXTERNAL_GROUPS tag is set to YES all external groups will be listed +# in the modules index. If set to NO, only the current project's groups will +# be listed. + +EXTERNAL_GROUPS = YES + +# The PERL_PATH should be the absolute path and name of the perl script +# interpreter (i.e. the result of `which perl'). + +PERL_PATH = /usr/bin/perl + +#--------------------------------------------------------------------------- +# Configuration options related to the dot tool +#--------------------------------------------------------------------------- + +# If the CLASS_DIAGRAMS tag is set to YES (the default) Doxygen will +# generate a inheritance diagram (in HTML, RTF and LaTeX) for classes with base +# or super classes. Setting the tag to NO turns the diagrams off. Note that +# this option also works with HAVE_DOT disabled, but it is recommended to +# install and use dot, since it yields more powerful graphs. + +CLASS_DIAGRAMS = YES + +# You can define message sequence charts within doxygen comments using the \msc +# command. Doxygen will then run the mscgen tool (see +# http://www.mcternan.me.uk/mscgen/) to produce the chart and insert it in the +# documentation. The MSCGEN_PATH tag allows you to specify the directory where +# the mscgen tool resides. If left empty the tool is assumed to be found in the +# default search path. + +MSCGEN_PATH = + +# If set to YES, the inheritance and collaboration graphs will hide +# inheritance and usage relations if the target is undocumented +# or is not a class. + +HIDE_UNDOC_RELATIONS = YES + +# If you set the HAVE_DOT tag to YES then doxygen will assume the dot tool is +# available from the path. This tool is part of Graphviz, a graph visualization +# toolkit from AT&T and Lucent Bell Labs. The other options in this section +# have no effect if this option is set to NO (the default) + +HAVE_DOT = NO + +# The DOT_NUM_THREADS specifies the number of dot invocations doxygen is +# allowed to run in parallel. When set to 0 (the default) doxygen will +# base this on the number of processors available in the system. You can set it +# explicitly to a value larger than 0 to get control over the balance +# between CPU load and processing speed. + +DOT_NUM_THREADS = 0 + +# By default doxygen will use the Helvetica font for all dot files that +# doxygen generates. When you want a differently looking font you can specify +# the font name using DOT_FONTNAME. You need to make sure dot is able to find +# the font, which can be done by putting it in a standard location or by setting +# the DOTFONTPATH environment variable or by setting DOT_FONTPATH to the +# directory containing the font. + +DOT_FONTNAME = Helvetica + +# The DOT_FONTSIZE tag can be used to set the size of the font of dot graphs. +# The default size is 10pt. + +DOT_FONTSIZE = 10 + +# By default doxygen will tell dot to use the Helvetica font. +# If you specify a different font using DOT_FONTNAME you can use DOT_FONTPATH to +# set the path where dot can find it. + +DOT_FONTPATH = + +# If the CLASS_GRAPH and HAVE_DOT tags are set to YES then doxygen +# will generate a graph for each documented class showing the direct and +# indirect inheritance relations. 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GNU General Public License as published by the Free Software +// Foundation, either version 3 of the License, or any later version. +// +// SVO is distributed in the hope that it will be useful, but WITHOUT ANY +// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS +// FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. +// +// You should have received a copy of the GNU General Public License +// along with this program. If not, see . + +#ifndef SVO_BUNDLE_ADJUSTMENT_H_ +#define SVO_BUNDLE_ADJUSTMENT_H_ + +#include + +namespace g2o { +class EdgeProjectXYZ2UV; +class SparseOptimizer; +class VertexSE3Expmap; +class VertexSBAPointXYZ; +} + +namespace svo { + +typedef g2o::EdgeProjectXYZ2UV g2oEdgeSE3; +typedef g2o::VertexSE3Expmap g2oFrameSE3; +typedef g2o::VertexSBAPointXYZ g2oPoint; + +class Frame; +class Point; +class Feature; +class Map; + +/// Local, global and 2-view bundle adjustment with g2o +namespace ba { + +/// Temporary container to hold the g2o edge with reference to frame and point. +struct EdgeContainerSE3 +{ + g2oEdgeSE3* edge; + Frame* frame; + Feature* feature; + bool is_deleted; + EdgeContainerSE3(g2oEdgeSE3* e, Frame* frame, Feature* feature) : + edge(e), frame(frame), feature(feature), is_deleted(false) + {} +}; + +/// Optimize two camera frames and their observed 3D points. +/// Is used after initialization. +void twoViewBA(Frame* frame1, Frame* frame2, double reproj_thresh, Map* map); + +/// Local bundle adjustment. +/// Optimizes core_kfs and their observed map points while keeping the +/// neighbourhood fixed. +void localBA( + Frame* center_kf, + set* core_kfs, + Map* map, + size_t& n_incorrect_edges_1, + size_t& n_incorrect_edges_2, + double& init_error, + double& final_error); + +/// Global bundle adjustment. +/// Optimizes the whole map. Is currently not used in SVO. +void globalBA(Map* map); + +/// Initialize g2o with solver type, optimization strategy and camera model. +void setupG2o(g2o::SparseOptimizer * optimizer); + +/// Run the optimization on the provided graph. +void runSparseBAOptimizer( + g2o::SparseOptimizer* optimizer, + unsigned int num_iter, + double& init_error, + double& final_error); + +/// Create a g2o vertice from a keyframe object. +g2oFrameSE3* createG2oFrameSE3( + Frame* kf, + size_t id, + bool fixed); + +/// Creates a g2o vertice from a mappoint object. +g2oPoint* createG2oPoint( + Vector3d pos, + size_t id, + bool fixed); + +/// Creates a g2o edge between a g2o keyframe and mappoint vertice with the provided measurement. +g2oEdgeSE3* createG2oEdgeSE3( + g2oFrameSE3* v_kf, + g2oPoint* v_mp, + const Vector2d& f_up, + bool robust_kernel, + double huber_width, + double weight = 1); + +} // namespace ba +} // namespace svo + +#endif // SVO_BUNDLE_ADJUSTMENT_H_ diff --git a/GPU_version/svo/include/svo/config.h b/GPU_version/svo/include/svo/config.h new file mode 100644 index 0000000..e1c97b1 --- /dev/null +++ b/GPU_version/svo/include/svo/config.h @@ -0,0 +1,177 @@ +// This file is part of SVO - Semi-direct Visual Odometry. +// +// Copyright (C) 2014 Christian Forster +// (Robotics and Perception Group, University of Zurich, Switzerland). +// +// SVO is free software: you can redistribute it and/or modify it under the +// terms of the GNU General Public License as published by the Free Software +// Foundation, either version 3 of the License, or any later version. +// +// SVO is distributed in the hope that it will be useful, but WITHOUT ANY +// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS +// FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. +// +// You should have received a copy of the GNU General Public License +// along with this program. If not, see . + +#ifndef SVO_CONFIG_H_ +#define SVO_CONFIG_H_ + +#include +#include +#include + +namespace svo { + +using std::string; + +/// Global configuration file of SVO. +/// Implements the Singleton design pattern to allow global access and to ensure +/// that only one instance exists. +class Config +{ +public: + static Config& getInstance(); + + /// Base-name of the tracefiles. + static string& traceName() { return getInstance().trace_name; } + + /// Directory where the tracefiles are saved. + static string& traceDir() { return getInstance().trace_dir; } + + /// Number of pyramid levels used for features. + static size_t& nPyrLevels() { return getInstance().n_pyr_levels; } + + /// Use the IMU to get relative rotations. + static bool& useImu() { return getInstance().use_imu; } + + /// Number of keyframes in the core. The core-kfs are optimized through bundle adjustment. + static size_t& coreNKfs() { return getInstance().core_n_kfs; } + + /// Initial scale of the map. Depends on the distance the camera is moved for the initialization. + static double& mapScale() { return getInstance().map_scale; } + + /// Feature grid size of a cell in [px]. + static size_t& gridSize() { return getInstance().grid_size; } + + /// Initialization: Minimum required disparity between the first two frames. + static double& initMinDisparity() { return getInstance().init_min_disparity; } + + /// Initialization: Minimum number of tracked features. + static size_t& initMinTracked() { return getInstance().init_min_tracked; } + + /// Initialization: Minimum number of inliers after RANSAC. + static size_t& initMinInliers() { return getInstance().init_min_inliers; } + + /// Maximum level of the Lucas Kanade tracker. + static size_t& kltMaxLevel() { return getInstance().klt_max_level; } + + /// Minimum level of the Lucas Kanade tracker. + static size_t& kltMinLevel() { return getInstance().klt_min_level; } + + /// Reprojection threshold [px]. + static double& reprojThresh() { return getInstance().reproj_thresh; } + + /// Reprojection threshold after pose optimization. + static double& poseOptimThresh() { return getInstance().poseoptim_thresh; } + + /// Number of iterations in local bundle adjustment. + static size_t& poseOptimNumIter() { return getInstance().poseoptim_num_iter; } + + /// Maximum number of points to optimize at every iteration. + static size_t& structureOptimMaxPts() { return getInstance().structureoptim_max_pts; } + + /// Number of iterations in structure optimization. + static size_t& structureOptimNumIter() { return getInstance().structureoptim_num_iter; } + + /// Reprojection threshold after bundle adjustment. + static double& lobaThresh() { return getInstance().loba_thresh; } + + /// Threshold for the robust Huber kernel of the local bundle adjustment. + static double& lobaRobustHuberWidth() { return getInstance().loba_robust_huber_width; } + + /// Number of iterations in the local bundle adjustment. + static size_t& lobaNumIter() { return getInstance().loba_num_iter; } + + /// Minimum distance between two keyframes. Relative to the average height in the map. + static double& kfSelectMinDist() { return getInstance().kfselect_mindist; } + + /// Select only features with a minimum Harris corner score for triangulation. + static double& triangMinCornerScore() { return getInstance().triang_min_corner_score; } + + /// Subpixel refinement of reprojection and triangulation. Set to 0 if no subpix refinement required! + static size_t& subpixNIter() { return getInstance().subpix_n_iter; } + + /// Limit the number of keyframes in the map. This makes nslam essentially. + /// a Visual Odometry. Set to 0 if unlimited number of keyframes are allowed. + /// Minimum number of keyframes is 3. + static size_t& maxNKfs() { return getInstance().max_n_kfs; } + + /// How much (in milliseconds) is the camera delayed with respect to the imu. + static double& imgImuDelay() { return getInstance().img_imu_delay; } + + /// Maximum number of features that should be tracked. + static size_t& maxFts() { return getInstance().max_fts; } + + /// If the number of tracked features drops below this threshold. Tracking quality is bad. + static size_t& qualityMinFts() { return getInstance().quality_min_fts; } + + /// If within one frame, this amount of features are dropped. Tracking quality is bad. + static int& qualityMaxFtsDrop() { return getInstance().quality_max_drop_fts; } + + /// acc white noise in continuous. + static double& ACC_Noise() { return getInstance().ACC_noise; } + + /// acc white noise in continuous. + static double& GYO_Noise() { return getInstance().GYO_noise; } + /// integration uncertainty continuous + static double& IUC() { return getInstance().iuc; } + // acc bias in continuous + static double& ABC() { return getInstance().abc; } + // gyro bias in continuous + static double& GBC() { return getInstance().gbc; } + // error in the bias used for preintegration + static double& EBP() { return getInstance().ebp; } + // the noise used for projection + static double& NRP() { return getInstance().nrp; } + + +private: + Config(); + Config(Config const&); + void operator=(Config const&); + string trace_name; + string trace_dir; + size_t n_pyr_levels; + bool use_imu; + size_t core_n_kfs; + double map_scale; + size_t grid_size; + double init_min_disparity; + size_t init_min_tracked; + size_t init_min_inliers; + size_t klt_max_level; + size_t klt_min_level; + double reproj_thresh; + double poseoptim_thresh; + size_t poseoptim_num_iter; + size_t structureoptim_max_pts; + size_t structureoptim_num_iter; + double loba_thresh; + double loba_robust_huber_width; + size_t loba_num_iter; + double kfselect_mindist; + double triang_min_corner_score; + size_t triang_half_patch_size; + size_t subpix_n_iter; + size_t max_n_kfs; + double img_imu_delay; + size_t max_fts; + size_t quality_min_fts; + int quality_max_drop_fts; + double nrp,ebp,gbc,abc,iuc,ACC_noise,GYO_noise; +}; + +} // namespace svo + +#endif // SVO_CONFIG_H_ diff --git a/GPU_version/svo/include/svo/depth_filter.h b/GPU_version/svo/include/svo/depth_filter.h new file mode 100644 index 0000000..1612d0e --- /dev/null +++ b/GPU_version/svo/include/svo/depth_filter.h @@ -0,0 +1,171 @@ +// This file is part of SVO - Semi-direct Visual Odometry. +// +// Copyright (C) 2014 Christian Forster +// (Robotics and Perception Group, University of Zurich, Switzerland). +// +// SVO is free software: you can redistribute it and/or modify it under the +// terms of the GNU General Public License as published by the Free Software +// Foundation, either version 3 of the License, or any later version. +// +// SVO is distributed in the hope that it will be useful, but WITHOUT ANY +// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS +// FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. +// +// You should have received a copy of the GNU General Public License +// along with this program. If not, see . + +#ifndef SVO_DEPTH_FILTER_H_ +#define SVO_DEPTH_FILTER_H_ + +#include +#include +#include +#include +#include +#include +#include + +namespace svo { + +class Frame; +class Feature; +class Point; + +/// A seed is a probabilistic depth estimate for a single pixel. +struct Seed +{ + EIGEN_MAKE_ALIGNED_OPERATOR_NEW + + static int batch_counter; + static int seed_counter; + int batch_id; //!< Batch id is the id of the keyframe for which the seed was created. + int id; //!< Seed ID, only used for visualization. + Feature* ftr; //!< Feature in the keyframe for which the depth should be computed. + float a; //!< a of Beta distribution: When high, probability of inlier is large. + float b; //!< b of Beta distribution: When high, probability of outlier is large. + float mu; //!< Mean of normal distribution. + float z_range; //!< Max range of the possible depth. + float sigma2; //!< Variance of normal distribution. + Matrix2d patch_cov; //!< Patch covariance in reference image. + Seed(Feature* ftr, float depth_mean, float depth_min); +}; + +/// Depth filter implements the Bayesian Update proposed in: +/// "Video-based, Real-Time Multi View Stereo" by G. Vogiatzis and C. Hernández. +/// In Image and Vision Computing, 29(7):434-441, 2011. +/// +/// The class uses a callback mechanism such that it can be used also by other +/// algorithms than nslam and for simplified testing. +class DepthFilter +{ +public: + EIGEN_MAKE_ALIGNED_OPERATOR_NEW + + typedef boost::unique_lock lock_t; + typedef boost::function callback_t; + + /// Depth-filter config parameters + struct Options + { + bool check_ftr_angle; //!< gradient features are only updated if the epipolar line is orthogonal to the gradient. + bool epi_search_1d; //!< restrict Gauss Newton in the epipolar search to the epipolar line. + bool verbose; //!< display output. + bool use_photometric_disparity_error; //!< use photometric disparity error instead of 1px error in tau computation. + int max_n_kfs; //!< maximum number of keyframes for which we maintain seeds. + double sigma_i_sq; //!< image noise. + double seed_convergence_sigma2_thresh; //!< threshold on depth uncertainty for convergence. + Options() + : check_ftr_angle(false), + epi_search_1d(false), + verbose(false), + use_photometric_disparity_error(false), + max_n_kfs(3), + sigma_i_sq(5e-4), + seed_convergence_sigma2_thresh(200.0) + {} + } options_; + + DepthFilter( + feature_detection::DetectorPtr feature_detector, + callback_t seed_converged_cb); + + virtual ~DepthFilter(); + + /// Start this thread when seed updating should be in a parallel thread. + void startThread(); + + /// Stop the parallel thread that is running. + void stopThread(); + + /// Add frame to the queue to be processed. + void addFrame(FramePtr frame); + + /// Add new keyframe to the queue + void addKeyframe(FramePtr frame, double depth_mean, double depth_min); + + /// Remove all seeds which are initialized from the specified keyframe. This + /// function is used to make sure that no seeds points to a non-existent frame + /// when a frame is removed from the map. + void removeKeyframe(FramePtr frame); + + /// If the map is reset, call this function such that we don't have pointers + /// to old frames. + void reset(); + + /// Returns a copy of the seeds belonging to frame. Thread-safe. + /// Can be used to compute the Next-Best-View in parallel. + /// IMPORTANT! Make sure you hold a valid reference counting pointer to frame + /// so it is not being deleted while you use it. + void getSeedsCopy(const FramePtr& frame, std::list& seeds); + + /// Return a reference to the seeds. This is NOT THREAD SAFE! + //std::list& getSeeds() { return seeds_; } Bug 238 + std::list>& getSeeds() { return seeds_; } + + /// Bayes update of the seed, x is the measurement, tau2 the measurement uncertainty + static void updateSeed( + const float x, + const float tau2, + Seed* seed); + + /// Compute the uncertainty of the measurement. + static double computeTau( + const SE3& T_ref_cur, + const Vector3d& f, + const double z, + const double px_error_angle); + +protected: + feature_detection::DetectorPtr feature_detector_; + callback_t seed_converged_cb_; + //std::list seeds_; + std::list> seeds_; + boost::mutex seeds_mut_; + bool seeds_updating_halt_; //!< Set this value to true when seeds updating should be interrupted. + boost::thread* thread_; + std::queue frame_queue_; + boost::mutex frame_queue_mut_; + boost::condition_variable frame_queue_cond_; + FramePtr new_keyframe_; //!< Next keyframe to extract new seeds. + bool new_keyframe_set_; //!< Do we have a new keyframe to process?. + double new_keyframe_min_depth_; //!< Minimum depth in the new keyframe. Used for range in new seeds. + double new_keyframe_mean_depth_; //!< Maximum depth in the new keyframe. Used for range in new seeds. + vk::PerformanceMonitor permon_; //!< Separate performance monitor since the DepthFilter runs in a parallel thread. + Matcher matcher_; + + /// Initialize new seeds from a frame. + void initializeSeeds(FramePtr frame); + + /// Update all seeds with a new measurement frame. + virtual void updateSeeds(FramePtr frame); + + /// When a new keyframe arrives, the frame queue should be cleared. + void clearFrameQueue(); + + /// A thread that is continuously updating the seeds. + void updateSeedsLoop(); +}; + +} // namespace svo + +#endif // SVO_DEPTH_FILTER_H_ diff --git a/GPU_version/svo/include/svo/feature.h b/GPU_version/svo/include/svo/feature.h new file mode 100644 index 0000000..6f90a9a --- /dev/null +++ b/GPU_version/svo/include/svo/feature.h @@ -0,0 +1,75 @@ +// This file is part of SVO - Semi-direct Visual Odometry. +// +// Copyright (C) 2014 Christian Forster +// (Robotics and Perception Group, University of Zurich, Switzerland). +// +// SVO is free software: you can redistribute it and/or modify it under the +// terms of the GNU General Public License as published by the Free Software +// Foundation, either version 3 of the License, or any later version. +// +// SVO is distributed in the hope that it will be useful, but WITHOUT ANY +// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS +// FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. +// +// You should have received a copy of the GNU General Public License +// along with this program. If not, see . + +#ifndef SVO_FEATURE_H_ +#define SVO_FEATURE_H_ + +#include + +namespace svo { + +/// A salient image region that is tracked across frames. +struct Feature +{ + EIGEN_MAKE_ALIGNED_OPERATOR_NEW + + enum FeatureType { + CORNER, + EDGELET + }; + + FeatureType type; //!< Type can be corner or edgelet. + Frame* frame; //!< Pointer to frame in which the feature was detected. + Vector2d px; //!< Coordinates in pixels on pyramid level 0. + Vector3d f; //!< Unit-bearing vector of the feature. + int level; //!< Image pyramid level where feature was extracted. + Point* point; //!< Pointer to 3D point which corresponds to the feature. + Vector2d grad; //!< Dominant gradient direction for edglets, normalized. + + Feature(Frame* _frame, const Vector2d& _px, int _level) : + type(CORNER), + frame(_frame), + px(_px), + f(frame->cam_->cam2world(px)), + level(_level), + point(NULL), + grad(1.0,0.0) + {} + + Feature(Frame* _frame, const Vector2d& _px, const Vector3d& _f, int _level) : + type(CORNER), + frame(_frame), + px(_px), + f(_f), + level(_level), + point(NULL), + grad(1.0,0.0) + {} + + Feature(Frame* _frame, Point* _point, const Vector2d& _px, const Vector3d& _f, int _level) : + type(CORNER), + frame(_frame), + px(_px), + f(_f), + level(_level), + point(_point), + grad(1.0,0.0) + {} +}; + +} // namespace svo + +#endif // SVO_FEATURE_H_ diff --git a/GPU_version/svo/include/svo/feature_alignment.h b/GPU_version/svo/include/svo/feature_alignment.h new file mode 100644 index 0000000..12523e3 --- /dev/null +++ b/GPU_version/svo/include/svo/feature_alignment.h @@ -0,0 +1,63 @@ +// This file is part of SVO - Semi-direct Visual Odometry. +// +// Copyright (C) 2014 Christian Forster +// (Robotics and Perception Group, University of Zurich, Switzerland). +// +// SVO is free software: you can redistribute it and/or modify it under the +// terms of the GNU General Public License as published by the Free Software +// Foundation, either version 3 of the License, or any later version. +// +// SVO is distributed in the hope that it will be useful, but WITHOUT ANY +// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS +// FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. +// +// You should have received a copy of the GNU General Public License +// along with this program. If not, see . + +#ifndef SVO_FEATURE_ALIGNMENT_H_ +#define SVO_FEATURE_ALIGNMENT_H_ + +#include + +namespace svo { + +/// Subpixel refinement of a reference feature patch with the current image. +/// Implements the inverse-compositional approach (see "Lucas-Kanade 20 Years on" +/// paper by Baker. +namespace feature_alignment { + +bool align1D( + const cv::Mat& cur_img, + const Vector2f& dir, // direction in which the patch is allowed to move + uint8_t* ref_patch_with_border, + uint8_t* ref_patch, + const int n_iter, + Vector2d& cur_px_estimate, + double& h_inv); + +bool align2D( + const cv::Mat& cur_img, + uint8_t* ref_patch_with_border, + uint8_t* ref_patch, + const int n_iter, + Vector2d& cur_px_estimate, + bool no_simd = false); + +bool align2D_SSE2( + const cv::Mat& cur_img, + uint8_t* ref_patch_with_border, + uint8_t* ref_patch, + const int n_iter, + Vector2d& cur_px_estimate); + +bool align2D_NEON( + const cv::Mat& cur_img, + uint8_t* ref_patch_with_border, + uint8_t* ref_patch, + const int n_iter, + Vector2d& cur_px_estimate); + +} // namespace feature_alignment +} // namespace svo + +#endif // SVO_FEATURE_ALIGNMENT_H_ diff --git a/GPU_version/svo/include/svo/feature_detection.h b/GPU_version/svo/include/svo/feature_detection.h new file mode 100644 index 0000000..d0990a8 --- /dev/null +++ b/GPU_version/svo/include/svo/feature_detection.h @@ -0,0 +1,107 @@ +// This file is part of SVO - Semi-direct Visual Odometry. +// +// Copyright (C) 2014 Christian Forster +// (Robotics and Perception Group, University of Zurich, Switzerland). +// +// SVO is free software: you can redistribute it and/or modify it under the +// terms of the GNU General Public License as published by the Free Software +// Foundation, either version 3 of the License, or any later version. +// +// SVO is distributed in the hope that it will be useful, but WITHOUT ANY +// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS +// FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. +// +// You should have received a copy of the GNU General Public License +// along with this program. If not, see . + +#ifndef SVO_FEATURE_DETECTION_H_ +#define SVO_FEATURE_DETECTION_H_ + +#include +#include + +namespace svo { + +/// Implementation of various feature detectors. +namespace feature_detection { + +/// Temporary container used for corner detection. Features are initialized from these. +struct Corner +{ + int x; //!< x-coordinate of corner in the image. + int y; //!< y-coordinate of corner in the image. + int level; //!< pyramid level of the corner. + float score; //!< shi-tomasi score of the corner. + float angle; //!< for gradient-features: dominant gradient angle. + Corner(int x, int y, float score, int level, float angle) : + x(x), y(y), level(level), score(score), angle(angle) + {} +}; +typedef vector Corners; + +/// All detectors should derive from this abstract class. +class AbstractDetector +{ +public: + AbstractDetector( + const int img_width, + const int img_height, + const int cell_size, + const int n_pyr_levels); + + virtual ~AbstractDetector() {}; + + virtual void detect( + Frame* frame, + const ImgPyr& img_pyr, + const double detection_threshold, + Features& fts) = 0; + + /// Flag the grid cell as occupied + void setGridOccpuancy(const Vector2d& px); + + /// Set grid cells of existing features as occupied + void setExistingFeatures(const Features& fts); + +protected: + + static const int border_ = 8; //!< no feature should be within 8px of border. + const int cell_size_; + const int n_pyr_levels_; + const int grid_n_cols_; + const int grid_n_rows_; + vector grid_occupancy_; + + void resetGrid(); + + inline int getCellIndex(int x, int y, int level) + { + const int scale = (1< DetectorPtr; + +/// FAST detector by Edward Rosten. +class FastDetector : public AbstractDetector +{ +public: + FastDetector( + const int img_width, + const int img_height, + const int cell_size, + const int n_pyr_levels); + + virtual ~FastDetector() {} + + virtual void detect( + Frame* frame, + const ImgPyr& img_pyr, + const double detection_threshold, + Features& fts); +}; + +} // namespace feature_detection +} // namespace svo + +#endif // SVO_FEATURE_DETECTION_H_ diff --git a/GPU_version/svo/include/svo/frame.h b/GPU_version/svo/include/svo/frame.h new file mode 100644 index 0000000..c926277 --- /dev/null +++ b/GPU_version/svo/include/svo/frame.h @@ -0,0 +1,154 @@ +// This file is part of SVO - Semi-direct Visual Odometry. +// +// Copyright (C) 2014 Christian Forster +// (Robotics and Perception Group, University of Zurich, Switzerland). +// +// SVO is free software: you can redistribute it and/or modify it under the +// terms of the GNU General Public License as published by the Free Software +// Foundation, either version 3 of the License, or any later version. +// +// SVO is distributed in the hope that it will be useful, but WITHOUT ANY +// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS +// FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. +// +// You should have received a copy of the GNU General Public License +// along with this program. If not, see . + +#ifndef SVO_FRAME_H_ +#define SVO_FRAME_H_ + +#include +#include +#include +#include +#include + +namespace g2o { +class VertexSE3Expmap; +} +typedef g2o::VertexSE3Expmap g2oFrameSE3; + +namespace svo { + +class Point; +struct Feature; + +typedef list Features; +typedef vector ImgPyr; + +/// A frame saves the image, the associated features and the estimated pose. +class Frame : boost::noncopyable +{ +public: + EIGEN_MAKE_ALIGNED_OPERATOR_NEW + + static int frame_counter_; //!< Counts the number of created frames. Used to set the unique id. + int id_; //!< Unique id of the frame. + double timestamp_; //!< Timestamp of when the image was recorded. + vk::AbstractCamera* cam_; //!< Camera model. + Sophus::SE3 T_f_w_; //!< Transform (f)rame from (w)orld. + Matrix Cov_; //!< Covariance. + ImgPyr img_pyr_; //!< Image Pyramid. + Features fts_; //!< List of features in the image. + vector key_pts_; //!< Five features and associated 3D points which are used to detect if two frames have overlapping field of view. + bool is_keyframe_; //!< Was this frames selected as keyframe? + g2oFrameSE3* v_kf_; //!< Temporary pointer to the g2o node object of the keyframe. + int last_published_ts_; //!< Timestamp of last publishing. + + Frame(vk::AbstractCamera* cam, const cv::Mat& img, double timestamp); + ~Frame(); + + /// Initialize new frame and create image pyramid. + void initFrame(const cv::Mat& img); + + /// Select this frame as keyframe. + void setKeyframe(); + + /// Add a feature to the image + void addFeature(Feature* ftr); + + /// The KeyPoints are those five features which are closest to the 4 image corners + /// and to the center and which have a 3D point assigned. These points are used + /// to quickly check whether two frames have overlapping field of view. + void setKeyPoints(); + + /// Check if we can select five better key-points. + void checkKeyPoints(Feature* ftr); + + /// If a point is deleted, we must remove the corresponding key-point. + void removeKeyPoint(Feature* ftr); + + /// Return number of point observations. + inline size_t nObs() const { return fts_.size(); } + + /// Check if a point in (w)orld coordinate frame is visible in the image. + bool isVisible(const Vector3d& xyz_w) const; + + /// Full resolution image stored in the frame. + inline const cv::Mat& img() const { return img_pyr_[0]; } + + /// Was this frame selected as keyframe? + inline bool isKeyframe() const { return is_keyframe_; } + + /// Transforms point coordinates in world-frame (w) to camera pixel coordinates (c). + inline Vector2d w2c(const Vector3d& xyz_w) const { return cam_->world2cam( T_f_w_ * xyz_w ); } + + /// Transforms pixel coordinates (c) to frame unit sphere coordinates (f). + inline Vector3d c2f(const Vector2d& px) const { return cam_->cam2world(px[0], px[1]); } + + /// Transforms pixel coordinates (c) to frame unit sphere coordinates (f). + inline Vector3d c2f(const double x, const double y) const { return cam_->cam2world(x, y); } + + /// Transforms point coordinates in world-frame (w) to camera-frams (f). + inline Vector3d w2f(const Vector3d& xyz_w) const { return T_f_w_ * xyz_w; } + + /// Transforms point from frame unit sphere (f) frame to world coordinate frame (w). + inline Vector3d f2w(const Vector3d& f) const { return T_f_w_.inverse() * 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 Vector3d pos() const { return T_f_w_.inverse().translation(); } + + /// Frame jacobian for projection of 3D point in (f)rame coordinate to + /// unit plane coordinates uv (focal length = 1). + inline static void jacobian_xyz2uv( + const Vector3d& xyz_in_f, + Matrix& J) + { + const double x = xyz_in_f[0]; + const double y = xyz_in_f[1]; + const double z_inv = 1./xyz_in_f[2]; + const double z_inv_2 = z_inv*z_inv; + + J(0,0) = -z_inv; // -1/z + J(0,1) = 0.0; // 0 + J(0,2) = x*z_inv_2; // x/z^2 + J(0,3) = y*J(0,2); // x*y/z^2 + J(0,4) = -(1.0 + x*J(0,2)); // -(1.0 + x^2/z^2) + J(0,5) = y*z_inv; // y/z + + J(1,0) = 0.0; // 0 + J(1,1) = -z_inv; // -1/z + J(1,2) = y*z_inv_2; // y/z^2 + J(1,3) = 1.0 + y*J(1,2); // 1.0 + y^2/z^2 + J(1,4) = -J(0,3); // -x*y/z^2 + J(1,5) = -x*z_inv; // x/z + } +}; + + +/// Some helper functions for the frame object. +namespace frame_utils { + +/// Creates an image pyramid of half-sampled images. +void createImgPyramid(const cv::Mat& img_level_0, int n_levels, ImgPyr& pyr); + +/// Get the average depth of the features in the image. +bool getSceneDepth(const Frame& frame, double& depth_mean, double& depth_min); + +} // namespace frame_utils +} // namespace svo + +#endif // SVO_FRAME_H_ diff --git a/GPU_version/svo/include/svo/frame_handler_base.h b/GPU_version/svo/include/svo/frame_handler_base.h new file mode 100644 index 0000000..9a78639 --- /dev/null +++ b/GPU_version/svo/include/svo/frame_handler_base.h @@ -0,0 +1,123 @@ +// This file is part of SVO - Semi-direct Visual Odometry. +// +// Copyright (C) 2014 Christian Forster +// (Robotics and Perception Group, University of Zurich, Switzerland). +// +// SVO is free software: you can redistribute it and/or modify it under the +// terms of the GNU General Public License as published by the Free Software +// Foundation, either version 3 of the License, or any later version. +// +// SVO is distributed in the hope that it will be useful, but WITHOUT ANY +// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS +// FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. +// +// You should have received a copy of the GNU General Public License +// along with this program. If not, see . + +#ifndef SVO_FRAME_HANDLER_BASE_H_ +#define SVO_FRAME_HANDLER_BASE_H_ + +#include +#include +#include +#include +#include +#include +#include +#include + +namespace vk +{ +class AbstractCamera; +class PerformanceMonitor; +} + +namespace svo +{ +class Point; +class Matcher; +class DepthFilter; + +/// Base class for various VO pipelines. Manages the map and the state machine. +class FrameHandlerBase : boost::noncopyable +{ +public: + enum Stage { + STAGE_PAUSED, + STAGE_FIRST_FRAME, + STAGE_SECOND_FRAME, + STAGE_DEFAULT_FRAME, + STAGE_RELOCALIZING + }; + enum TrackingQuality { + TRACKING_INSUFFICIENT, + TRACKING_BAD, + TRACKING_GOOD + }; + enum UpdateResult { + RESULT_NO_KEYFRAME, + RESULT_IS_KEYFRAME, + RESULT_FAILURE + }; + + FrameHandlerBase(); + + virtual ~FrameHandlerBase(); + + /// Get the current map. + const Map& map() const { return map_; } + + /// Will reset the map as soon as the current frame is finished processing. + void reset() { set_reset_ = true; } + + /// Start processing. + void start() { set_start_ = true; } + + /// Get the current stage of the algorithm. + Stage stage() const { return stage_; } + + /// Get tracking quality. + TrackingQuality trackingQuality() const { return tracking_quality_; } + + /// Get the processing time of the previous iteration. + double lastProcessingTime() const { return timer_.getTime(); } + + /// Get the number of feature observations of the last frame. + size_t lastNumObservations() const { return num_obs_last_; } + +protected: + Stage stage_; //!< Current stage of the algorithm. + bool set_reset_; //!< Flag that the user can set. Will reset the system before the next iteration. + bool set_start_; //!< Flag the user can set to start the system when the next image is received. + Map map_; //!< Map of keyframes created by the slam system. + vk::Timer timer_; //!< Stopwatch to measure time to process frame. + vk::RingBuffer acc_frame_timings_; //!< Total processing time of the last 10 frames, used to give some user feedback on the performance. + vk::RingBuffer acc_num_obs_; //!< Number of observed features of the last 10 frames, used to give some user feedback on the tracking performance. + size_t num_obs_last_; //!< Number of observations in the previous frame. + TrackingQuality tracking_quality_; //!< An estimate of the tracking quality based on the number of tracked features. + + /// Before a frame is processed, this function is called. + bool startFrameProcessingCommon(const double timestamp); + + /// When a frame is finished processing, this function is called. + int finishFrameProcessingCommon( + const size_t update_id, + const UpdateResult dropout, + const size_t num_observations); + + /// Reset the map and frame handler to start from scratch. + void resetCommon(); + + /// Reset the frame handler. Implement in derived class. + virtual void resetAll() { resetCommon(); } + + /// Set the tracking quality based on the number of tracked features. + virtual void setTrackingQuality(const size_t num_observations); + + /// Optimize some of the observed 3D points. + virtual void optimizeStructure(FramePtr frame, size_t max_n_pts, int max_iter); +}; + +} // namespace nslam + +#endif // SVO_FRAME_HANDLER_BASE_H_ diff --git a/GPU_version/svo/include/svo/frame_handler_mono.h b/GPU_version/svo/include/svo/frame_handler_mono.h new file mode 100644 index 0000000..58789c8 --- /dev/null +++ b/GPU_version/svo/include/svo/frame_handler_mono.h @@ -0,0 +1,104 @@ +// This file is part of SVO - Semi-direct Visual Odometry. +// +// Copyright (C) 2014 Christian Forster +// (Robotics and Perception Group, University of Zurich, Switzerland). +// +// SVO is free software: you can redistribute it and/or modify it under the +// terms of the GNU General Public License as published by the Free Software +// Foundation, either version 3 of the License, or any later version. +// +// SVO is distributed in the hope that it will be useful, but WITHOUT ANY +// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS +// FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. +// +// You should have received a copy of the GNU General Public License +// along with this program. If not, see . + +#ifndef SVO_FRAME_HANDLER_H_ +#define SVO_FRAME_HANDLER_H_ + +#include +#include +#include +#include +#include +#include + +namespace svo { + +/// Monocular Visual Odometry Pipeline as described in the SVO paper. +class FrameHandlerMono : public FrameHandlerBase +{ +public: + EIGEN_MAKE_ALIGNED_OPERATOR_NEW + + FrameHandlerMono(vk::AbstractCamera* cam,Sophus::SE3& SE_init); + virtual ~FrameHandlerMono(); + + /// Provide an image. + void addImage(const cv::Mat& img, double timestamp); + + /// Set the first frame (used for synthetic datasets in benchmark node) + void setFirstFrame(const FramePtr& first_frame); + + /// Get the last frame that has been processed. + FramePtr lastFrame() { return last_frame_; } + + /// Get the set of spatially closest keyframes of the last frame. + const set& coreKeyframes() { return core_kfs_; } + + /// Return the feature track to visualize the KLT tracking during initialization. + const vector& initFeatureTrackRefPx() const { return klt_homography_init_.px_ref_; } + const vector& initFeatureTrackCurPx() const { return klt_homography_init_.px_cur_; } + + /// Access the depth filter. + DepthFilter* depthFilter() const { return depth_filter_; } + + /// An external place recognition module may know where to relocalize. + bool relocalizeFrameAtPose( + const int keyframe_id, + const SE3& T_kf_f, + const cv::Mat& img, + const double timestamp); + std::unique_ptr imu_integPtr_; //Integration of IMU + +protected: + vk::AbstractCamera* cam_; //!< Camera model, can be ATAN, Pinhole or Ocam (see vikit). + Reprojector reprojector_; //!< Projects points from other keyframes into the current frame + FramePtr new_frame_; //!< Current frame. + FramePtr last_frame_; //!< Last frame, not necessarily a keyframe. + set core_kfs_; //!< Keyframes in the closer neighbourhood. + vector< pair > overlap_kfs_; //!< All keyframes with overlapping field of view. the paired number specifies how many common mappoints are observed TODO: why vector!? + initialization::KltHomographyInit klt_homography_init_; //!< Used to estimate pose of the first two keyframes by estimating a homography. + DepthFilter* depth_filter_; //!< Depth estimation algorithm runs in a parallel thread and is used to initialize new 3D points. + + + /// Initialize the visual odometry algorithm. + virtual void initialize(); + + /// Processes the first frame and sets it as a keyframe. + virtual UpdateResult processFirstFrame(); + + /// Processes all frames after the first frame until a keyframe is selected. + virtual UpdateResult processSecondFrame(); + + /// Processes all frames after the first two keyframes. + virtual UpdateResult processFrame(); + + /// Try relocalizing the frame at relative position to provided keyframe. + virtual UpdateResult relocalizeFrame( + const SE3& T_cur_ref, + FramePtr ref_keyframe); + + /// Reset the frame handler. Implement in derived class. + virtual void resetAll(); + + /// Keyframe selection criterion. + virtual bool needNewKf(double scene_depth_mean); + + void setCoreKfs(size_t n_closest); +}; + +} // namespace svo + +#endif // SVO_FRAME_HANDLER_H_ diff --git a/GPU_version/svo/include/svo/global.h b/GPU_version/svo/include/svo/global.h new file mode 100644 index 0000000..03aff4e --- /dev/null +++ b/GPU_version/svo/include/svo/global.h @@ -0,0 +1,101 @@ +// This file is part of SVO - Semi-direct Visual Odometry. +// +// Copyright (C) 2014 Christian Forster +// (Robotics and Perception Group, University of Zurich, Switzerland). +// +// SVO is free software: you can redistribute it and/or modify it under the +// terms of the GNU General Public License as published by the Free Software +// Foundation, either version 3 of the License, or any later version. +// +// SVO is distributed in the hope that it will be useful, but WITHOUT ANY +// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS +// FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. +// +// You should have received a copy of the GNU General Public License +// along with this program. If not, see . + +#ifndef SVO_GLOBAL_H_ +#define SVO_GLOBAL_H_ + +#include +#include +#include +#include +#include +#include + +#include +#include +#include +#include +#include +#include +#ifndef RPG_SVO_VIKIT_IS_VECTOR_SPECIALIZED //Guard for rpg_vikit +#define RPG_SVO_VIKIT_IS_VECTOR_SPECIALIZED +EIGEN_DEFINE_STL_VECTOR_SPECIALIZATION(Eigen::Vector3d) +EIGEN_DEFINE_STL_VECTOR_SPECIALIZATION(Eigen::Vector2d) +#endif + +#ifdef SVO_USE_ROS + #include + #define SVO_DEBUG_STREAM(x) ROS_DEBUG_STREAM(x) + #define SVO_INFO_STREAM(x) ROS_INFO_STREAM(x) + #define SVO_WARN_STREAM(x) ROS_WARN_STREAM(x) + #define SVO_WARN_STREAM_THROTTLE(rate, x) ROS_WARN_STREAM_THROTTLE(rate, x) + #define SVO_ERROR_STREAM(x) ROS_ERROR_STREAM(x) +#else + #define SVO_INFO_STREAM(x) std::cerr<<"\033[0;0m[INFO] "< // Adapted from rosconsole. Copyright (c) 2008, Willow Garage, Inc. + #define SVO_WARN_STREAM_THROTTLE(rate, x) \ + do { \ + static double __log_stream_throttle__last_hit__ = 0.0; \ + std::chrono::time_point __log_stream_throttle__now__ = \ + std::chrono::system_clock::now(); \ + if (__log_stream_throttle__last_hit__ + rate <= \ + std::chrono::duration_cast( \ + __log_stream_throttle__now__.time_since_epoch()).count()) { \ + __log_stream_throttle__last_hit__ = \ + std::chrono::duration_cast( \ + __log_stream_throttle__now__.time_since_epoch()).count(); \ + SVO_WARN_STREAM(x); \ + } \ + } while(0) +#endif + +namespace svo +{ + using namespace Eigen; + using namespace Sophus; + + const double EPS = 0.0000000001; + const double PI = 3.14159265; + +#ifdef SVO_TRACE + extern vk::PerformanceMonitor* g_permon; + #define SVO_LOG(value) g_permon->log(std::string((#value)),(value)) + #define SVO_LOG2(value1, value2) SVO_LOG(value1); SVO_LOG(value2) + #define SVO_LOG3(value1, value2, value3) SVO_LOG2(value1, value2); SVO_LOG(value3) + #define SVO_LOG4(value1, value2, value3, value4) SVO_LOG2(value1, value2); SVO_LOG2(value3, value4) + #define SVO_START_TIMER(name) g_permon->startTimer((name)) + #define SVO_STOP_TIMER(name) g_permon->stopTimer((name)) +#else + #define SVO_LOG(v) + #define SVO_LOG2(v1, v2) + #define SVO_LOG3(v1, v2, v3) + #define SVO_LOG4(v1, v2, v3, v4) + #define SVO_START_TIMER(name) + #define SVO_STOP_TIMER(name) +#endif + + class Frame; + typedef boost::shared_ptr FramePtr; +} // namespace svo + +#endif // SVO_GLOBAL_H_ diff --git a/GPU_version/svo/include/svo/imu_integration.h b/GPU_version/svo/include/svo/imu_integration.h new file mode 100644 index 0000000..11b9055 --- /dev/null +++ b/GPU_version/svo/include/svo/imu_integration.h @@ -0,0 +1,121 @@ +// +// Created by gufe on 4/9/21. +// + +#ifndef SVO_IMU_INTEGRATION_H +#define SVO_IMU_INTEGRATION_H +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +using gtsam::symbol_shorthand::B; // Bias (ax,ay,az,gx,gy,gz) +using gtsam::symbol_shorthand::V; // Vel (xdot,ydot,zdot) +using gtsam::symbol_shorthand::P; // Pose3 (x,y,z,r,p,y) +using gtsam::symbol_shorthand::C; // Camera pose + +//https://stackoverflow.com/questions/24881799/get-index-in-c11-foreach-loop +// Wrapper class +template +class enumerate_impl +{ +public: + // The return value of the operator* of the iterator, this + // is what you will get inside of the for loop + struct item + { + size_t index; + typename T::value_type & item; + }; + typedef item value_type; + + // Custom iterator with minimal interface + struct iterator + { + iterator(typename T::iterator _it, size_t counter=0) : + it(_it), counter(counter) + {} + + iterator operator++() + { + return iterator(++it, ++counter); + } + + bool operator!=(iterator other) + { + return it != other.it; + } + + typename T::iterator::value_type item() + { + return *it; + } + + value_type operator*() + { + return value_type{counter, *it}; + } + + size_t index() + { + return counter; + } + + private: + typename T::iterator it; + size_t counter; + }; + + enumerate_impl(T & t) : container(t) {} + + iterator begin() + { + return iterator(container.begin()); + } + + iterator end() + { + return iterator(container.end()); + } + +private: + T & container; +}; + +// A templated free function allows you to create the wrapper class +// conveniently +template +enumerate_impl enumerate(T & t) +{ + return enumerate_impl(t); +} + +class Imu_Integration{ +public: + Imu_Integration(Sophus::SE3& SE_init); + ~Imu_Integration(); + bool reset(gtsam::ISAM2& optimizer,boost::shared_ptr& new_frame); + bool reset(gtsam::LevenbergMarquardtOptimizer& optimizer,boost::shared_ptr& new_frame); + bool update(double* imu= nullptr); + bool predict(boost::shared_ptr&,std::size_t&,const double reproj_thresh); +private: + std::shared_ptr statePtr; + std::shared_ptr imu_biasPtr; + std::shared_ptr valuesPtr; + std::shared_ptr graphPtr; + boost::shared_ptr parameterPtr; + std::shared_ptr preintegratedPtr; + boost::shared_ptr ProjectNoisePtr; + std::chrono::steady_clock::time_point t_1; + std::uint32_t imu_factor_id=0; + uint imu_n=0; + std::shared_ptr optimizerParamPtr; + bool syn=false; +}; +#endif //SVO_IMU_INTEGRATION_H diff --git a/GPU_version/svo/include/svo/initialization.h b/GPU_version/svo/include/svo/initialization.h new file mode 100644 index 0000000..cb562e5 --- /dev/null +++ b/GPU_version/svo/include/svo/initialization.h @@ -0,0 +1,83 @@ +// This file is part of SVO - Semi-direct Visual Odometry. +// +// Copyright (C) 2014 Christian Forster +// (Robotics and Perception Group, University of Zurich, Switzerland). +// +// SVO is free software: you can redistribute it and/or modify it under the +// terms of the GNU General Public License as published by the Free Software +// Foundation, either version 3 of the License, or any later version. +// +// SVO is distributed in the hope that it will be useful, but WITHOUT ANY +// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS +// FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. +// +// You should have received a copy of the GNU General Public License +// along with this program. If not, see . + +#ifndef SVO_INITIALIZATION_H +#define SVO_INITIALIZATION_H + +#include + +namespace svo { + +class FrameHandlerMono; + +/// Bootstrapping the map from the first two views. +namespace initialization { + +enum InitResult { FAILURE, NO_KEYFRAME, SUCCESS }; + +/// Tracks features using Lucas-Kanade tracker and then estimates a homography. +class KltHomographyInit { + friend class svo::FrameHandlerMono; +public: + EIGEN_MAKE_ALIGNED_OPERATOR_NEW + + FramePtr frame_ref_; + KltHomographyInit() {}; + ~KltHomographyInit() {}; + InitResult addFirstFrame(FramePtr frame_ref); + InitResult addSecondFrame(FramePtr frame_ref); + void reset(); + +protected: + vector px_ref_; //!< keypoints to be tracked in reference frame. + vector px_cur_; //!< tracked keypoints in current frame. + vector f_ref_; //!< bearing vectors corresponding to the keypoints in the reference image. + vector f_cur_; //!< bearing vectors corresponding to the keypoints in the current image. + vector disparities_; //!< disparity between first and second frame. + vector inliers_; //!< inliers after the geometric check (e.g., Homography). + vector xyz_in_cur_; //!< 3D points computed during the geometric check. + SE3 T_cur_from_ref_; //!< computed transformation between the first two frames. +}; + +/// Detect Fast corners in the image. +void detectFeatures( + FramePtr frame, + vector& px_vec, + vector& f_vec); + +/// Compute optical flow (Lucas Kanade) for selected keypoints. +void trackKlt( + FramePtr frame_ref, + FramePtr frame_cur, + vector& px_ref, + vector& px_cur, + vector& f_ref, + vector& f_cur, + vector& disparities); + +void computeHomography( + const vector& f_ref, + const vector& f_cur, + double focal_length, + double reprojection_threshold, + vector& inliers, + vector& xyz_in_cur, + SE3& T_cur_from_ref); + +} // namespace initialization +} // namespace svo + +#endif // SVO_INITIALIZATION_H diff --git a/GPU_version/svo/include/svo/map.h b/GPU_version/svo/include/svo/map.h new file mode 100644 index 0000000..458622b --- /dev/null +++ b/GPU_version/svo/include/svo/map.h @@ -0,0 +1,136 @@ +// This file is part of SVO - Semi-direct Visual Odometry. +// +// Copyright (C) 2014 Christian Forster +// (Robotics and Perception Group, University of Zurich, Switzerland). +// +// SVO is free software: you can redistribute it and/or modify it under the +// terms of the GNU General Public License as published by the Free Software +// Foundation, either version 3 of the License, or any later version. +// +// SVO is distributed in the hope that it will be useful, but WITHOUT ANY +// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS +// FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. +// +// You should have received a copy of the GNU General Public License +// along with this program. If not, see . + +#ifndef SVO_MAP_H_ +#define SVO_MAP_H_ + +#include +#include +#include +#include + +namespace svo { + +class Point; +class Feature; +class Seed; + +/// Container for converged 3D points that are not already assigned to two keyframes. +class MapPointCandidates +{ +public: + typedef pair PointCandidate; + typedef list PointCandidateList; + + /// The depth-filter is running in a parallel thread and fills the canidate list. + /// This mutex controls concurrent access to point_candidates. + boost::mutex mut_; + + /// Candidate points are created from converged seeds. + /// Until the next keyframe, these points can be used for reprojection and pose optimization. + PointCandidateList candidates_; + list< Point* > trash_points_; + + MapPointCandidates(); + ~MapPointCandidates(); + + /// Add a candidate point. + void newCandidatePoint(Point* point, double depth_sigma2); + + /// Adds the feature to the frame and deletes candidate from list. + void addCandidatePointToFrame(FramePtr frame); + + /// Remove a candidate point from the list of candidates. + bool deleteCandidatePoint(Point* point); + + /// Remove all candidates that belong to a frame. + void removeFrameCandidates(FramePtr frame); + + /// Reset the candidate list, remove and delete all points. + void reset(); + + void deleteCandidate(PointCandidate& c); + + void emptyTrash(); +}; + +/// Map object which saves all keyframes which are in a map. +class Map : boost::noncopyable +{ +public: + list< FramePtr > keyframes_; //!< List of keyframes in the map. + list< Point* > trash_points_; //!< A deleted point is moved to the trash bin. Now and then this is cleaned. One reason is that the visualizer must remove the points also. + MapPointCandidates point_candidates_; + + Map(); + ~Map(); + + /// Reset the map. Delete all keyframes and reset the frame and point counters. + void reset(); + + /// Delete a point in the map and remove all references in keyframes to it. + void safeDeletePoint(Point* pt); + + /// Moves the point to the trash queue which is cleaned now and then. + void deletePoint(Point* pt); + + /// Moves the frame to the trash queue which is cleaned now and then. + bool safeDeleteFrame(FramePtr frame); + + /// Remove the references between a point and a frame. + void removePtFrameRef(Frame* frame, Feature* ftr); + + /// Add a new keyframe to the map. + void addKeyframe(FramePtr new_keyframe); + + /// Given a frame, return all keyframes which have an overlapping field of view. + void getCloseKeyframes(const FramePtr& frame, list< pair >& close_kfs) const; + + /// Return the keyframe which is spatially closest and has overlapping field of view. + FramePtr getClosestKeyframe(const FramePtr& frame) const; + + /// Return the keyframe which is furthest apart from pos. + FramePtr getFurthestKeyframe(const Vector3d& pos) const; + + bool getKeyframeById(const int id, FramePtr& frame) const; + + /// Transform the whole map with rotation R, translation t and scale s. + void transform(const Matrix3d& R, const Vector3d& t, const double& s); + + /// Empty trash bin of deleted keyframes and map points. We don't delete the + /// points immediately to ensure proper cleanup and to provide the visualizer + /// a list of objects which must be removed. + void emptyTrash(); + + /// Return the keyframe which was last inserted in the map. + inline FramePtr lastKeyframe() { return keyframes_.back(); } + + /// Return the number of keyframes in the map + inline size_t size() const { return keyframes_.size(); } +}; + +/// A collection of debug functions to check the data consistency. +namespace map_debug { + +void mapStatistics(Map* map); +void mapValidation(Map* map, int id); +void frameValidation(Frame* frame, int id); +void pointValidation(Point* point, int id); + +} // namespace map_debug +} // namespace svo + +#endif // SVO_MAP_H_ diff --git a/GPU_version/svo/include/svo/matcher.h b/GPU_version/svo/include/svo/matcher.h new file mode 100644 index 0000000..b53340e --- /dev/null +++ b/GPU_version/svo/include/svo/matcher.h @@ -0,0 +1,130 @@ +// This file is part of SVO - Semi-direct Visual Odometry. +// +// Copyright (C) 2014 Christian Forster +// (Robotics and Perception Group, University of Zurich, Switzerland). +// +// SVO is free software: you can redistribute it and/or modify it under the +// terms of the GNU General Public License as published by the Free Software +// Foundation, either version 3 of the License, or any later version. +// +// SVO is distributed in the hope that it will be useful, but WITHOUT ANY +// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS +// FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. +// +// You should have received a copy of the GNU General Public License +// along with this program. If not, see . + +#ifndef SVO_MATCHER_H_ +#define SVO_MATCHER_H_ + +#include + +namespace vk { + class AbstractCamera; + namespace patch_score { + template class ZMSSD; + } +} + +namespace svo { + +class Point; +class Frame; +class Feature; + +/// Warp a patch from the reference view to the current view. +namespace warp { + +void getWarpMatrixAffine( + const vk::AbstractCamera& cam_ref, + const vk::AbstractCamera& cam_cur, + const Vector2d& px_ref, + const Vector3d& f_ref, + const double depth_ref, + const SE3& T_cur_ref, + const int level_ref, + Matrix2d& A_cur_ref); + +int getBestSearchLevel( + const Matrix2d& A_cur_ref, + const int max_level); + +void warpAffine( + const Matrix2d& A_cur_ref, + const cv::Mat& img_ref, + const Vector2d& px_ref, + const int level_ref, + const int level_cur, + const int halfpatch_size, + uint8_t* patch); + +} // namespace warp + +/// Patch-matcher for reprojection-matching and epipolar search in triangulation. +class Matcher +{ +public: + EIGEN_MAKE_ALIGNED_OPERATOR_NEW + + static const int halfpatch_size_ = 4; + static const int patch_size_ = 8; + + typedef vk::patch_score::ZMSSD PatchScore; + + struct Options + { + bool align_1d; //!< in epipolar search: align patch 1D along epipolar line + int align_max_iter; //!< number of iterations for aligning the feature patches in gauss newton + double max_epi_length_optim;//!< max length of epipolar line to skip epipolar search and directly go to img align + size_t max_epi_search_steps;//!< max number of evaluations along epipolar line + bool subpix_refinement; //!< do gauss newton feature patch alignment after epipolar search + bool epi_search_edgelet_filtering; + double epi_search_edgelet_max_angle; + Options() : + align_1d(false), + align_max_iter(10), + max_epi_length_optim(2.0), + max_epi_search_steps(1000), + subpix_refinement(true), + epi_search_edgelet_filtering(true), + epi_search_edgelet_max_angle(0.7) + {} + } options_; + + uint8_t patch_[patch_size_*patch_size_] __attribute__ ((aligned (16))); + uint8_t patch_with_border_[(patch_size_+2)*(patch_size_+2)] __attribute__ ((aligned (16))); + Matrix2d A_cur_ref_; //!< affine warp matrix + Vector2d epi_dir_; + double epi_length_; //!< length of epipolar line segment in pixels (only used for epipolar search) + double h_inv_; //!< hessian of 1d image alignment along epipolar line + int search_level_; + bool reject_; + Feature* ref_ftr_; + Vector2d px_cur_; + + Matcher() = default; + ~Matcher() = default; + + /// Find a match by directly applying subpix refinement. + /// IMPORTANT! This function assumes that px_cur is already set to an estimate that is within ~2-3 pixel of the final result! + bool findMatchDirect( + const Point& pt, + const Frame& frame, + Vector2d& px_cur); + + /// Find a match by searching along the epipolar line without using any features. + bool findEpipolarMatchDirect( + const Frame& ref_frame, + const Frame& cur_frame, + const Feature& ref_ftr, + const double d_estimate, + const double d_min, + const double d_max, + double& depth); + + void createPatchFromPatchWithBorder(); +}; + +} // namespace svo + +#endif // SVO_MATCHER_H_ diff --git a/GPU_version/svo/include/svo/point.h b/GPU_version/svo/include/svo/point.h new file mode 100644 index 0000000..e1bb81b --- /dev/null +++ b/GPU_version/svo/include/svo/point.h @@ -0,0 +1,108 @@ +// This file is part of SVO - Semi-direct Visual Odometry. +// +// Copyright (C) 2014 Christian Forster +// (Robotics and Perception Group, University of Zurich, Switzerland). +// +// SVO is free software: you can redistribute it and/or modify it under the +// terms of the GNU General Public License as published by the Free Software +// Foundation, either version 3 of the License, or any later version. +// +// SVO is distributed in the hope that it will be useful, but WITHOUT ANY +// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS +// FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. +// +// You should have received a copy of the GNU General Public License +// along with this program. If not, see . + +#ifndef SVO_POINT_H_ +#define SVO_POINT_H_ + +#include +#include + +namespace g2o { + class VertexSBAPointXYZ; +} +typedef g2o::VertexSBAPointXYZ g2oPoint; + +namespace svo { + +class Feature; + +typedef Matrix Matrix23d; + +/// A 3D point on the surface of the scene. +class Point : boost::noncopyable +{ +public: + EIGEN_MAKE_ALIGNED_OPERATOR_NEW + + enum PointType { + TYPE_DELETED, + TYPE_CANDIDATE, + TYPE_UNKNOWN, + TYPE_GOOD + }; + + static int point_counter_; //!< Counts the number of created points. Used to set the unique id. + int id_; //!< Unique ID of the point. + Vector3d pos_; //!< 3d pos of the point in the world coordinate frame. + Vector3d normal_; //!< Surface normal at point. + Matrix3d normal_information_; //!< Inverse covariance matrix of normal estimation. + bool normal_set_; //!< Flag whether the surface normal was estimated or not. + list obs_; //!< References to keyframes which observe the point. + size_t n_obs_; //!< Number of obervations: Keyframes AND successful reprojections in intermediate frames. + g2oPoint* v_pt_; //!< Temporary pointer to the point-vertex in g2o during bundle adjustment. + int last_published_ts_; //!< Timestamp of last publishing. + int last_projected_kf_id_; //!< Flag for the reprojection: don't reproject a pt twice. + PointType type_; //!< Quality of the point. + int n_failed_reproj_; //!< Number of failed reprojections. Used to assess the quality of the point. + int n_succeeded_reproj_; //!< Number of succeeded reprojections. Used to assess the quality of the point. + int last_structure_optim_; //!< Timestamp of last point optimization + + Point(const Vector3d& pos); + Point(const Vector3d& pos, Feature* ftr); + ~Point(); + + /// Add a reference to a frame. + void addFrameRef(Feature* ftr); + + /// Remove reference to a frame. + bool deleteFrameRef(Frame* frame); + + /// Initialize point normal. The inital estimate will point towards the frame. + void initNormal(); + + /// Check whether mappoint has reference to a frame. + Feature* findFrameRef(Frame* frame); + + /// Get Frame with similar viewpoint. + bool getCloseViewObs(const Vector3d& pos, Feature*& obs) const; + + /// Get number of observations. + inline size_t nRefs() const { return obs_.size(); } + + /// Optimize point position through minimizing the reprojection error. + void optimize(const size_t n_iter); + + /// Jacobian of point projection on unit plane (focal length = 1) in frame (f). + inline static void jacobian_xyz2uv( + const Vector3d& p_in_f, + const Matrix3d& R_f_w, + Matrix23d& point_jac) + { + const double z_inv = 1.0/p_in_f[2]; + const double z_inv_sq = z_inv*z_inv; + point_jac(0, 0) = z_inv; + point_jac(0, 1) = 0.0; + point_jac(0, 2) = -p_in_f[0] * z_inv_sq; + point_jac(1, 0) = 0.0; + point_jac(1, 1) = z_inv; + point_jac(1, 2) = -p_in_f[1] * z_inv_sq; + point_jac = - point_jac * R_f_w; + } +}; + +} // namespace svo + +#endif // SVO_POINT_H_ diff --git a/GPU_version/svo/include/svo/pose_optimizer.h b/GPU_version/svo/include/svo/pose_optimizer.h new file mode 100644 index 0000000..ca048ae --- /dev/null +++ b/GPU_version/svo/include/svo/pose_optimizer.h @@ -0,0 +1,50 @@ +// This file is part of SVO - Semi-direct Visual Odometry. +// +// Copyright (C) 2014 Christian Forster +// (Robotics and Perception Group, University of Zurich, Switzerland). +// +// SVO is free software: you can redistribute it and/or modify it under the +// terms of the GNU General Public License as published by the Free Software +// Foundation, either version 3 of the License, or any later version. +// +// SVO is distributed in the hope that it will be useful, but WITHOUT ANY +// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS +// FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. +// +// You should have received a copy of the GNU General Public License +// along with this program. If not, see . + +#ifndef SVO_POSE_OPTIMIZER_H_ +#define SVO_POSE_OPTIMIZER_H_ + +#include + +namespace svo { + +using namespace Eigen; +using namespace Sophus; +using namespace std; + +typedef Matrix Matrix6d; +typedef Matrix Matrix26d; +typedef Matrix Vector6d; + +class Point; + +/// Motion-only bundle adjustment. Minimize the reprojection error of a single frame. +namespace pose_optimizer { + +void optimizeGaussNewton( + const double reproj_thresh, + const size_t n_iter, + const bool verbose, + FramePtr& frame, + double& estimated_scale, + double& error_init, + double& error_final, + size_t& num_obs); + +} // namespace pose_optimizer +} // namespace svo + +#endif // SVO_POSE_OPTIMIZER_H_ diff --git a/GPU_version/svo/include/svo/reprojector.h b/GPU_version/svo/include/svo/reprojector.h new file mode 100644 index 0000000..e345f0d --- /dev/null +++ b/GPU_version/svo/include/svo/reprojector.h @@ -0,0 +1,101 @@ +// This file is part of SVO - Semi-direct Visual Odometry. +// +// Copyright (C) 2014 Christian Forster +// (Robotics and Perception Group, University of Zurich, Switzerland). +// +// SVO is free software: you can redistribute it and/or modify it under the +// terms of the GNU General Public License as published by the Free Software +// Foundation, either version 3 of the License, or any later version. +// +// SVO is distributed in the hope that it will be useful, but WITHOUT ANY +// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS +// FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. +// +// You should have received a copy of the GNU General Public License +// along with this program. If not, see . + +#ifndef SVO_REPROJECTION_H_ +#define SVO_REPROJECTION_H_ + +#include +#include + +namespace vk { +class AbstractCamera; +} + +namespace svo { + +class Map; +class Point; + +/// Project points from the map into the image and find the corresponding +/// feature (corner). We don't search a match for every point but only for one +/// point per cell. Thereby, we achieve a homogeneously distributed set of +/// matched features and at the same time we can save processing time by not +/// projecting all points. +class Reprojector +{ +public: + EIGEN_MAKE_ALIGNED_OPERATOR_NEW + + /// Reprojector config parameters + struct Options { + size_t max_n_kfs; //!< max number of keyframes to reproject from + bool find_match_direct; + Options() + : max_n_kfs(10), + find_match_direct(true) + {} + } options_; + + size_t n_matches_; + size_t n_trials_; + + Reprojector(vk::AbstractCamera* cam, Map& map); + + ~Reprojector(); + + /// Project points from the map into the image. First finds keyframes with + /// overlapping field of view and projects only those map-points. + void reprojectMap( + FramePtr frame, + std::vector< std::pair >& overlap_kfs); + +private: + + /// A candidate is a point that projects into the image plane and for which we + /// will search a maching feature in the image. + struct Candidate { + EIGEN_MAKE_ALIGNED_OPERATOR_NEW + Point* pt; //!< 3D point. + Vector2d px; //!< projected 2D pixel location. + Candidate(Point* pt, Vector2d& px) : pt(pt), px(px) {} + }; + typedef std::list Cell; + typedef std::vector CandidateGrid; + + /// The grid stores a set of candidate matches. For every grid cell we try to find one match. + struct Grid + { + CandidateGrid cells; + vector cell_order; + int cell_size; + int grid_n_cols; + int grid_n_rows; + }; + + Grid grid_; + Matcher matcher_; + Map& map_; + + static bool pointQualityComparator(Candidate& lhs, Candidate& rhs); + void initializeGrid(vk::AbstractCamera* cam); + void resetGrid(); + bool reprojectCell(Cell& cell, FramePtr frame); + bool reprojectPoint(FramePtr frame, Point* point); +}; + +} // namespace svo + +#endif // SVO_REPROJECTION_H_ diff --git a/GPU_version/svo/include/svo/sparse_img_align.h b/GPU_version/svo/include/svo/sparse_img_align.h new file mode 100644 index 0000000..1bedfed --- /dev/null +++ b/GPU_version/svo/include/svo/sparse_img_align.h @@ -0,0 +1,83 @@ +// This file is part of SVO - Semi-direct Visual Odometry. +// +// Copyright (C) 2014 Christian Forster +// (Robotics and Perception Group, University of Zurich, Switzerland). +// +// SVO is free software: you can redistribute it and/or modify it under the +// terms of the GNU General Public License as published by the Free Software +// Foundation, either version 3 of the License, or any later version. +// +// SVO is distributed in the hope that it will be useful, but WITHOUT ANY +// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS +// FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. +// +// You should have received a copy of the GNU General Public License +// along with this program. If not, see . + +#ifndef SVO_SPARSE_IMG_ALIGN_H_ +#define SVO_SPARSE_IMG_ALIGN_H_ + +#include +#include +#include + +namespace vk { +class AbstractCamera; +} + +namespace svo { + +class Feature; + +/// Optimize the pose of the frame by minimizing the photometric error of feature patches. +class SparseImgAlign : public vk::NLLSSolver<6, SE3> +{ + static const int patch_halfsize_ = 2; + static const int patch_size_ = 2*patch_halfsize_; + static const int patch_area_ = patch_size_*patch_size_; +public: + EIGEN_MAKE_ALIGNED_OPERATOR_NEW + + cv::Mat resimg_; + + SparseImgAlign( + int n_levels, + int min_level, + int n_iter, + Method method, + bool display, + bool verbose); + + size_t run( + FramePtr ref_frame, + FramePtr cur_frame); + + /// Return fisher information matrix, i.e. the Hessian of the log-likelihood + /// at the converged state. + Matrix getFisherInformation(); + +protected: + FramePtr ref_frame_; //!< reference frame, has depth for gradient pixels. + FramePtr cur_frame_; //!< only the image is known! + int level_; //!< current pyramid level on which the optimization runs. + bool display_; //!< display residual image. + int max_level_; //!< coarsest pyramid level for the alignment. + int min_level_; //!< finest pyramid level for the alignment. + + // cache: + Matrix jacobian_cache_; + bool have_ref_patch_cache_; + cv::Mat ref_patch_cache_; + std::vector visible_fts_; + + void precomputeReferencePatches(); + virtual double computeResiduals(const SE3& model, bool linearize_system, bool compute_weight_scale = false); + virtual int solve(); + virtual void update (const ModelType& old_model, ModelType& new_model); + virtual void startIteration(); + virtual void finishIteration(); +}; + +} // namespace svo + +#endif // SVO_SPARSE_IMG_ALIGN_H_ diff --git a/GPU_version/svo/include/svo/svoVisionFactor.h b/GPU_version/svo/include/svo/svoVisionFactor.h new file mode 100644 index 0000000..cd00816 --- /dev/null +++ b/GPU_version/svo/include/svo/svoVisionFactor.h @@ -0,0 +1,70 @@ +// +// Created by root on 4/13/21. +// + +#ifndef SVO_SVOVISIONFACTOR_H +#define SVO_SVOVISIONFACTOR_H +#pragma once + +#include +#include +#include +#include +#include +#include +#include + +namespace svo { + + class VisionFactor: public gtsam::NoiseModelFactor1 { + + private: + // measurement information + gtsam::Point3 feature; /// 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 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 body_P_sensor = boost::none) : + gtsam::NoiseModelFactor1(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 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<( + gtsam::NonlinearFactor::shared_ptr(new VisionFactor(*this))); } + + }; + +} // namespace gtsamexamples +#endif //SVO_SVOVISIONFACTOR_H diff --git a/GPU_version/svo/package.xml b/GPU_version/svo/package.xml new file mode 100644 index 0000000..8aea0a7 --- /dev/null +++ b/GPU_version/svo/package.xml @@ -0,0 +1,27 @@ + + + gpu_svo + 0.1.0 + + Monocular Visual Odometry + + Christian Forster + Christian Forster + GPLv3 + + + catkin + + + cmake_modules + roscpp + roslib + vikit_common + vikit_ros + + + roscpp + roslib + vikit_common + vikit_ros + \ No newline at end of file diff --git a/GPU_version/svo/src/bundle_adjustment.cpp b/GPU_version/svo/src/bundle_adjustment.cpp new file mode 100644 index 0000000..eaba2b0 --- /dev/null +++ b/GPU_version/svo/src/bundle_adjustment.cpp @@ -0,0 +1,435 @@ +// This file is part of SVO - Semi-direct Visual Odometry. +// +// Copyright (C) 2014 Christian Forster +// (Robotics and Perception Group, University of Zurich, Switzerland). +// +// SVO is free software: you can redistribute it and/or modify it under the +// terms of the GNU General Public License as published by the Free Software +// Foundation, either version 3 of the License, or any later version. +// +// SVO is distributed in the hope that it will be useful, but WITHOUT ANY +// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS +// FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. +// +// You should have received a copy of the GNU General Public License +// along with this program. If not, see . + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#define SCHUR_TRICK 1 + +namespace svo { +namespace ba { + +void twoViewBA( + Frame* frame1, + Frame* frame2, + double reproj_thresh, + Map* map) +{ + // scale reprojection threshold in pixels to unit plane + reproj_thresh /= frame1->cam_->errorMultiplier2(); + + // init g2o + g2o::SparseOptimizer optimizer; + setupG2o(&optimizer); + + list edges; + size_t v_id = 0; + + // New Keyframe Vertex 1: This Keyframe is set to fixed! + g2oFrameSE3* v_frame1 = createG2oFrameSE3(frame1, v_id++, true); + optimizer.addVertex(v_frame1); + + // New Keyframe Vertex 2 + g2oFrameSE3* v_frame2 = createG2oFrameSE3(frame2, v_id++, false); + optimizer.addVertex(v_frame2); + + // Create Point Vertices + for(Features::iterator it_ftr=frame1->fts_.begin(); it_ftr!=frame1->fts_.end(); ++it_ftr) + { + Point* pt = (*it_ftr)->point; + if(pt == NULL) + continue; + g2oPoint* v_pt = createG2oPoint(pt->pos_, v_id++, false); + optimizer.addVertex(v_pt); + pt->v_pt_ = v_pt; + g2oEdgeSE3* e = createG2oEdgeSE3(v_frame1, v_pt, vk::project2d((*it_ftr)->f), true, reproj_thresh*Config::lobaRobustHuberWidth()); + optimizer.addEdge(e); + edges.push_back(EdgeContainerSE3(e, frame1, *it_ftr)); // TODO feature now links to frame, so we can simplify edge container! + + // find at which index the second frame observes the point + Feature* ftr_frame2 = pt->findFrameRef(frame2); + e = createG2oEdgeSE3(v_frame2, v_pt, vk::project2d(ftr_frame2->f), true, reproj_thresh*Config::lobaRobustHuberWidth()); + optimizer.addEdge(e); + edges.push_back(EdgeContainerSE3(e, frame2, ftr_frame2)); + } + + // Optimization + double init_error, final_error; + runSparseBAOptimizer(&optimizer, Config::lobaNumIter(), init_error, final_error); + printf("2-View BA: Error before/after = %f / %f\n", init_error, final_error); + + // Update Keyframe Positions + frame1->T_f_w_.rotation_matrix() = v_frame1->estimate().rotation().toRotationMatrix(); + frame1->T_f_w_.translation() = v_frame1->estimate().translation(); + frame2->T_f_w_.rotation_matrix() = v_frame2->estimate().rotation().toRotationMatrix(); + frame2->T_f_w_.translation() = v_frame2->estimate().translation(); + + // Update Mappoint Positions + for(Features::iterator it=frame1->fts_.begin(); it!=frame1->fts_.end(); ++it) + { + if((*it)->point == NULL) + continue; + (*it)->point->pos_ = (*it)->point->v_pt_->estimate(); + (*it)->point->v_pt_ = NULL; + } + + // Find Mappoints with too large reprojection error + const double reproj_thresh_squared = reproj_thresh*reproj_thresh; + size_t n_incorrect_edges = 0; + for(list::iterator it_e = edges.begin(); it_e != edges.end(); ++it_e) + if(it_e->edge->chi2() > reproj_thresh_squared) + { + if(it_e->feature->point != NULL) + { + map->safeDeletePoint(it_e->feature->point); + it_e->feature->point = NULL; + } + ++n_incorrect_edges; + } + + printf("2-View BA: Wrong edges = %zu\n", n_incorrect_edges); +} + +void localBA( + Frame* center_kf, + set* core_kfs, + Map* map, + size_t& n_incorrect_edges_1, + size_t& n_incorrect_edges_2, + double& init_error, + double& final_error) +{ + + // init g2o + g2o::SparseOptimizer optimizer; + setupG2o(&optimizer); + + list edges; + set mps; + list neib_kfs; + size_t v_id = 0; + size_t n_mps = 0; + size_t n_fix_kfs = 0; + size_t n_var_kfs = 1; + size_t n_edges = 0; + n_incorrect_edges_1 = 0; + n_incorrect_edges_2 = 0; + + // Add all core keyframes + for(set::iterator it_kf = core_kfs->begin(); it_kf != core_kfs->end(); ++it_kf) + { + g2oFrameSE3* v_kf = createG2oFrameSE3(it_kf->get(), v_id++, false); + (*it_kf)->v_kf_ = v_kf; + ++n_var_kfs; + assert(optimizer.addVertex(v_kf)); + + // all points that the core keyframes observe are also optimized: + for(Features::iterator it_pt=(*it_kf)->fts_.begin(); it_pt!=(*it_kf)->fts_.end(); ++it_pt) + if((*it_pt)->point != NULL) + mps.insert((*it_pt)->point); + } + + // Now go throug all the points and add a measurement. Add a fixed neighbour + // Keyframe if it is not in the set of core kfs + double reproj_thresh_2 = Config::lobaThresh() / center_kf->cam_->errorMultiplier2(); + double reproj_thresh_1 = Config::poseOptimThresh() / center_kf->cam_->errorMultiplier2(); + double reproj_thresh_1_squared = reproj_thresh_1*reproj_thresh_1; + for(set::iterator it_pt = mps.begin(); it_pt!=mps.end(); ++it_pt) + { + // Create point vertex + g2oPoint* v_pt = createG2oPoint((*it_pt)->pos_, v_id++, false); + (*it_pt)->v_pt_ = v_pt; + assert(optimizer.addVertex(v_pt)); + ++n_mps; + + // Add edges + list::iterator it_obs=(*it_pt)->obs_.begin(); + while(it_obs!=(*it_pt)->obs_.end()) + { + Vector2d error = vk::project2d((*it_obs)->f) - vk::project2d((*it_obs)->frame->w2f((*it_pt)->pos_)); + + if((*it_obs)->frame->v_kf_ == NULL) + { + // frame does not have a vertex yet -> it belongs to the neib kfs and + // is fixed. create one: + g2oFrameSE3* v_kf = createG2oFrameSE3((*it_obs)->frame, v_id++, true); + (*it_obs)->frame->v_kf_ = v_kf; + ++n_fix_kfs; + assert(optimizer.addVertex(v_kf)); + neib_kfs.push_back((*it_obs)->frame); + } + + // create edge + g2oEdgeSE3* e = createG2oEdgeSE3((*it_obs)->frame->v_kf_, v_pt, + vk::project2d((*it_obs)->f), + true, + reproj_thresh_2*Config::lobaRobustHuberWidth(), + 1.0 / (1<<(*it_obs)->level)); + assert(optimizer.addEdge(e)); + edges.push_back(EdgeContainerSE3(e, (*it_obs)->frame, *it_obs)); + ++n_edges; + ++it_obs; + } + } + + // structure only + g2o::StructureOnlySolver<3> structure_only_ba; + g2o::OptimizableGraph::VertexContainer points; + for (g2o::OptimizableGraph::VertexIDMap::const_iterator it = optimizer.vertices().begin(); it != optimizer.vertices().end(); ++it) + { + g2o::OptimizableGraph::Vertex* v = static_cast(it->second); + if (v->dimension() == 3 && v->edges().size() >= 2) + points.push_back(v); + } + structure_only_ba.calc(points, 10); + + // Optimization + if(Config::lobaNumIter() > 0) + runSparseBAOptimizer(&optimizer, Config::lobaNumIter(), init_error, final_error); + + // Update Keyframes + for(set::iterator it = core_kfs->begin(); it != core_kfs->end(); ++it) + { + (*it)->T_f_w_ = SE3( (*it)->v_kf_->estimate().rotation(), + (*it)->v_kf_->estimate().translation()); + (*it)->v_kf_ = NULL; + } + + for(list::iterator it = neib_kfs.begin(); it != neib_kfs.end(); ++it) + (*it)->v_kf_ = NULL; + + // Update Mappoints + for(set::iterator it = mps.begin(); it != mps.end(); ++it) + { + (*it)->pos_ = (*it)->v_pt_->estimate(); + (*it)->v_pt_ = NULL; + } + + // Remove Measurements with too large reprojection error + double reproj_thresh_2_squared = reproj_thresh_2*reproj_thresh_2; + for(list::iterator it = edges.begin(); it != edges.end(); ++it) + { + if(it->edge->chi2() > reproj_thresh_2_squared) //*(1<feature_->level)) + { + map->removePtFrameRef(it->frame, it->feature); + ++n_incorrect_edges_2; + } + } + + // TODO: delete points and edges! + init_error = sqrt(init_error)*center_kf->cam_->errorMultiplier2(); + final_error = sqrt(final_error)*center_kf->cam_->errorMultiplier2(); +} + +void globalBA(Map* map) +{ + // init g2o + g2o::SparseOptimizer optimizer; + setupG2o(&optimizer); + + list edges; + list< pair > incorrect_edges; + + // Go through all Keyframes + size_t v_id = 0; + double reproj_thresh_2 = Config::lobaThresh() / map->lastKeyframe()->cam_->errorMultiplier2(); + double reproj_thresh_1_squared = Config::poseOptimThresh() / map->lastKeyframe()->cam_->errorMultiplier2(); + reproj_thresh_1_squared *= reproj_thresh_1_squared; + for(list::iterator it_kf = map->keyframes_.begin(); + it_kf != map->keyframes_.end(); ++it_kf) + { + // New Keyframe Vertex + g2oFrameSE3* v_kf = createG2oFrameSE3(it_kf->get(), v_id++, false); + (*it_kf)->v_kf_ = v_kf; + optimizer.addVertex(v_kf); + for(Features::iterator it_ftr=(*it_kf)->fts_.begin(); it_ftr!=(*it_kf)->fts_.end(); ++it_ftr) + { + // for each keyframe add edges to all observed mapoints + Point* mp = (*it_ftr)->point; + if(mp == NULL) + continue; + g2oPoint* v_mp = mp->v_pt_; + if(v_mp == NULL) + { + // mappoint-vertex doesn't exist yet. create a new one: + v_mp = createG2oPoint(mp->pos_, v_id++, false); + mp->v_pt_ = v_mp; + optimizer.addVertex(v_mp); + } + + // Due to merging of mappoints it is possible that references in kfs suddenly + // have a very large reprojection error which may result in distorted results. + Vector2d error = vk::project2d((*it_ftr)->f) - vk::project2d((*it_kf)->w2f(mp->pos_)); + if(error.squaredNorm() > reproj_thresh_1_squared) + incorrect_edges.push_back(pair(*it_kf, *it_ftr)); + else + { + g2oEdgeSE3* e = createG2oEdgeSE3(v_kf, v_mp, vk::project2d((*it_ftr)->f), + true, + reproj_thresh_2*Config::lobaRobustHuberWidth()); + + edges.push_back(EdgeContainerSE3(e, it_kf->get(), *it_ftr)); + optimizer.addEdge(e); + } + } + } + + // Optimization + double init_error=0.0, final_error=0.0; + if(Config::lobaNumIter() > 0) + runSparseBAOptimizer(&optimizer, Config::lobaNumIter(), init_error, final_error); + + // Update Keyframe and MapPoint Positions + for(list::iterator it_kf = map->keyframes_.begin(); + it_kf != map->keyframes_.end(); ++it_kf) + { + (*it_kf)->T_f_w_ = SE3( (*it_kf)->v_kf_->estimate().rotation(), + (*it_kf)->v_kf_->estimate().translation()); + (*it_kf)->v_kf_ = NULL; + for(Features::iterator it_ftr=(*it_kf)->fts_.begin(); it_ftr!=(*it_kf)->fts_.end(); ++it_ftr) + { + Point* mp = (*it_ftr)->point; + if(mp == NULL) + continue; + if(mp->v_pt_ == NULL) + continue; // mp was updated before + mp->pos_ = mp->v_pt_->estimate(); + mp->v_pt_ = NULL; + } + } + + // Remove Measurements with too large reprojection error + for(list< pair >::iterator it=incorrect_edges.begin(); + it!=incorrect_edges.end(); ++it) + map->removePtFrameRef(it->first.get(), it->second); + + double reproj_thresh_2_squared = reproj_thresh_2*reproj_thresh_2; + for(list::iterator it = edges.begin(); it != edges.end(); ++it) + { + if(it->edge->chi2() > reproj_thresh_2_squared) + { + map->removePtFrameRef(it->frame, it->feature); + } + } +} + +void setupG2o(g2o::SparseOptimizer * optimizer) +{ + // TODO: What's happening with all this HEAP stuff? Memory Leak? + optimizer->setVerbose(false); + +#if SCHUR_TRICK + // solver + g2o::BlockSolver_6_3::LinearSolverType* linearSolver; + linearSolver = new g2o::LinearSolverCholmod(); + //linearSolver = new g2o::LinearSolverCSparse(); + + g2o::BlockSolver_6_3 * solver_ptr = new g2o::BlockSolver_6_3(linearSolver); + g2o::OptimizationAlgorithmLevenberg * solver = new g2o::OptimizationAlgorithmLevenberg(solver_ptr); +#else + g2o::BlockSolverX::LinearSolverType * linearSolver; + linearSolver = new g2o::LinearSolverCholmod(); + //linearSolver = new g2o::LinearSolverCSparse(); + g2o::BlockSolverX * solver_ptr = new g2o::BlockSolverX(linearSolver); + g2o::OptimizationAlgorithmLevenberg* solver = new g2o::OptimizationAlgorithmLevenberg(solver_ptr); +#endif + + solver->setMaxTrialsAfterFailure(5); + optimizer->setAlgorithm(solver); + + // setup camera + g2o::CameraParameters * cam_params = new g2o::CameraParameters(1.0, Vector2d(0.,0.), 0.); + cam_params->setId(0); + if (!optimizer->addParameter(cam_params)) { + assert(false); + } +} + +void +runSparseBAOptimizer(g2o::SparseOptimizer* optimizer, + unsigned int num_iter, + double& init_error, double& final_error) +{ + optimizer->initializeOptimization(); + optimizer->computeActiveErrors(); + init_error = optimizer->activeChi2(); + optimizer->optimize(num_iter); + final_error = optimizer->activeChi2(); +} + +g2oFrameSE3* +createG2oFrameSE3(Frame* frame, size_t id, bool fixed) +{ + g2oFrameSE3* v = new g2oFrameSE3(); + v->setId(id); + v->setFixed(fixed); + v->setEstimate(g2o::SE3Quat(frame->T_f_w_.unit_quaternion(), frame->T_f_w_.translation())); + return v; +} + +g2oPoint* +createG2oPoint(Vector3d pos, + size_t id, + bool fixed) +{ + g2oPoint* v = new g2oPoint(); + v->setId(id); +#if SCHUR_TRICK + v->setMarginalized(true); +#endif + v->setFixed(fixed); + v->setEstimate(pos); + return v; +} + +g2oEdgeSE3* +createG2oEdgeSE3( g2oFrameSE3* v_frame, + g2oPoint* v_point, + const Vector2d& f_up, + bool robust_kernel, + double huber_width, + double weight) +{ + g2oEdgeSE3* e = new g2oEdgeSE3(); + e->setVertex(0, dynamic_cast(v_point)); + e->setVertex(1, dynamic_cast(v_frame)); + e->setMeasurement(f_up); + e->information() = weight * Eigen::Matrix2d::Identity(2,2); + g2o::RobustKernelHuber* rk = new g2o::RobustKernelHuber(); // TODO: memory leak + rk->setDelta(huber_width); + e->setRobustKernel(rk); + e->setParameterId(0, 0); //old: e->setId(v_point->id()); + return e; +} + +} // namespace ba +} // namespace svo diff --git a/GPU_version/svo/src/config.cpp b/GPU_version/svo/src/config.cpp new file mode 100644 index 0000000..e8475fe --- /dev/null +++ b/GPU_version/svo/src/config.cpp @@ -0,0 +1,102 @@ +// This file is part of SVO - Semi-direct Visual Odometry. +// +// Copyright (C) 2014 Christian Forster +// (Robotics and Perception Group, University of Zurich, Switzerland). +// +// SVO is free software: you can redistribute it and/or modify it under the +// terms of the GNU General Public License as published by the Free Software +// Foundation, either version 3 of the License, or any later version. +// +// SVO is distributed in the hope that it will be useful, but WITHOUT ANY +// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS +// FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. +// +// You should have received a copy of the GNU General Public License +// along with this program. If not, see . + +#ifdef SVO_USE_ROS +#include +#endif +#include + +namespace svo { + +Config::Config() : +#ifdef SVO_USE_ROS + trace_name(vk::getParam("svo/trace_name", "svo")), + trace_dir(vk::getParam("svo/trace_dir", "/tmp")), + n_pyr_levels(vk::getParam("svo/n_pyr_levels", 3)), + use_imu(vk::getParam("svo/use_imu", false)), + core_n_kfs(vk::getParam("svo/core_n_kfs", 3)), + map_scale(vk::getParam("svo/map_scale", 1.0)), + grid_size(vk::getParam("svo/grid_size", 30)), + init_min_disparity(vk::getParam("svo/init_min_disparity", 50.0)), + init_min_tracked(vk::getParam("svo/init_min_tracked", 50)), + init_min_inliers(vk::getParam("svo/init_min_inliers", 40)), + klt_max_level(vk::getParam("svo/klt_max_level", 4)), + klt_min_level(vk::getParam("svo/klt_min_level", 2)), + reproj_thresh(vk::getParam("svo/reproj_thresh", 2.0)), + poseoptim_thresh(vk::getParam("svo/poseoptim_thresh", 2.0)), + poseoptim_num_iter(vk::getParam("svo/poseoptim_num_iter", 10)), + structureoptim_max_pts(vk::getParam("svo/structureoptim_max_pts", 20)), + structureoptim_num_iter(vk::getParam("svo/structureoptim_num_iter", 5)), + loba_thresh(vk::getParam("svo/loba_thresh", 2.0)), + loba_robust_huber_width(vk::getParam("svo/loba_robust_huber_width", 1.0)), + loba_num_iter(vk::getParam("svo/loba_num_iter", 0)), + kfselect_mindist(vk::getParam("svo/kfselect_mindist", 0.12)), + triang_min_corner_score(vk::getParam("svo/triang_min_corner_score", 20.0)), + triang_half_patch_size(vk::getParam("svo/triang_half_patch_size", 4)), + subpix_n_iter(vk::getParam("svo/subpix_n_iter", 10)), + max_n_kfs(vk::getParam("svo/max_n_kfs", 10)), + img_imu_delay(vk::getParam("svo/img_imu_delay", 0.0)), + max_fts(vk::getParam("svo/max_fts", 120)), + quality_min_fts(vk::getParam("svo/quality_min_fts", 50)), + quality_max_drop_fts(vk::getParam("svo/quality_max_drop_fts", 40)), + ACC_noise(vk::getParam("svo/ACC_noise", 1e-4)), + GYO_noise(vk::getParam("svo/GYO_noise", 1e-4)), + iuc(vk::getParam("svo/IUC", 1e-1)), + abc(vk::getParam("svo/ABC", 1e-1)), + gbc(vk::getParam("svo/GBC", 1e-1)), + ebp(vk::getParam("svo/EBP", 1e-2)), + nrp(vk::getParam("svo/NRP", 1e-5)) +#else + trace_name("svo"), + trace_dir("/tmp"), + n_pyr_levels(3), + use_imu(false), + core_n_kfs(3), + map_scale(1.0), + grid_size(25), + init_min_disparity(50.0), + init_min_tracked(50), + init_min_inliers(40), + klt_max_level(4), + klt_min_level(2), + reproj_thresh(2.0), + poseoptim_thresh(2.0), + poseoptim_num_iter(10), + structureoptim_max_pts(20), + structureoptim_num_iter(5), + loba_thresh(2.0), + loba_robust_huber_width(1.0), + loba_num_iter(0), + kfselect_mindist(0.12), + triang_min_corner_score(20.0), + triang_half_patch_size(4), + subpix_n_iter(10), + max_n_kfs(0), + img_imu_delay(0.0), + max_fts(120), + quality_min_fts(50), + quality_max_drop_fts(40) +#endif +{} + +Config& Config::getInstance() +{ + static Config instance; // Instantiated on first use and guaranteed to be destroyed + return instance; +} + +} // namespace svo + diff --git a/GPU_version/svo/src/depth_filter.cpp b/GPU_version/svo/src/depth_filter.cpp new file mode 100644 index 0000000..db24408 --- /dev/null +++ b/GPU_version/svo/src/depth_filter.cpp @@ -0,0 +1,352 @@ +// This file is part of SVO - Semi-direct Visual Odometry. +// +// Copyright (C) 2014 Christian Forster +// (Robotics and Perception Group, University of Zurich, Switzerland). +// +// SVO is free software: you can redistribute it and/or modify it under the +// terms of the GNU General Public License as published by the Free Software +// Foundation, either version 3 of the License, or any later version. +// +// SVO is distributed in the hope that it will be useful, but WITHOUT ANY +// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS +// FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. +// +// You should have received a copy of the GNU General Public License +// along with this program. If not, see . + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +namespace svo { + +int Seed::batch_counter = 0; +int Seed::seed_counter = 0; + +Seed::Seed(Feature* ftr, float depth_mean, float depth_min) : + batch_id(batch_counter), + id(seed_counter++), + ftr(ftr), + a(10), + b(10), + mu(1.0/depth_mean), + z_range(1.0/depth_min), + sigma2(z_range*z_range/36) +{} + +DepthFilter::DepthFilter(feature_detection::DetectorPtr feature_detector, callback_t seed_converged_cb) : + feature_detector_(feature_detector), + seed_converged_cb_(seed_converged_cb), + seeds_updating_halt_(false), + thread_(NULL), + new_keyframe_set_(false), + new_keyframe_min_depth_(0.0), + new_keyframe_mean_depth_(0.0) +{} + +DepthFilter::~DepthFilter() +{ + stopThread(); + SVO_INFO_STREAM("DepthFilter destructed."); +} + +void DepthFilter::startThread() +{ + thread_ = new boost::thread(&DepthFilter::updateSeedsLoop, this); +} + +void DepthFilter::stopThread() +{ + SVO_INFO_STREAM("DepthFilter stop thread invoked."); + if(thread_ != NULL) + { + SVO_INFO_STREAM("DepthFilter interrupt and join thread... "); + seeds_updating_halt_ = true; + thread_->interrupt(); + thread_->join(); + thread_ = NULL; + } +} + +void DepthFilter::addFrame(FramePtr frame) +{ + if(thread_ != NULL) + { + { + lock_t lock(frame_queue_mut_); + if(frame_queue_.size() > 2) + frame_queue_.pop(); + frame_queue_.push(frame); + } + seeds_updating_halt_ = false; + frame_queue_cond_.notify_one(); + } + else + updateSeeds(frame); +} + +void DepthFilter::addKeyframe(FramePtr frame, double depth_mean, double depth_min) +{ + new_keyframe_min_depth_ = depth_min; + new_keyframe_mean_depth_ = depth_mean; + if(thread_ != NULL) + { + new_keyframe_ = frame; + new_keyframe_set_ = true; + seeds_updating_halt_ = true; + frame_queue_cond_.notify_one(); + } + else + initializeSeeds(frame); +} + +void DepthFilter::initializeSeeds(FramePtr frame) +{ + Features new_features; + feature_detector_->setExistingFeatures(frame->fts_); + feature_detector_->detect(frame.get(), frame->img_pyr_, + Config::triangMinCornerScore(), new_features); + + // initialize a seed for every new feature + seeds_updating_halt_ = true; + lock_t lock(seeds_mut_); // by locking the updateSeeds function stops + ++Seed::batch_counter; + std::for_each(new_features.begin(), new_features.end(), [&](Feature* ftr){ + seeds_.push_back(Seed(ftr, new_keyframe_mean_depth_, new_keyframe_min_depth_)); + }); + + if(options_.verbose) + SVO_INFO_STREAM("DepthFilter: Initialized "<::iterator it=seeds_.begin(); + size_t n_removed = 0; + while(it!=seeds_.end()) + { + if(it->ftr->frame == frame.get()) + { + it = seeds_.erase(it); + ++n_removed; + } + else + ++it; + } + seeds_updating_halt_ = false; +} + +void DepthFilter::reset() +{ + seeds_updating_halt_ = true; + { + lock_t lock(seeds_mut_); + seeds_.clear(); + } + lock_t lock(); + while(!frame_queue_.empty()) + frame_queue_.pop(); + seeds_updating_halt_ = false; + + if(options_.verbose) + SVO_INFO_STREAM("DepthFilter: RESET."); +} + +void DepthFilter::updateSeedsLoop() +{ + while(!boost::this_thread::interruption_requested()) + { + FramePtr frame; + { + lock_t lock(frame_queue_mut_); + while(frame_queue_.empty() && new_keyframe_set_ == false) + frame_queue_cond_.wait(lock); + if(new_keyframe_set_) + { + new_keyframe_set_ = false; + seeds_updating_halt_ = false; + clearFrameQueue(); + frame = new_keyframe_; + } + else + { + frame = frame_queue_.front(); + frame_queue_.pop(); + } + } + updateSeeds(frame); + if(frame->isKeyframe()) + initializeSeeds(frame); + } +} + +void DepthFilter::updateSeeds(FramePtr frame) +{ + // update only a limited number of seeds, because we don't have time to do it + // for all the seeds in every frame! + size_t n_updates=0, n_failed_matches=0, n_seeds = seeds_.size(); + lock_t lock(seeds_mut_); + std::list::iterator it=seeds_.begin(); + + const double focal_length = frame->cam_->errorMultiplier2(); + double px_noise = 1.0; + double px_error_angle = atan(px_noise/(2.0*focal_length))*2.0; // law of chord (sehnensatz) + + while( it!=seeds_.end()) + { + // set this value true when seeds updating should be interrupted + if(seeds_updating_halt_) + return; + + // check if seed is not already too old + if((Seed::batch_counter - it->batch_id) > options_.max_n_kfs) { + it = seeds_.erase(it); + continue; + } + + // check if point is visible in the current image + SE3 T_ref_cur = it->ftr->frame->T_f_w_ * frame->T_f_w_.inverse(); + const Vector3d xyz_f(T_ref_cur.inverse()*(1.0/it->mu * it->ftr->f) ); + if(xyz_f.z() < 0.0) { + ++it; // behind the camera + continue; + } + if(!frame->cam_->isInFrame(frame->f2c(xyz_f).cast())) { + ++it; // point does not project in image + continue; + } + + // we are using inverse depth coordinates + float z_inv_min = it->mu + sqrt(it->sigma2); + float z_inv_max = max(it->mu - sqrt(it->sigma2), 0.00000001f); + double z; + if(!matcher_.findEpipolarMatchDirect( + *it->ftr->frame, *frame, *it->ftr, 1.0/it->mu, 1.0/z_inv_min, 1.0/z_inv_max, z)) + { + it->b++; // increase outlier probability when no match was found + ++it; + ++n_failed_matches; + continue; + } + + // compute tau + double tau = computeTau(T_ref_cur, it->ftr->f, z, px_error_angle); + double tau_inverse = 0.5 * (1.0/max(0.0000001, z-tau) - 1.0/(z+tau)); + + // update the estimate + updateSeed(1./z, tau_inverse*tau_inverse, &*it); + ++n_updates; + + if(frame->isKeyframe()) + { + // The feature detector should not initialize new seeds close to this location + feature_detector_->setGridOccpuancy(matcher_.px_cur_); + } + + // if the seed has converged, we initialize a new candidate point and remove the seed + if(sqrt(it->sigma2) < it->z_range/options_.seed_convergence_sigma2_thresh) + { + assert(it->ftr->point == NULL); // TODO this should not happen anymore + Vector3d xyz_world(it->ftr->frame->T_f_w_.inverse() * (it->ftr->f * (1.0/it->mu))); + Point* point = new Point(xyz_world, it->ftr); + it->ftr->point = point; + /* FIXME it is not threadsafe to add a feature to the frame here. + if(frame->isKeyframe()) + { + Feature* ftr = new Feature(frame.get(), matcher_.px_cur_, matcher_.search_level_); + ftr->point = point; + point->addFrameRef(ftr); + frame->addFeature(ftr); + it->ftr->frame->addFeature(it->ftr); + } + else + */ + { + seed_converged_cb_(point, it->sigma2); // put in candidate list + } + it = seeds_.erase(it); + } + else if(isnan(z_inv_min)) + { + SVO_WARN_STREAM("z_min is NaN"); + it = seeds_.erase(it); + } + else + ++it; + } +} + +void DepthFilter::clearFrameQueue() +{ + while(!frame_queue_.empty()) + frame_queue_.pop(); +} + +void DepthFilter::getSeedsCopy(const FramePtr& frame, std::list& seeds) +{ + lock_t lock(seeds_mut_); + for(std::list::iterator it=seeds_.begin(); it!=seeds_.end(); ++it) + { + if (it->ftr->frame == frame.get()) + seeds.push_back(*it); + } +} + +void DepthFilter::updateSeed(const float x, const float tau2, Seed* seed) +{ + float norm_scale = sqrt(seed->sigma2 + tau2); + if(std::isnan(norm_scale)) + return; + boost::math::normal_distribution nd(seed->mu, norm_scale); + float s2 = 1./(1./seed->sigma2 + 1./tau2); + float m = s2*(seed->mu/seed->sigma2 + x/tau2); + float C1 = seed->a/(seed->a+seed->b) * boost::math::pdf(nd, x); + float C2 = seed->b/(seed->a+seed->b) * 1./seed->z_range; + float normalization_constant = C1 + C2; + C1 /= normalization_constant; + C2 /= normalization_constant; + float f = C1*(seed->a+1.)/(seed->a+seed->b+1.) + C2*seed->a/(seed->a+seed->b+1.); + float e = C1*(seed->a+1.)*(seed->a+2.)/((seed->a+seed->b+1.)*(seed->a+seed->b+2.)) + + C2*seed->a*(seed->a+1.0f)/((seed->a+seed->b+1.0f)*(seed->a+seed->b+2.0f)); + + // update parameters + float mu_new = C1*m+C2*seed->mu; + seed->sigma2 = C1*(s2 + m*m) + C2*(seed->sigma2 + seed->mu*seed->mu) - mu_new*mu_new; + seed->mu = mu_new; + seed->a = (e-f)/(f-e/f); + seed->b = seed->a*(1.0f-f)/f; +} + +double DepthFilter::computeTau( + const SE3& T_ref_cur, + const Vector3d& f, + const double z, + const double px_error_angle) +{ + Vector3d t(T_ref_cur.translation()); + Vector3d a = f*z-t; + double t_norm = t.norm(); + double a_norm = a.norm(); + double alpha = acos(f.dot(t)/t_norm); // dot product + double beta = acos(a.dot(-t)/(t_norm*a_norm)); // dot product + double beta_plus = beta + px_error_angle; + double gamma_plus = PI-alpha-beta_plus; // triangle angles sum to PI + double z_plus = t_norm*sin(beta_plus)/sin(gamma_plus); // law of sines + return (z_plus - z); // tau +} + +} // namespace svo diff --git a/GPU_version/svo/src/feature_alignment.cpp b/GPU_version/svo/src/feature_alignment.cpp new file mode 100644 index 0000000..faa4027 --- /dev/null +++ b/GPU_version/svo/src/feature_alignment.cpp @@ -0,0 +1,601 @@ +// This file is part of SVO - Semi-direct Visual Odometry. +// +// Copyright (C) 2014 Christian Forster +// (Robotics and Perception Group, University of Zurich, Switzerland). +// +// SVO is free software: you can redistribute it and/or modify it under the +// terms of the GNU General Public License as published by the Free Software +// Foundation, either version 3 of the License, or any later version. +// +// SVO is distributed in the hope that it will be useful, but WITHOUT ANY +// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS +// FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. +// +// You should have received a copy of the GNU General Public License +// along with this program. If not, see . + +#ifdef __SSE2__ +#include +#endif +#ifdef __ARM_NEON__ +#include +#endif +#include + +namespace svo { +namespace feature_alignment { + +#define SUBPIX_VERBOSE 0 + +bool align1D( + const cv::Mat& cur_img, + const Vector2f& dir, // direction in which the patch is allowed to move + uint8_t* ref_patch_with_border, + uint8_t* ref_patch, + const int n_iter, + Vector2d& cur_px_estimate, + double& h_inv) +{ + const int halfpatch_size_ = 4; + const int patch_size = 8; + const int patch_area = 64; + bool converged=false; + + // compute derivative of template and prepare inverse compositional + float __attribute__((__aligned__(16))) ref_patch_dv[patch_area]; + Matrix2f H; H.setZero(); + + // compute gradient and hessian + const int ref_step = patch_size+2; + float* it_dv = ref_patch_dv; + for(int y=0; y= cur_img.cols-halfpatch_size_ || v_r >= cur_img.rows-halfpatch_size_) + break; + + if(isnan(u) || isnan(v)) // TODO very rarely this can happen, maybe H is singular? should not be at corner.. check + return false; + + // compute interpolation weights + float subpix_x = u-u_r; + float subpix_y = v-v_r; + float wTL = (1.0-subpix_x)*(1.0-subpix_y); + float wTR = subpix_x * (1.0-subpix_y); + float wBL = (1.0-subpix_x)*subpix_y; + float wBR = subpix_x * subpix_y; + + // loop through search_patch, interpolate + uint8_t* it_ref = ref_patch; + float* it_ref_dv = ref_patch_dv; + float new_chi2 = 0.0; + Vector2f Jres; Jres.setZero(); + for(int y=0; y 0 && new_chi2 > chi2) + { +#if SUBPIX_VERBOSE + cout << "error increased." << endl; +#endif + u -= update[0]; + v -= update[1]; + break; + } + + chi2 = new_chi2; + update = Hinv * Jres; + u += update[0]*dir[0]; + v += update[0]*dir[1]; + mean_diff += update[1]; + +#if SUBPIX_VERBOSE + cout << "Iter " << iter << ":" + << "\t u=" << u << ", v=" << v + << "\t update = " << update[0] << ", " << update[1] + << "\t new chi2 = " << new_chi2 << endl; +#endif + + if(update[0]*update[0]+update[1]*update[1] < min_update_squared) + { +#if SUBPIX_VERBOSE + cout << "converged." << endl; +#endif + converged=true; + break; + } + } + + cur_px_estimate << u, v; + return converged; +} + +bool align2D( + const cv::Mat& cur_img, + uint8_t* ref_patch_with_border, + uint8_t* ref_patch, + const int n_iter, + Vector2d& cur_px_estimate, + bool no_simd) +{ +#ifdef __ARM_NEON__ + if(!no_simd) + return align2D_NEON(cur_img, ref_patch_with_border, ref_patch, n_iter, cur_px_estimate); +#endif + + const int halfpatch_size_ = 4; + const int patch_size_ = 8; + const int patch_area_ = 64; + bool converged=false; + + // compute derivative of template and prepare inverse compositional + float __attribute__((__aligned__(16))) ref_patch_dx[patch_area_]; + float __attribute__((__aligned__(16))) ref_patch_dy[patch_area_]; + Matrix3f H; H.setZero(); + + // compute gradient and hessian + const int ref_step = patch_size_+2; + float* it_dx = ref_patch_dx; + float* it_dy = ref_patch_dy; + for(int y=0; y= cur_img.cols-halfpatch_size_ || v_r >= cur_img.rows-halfpatch_size_) + break; + + if(isnan(u) || isnan(v)) // TODO very rarely this can happen, maybe H is singular? should not be at corner.. check + return false; + + // compute interpolation weights + float subpix_x = u-u_r; + float subpix_y = v-v_r; + float wTL = (1.0-subpix_x)*(1.0-subpix_y); + float wTR = subpix_x * (1.0-subpix_y); + float wBL = (1.0-subpix_x)*subpix_y; + float wBR = subpix_x * subpix_y; + + // loop through search_patch, interpolate + uint8_t* it_ref = ref_patch; + float* it_ref_dx = ref_patch_dx; + float* it_ref_dy = ref_patch_dy; +// float new_chi2 = 0.0; + Vector3f Jres; Jres.setZero(); + for(int y=0; y 0 && new_chi2 > chi2) + { +#if SUBPIX_VERBOSE + cout << "error increased." << endl; +#endif + u -= update[0]; + v -= update[1]; + break; + } + chi2 = new_chi2; +*/ + update = Hinv * Jres; + u += update[0]; + v += update[1]; + mean_diff += update[2]; + +#if SUBPIX_VERBOSE + cout << "Iter " << iter << ":" + << "\t u=" << u << ", v=" << v + << "\t update = " << update[0] << ", " << update[1] +// << "\t new chi2 = " << new_chi2 << endl; +#endif + + if(update[0]*update[0]+update[1]*update[1] < min_update_squared) + { +#if SUBPIX_VERBOSE + cout << "converged." << endl; +#endif + converged=true; + break; + } + } + + cur_px_estimate << u, v; + return converged; +} + +#define DESCALE(x,n) (((x) + (1 << ((n)-1))) >> (n)) // rounds to closest integer and descales + +bool align2D_SSE2( + const cv::Mat& cur_img, + uint8_t* ref_patch_with_border, + uint8_t* ref_patch, + const int n_iter, + Vector2d& cur_px_estimate) +{ + // TODO: This function should not be used as the alignment is not robust to illumination changes! + const int halfpatch_size = 4; + const int patch_size = 8; + const int patch_area = 64; + bool converged=false; + const int W_BITS = 14; + + // compute derivative of template and prepare inverse compositional + int16_t __attribute__((__aligned__(16))) ref_patch_dx[patch_area]; + int16_t __attribute__((__aligned__(16))) ref_patch_dy[patch_area]; + + // compute gradient and hessian + const int ref_step = patch_size+2; + int16_t* it_dx = ref_patch_dx; + int16_t* it_dy = ref_patch_dy; + float A11=0, A12=0, A22=0; + for(int y=0; y(it[1]) - it[-1]; + int16_t dy = static_cast(it[ref_step]) - it[-ref_step]; + *it_dx = dx; + *it_dy = dy; // we are missing a factor 1/2 + A11 += static_cast(dx*dx); // we are missing a factor 1/4 + A12 += static_cast(dx*dy); + A22 += static_cast(dy*dy); + } + } + + // Compute pixel location in new image: + float u = cur_px_estimate.x(); + float v = cur_px_estimate.y(); + + // termination condition + const float min_update_squared = 0.03*0.03; + const int cur_step = cur_img.step.p[0]; + const float Dinv = 1.0f/(A11*A22 - A12*A12); // we are missing an extra factor 16 + float chi2 = 0; + float update_u = 0, update_v = 0; + + for(int iter = 0; iter= cur_img.cols-halfpatch_size || v_r >= cur_img.rows-halfpatch_size) + break; + + if(isnan(u) || isnan(v)) // TODO very rarely this can happen, maybe H is singular? should not be at corner.. check + return false; + + float subpix_x = u-u_r; + float subpix_y = v-v_r; + float b1=0, b2=0; + float new_chi2 = 0.0; + +#ifdef __SSE2__ + // compute bilinear interpolation weights + int wTL = static_cast((1.0f-subpix_x)*(1.0f-subpix_y)*(1 << W_BITS)); + int wTR = static_cast(subpix_x * (1.0f-subpix_y)*(1 << W_BITS)); + int wBL = static_cast((1.0f-subpix_x)*subpix_y*(1 << W_BITS)); + int wBR = (1 << W_BITS) - wTL - wTR - wBL; + + __m128i qw0 = _mm_set1_epi32(wTL + (wTR << 16)); // Sets the 4 signed 32-bit integer values to [wTL, wTR]. + __m128i qw1 = _mm_set1_epi32(wBL + (wBR << 16)); + __m128i z = _mm_setzero_si128(); + __m128 qb0 = _mm_setzero_ps(); // 4 floats + __m128 qb1 = _mm_setzero_ps(); // 4 floats + __m128i qdelta = _mm_set1_epi32(1 << (W_BITS-1)); + for(int y=0; y(it[1] - it[-1]); + *it_dy = static_cast(it[ref_step] - it[-ref_step]); // divide by 2 missing + Vector3f J(*it_dx, *it_dy, 1.0f); + H += J*J.transpose(); + } + } + Matrix3f Hinv = H.inverse(); + float mean_diff = 0.0; + + // Compute pixel location in new image: + float u = cur_px_estimate.x(); + float v = cur_px_estimate.y(); + + // termination condition + const float min_update_squared = 0.03*0.03; + const int cur_step = cur_img.step.p[0]; + Vector3f update; + Vector3f Jres; + for(int iter = 0; iter= cur_img.cols-halfpatch_size || v_r >= cur_img.rows-halfpatch_size) + break; + + if(isnan(u) || isnan(v)) // TODO very rarely this can happen, maybe H is singular? should not be at corner.. check + return false; + + float subpix_x = u-u_r; + float subpix_y = v-v_r; + float b1=0, b2=0; + +#ifdef __ARM_NEON__ + const int SHIFT_BITS = 7; + const uint16_t wTL = static_cast((1.0f-subpix_x)*(1.0f-subpix_y)*(1<(subpix_x*(1.0f-subpix_y)*(1<((1.0f-subpix_x)*subpix_y*(1<((1 << SHIFT_BITS) - wTL - wTR - wBL); + + // initialize result to zero + int32x4_t vb1 = vdupq_n_s32(0); + int32x4_t vb2 = vdupq_n_s32(0); + int16x8_t vmean_diff = vdupq_n_s16( (int16_t) (mean_diff+0.5) ); + int16x8_t vres_sum = vdupq_n_s16(0); + for(int y=0; y Vr[i] := Va[i] + Vb[i] * Vc[i] + // int32x4_t vmlal_s16(int32x4_t a, int16x4_t b, int16x4_t c); // VMLAL.S16 q0,d0,d0 + int16x8_t grad = vld1q_s16(ref_patch_dx + y*patch_size); + vb1 = vmlal_s16(vb1, vget_low_s16(grad), vget_low_s16(res)); + vb1 = vmlal_s16(vb1, vget_high_s16(grad), vget_high_s16(res)); + + grad = vld1q_s16(ref_patch_dy + y*patch_size); + vb2 = vmlal_s16(vb2, vget_low_s16(grad), vget_low_s16(res)); + vb2 = vmlal_s16(vb2, vget_high_s16(grad), vget_high_s16(res)); + } + + // finally, sum results of vb1, vb2 and vres_sum + int32x2_t tmp; + tmp = vpadd_s32(vget_low_s32(vb1), vget_high_s32(vb1)); + Jres[0] = -vget_lane_s32(tmp, 0) - vget_lane_s32(tmp, 1); + + tmp = vpadd_s32(vget_low_s32(vb2), vget_high_s32(vb2)); + Jres[1] = -vget_lane_s32(tmp, 0) - vget_lane_s32(tmp, 1); + + int32x4_t vres_sum1 = vpaddlq_s16(vres_sum); + tmp = vpadd_s32(vget_low_s32(vres_sum1), vget_high_s32(vres_sum1)); + Jres[2] = -vget_lane_s32(tmp, 0) - vget_lane_s32(tmp, 1); +#endif + + update = Hinv * Jres * 2; // * 2 to compensate because above, we did not compute the derivative correctly + u += update[0]; + v += update[1]; + mean_diff += update[2]; + +#if SUBPIX_VERBOSE + cout << "Iter " << iter << ":" + << "\t u=" << u << ", v=" << v + << "\t update = " << update[0] << ", " << update[1] << endl; +#endif + + if(update[0]*update[0]+update[1]*update[1] < min_update_squared) + { +#if SUBPIX_VERBOSE + cout << "converged." << endl; +#endif + converged=true; + break; + } + } + + cur_px_estimate << u, v; + return converged; +} + +} // namespace feature_alignment +} // namespace svo diff --git a/GPU_version/svo/src/feature_detection.cpp b/GPU_version/svo/src/feature_detection.cpp new file mode 100644 index 0000000..98183f8 --- /dev/null +++ b/GPU_version/svo/src/feature_detection.cpp @@ -0,0 +1,118 @@ +// This file is part of SVO - Semi-direct Visual Odometry. +// +// Copyright (C) 2014 Christian Forster +// (Robotics and Perception Group, University of Zurich, Switzerland). +// +// SVO is free software: you can redistribute it and/or modify it under the +// terms of the GNU General Public License as published by the Free Software +// Foundation, either version 3 of the License, or any later version. +// +// SVO is distributed in the hope that it will be useful, but WITHOUT ANY +// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS +// FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. +// +// You should have received a copy of the GNU General Public License +// along with this program. If not, see . + +#include +#include +#include +#include + +namespace svo { +namespace feature_detection { + +AbstractDetector::AbstractDetector( + const int img_width, + const int img_height, + const int cell_size, + const int n_pyr_levels) : + cell_size_(cell_size), + n_pyr_levels_(n_pyr_levels), + grid_n_cols_(ceil(static_cast(img_width)/cell_size_)), + grid_n_rows_(ceil(static_cast(img_height)/cell_size_)), + grid_occupancy_(grid_n_cols_*grid_n_rows_, false) +{} + +void AbstractDetector::resetGrid() +{ + std::fill(grid_occupancy_.begin(), grid_occupancy_.end(), false); +} + +void AbstractDetector::setExistingFeatures(const Features& fts) +{ + std::for_each(fts.begin(), fts.end(), [&](Feature* i){ + grid_occupancy_.at( + static_cast(i->px[1]/cell_size_)*grid_n_cols_ + + static_cast(i->px[0]/cell_size_)) = true; + }); +} + +void AbstractDetector::setGridOccpuancy(const Vector2d& px) +{ + grid_occupancy_.at( + static_cast(px[1]/cell_size_)*grid_n_cols_ + + static_cast(px[0]/cell_size_)) = true; +} + +FastDetector::FastDetector( + const int img_width, + const int img_height, + const int cell_size, + const int n_pyr_levels) : + AbstractDetector(img_width, img_height, cell_size, n_pyr_levels) +{} + +void FastDetector::detect( + Frame* frame, + const ImgPyr& img_pyr, + const double detection_threshold, + Features& fts) +{ + Corners corners(grid_n_cols_*grid_n_rows_, Corner(0,0,detection_threshold,0,0.0f)); + for(int L=0; L fast_corners; +#if __SSE2__ + fast::fast_corner_detect_10_sse2( + (fast::fast_byte*) img_pyr[L].data, img_pyr[L].cols, + img_pyr[L].rows, img_pyr[L].cols, 20, fast_corners); +#elif HAVE_FAST_NEON + fast::fast_corner_detect_9_neon( + (fast::fast_byte*) img_pyr[L].data, img_pyr[L].cols, + img_pyr[L].rows, img_pyr[L].cols, 20, fast_corners); +#else + fast::fast_corner_detect_10( + (fast::fast_byte*) img_pyr[L].data, img_pyr[L].cols, + img_pyr[L].rows, img_pyr[L].cols, 20, fast_corners); +#endif + vector scores, nm_corners; + fast::fast_corner_score_10((fast::fast_byte*) img_pyr[L].data, img_pyr[L].cols, fast_corners, 20, scores); + fast::fast_nonmax_3x3(fast_corners, scores, nm_corners); + + for(auto it=nm_corners.begin(), ite=nm_corners.end(); it!=ite; ++it) + { + fast::fast_xy& xy = fast_corners.at(*it); + const int k = static_cast((xy.y*scale)/cell_size_)*grid_n_cols_ + + static_cast((xy.x*scale)/cell_size_); + if(grid_occupancy_[k]) + continue; + const float score = vk::shiTomasiScore(img_pyr[L], xy.x, xy.y); + if(score > corners.at(k).score) + corners.at(k) = Corner(xy.x*scale, xy.y*scale, score, L, 0.0f); + } + } + + // Create feature for every corner that has high enough corner score + std::for_each(corners.begin(), corners.end(), [&](Corner& c) { + if(c.score > detection_threshold) + fts.push_back(new Feature(frame, Vector2d(c.x, c.y), c.level)); + }); + + resetGrid(); +} + +} // namespace feature_detection +} // namespace svo + diff --git a/GPU_version/svo/src/frame.cpp b/GPU_version/svo/src/frame.cpp new file mode 100644 index 0000000..44ddab6 --- /dev/null +++ b/GPU_version/svo/src/frame.cpp @@ -0,0 +1,190 @@ +// This file is part of SVO - Semi-direct Visual Odometry. +// +// Copyright (C) 2014 Christian Forster +// (Robotics and Perception Group, University of Zurich, Switzerland). +// +// SVO is free software: you can redistribute it and/or modify it under the +// terms of the GNU General Public License as published by the Free Software +// Foundation, either version 3 of the License, or any later version. +// +// SVO is distributed in the hope that it will be useful, but WITHOUT ANY +// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS +// FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. +// +// You should have received a copy of the GNU General Public License +// along with this program. If not, see . + +#include +#include +#include +#include +#include +#include +#include +#include +#include + +namespace svo { + +int Frame::frame_counter_ = 0; + +Frame::Frame(vk::AbstractCamera* cam, const cv::Mat& img, double timestamp) : + id_(frame_counter_++), + timestamp_(timestamp), + cam_(cam), + key_pts_(5), + is_keyframe_(false), + v_kf_(NULL) +{ + initFrame(img); +} + +Frame::~Frame() +{ + std::for_each(fts_.begin(), fts_.end(), [&](Feature* i){delete i;}); +} + +void Frame::initFrame(const cv::Mat& img) +{ + // check image + if(img.empty() || img.type() != CV_8UC1 || img.cols != cam_->width() || img.rows != cam_->height()) + throw std::runtime_error("Frame: provided image has not the same size as the camera model or image is not grayscale"); + + // Set keypoints to NULL + std::for_each(key_pts_.begin(), key_pts_.end(), [&](Feature* ftr){ ftr=NULL; }); + + // Build Image Pyramid + frame_utils::createImgPyramid(img, max(Config::nPyrLevels(), Config::kltMaxLevel()+1), img_pyr_); +} + +void Frame::setKeyframe() +{ + is_keyframe_ = true; + setKeyPoints(); +} + +void Frame::addFeature(Feature* ftr) +{ + fts_.push_back(ftr); +} + +void Frame::setKeyPoints() +{ + for(size_t i = 0; i < 5; ++i) + if(key_pts_[i] != NULL) + if(key_pts_[i]->point == NULL) + key_pts_[i] = NULL; + + std::for_each(fts_.begin(), fts_.end(), [&](Feature* ftr){ if(ftr->point != NULL) checkKeyPoints(ftr); }); +} + +void Frame::checkKeyPoints(Feature* ftr) +{ + const int cu = cam_->width()/2; + const int cv = cam_->height()/2; + + // center pixel + if(key_pts_[0] == NULL) + key_pts_[0] = ftr; + else if(std::max(std::fabs(ftr->px[0]-cu), std::fabs(ftr->px[1]-cv)) + < std::max(std::fabs(key_pts_[0]->px[0]-cu), std::fabs(key_pts_[0]->px[1]-cv))) + key_pts_[0] = ftr; + + if(ftr->px[0] >= cu && ftr->px[1] >= cv) + { + if(key_pts_[1] == NULL) + key_pts_[1] = ftr; + else if((ftr->px[0]-cu) * (ftr->px[1]-cv) + > (key_pts_[1]->px[0]-cu) * (key_pts_[1]->px[1]-cv)) + key_pts_[1] = ftr; + } + if(ftr->px[0] >= cu && ftr->px[1] < cv) + { + if(key_pts_[2] == NULL) + key_pts_[2] = ftr; + else if((ftr->px[0]-cu) * (ftr->px[1]-cv) + > (key_pts_[2]->px[0]-cu) * (key_pts_[2]->px[1]-cv)) + key_pts_[2] = ftr; + } + if(ftr->px[0] < cv && ftr->px[1] < cv) + { + if(key_pts_[3] == NULL) + key_pts_[3] = ftr; + else if((ftr->px[0]-cu) * (ftr->px[1]-cv) + > (key_pts_[3]->px[0]-cu) * (key_pts_[3]->px[1]-cv)) + key_pts_[3] = ftr; + } + if(ftr->px[0] < cv && ftr->px[1] >= cv) + { + if(key_pts_[4] == NULL) + key_pts_[4] = ftr; + else if((ftr->px[0]-cu) * (ftr->px[1]-cv) + > (key_pts_[4]->px[0]-cu) * (key_pts_[4]->px[1]-cv)) + key_pts_[4] = ftr; + } +} + +void Frame::removeKeyPoint(Feature* ftr) +{ + bool found = false; + std::for_each(key_pts_.begin(), key_pts_.end(), [&](Feature*& i){ + if(i == ftr) { + i = NULL; + found = true; + } + }); + if(found) + setKeyPoints(); +} + +bool Frame::isVisible(const Vector3d& xyz_w) const +{ + Vector3d xyz_f = T_f_w_*xyz_w; + if(xyz_f.z() < 0.0) + return false; // point is behind the camera + Vector2d px = f2c(xyz_f); + if(px[0] >= 0.0 && px[1] >= 0.0 && px[0] < cam_->width() && px[1] < cam_->height()) + return true; + return false; +} + + +/// Utility functions for the Frame class +namespace frame_utils { + +void createImgPyramid(const cv::Mat& img_level_0, int n_levels, ImgPyr& pyr) +{ + pyr.resize(n_levels); + pyr[0] = img_level_0; + for(int i=1; i depth_vec; + depth_vec.reserve(frame.fts_.size()); + depth_min = std::numeric_limits::max(); + for(auto it=frame.fts_.begin(), ite=frame.fts_.end(); it!=ite; ++it) + { + if((*it)->point != NULL) + { + const double z = frame.w2f((*it)->point->pos_).z(); + depth_vec.push_back(z); + depth_min = fmin(z, depth_min); + } + } + if(depth_vec.empty()) + { + SVO_WARN_STREAM("Cannot set scene depth. Frame has no point-observations!"); + return false; + } + depth_mean = vk::getMedian(depth_vec); + return true; +} + +} // namespace frame_utils +} // namespace svo diff --git a/GPU_version/svo/src/frame_handler_base.cpp b/GPU_version/svo/src/frame_handler_base.cpp new file mode 100644 index 0000000..175ee01 --- /dev/null +++ b/GPU_version/svo/src/frame_handler_base.cpp @@ -0,0 +1,199 @@ +// This file is part of SVO - Semi-direct Visual Odometry. +// +// Copyright (C) 2014 Christian Forster +// (Robotics and Perception Group, University of Zurich, Switzerland). +// +// SVO is free software: you can redistribute it and/or modify it under the +// terms of the GNU General Public License as published by the Free Software +// Foundation, either version 3 of the License, or any later version. +// +// SVO is distributed in the hope that it will be useful, but WITHOUT ANY +// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS +// FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. +// +// You should have received a copy of the GNU General Public License +// along with this program. If not, see . + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +namespace svo +{ + +// definition of global and static variables which were declared in the header +#ifdef SVO_TRACE +vk::PerformanceMonitor* g_permon = NULL; +#endif + +FrameHandlerBase::FrameHandlerBase() : + stage_(STAGE_PAUSED), + set_reset_(false), + set_start_(false), + acc_frame_timings_(10), + acc_num_obs_(10), + num_obs_last_(0), + tracking_quality_(TRACKING_INSUFFICIENT) +{ +#ifdef SVO_TRACE + // Initialize Performance Monitor + g_permon = new vk::PerformanceMonitor(); + g_permon->addTimer("pyramid_creation"); + g_permon->addTimer("sparse_img_align"); + g_permon->addTimer("reproject"); + g_permon->addTimer("reproject_kfs"); + g_permon->addTimer("reproject_candidates"); + g_permon->addTimer("feature_align"); + g_permon->addTimer("pose_optimizer"); + g_permon->addTimer("point_optimizer"); + g_permon->addTimer("local_ba"); + g_permon->addTimer("tot_time"); + g_permon->addLog("timestamp"); + g_permon->addLog("img_align_n_tracked"); + g_permon->addLog("repr_n_mps"); + g_permon->addLog("repr_n_new_references"); + g_permon->addLog("sfba_thresh"); + g_permon->addLog("sfba_error_init"); + g_permon->addLog("sfba_error_final"); + g_permon->addLog("sfba_n_edges_final"); + g_permon->addLog("loba_n_erredges_init"); + g_permon->addLog("loba_n_erredges_fin"); + g_permon->addLog("loba_err_init"); + g_permon->addLog("loba_err_fin"); + g_permon->addLog("n_candidates"); + g_permon->addLog("dropout"); + g_permon->init(Config::traceName(), Config::traceDir()); +#endif + + SVO_INFO_STREAM("SVO initialized"); +} + +FrameHandlerBase::~FrameHandlerBase() +{ + SVO_INFO_STREAM("SVO destructor invoked"); +#ifdef SVO_TRACE + delete g_permon; +#endif +} + +bool FrameHandlerBase::startFrameProcessingCommon(const double timestamp) +{ + if(set_start_) + { + resetAll(); + stage_ = STAGE_FIRST_FRAME; + } + + if(stage_ == STAGE_PAUSED) + return false; + + SVO_LOG(timestamp); + SVO_DEBUG_STREAM("New Frame"); + SVO_START_TIMER("tot_time"); + timer_.start(); + + // some cleanup from last iteration, can't do before because of visualization + map_.emptyTrash(); + return true; +} + +int FrameHandlerBase::finishFrameProcessingCommon( + const size_t update_id, + const UpdateResult dropout, + const size_t num_observations) +{ + SVO_DEBUG_STREAM("Frame: "<writeToFile(); + { + boost::unique_lock lock(map_.point_candidates_.mut_); + size_t n_candidates = map_.point_candidates_.candidates_.size(); + SVO_LOG(n_candidates); + } +#endif + + if(dropout == RESULT_FAILURE && + (stage_ == STAGE_DEFAULT_FRAME || stage_ == STAGE_RELOCALIZING )) + { + stage_ = STAGE_RELOCALIZING; + tracking_quality_ = TRACKING_INSUFFICIENT; + } + else if (dropout == RESULT_FAILURE) + resetAll(); + if(set_reset_) + resetAll(); + + return 0; +} + +void FrameHandlerBase::resetCommon() +{ + map_.reset(); + stage_ = STAGE_PAUSED; + set_reset_ = false; + set_start_ = false; + tracking_quality_ = TRACKING_INSUFFICIENT; + num_obs_last_ = 0; + SVO_INFO_STREAM("RESET"); +} + +void FrameHandlerBase::setTrackingQuality(const size_t num_observations) +{ + tracking_quality_ = TRACKING_GOOD; + if(num_observations < Config::qualityMinFts()) + { + SVO_WARN_STREAM_THROTTLE(0.5, "Tracking less than "<< Config::qualityMinFts() <<" features!"); + tracking_quality_ = TRACKING_INSUFFICIENT; + } + const int feature_drop = static_cast(std::min(num_obs_last_, Config::maxFts())) - num_observations; + if(feature_drop > Config::qualityMaxFtsDrop()) + { + SVO_WARN_STREAM("Lost "<< feature_drop <<" features!"); + tracking_quality_ = TRACKING_INSUFFICIENT; + } +} + +bool ptLastOptimComparator(Point* lhs, Point* rhs) +{ + return (lhs->last_structure_optim_ < rhs->last_structure_optim_); +} + +void FrameHandlerBase::optimizeStructure( + FramePtr frame, + size_t max_n_pts, + int max_iter) +{ + deque pts; + for(Features::iterator it=frame->fts_.begin(); it!=frame->fts_.end(); ++it) + { + if((*it)->point != NULL) + pts.push_back((*it)->point); + } + max_n_pts = min(max_n_pts, pts.size()); + nth_element(pts.begin(), pts.begin() + max_n_pts, pts.end(), ptLastOptimComparator); + for(deque::iterator it=pts.begin(); it!=pts.begin()+max_n_pts; ++it) + { + (*it)->optimize(max_iter); + (*it)->last_structure_optim_ = frame->id_; + } +} + + +} // namespace svo diff --git a/GPU_version/svo/src/frame_handler_mono.cpp b/GPU_version/svo/src/frame_handler_mono.cpp new file mode 100644 index 0000000..799cb8c --- /dev/null +++ b/GPU_version/svo/src/frame_handler_mono.cpp @@ -0,0 +1,307 @@ +// This file is part of SVO - Semi-direct Visual Odometry. +// +// Copyright (C) 2014 Christian Forster +// (Robotics and Perception Group, University of Zurich, Switzerland). +// +// SVO is free software: you can redistribute it and/or modify it under the +// terms of the GNU General Public License as published by the Free Software +// Foundation, either version 3 of the License, or any later version. +// +// SVO is distributed in the hope that it will be useful, but WITHOUT ANY +// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS +// FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. +// +// You should have received a copy of the GNU General Public License +// along with this program. If not, see . + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#ifdef USE_BUNDLE_ADJUSTMENT +#include +#endif + +namespace svo { + +FrameHandlerMono::FrameHandlerMono(vk::AbstractCamera* cam,Sophus::SE3& SE_init) : + FrameHandlerBase(), + cam_(cam), + reprojector_(cam_, map_), + depth_filter_(NULL) +{ + initialize(); + imu_integPtr_=std::make_unique(SE_init); +} + +void FrameHandlerMono::initialize() +{ + feature_detection::DetectorPtr feature_detector( + new feature_detection::FastDetector( + cam_->width(), cam_->height(), Config::gridSize(), Config::nPyrLevels())); + DepthFilter::callback_t depth_filter_cb = boost::bind( + &MapPointCandidates::newCandidatePoint, &map_.point_candidates_, _1, _2); + depth_filter_ = new DepthFilter(feature_detector, depth_filter_cb); + depth_filter_->startThread(); +} + +FrameHandlerMono::~FrameHandlerMono() +{ + delete depth_filter_; +} + +void FrameHandlerMono::addImage(const cv::Mat& img, const double timestamp) +{ + if(!startFrameProcessingCommon(timestamp)) + return; + + // some cleanup from last iteration, can't do before because of visualization + core_kfs_.clear(); + overlap_kfs_.clear(); + + // create new frame + new_frame_.reset(new Frame(cam_, img.clone(), timestamp)); + + // process frame + UpdateResult res = RESULT_FAILURE; + if(stage_ == STAGE_DEFAULT_FRAME) + res = processFrame(); + else if(stage_ == STAGE_SECOND_FRAME) + res = processSecondFrame(); + else if(stage_ == STAGE_FIRST_FRAME) + res = processFirstFrame(); + else if(stage_ == STAGE_RELOCALIZING) + res = relocalizeFrame(SE3(Matrix3d::Identity(), Vector3d::Zero()), + map_.getClosestKeyframe(last_frame_)); + + // set last frame + last_frame_ = new_frame_; + new_frame_.reset(); + // finish processing + finishFrameProcessingCommon(last_frame_->id_, res, last_frame_->nObs()); +} + +FrameHandlerMono::UpdateResult FrameHandlerMono::processFirstFrame() +{ + new_frame_->T_f_w_ = SE3(Matrix3d::Identity(), Vector3d::Zero()); + if(klt_homography_init_.addFirstFrame(new_frame_) == initialization::FAILURE) + return RESULT_NO_KEYFRAME; + new_frame_->setKeyframe(); + map_.addKeyframe(new_frame_); + stage_ = STAGE_SECOND_FRAME; + SVO_INFO_STREAM("Init: Selected first frame."); + return RESULT_IS_KEYFRAME; +} + +FrameHandlerBase::UpdateResult FrameHandlerMono::processSecondFrame() +{ + initialization::InitResult res = klt_homography_init_.addSecondFrame(new_frame_); + if(res == initialization::FAILURE) + return RESULT_FAILURE; + else if(res == initialization::NO_KEYFRAME) + return RESULT_NO_KEYFRAME; + + // two-frame bundle adjustment +#ifdef USE_BUNDLE_ADJUSTMENT + ba::twoViewBA(new_frame_.get(), map_.lastKeyframe().get(), Config::lobaThresh(), &map_); +#endif + + new_frame_->setKeyframe(); + double depth_mean, depth_min; + frame_utils::getSceneDepth(*new_frame_, depth_mean, depth_min); + depth_filter_->addKeyframe(new_frame_, depth_mean, 0.5*depth_min); + + // add frame to map + map_.addKeyframe(new_frame_); + stage_ = STAGE_DEFAULT_FRAME; + klt_homography_init_.reset(); + SVO_INFO_STREAM("Init: Selected second frame, triangulated initial map."); + return RESULT_IS_KEYFRAME; +} + +FrameHandlerBase::UpdateResult FrameHandlerMono::processFrame() +{ + // Set initial pose TODO use prior + new_frame_->T_f_w_ = last_frame_->T_f_w_; + + // sparse image align + SparseImgAlign img_align(Config::kltMaxLevel(), Config::kltMinLevel(), + 30, SparseImgAlign::GaussNewton, false, false); + img_align.run(last_frame_, new_frame_); + // map reprojection & feature alignment + reprojector_.reprojectMap(new_frame_, overlap_kfs_); + std::cerr<<"Reprojection Map:\t nPoints = "<T_f_w_ = last_frame_->T_f_w_; // reset to avoid crazy pose jumps + tracking_quality_ = TRACKING_INSUFFICIENT; + return RESULT_FAILURE; + } + + // pose optimization subject to change for adding IMU + size_t sfba_n_edges_final; + if(!imu_integPtr_->predict(new_frame_,sfba_n_edges_final,Config::poseOptimThresh())) + return RESULT_FAILURE; + + + std::cerr<<"Reprojected points after opmization: "<T_f_w_ = last_frame_->T_f_w_; // reset to avoid crazy pose jumps + return RESULT_FAILURE; + } + double depth_mean, depth_min; + frame_utils::getSceneDepth(*new_frame_, depth_mean, depth_min); + if(!needNewKf(depth_mean) || tracking_quality_ == TRACKING_BAD) + { + depth_filter_->addFrame(new_frame_); + return RESULT_NO_KEYFRAME; + } + new_frame_->setKeyframe(); + + // new keyframe selected + for(Features::iterator it=new_frame_->fts_.begin(); it!=new_frame_->fts_.end(); ++it) + if((*it)->point != NULL) + (*it)->point->addFrameRef(*it); + map_.point_candidates_.addCandidatePointToFrame(new_frame_); + + // optional bundle adjustment +#ifdef USE_BUNDLE_ADJUSTMENT + if(Config::lobaNumIter() > 0) + { + SVO_START_TIMER("local_ba"); + setCoreKfs(Config::coreNKfs()); + size_t loba_n_erredges_init, loba_n_erredges_fin; + double loba_err_init, loba_err_fin; + ba::localBA(new_frame_.get(), &core_kfs_, &map_, + loba_n_erredges_init, loba_n_erredges_fin, + loba_err_init, loba_err_fin); + SVO_STOP_TIMER("local_ba"); + SVO_LOG4(loba_n_erredges_init, loba_n_erredges_fin, loba_err_init, loba_err_fin); + SVO_DEBUG_STREAM("Local BA:\t RemovedEdges {"<addKeyframe(new_frame_, depth_mean, 0.5*depth_min); + + // if limited number of keyframes, remove the one furthest apart + if(Config::maxNKfs() > 2 && map_.size() >= Config::maxNKfs()) + { + FramePtr furthest_frame = map_.getFurthestKeyframe(new_frame_->pos()); + depth_filter_->removeKeyframe(furthest_frame); // TODO this interrupts the mapper thread, maybe we can solve this better + map_.safeDeleteFrame(furthest_frame); + } + + // add keyframe to map + map_.addKeyframe(new_frame_); + std::cerr<<"Svo pipline was finished\n"; + return RESULT_IS_KEYFRAME; +} + +FrameHandlerMono::UpdateResult FrameHandlerMono::relocalizeFrame( + const SE3& T_cur_ref, + FramePtr ref_keyframe) +{ + if(ref_keyframe == nullptr) + { + return RESULT_FAILURE; + } + SparseImgAlign img_align(Config::kltMaxLevel(), Config::kltMinLevel(), + 30, SparseImgAlign::GaussNewton, false, false); + size_t img_align_n_tracked = img_align.run(ref_keyframe, new_frame_); + usleep(2000); + if(img_align_n_tracked > Config::qualityMinFts()) + { + SE3 T_f_w_last = last_frame_->T_f_w_; + last_frame_ = ref_keyframe; + FrameHandlerMono::UpdateResult res = processFrame(); + if(res != RESULT_FAILURE) + { + stage_ = STAGE_DEFAULT_FRAME; + } + else + new_frame_->T_f_w_ = T_f_w_last; // reset to last well localized pose + return res; + } + return RESULT_FAILURE; +} + +bool FrameHandlerMono::relocalizeFrameAtPose( + const int keyframe_id, + const SE3& T_f_kf, + const cv::Mat& img, + const double timestamp) +{ + FramePtr ref_keyframe; + if(!map_.getKeyframeById(keyframe_id, ref_keyframe)) + return false; + new_frame_.reset(new Frame(cam_, img.clone(), timestamp)); + UpdateResult res = relocalizeFrame(T_f_kf, ref_keyframe); + if(res != RESULT_FAILURE) { + last_frame_ = new_frame_; + return true; + } + return false; +} + +void FrameHandlerMono::resetAll() +{ + resetCommon(); + last_frame_.reset(); + new_frame_.reset(); + core_kfs_.clear(); + overlap_kfs_.clear(); + depth_filter_->reset(); +} + +void FrameHandlerMono::setFirstFrame(const FramePtr& first_frame) +{ + resetAll(); + last_frame_ = first_frame; + last_frame_->setKeyframe(); + map_.addKeyframe(last_frame_); + stage_ = STAGE_DEFAULT_FRAME; +} + +bool FrameHandlerMono::needNewKf(double scene_depth_mean) +{ + for(auto it=overlap_kfs_.begin(), ite=overlap_kfs_.end(); it!=ite; ++it) + { + Vector3d relpos = new_frame_->w2f(it->first->pos()); + if(fabs(relpos.x())/scene_depth_mean < Config::kfSelectMinDist() && + fabs(relpos.y())/scene_depth_mean < Config::kfSelectMinDist()*0.8 && + fabs(relpos.z())/scene_depth_mean < Config::kfSelectMinDist()*1.3) + return false; + } + return true; +} + +void FrameHandlerMono::setCoreKfs(size_t n_closest) +{ + size_t n = min(n_closest, overlap_kfs_.size()-1); + std::partial_sort(overlap_kfs_.begin(), overlap_kfs_.begin()+n, overlap_kfs_.end(), + boost::bind(&pair::second, _1) > + boost::bind(&pair::second, _2)); + std::for_each(overlap_kfs_.begin(), overlap_kfs_.end(), [&](pair& i){ core_kfs_.insert(i.first); }); +} + +} // namespace svo diff --git a/GPU_version/svo/src/imu_integration.cpp b/GPU_version/svo/src/imu_integration.cpp new file mode 100644 index 0000000..c2a720f --- /dev/null +++ b/GPU_version/svo/src/imu_integration.cpp @@ -0,0 +1,151 @@ +// +// Created by gfuse on 4/9/21. +// +//#define NDEBUG +#include "svo/imu_integration.h" +#include +#include +#include "svo/feature.h" +#include "svo/point.h" +#include "svo/svoVisionFactor.h" +#include +#include +#include +#include + +Imu_Integration::Imu_Integration(Sophus::SE3& SE_init){ + graphPtr=std::make_shared(); + valuesPtr=std::make_shared(); + parameterPtr = gtsam::PreintegratedCombinedMeasurements::Params::MakeSharedD();// TODO check the IMU frame + parameterPtr->accelerometerCovariance=gtsam::I_3x3 * svo::Config::ACC_Noise(); // acc white noise in continuous + parameterPtr->gyroscopeCovariance=gtsam::I_3x3 * svo::Config::GYO_Noise();// gyro white noise in continuous + parameterPtr->integrationCovariance=gtsam::I_3x3 * svo::Config::IUC(); // integration uncertainty continuous + parameterPtr->biasAccCovariance = gtsam::I_3x3 * svo::Config::ABC(); // acc bias in continuous + parameterPtr->biasOmegaCovariance = gtsam::I_3x3 * svo::Config::GBC(); // gyro bias in continuous + parameterPtr->biasAccOmegaInt = gtsam::I_6x6 * svo::Config::EBP(); // error in the bias used for preintegration + imu_biasPtr=std::make_shared(gtsam::Vector3(1e-8,1e-8,1e-8),gtsam::Vector3(1e-8,1e-8,1e-8)); + preintegratedPtr = std::make_shared(parameterPtr,*imu_biasPtr); + ProjectNoisePtr = gtsam::noiseModel::Isotropic::Sigma(2, svo::Config::NRP()); // the noise used for projection + optimizerParamPtr=std::make_shared(); + optimizerParamPtr->relinearizeThreshold = 0.1; + optimizerParamPtr->relinearizeSkip = 1; + //optimizerParamPtr->evaluateNonlinearError=true; + assert(preintegratedPtr); +} +Imu_Integration::~Imu_Integration(){ + +} +bool Imu_Integration::update(double* imu){ + if(syn)return false; + if(imu_factor_id<1)return false; + auto in=std::chrono::steady_clock::now(); + if(std::chrono::duration(in-t_1).count()>20.0){ + t_1=in; + preintegratedPtr->integrateMeasurement(Eigen::Vector3d(imu[0],imu[1],imu[2]),Eigen::Vector3d(imu[3],imu[4],imu[5]),0.005); + }else{ + preintegratedPtr->integrateMeasurement(Eigen::Vector3d(imu[0],imu[1],imu[2]),Eigen::Vector3d(imu[3],imu[4],imu[5]),std::chrono::duration(in-t_1).count()); + t_1=in; + ++imu_n; + } + return true; + +} +bool Imu_Integration::reset(gtsam::ISAM2& optimizer,boost::shared_ptr& new_frame){ + gtsam::Values result = optimizer.calculateEstimate(); + // Overwrite the beginning of the preintegration for the next step. + statePtr=std::make_shared(result.at(P(imu_factor_id)), result.at(V(imu_factor_id))); + imu_biasPtr=std::make_shared(result.at(B(imu_factor_id))); + preintegratedPtr->resetIntegrationAndSetBias(*imu_biasPtr); + ++imu_factor_id; + syn=false; + new_frame->T_f_w_=Sophus::SE3(statePtr->R(),statePtr->t()); + new_frame->Cov_=optimizer.marginalCovariance(P(imu_factor_id-1)); + graphPtr->resize(0); + valuesPtr->clear(); + valuesPtr->insert(P(imu_factor_id-1),statePtr->pose()); + valuesPtr->insert(V(imu_factor_id-1),statePtr->v()); + valuesPtr->insert(B(imu_factor_id-1),*imu_biasPtr); + graphPtr->addPrior(P(imu_factor_id-1),statePtr->pose(),optimizer.marginalCovariance(P(imu_factor_id-1))); + graphPtr->addPrior(V(imu_factor_id-1),statePtr->v(),optimizer.marginalCovariance(V(imu_factor_id-1))); + graphPtr->addPrior(B(imu_factor_id-1),*imu_biasPtr,optimizer.marginalCovariance(B(imu_factor_id-1))); + return true; +} +bool Imu_Integration::reset(gtsam::LevenbergMarquardtOptimizer& optimizer,boost::shared_ptr& new_frame){ + gtsam::Values result = optimizer.optimize(); + // Overwrite the beginning of the preintegration for the next step. + statePtr=std::make_shared(result.at(P(imu_factor_id)), result.at(V(imu_factor_id))); + imu_biasPtr=std::make_shared(result.at(B(imu_factor_id))); + preintegratedPtr->resetIntegrationAndSetBias(*imu_biasPtr); + ++imu_factor_id; + syn=false; + gtsam::Marginals marginals(*graphPtr,result); + new_frame->T_f_w_=Sophus::SE3(statePtr->R(),statePtr->t()); + new_frame->Cov_=marginals.marginalCovariance(P(imu_factor_id-1)); + graphPtr->resize(0); + valuesPtr->clear(); + valuesPtr->insert(P(imu_factor_id-1),statePtr->pose()); + valuesPtr->insert(V(imu_factor_id-1),statePtr->v()); + valuesPtr->insert(B(imu_factor_id-1),*imu_biasPtr); + graphPtr->addPrior(P(imu_factor_id-1),statePtr->pose(),marginals.marginalCovariance(P(imu_factor_id-1))); + graphPtr->addPrior(V(imu_factor_id-1),statePtr->v(),marginals.marginalCovariance(V(imu_factor_id-1))); + graphPtr->addPrior(B(imu_factor_id-1),*imu_biasPtr,marginals.marginalCovariance(B(imu_factor_id-1))); + return true; +} +bool Imu_Integration::predict(boost::shared_ptr& new_frame,std::size_t& num_obs,const double reproj_thresh){ + usleep(5000); + syn=true; + if(imu_factor_id<1){ + statePtr=std::make_shared(gtsam::Pose3(new_frame->T_f_w_.matrix()), + gtsam::Vector3(1e-12,1e-12,1e-12)); + valuesPtr->insert(P(0),statePtr->pose()); + valuesPtr->insert(V(0),statePtr->v()); + valuesPtr->insert(B(0),*imu_biasPtr); + graphPtr->addPrior(P(0),statePtr->pose(),gtsam::noiseModel::Diagonal::Sigmas((gtsam::Vector(6) << 1e-9, 1e-9, 1e-9, 1e-9, 1e-9, 1e-9).finished())); + graphPtr->addPrior(V(0),statePtr->v(),gtsam::noiseModel::Isotropic::Sigma(3, 1e-4)); + graphPtr->addPrior(B(0),*imu_biasPtr,gtsam::noiseModel::Isotropic::Sigma(6, 1e-2)); + }else{ + if(imu_n<1)return false; + auto preint_imu_combined =dynamic_cast(*preintegratedPtr); + valuesPtr->insert(P(imu_factor_id), gtsam::Pose3(new_frame->T_f_w_.matrix())); + valuesPtr->insert(V(imu_factor_id), statePtr->v()); + valuesPtr->insert(B(imu_factor_id), *imu_biasPtr); + gtsam::CombinedImuFactor imu_factor(P(imu_factor_id - 1), V(imu_factor_id - 1), P(imu_factor_id), V(imu_factor_id), B(imu_factor_id - 1), B(imu_factor_id), + preint_imu_combined); + graphPtr->emplace_shared(imu_factor); + imu_n=0; + } + + num_obs=0; + for(auto&& f:new_frame->fts_){ + if(f->point==NULL)continue; + graphPtr->emplace_shared(f->f, f->point->pos_,f->level, ProjectNoisePtr,P(imu_factor_id)); + ++num_obs; + } + // Now optimize. + //gtsam::ISAM2 optimizer(*optimizerParamPtr); + //optimizer.update(*graphPtr, *valuesPtr); + // Each call to iSAM2 update(*) performs one iteration of the iterative + // nonlinear solver. If accuracy is desired at the expense of time, + // update(*) can be called additional times to perform multiple optimizer + // iterations every step. + //optimizer.update(); + // optimizer.print(); + gtsam::LevenbergMarquardtOptimizer optimizer(*graphPtr, *valuesPtr); + + reset(optimizer,new_frame); + // Remove Measurements with too large reprojection error + double reproj_thresh_scaled = reproj_thresh / new_frame->cam_->errorMultiplier2(); + for(auto&& f:new_frame->fts_) + { + if(f->point == NULL) + continue; + Eigen::Vector2d e = (vk::project2d(f->f) - vk::project2d(new_frame->T_f_w_ * f->point->pos_))*1.0 / (1<level); + if(e.norm() > reproj_thresh_scaled) + { + // we don't need to delete a reference in the point since it was not created yet + f->point = NULL; + --num_obs; + } + } + return true; +} \ No newline at end of file diff --git a/GPU_version/svo/src/initialization.cpp b/GPU_version/svo/src/initialization.cpp new file mode 100644 index 0000000..571a0bc --- /dev/null +++ b/GPU_version/svo/src/initialization.cpp @@ -0,0 +1,199 @@ +// This file is part of SVO - Semi-direct Visual Odometry. +// +// Copyright (C) 2014 Christian Forster +// (Robotics and Perception Group, University of Zurich, Switzerland). +// +// SVO is free software: you can redistribute it and/or modify it under the +// terms of the GNU General Public License as published by the Free Software +// Foundation, either version 3 of the License, or any later version. +// +// SVO is distributed in the hope that it will be useful, but WITHOUT ANY +// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS +// FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. +// +// You should have received a copy of the GNU General Public License +// along with this program. If not, see . + +#include +#include +#include +#include +#include +#include +#include +#include + +namespace svo { +namespace initialization { + +InitResult KltHomographyInit::addFirstFrame(FramePtr frame_ref) +{ + reset(); + detectFeatures(frame_ref, px_ref_, f_ref_); + if(px_ref_.size() < 100) + { + SVO_WARN_STREAM_THROTTLE(2.0, "First image has less than 100 features. Retry in more textured environment."); + return FAILURE; + } + frame_ref_ = frame_ref; + px_cur_.insert(px_cur_.begin(), px_ref_.begin(), px_ref_.end()); + return SUCCESS; +} + +InitResult KltHomographyInit::addSecondFrame(FramePtr frame_cur) +{ + trackKlt(frame_ref_, frame_cur, px_ref_, px_cur_, f_ref_, f_cur_, disparities_); + SVO_INFO_STREAM("Init: KLT tracked "<< disparities_.size() <<" features"); + + if(disparities_.size() < Config::initMinTracked()) + return FAILURE; + + double disparity = vk::getMedian(disparities_); + SVO_INFO_STREAM("Init: KLT "<cam_->errorMultiplier2(), Config::poseOptimThresh(), + inliers_, xyz_in_cur_, T_cur_from_ref_); + SVO_INFO_STREAM("Init: Homography RANSAC "< depth_vec; + for(size_t i=0; iT_f_w_ = T_cur_from_ref_ * frame_ref_->T_f_w_; + frame_cur->T_f_w_.translation() = + -frame_cur->T_f_w_.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->T_f_w_.inverse(); + for(vector::iterator it=inliers_.begin(); it!=inliers_.end(); ++it) + { + Vector2d px_cur(px_cur_[*it].x, px_cur_[*it].y); + Vector2d px_ref(px_ref_[*it].x, px_ref_[*it].y); + if(frame_ref_->cam_->isInFrame(px_cur.cast(), 10) && frame_ref_->cam_->isInFrame(px_ref.cast(), 10) && xyz_in_cur_[*it].z() > 0) + { + Vector3d pos = T_world_cur * (xyz_in_cur_[*it]*scale); + Point* new_point = new Point(pos); + + Feature* ftr_cur(new Feature(frame_cur.get(), new_point, px_cur, f_cur_[*it], 0)); + frame_cur->addFeature(ftr_cur); + new_point->addFrameRef(ftr_cur); + + Feature* ftr_ref(new Feature(frame_ref_.get(), new_point, px_ref, f_ref_[*it], 0)); + frame_ref_->addFeature(ftr_ref); + new_point->addFrameRef(ftr_ref); + } + } + return SUCCESS; +} + +void KltHomographyInit::reset() +{ + px_cur_.clear(); + frame_ref_.reset(); +} + +void detectFeatures( + FramePtr frame, + vector& px_vec, + vector& f_vec) +{ + Features new_features; + feature_detection::FastDetector detector( + frame->img().cols, frame->img().rows, Config::gridSize(), Config::nPyrLevels()); + detector.detect(frame.get(), frame->img_pyr_, Config::triangMinCornerScore(), new_features); + + // now for all maximum corners, initialize a new seed + px_vec.clear(); px_vec.reserve(new_features.size()); + f_vec.clear(); f_vec.reserve(new_features.size()); + std::for_each(new_features.begin(), new_features.end(), [&](Feature* ftr){ + px_vec.push_back(cv::Point2f(ftr->px[0], ftr->px[1])); + f_vec.push_back(ftr->f); + delete ftr; + }); +} + +void trackKlt( + FramePtr frame_ref, + FramePtr frame_cur, + vector& px_ref, + vector& px_cur, + vector& f_ref, + vector& f_cur, + vector& disparities) +{ + const double klt_win_size = 30.0; + const int klt_max_iter = 30; + const double klt_eps = 0.001; + vector status; + vector error; + vector min_eig_vec; + cv::TermCriteria termcrit(cv::TermCriteria::COUNT+cv::TermCriteria::EPS, klt_max_iter, klt_eps); + cv::calcOpticalFlowPyrLK(frame_ref->img_pyr_[0], frame_cur->img_pyr_[0], + px_ref, px_cur, + status, error, + cv::Size2i(klt_win_size, klt_win_size), + 4, termcrit, cv::OPTFLOW_USE_INITIAL_FLOW); + + vector::iterator px_ref_it = px_ref.begin(); + vector::iterator px_cur_it = px_cur.begin(); + vector::iterator f_ref_it = f_ref.begin(); + f_cur.clear(); f_cur.reserve(px_cur.size()); + disparities.clear(); disparities.reserve(px_cur.size()); + for(size_t i=0; px_ref_it != px_ref.end(); ++i) + { + if(!status[i]) + { + px_ref_it = px_ref.erase(px_ref_it); + px_cur_it = px_cur.erase(px_cur_it); + f_ref_it = f_ref.erase(f_ref_it); + continue; + } + f_cur.push_back(frame_cur->c2f(px_cur_it->x, px_cur_it->y)); + disparities.push_back(Vector2d(px_ref_it->x - px_cur_it->x, px_ref_it->y - px_cur_it->y).norm()); + ++px_ref_it; + ++px_cur_it; + ++f_ref_it; + } +} + +void computeHomography( + const vector& f_ref, + const vector& f_cur, + double focal_length, + double reprojection_threshold, + vector& inliers, + vector& xyz_in_cur, + SE3& T_cur_from_ref) +{ + vector uv_ref(f_ref.size()); + vector uv_cur(f_cur.size()); + for(size_t i=0, i_max=f_ref.size(); i outliers; + vk::computeInliers(f_cur, f_ref, + Homography.T_c2_from_c1.rotation_matrix(), Homography.T_c2_from_c1.translation(), + reprojection_threshold, focal_length, + xyz_in_cur, inliers, outliers); + T_cur_from_ref = Homography.T_c2_from_c1; +} + + +} // namespace initialization +} // namespace svo diff --git a/GPU_version/svo/src/map.cpp b/GPU_version/svo/src/map.cpp new file mode 100644 index 0000000..2ecad1c --- /dev/null +++ b/GPU_version/svo/src/map.cpp @@ -0,0 +1,368 @@ +// This file is part of SVO - Semi-direct Visual Odometry. +// +// Copyright (C) 2014 Christian Forster +// (Robotics and Perception Group, University of Zurich, Switzerland). +// +// SVO is free software: you can redistribute it and/or modify it under the +// terms of the GNU General Public License as published by the Free Software +// Foundation, either version 3 of the License, or any later version. +// +// SVO is distributed in the hope that it will be useful, but WITHOUT ANY +// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS +// FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. +// +// You should have received a copy of the GNU General Public License +// along with this program. If not, see . + +#include +#include +#include +#include +#include +#include + +namespace svo { + +Map::Map() {} + +Map::~Map() +{ + reset(); + SVO_INFO_STREAM("Map destructed"); +} + +void Map::reset() +{ + keyframes_.clear(); + point_candidates_.reset(); + emptyTrash(); +} + +bool Map::safeDeleteFrame(FramePtr frame) +{ + bool found = false; + for(auto it=keyframes_.begin(), ite=keyframes_.end(); it!=ite; ++it) + { + if(*it == frame) + { + std::for_each((*it)->fts_.begin(), (*it)->fts_.end(), [&](Feature* ftr){ + removePtFrameRef(it->get(), ftr); + }); + keyframes_.erase(it); + found = true; + break; + } + } + + point_candidates_.removeFrameCandidates(frame); + + if(found) + return true; + + SVO_ERROR_STREAM("Tried to delete Keyframe in map which was not there."); + return false; +} + +void Map::removePtFrameRef(Frame* frame, Feature* ftr) +{ + if(ftr->point == NULL) + return; // mappoint may have been deleted in a previous ref. removal + Point* pt = ftr->point; + ftr->point = NULL; + if(pt->obs_.size() <= 2) + { + // If the references list of mappoint has only size=2, delete mappoint + safeDeletePoint(pt); + return; + } + pt->deleteFrameRef(frame); // Remove reference from map_point + frame->removeKeyPoint(ftr); // Check if mp was keyMp in keyframe +} + +void Map::safeDeletePoint(Point* pt) +{ + // Delete references to mappoints in all keyframes + std::for_each(pt->obs_.begin(), pt->obs_.end(), [&](Feature* ftr){ + ftr->point=NULL; + ftr->frame->removeKeyPoint(ftr); + }); + pt->obs_.clear(); + + // Delete mappoint + deletePoint(pt); +} + +void Map::deletePoint(Point* pt) +{ + pt->type_ = Point::TYPE_DELETED; + trash_points_.push_back(pt); +} + +void Map::addKeyframe(FramePtr new_keyframe) +{ + keyframes_.push_back(new_keyframe); +} + +void Map::getCloseKeyframes( + const FramePtr& frame, + std::list< std::pair >& close_kfs) const +{ + for(auto kf : keyframes_) + { + // check if kf has overlaping field of view with frame, use therefore KeyPoints + for(auto keypoint : kf->key_pts_) + { + if(keypoint == nullptr) + continue; + + if(frame->isVisible(keypoint->point->pos_)) + { + close_kfs.push_back( + std::make_pair( + kf, (frame->T_f_w_.translation()-kf->T_f_w_.translation()).norm())); + break; // this keyframe has an overlapping field of view -> add to close_kfs + } + } + } +} + +FramePtr Map::getClosestKeyframe(const FramePtr& frame) const +{ + list< pair > close_kfs; + getCloseKeyframes(frame, close_kfs); + if(close_kfs.empty()) + { + return nullptr; + } + + + // Sort KFs with overlap according to their closeness + close_kfs.sort(boost::bind(&std::pair::second, _1) < + boost::bind(&std::pair::second, _2)); + + if(close_kfs.front().first != frame) + return close_kfs.front().first; + close_kfs.pop_front(); + return close_kfs.front().first; +} + +FramePtr Map::getFurthestKeyframe(const Vector3d& pos) const +{ + FramePtr furthest_kf; + double maxdist = 0.0; + for(auto it=keyframes_.begin(), ite=keyframes_.end(); it!=ite; ++it) + { + double dist = ((*it)->pos()-pos).norm(); + if(dist > maxdist) { + maxdist = dist; + furthest_kf = *it; + } + } + return furthest_kf; +} + +bool Map::getKeyframeById(const int id, FramePtr& frame) const +{ + bool found = false; + for(auto it=keyframes_.begin(), ite=keyframes_.end(); it!=ite; ++it) + if((*it)->id_ == id) { + found = true; + frame = *it; + break; + } + return found; +} + +void Map::transform(const Matrix3d& R, const Vector3d& t, const double& s) +{ + for(auto it=keyframes_.begin(), ite=keyframes_.end(); it!=ite; ++it) + { + Vector3d pos = s*R*(*it)->pos() + t; + Matrix3d rot = R*(*it)->T_f_w_.rotation_matrix().inverse(); + (*it)->T_f_w_ = SE3(rot, pos).inverse(); + for(auto ftr=(*it)->fts_.begin(); ftr!=(*it)->fts_.end(); ++ftr) + { + if((*ftr)->point == NULL) + continue; + if((*ftr)->point->last_published_ts_ == -1000) + continue; + (*ftr)->point->last_published_ts_ = -1000; + (*ftr)->point->pos_ = s*R*(*ftr)->point->pos_ + t; + } + } +} + +void Map::emptyTrash() +{ + std::for_each(trash_points_.begin(), trash_points_.end(), [&](Point*& pt){ + delete pt; + pt=NULL; + }); + trash_points_.clear(); + point_candidates_.emptyTrash(); +} + +MapPointCandidates::MapPointCandidates() +{} + +MapPointCandidates::~MapPointCandidates() +{ + reset(); +} + +void MapPointCandidates::newCandidatePoint(Point* point, double depth_sigma2) +{ + point->type_ = Point::TYPE_CANDIDATE; + boost::unique_lock lock(mut_); + candidates_.push_back(PointCandidate(point, point->obs_.front())); +} + +void MapPointCandidates::addCandidatePointToFrame(FramePtr frame) +{ + boost::unique_lock lock(mut_); + PointCandidateList::iterator it=candidates_.begin(); + while(it != candidates_.end()) + { + if(it->first->obs_.front()->frame == frame.get()) + { + // insert feature in the frame + it->first->type_ = Point::TYPE_UNKNOWN; + it->first->n_failed_reproj_ = 0; + it->second->frame->addFeature(it->second); + it = candidates_.erase(it); + } + else + ++it; + } +} + +bool MapPointCandidates::deleteCandidatePoint(Point* point) +{ + boost::unique_lock lock(mut_); + for(auto it=candidates_.begin(), ite=candidates_.end(); it!=ite; ++it) + { + if(it->first == point) + { + deleteCandidate(*it); + candidates_.erase(it); + return true; + } + } + return false; +} + +void MapPointCandidates::removeFrameCandidates(FramePtr frame) +{ + boost::unique_lock lock(mut_); + auto it=candidates_.begin(); + while(it!=candidates_.end()) + { + if(it->second->frame == frame.get()) + { + deleteCandidate(*it); + it = candidates_.erase(it); + } + else + ++it; + } +} + +void MapPointCandidates::reset() +{ + boost::unique_lock lock(mut_); + std::for_each(candidates_.begin(), candidates_.end(), [&](PointCandidate& c){ + delete c.first; + delete c.second; + }); + candidates_.clear(); +} + +void MapPointCandidates::deleteCandidate(PointCandidate& c) +{ + // camera-rig: another frame might still be pointing to the candidate point + // therefore, we can't delete it right now. + delete c.second; c.second=NULL; + c.first->type_ = Point::TYPE_DELETED; + trash_points_.push_back(c.first); +} + +void MapPointCandidates::emptyTrash() +{ + std::for_each(trash_points_.begin(), trash_points_.end(), [&](Point*& p){ + delete p; p=NULL; + }); + trash_points_.clear(); +} + +namespace map_debug { + +void mapValidation(Map* map, int id) +{ + for(auto it=map->keyframes_.begin(); it!=map->keyframes_.end(); ++it) + frameValidation(it->get(), id); +} + +void frameValidation(Frame* frame, int id) +{ + for(auto it = frame->fts_.begin(); it!=frame->fts_.end(); ++it) + { + if((*it)->point==NULL) + continue; + + if((*it)->point->type_ == Point::TYPE_DELETED) + printf("ERROR DataValidation %i: Referenced point was deleted.\n", id); + + if(!(*it)->point->findFrameRef(frame)) + printf("ERROR DataValidation %i: Frame has reference but point does not have a reference back.\n", id); + + pointValidation((*it)->point, id); + } + for(auto it=frame->key_pts_.begin(); it!=frame->key_pts_.end(); ++it) + if(*it != NULL) + if((*it)->point == NULL) + printf("ERROR DataValidation %i: KeyPoints not correct!\n", id); +} + +void pointValidation(Point* point, int id) +{ + for(auto it=point->obs_.begin(); it!=point->obs_.end(); ++it) + { + bool found=false; + for(auto it_ftr=(*it)->frame->fts_.begin(); it_ftr!=(*it)->frame->fts_.end(); ++it_ftr) + if((*it_ftr)->point == point) { + found=true; break; + } + if(!found) + printf("ERROR DataValidation %i: Point %i has inconsistent reference in frame %i, is candidate = %i\n", id, point->id_, (*it)->frame->id_, (int) point->type_); + } +} + +void mapStatistics(Map* map) +{ + // compute average number of features which each frame observes + size_t n_pt_obs(0); + for(auto it=map->keyframes_.begin(); it!=map->keyframes_.end(); ++it) + n_pt_obs += (*it)->nObs(); + printf("\n\nMap Statistics: Frame avg. point obs = %f\n", (float) n_pt_obs/map->size()); + + // compute average number of observations that each point has + size_t n_frame_obs(0); + size_t n_pts(0); + std::set points; + for(auto it=map->keyframes_.begin(); it!=map->keyframes_.end(); ++it) + { + for(auto ftr=(*it)->fts_.begin(); ftr!=(*it)->fts_.end(); ++ftr) + { + if((*ftr)->point == NULL) + continue; + if(points.insert((*ftr)->point).second) { + ++n_pts; + n_frame_obs += (*ftr)->point->nRefs(); + } + } + } + printf("Map Statistics: Point avg. frame obs = %f\n\n", (float) n_frame_obs/n_pts); +} + +} // namespace map_debug +} // namespace svo diff --git a/GPU_version/svo/src/matcher.cpp b/GPU_version/svo/src/matcher.cpp new file mode 100644 index 0000000..38a89fb --- /dev/null +++ b/GPU_version/svo/src/matcher.cpp @@ -0,0 +1,323 @@ +// This file is part of SVO - Semi-direct Visual Odometry. +// +// Copyright (C) 2014 Christian Forster +// (Robotics and Perception Group, University of Zurich, Switzerland). +// +// SVO is free software: you can redistribute it and/or modify it under the +// terms of the GNU General Public License as published by the Free Software +// Foundation, either version 3 of the License, or any later version. +// +// SVO is distributed in the hope that it will be useful, but WITHOUT ANY +// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS +// FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. +// +// You should have received a copy of the GNU General Public License +// along with this program. If not, see . + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +namespace svo { + +namespace warp { + +void getWarpMatrixAffine( + const vk::AbstractCamera& cam_ref, + const vk::AbstractCamera& cam_cur, + const Vector2d& px_ref, + const Vector3d& f_ref, + const double depth_ref, + const SE3& T_cur_ref, + const int level_ref, + Matrix2d& A_cur_ref) +{ + // Compute affine warp matrix A_ref_cur + const int halfpatch_size = 5; + const Vector3d xyz_ref(f_ref*depth_ref); + Vector3d xyz_du_ref(cam_ref.cam2world(px_ref + Vector2d(halfpatch_size,0)*(1< 3.0 && search_level < max_level) + { + search_level += 1; + D *= 0.25; + } + return search_level; +} + +void warpAffine( + const Matrix2d& A_cur_ref, + const cv::Mat& img_ref, + const Vector2d& px_ref, + const int level_ref, + const int search_level, + const int halfpatch_size, + uint8_t* patch) +{ + const int patch_size = halfpatch_size*2 ; + const Matrix2f A_ref_cur = A_cur_ref.inverse().cast(); + if(isnan(A_ref_cur(0,0))) + { + printf("Affine warp is NaN, probably camera has no translation\n"); // TODO + return; + } + + // Perform the warp on a larger patch. + uint8_t* patch_ptr = patch; + const Vector2f px_ref_pyr = px_ref.cast() / (1<=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]); + } + } +} + +} // namespace warp + +bool depthFromTriangulation( + const SE3& T_search_ref, + const Vector3d& f_ref, + const Vector3d& f_cur, + double& depth) +{ + Matrix A; A << T_search_ref.rotation_matrix() * f_ref, f_cur; + const Matrix2d AtA = A.transpose()*A; + if(AtA.determinant() < 0.000001) + return false; + const Vector2d depth2 = - AtA.inverse()*A.transpose()*T_search_ref.translation(); + depth = fabs(depth2[0]); + return true; +} + +void Matcher::createPatchFromPatchWithBorder() +{ + uint8_t* ref_patch_ptr = patch_; + for(int y=1; yframe->cam_->isInFrame( + ref_ftr_->px.cast()/(1<level), halfpatch_size_+2, ref_ftr_->level)) + return false; + + // warp affine + warp::getWarpMatrixAffine( + *ref_ftr_->frame->cam_, *cur_frame.cam_, ref_ftr_->px, ref_ftr_->f, + (ref_ftr_->frame->pos() - pt.pos_).norm(), + cur_frame.T_f_w_ * ref_ftr_->frame->T_f_w_.inverse(), 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_); + createPatchFromPatchWithBorder(); + + // px_cur should be set + Vector2d px_scaled(px_cur/(1<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(), + 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<world2cam(A)); + Vector2d px_B(cur_frame.cam_->world2cam(B)); + epi_length_ = (px_A-px_B).norm() / (1<().normalized(), + patch_with_border_, patch_, options_.align_max_iter, px_scaled, h_inv_); + else + res = feature_alignment::align2D( + cur_frame.img_pyr_[search_level_], patch_with_border_, patch_, + options_.align_max_iter, px_scaled); + if(res) + { + px_cur_ = px_scaled*(1<cam2world(px_cur_), depth)) + return true; + } + return false; + } + + size_t n_steps = epi_length_/0.7; // one step per pixel + Vector2d step = epi_dir_/n_steps; + + if(n_steps > options_.max_epi_search_steps) + { + printf("WARNING: skip epipolar search: %zu evaluations, px_lenght=%f, d_min=%f, d_max=%f.\n", + n_steps, epi_length_, d_min, d_max); + return false; + } + + // for matching, precompute sum and sum2 of warped reference patch + int pixel_sum = 0; + int pixel_sum_square = 0; + PatchScore patch_score(patch_); + + // now we sample along the epipolar line + Vector2d uv = B-step; + Vector2i last_checked_pxi(0,0); + ++n_steps; + for(size_t i=0; iworld2cam(uv)); + Vector2i pxi(px[0]/(1<isInFrame(pxi, patch_size_, search_level_)) + continue; + + // TODO interpolation would probably be a good idea + uint8_t* cur_patch_ptr = cur_frame.img_pyr_[search_level_].data + + (pxi[1]-halfpatch_size_)*cur_frame.img_pyr_[search_level_].cols + + (pxi[0]-halfpatch_size_); + int zmssd = patch_score.computeScore(cur_patch_ptr, cur_frame.img_pyr_[search_level_].cols); + + if(zmssd < zmssd_best) { + zmssd_best = zmssd; + uv_best = uv; + } + } + + if(zmssd_best < PatchScore::threshold()) + { + if(options_.subpix_refinement) + { + px_cur_ = cur_frame.cam_->world2cam(uv_best); + Vector2d px_scaled(px_cur_/(1<().normalized(), + patch_with_border_, patch_, options_.align_max_iter, px_scaled, h_inv_); + else + res = feature_alignment::align2D( + cur_frame.img_pyr_[search_level_], patch_with_border_, patch_, + options_.align_max_iter, px_scaled); + if(res) + { + px_cur_ = px_scaled*(1<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)) + return true; + } + return false; +} + +} // namespace svo diff --git a/GPU_version/svo/src/point.cpp b/GPU_version/svo/src/point.cpp new file mode 100644 index 0000000..2e45e06 --- /dev/null +++ b/GPU_version/svo/src/point.cpp @@ -0,0 +1,179 @@ +// This file is part of SVO - Semi-direct Visual Odometry. +// +// Copyright (C) 2014 Christian Forster +// (Robotics and Perception Group, University of Zurich, Switzerland). +// +// SVO is free software: you can redistribute it and/or modify it under the +// terms of the GNU General Public License as published by the Free Software +// Foundation, either version 3 of the License, or any later version. +// +// SVO is distributed in the hope that it will be useful, but WITHOUT ANY +// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS +// FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. +// +// You should have received a copy of the GNU General Public License +// along with this program. If not, see . + +#include +#include +#include +#include +#include + +namespace svo { + +int Point::point_counter_ = 0; + +Point::Point(const Vector3d& pos) : + id_(point_counter_++), + pos_(pos), + normal_set_(false), + n_obs_(0), + v_pt_(NULL), + last_published_ts_(0), + last_projected_kf_id_(-1), + type_(TYPE_UNKNOWN), + n_failed_reproj_(0), + n_succeeded_reproj_(0), + last_structure_optim_(0) +{} + +Point::Point(const Vector3d& pos, Feature* ftr) : + id_(point_counter_++), + pos_(pos), + normal_set_(false), + n_obs_(1), + v_pt_(NULL), + last_published_ts_(0), + last_projected_kf_id_(-1), + type_(TYPE_UNKNOWN), + n_failed_reproj_(0), + n_succeeded_reproj_(0), + last_structure_optim_(0) +{ + obs_.push_front(ftr); +} + +Point::~Point() +{} + +void Point::addFrameRef(Feature* ftr) +{ + obs_.push_front(ftr); + ++n_obs_; +} + +Feature* Point::findFrameRef(Frame* frame) +{ + for(auto it=obs_.begin(), ite=obs_.end(); it!=ite; ++it) + if((*it)->frame == frame) + return *it; + return NULL; // no keyframe found +} + +bool Point::deleteFrameRef(Frame* frame) +{ + for(auto it=obs_.begin(), ite=obs_.end(); it!=ite; ++it) + { + if((*it)->frame == frame) + { + obs_.erase(it); + return true; + } + } + return false; +} + +void Point::initNormal() +{ + assert(!obs_.empty()); + const Feature* ftr = obs_.back(); + assert(ftr->frame != NULL); + normal_ = ftr->frame->T_f_w_.rotation_matrix().transpose()*(-ftr->f); + normal_information_ = DiagonalMatrix(pow(20/(pos_-ftr->frame->pos()).norm(),2), 1.0, 1.0); + normal_set_ = true; +} + +bool Point::getCloseViewObs(const Vector3d& framepos, Feature*& ftr) const +{ + // TODO: get frame with same point of view AND same pyramid level! + Vector3d obs_dir(framepos - pos_); obs_dir.normalize(); + auto min_it=obs_.begin(); + double min_cos_angle = 0; + for(auto it=obs_.begin(), ite=obs_.end(); it!=ite; ++it) + { + Vector3d dir((*it)->frame->pos() - pos_); dir.normalize(); + double cos_angle = obs_dir.dot(dir); + if(cos_angle > min_cos_angle) + { + min_cos_angle = cos_angle; + min_it = it; + } + } + ftr = *min_it; + if(min_cos_angle < 0.5) // assume that observations larger than 60° are useless + return false; + return true; +} + +void Point::optimize(const size_t n_iter) +{ + Vector3d old_point = pos_; + double chi2 = 0.0; + Matrix3d A; + Vector3d b; + + for(size_t i=0; iframe->T_f_w_ * pos_); + Point::jacobian_xyz2uv(p_in_f, (*it)->frame->T_f_w_.rotation_matrix(), J); + const Vector2d e(vk::project2d((*it)->f) - vk::project2d(p_in_f)); + new_chi2 += e.squaredNorm(); + A.noalias() += J.transpose() * J; + b.noalias() -= J.transpose() * e; + } + + // solve linear system + const Vector3d dp(A.ldlt().solve(b)); + + // 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 svo diff --git a/GPU_version/svo/src/pose_optimizer.cpp b/GPU_version/svo/src/pose_optimizer.cpp new file mode 100644 index 0000000..1c491b0 --- /dev/null +++ b/GPU_version/svo/src/pose_optimizer.cpp @@ -0,0 +1,165 @@ +// This file is part of SVO - Semi-direct Visual Odometry. +// +// Copyright (C) 2014 Christian Forster +// (Robotics and Perception Group, University of Zurich, Switzerland). +// +// SVO is free software: you can redistribute it and/or modify it under the +// terms of the GNU General Public License as published by the Free Software +// Foundation, either version 3 of the License, or any later version. +// +// SVO is distributed in the hope that it will be useful, but WITHOUT ANY +// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS +// FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. +// +// You should have received a copy of the GNU General Public License +// along with this program. If not, see . + +#include +#include +#include +#include +#include +#include +#include + +namespace svo { +namespace pose_optimizer { + +void optimizeGaussNewton( + const double reproj_thresh, + const size_t n_iter, + const bool verbose, + FramePtr& frame, + double& estimated_scale, + double& error_init, + double& error_final, + size_t& num_obs) +{ + // init + double chi2(0.0); + vector chi2_vec_init, chi2_vec_final; + vk::robust_cost::TukeyWeightFunction weight_function; + SE3 T_old(frame->T_f_w_); + Matrix6d A; + Vector6d b; + + // compute the scale of the error for robust estimation + std::vector errors; errors.reserve(frame->fts_.size()); + for(auto it=frame->fts_.begin(); it!=frame->fts_.end(); ++it) + { + if((*it)->point == NULL) + continue; + //Reprojection error + Vector2d e = vk::project2d((*it)->f) + - vk::project2d(frame->T_f_w_ * (*it)->point->pos_); + e *= 1.0 / (1<<(*it)->level); + errors.push_back(e.norm()); + } + if(errors.empty()) + return; + vk::robust_cost::MADScaleEstimator scale_estimator; + estimated_scale = scale_estimator.compute(errors); + + num_obs = errors.size(); + chi2_vec_init.reserve(num_obs); + chi2_vec_final.reserve(num_obs); + double scale = estimated_scale; + for(size_t iter=0; itercam_->errorMultiplier2(); + + b.setZero(); + A.setZero(); + double new_chi2(0.0); + + // compute residual + for(auto it=frame->fts_.begin(); it!=frame->fts_.end(); ++it) + { + if((*it)->point == NULL) + continue; + Matrix26d J; + Vector3d xyz_f(frame->T_f_w_ * (*it)->point->pos_); + Frame::jacobian_xyz2uv(xyz_f, J); + Vector2d e = vk::project2d((*it)->f) - vk::project2d(xyz_f); + double sqrt_inv_cov = 1.0 / (1<<(*it)->level); + e *= sqrt_inv_cov; + if(iter == 0) + chi2_vec_init.push_back(e.squaredNorm()); // just for debug + J *= sqrt_inv_cov; + double weight = weight_function.value(e.norm()/scale); + A.noalias() += J.transpose()*J*weight; + b.noalias() -= J.transpose()*e*weight; + new_chi2 += e.squaredNorm()*weight; + } + + // solve linear system + const Vector6d dT(A.ldlt().solve(b)); + + // check if error increased + if((iter > 0 && new_chi2 > chi2) || (bool) std::isnan((double)dT[0])) + { + if(verbose) + std::cout << "it " << iter + << "\t FAILURE \t new_chi2 = " << new_chi2 << std::endl; + frame->T_f_w_ = T_old; // roll-back + break; + } + + // update the model + SE3 T_new = SE3::exp(dT)*frame->T_f_w_; + T_old = frame->T_f_w_; + frame->T_f_w_ = T_new; + chi2 = new_chi2; + if(verbose) + std::cout << "it " << iter + << "\t Success \t new_chi2 = " << new_chi2 + << "\t norm(dT) = " << vk::norm_max(dT) << std::endl; + + // stop when converged + if(vk::norm_max(dT) <= EPS) + break; + } + + // Set covariance as inverse information matrix. Optimistic estimator! + const double pixel_variance=1.0; + frame->Cov_ = pixel_variance*(A*std::pow(frame->cam_->errorMultiplier2(),2)).inverse(); + + // Remove Measurements with too large reprojection error + double reproj_thresh_scaled = reproj_thresh / frame->cam_->errorMultiplier2(); + size_t n_deleted_refs = 0; + for(Features::iterator it=frame->fts_.begin(); it!=frame->fts_.end(); ++it) + { + if((*it)->point == NULL) + continue; + Vector2d e = vk::project2d((*it)->f) - vk::project2d(frame->T_f_w_ * (*it)->point->pos_); + double sqrt_inv_cov = 1.0 / (1<<(*it)->level); + e *= sqrt_inv_cov; + chi2_vec_final.push_back(e.squaredNorm()); + if(e.norm() > reproj_thresh_scaled) + { + // we don't need to delete a reference in the point since it was not created yet + (*it)->point = NULL; + ++n_deleted_refs; + } + } + + error_init=0.0; + error_final=0.0; + if(!chi2_vec_init.empty()) + error_init = sqrt(vk::getMedian(chi2_vec_init))*frame->cam_->errorMultiplier2(); + if(!chi2_vec_final.empty()) + error_final = sqrt(vk::getMedian(chi2_vec_final))*frame->cam_->errorMultiplier2(); + + estimated_scale *= frame->cam_->errorMultiplier2(); + if(verbose) + std::cout << "n deleted obs = " << n_deleted_refs + << "\t scale = " << estimated_scale + << "\t error init = " << error_init + << "\t error end = " << error_final << std::endl; + num_obs -= n_deleted_refs; +} + +} // namespace pose_optimizer +} // namespace svo diff --git a/GPU_version/svo/src/reprojector.cpp b/GPU_version/svo/src/reprojector.cpp new file mode 100644 index 0000000..81a7835 --- /dev/null +++ b/GPU_version/svo/src/reprojector.cpp @@ -0,0 +1,219 @@ +// This file is part of SVO - Semi-direct Visual Odometry. +// +// Copyright (C) 2014 Christian Forster +// (Robotics and Perception Group, University of Zurich, Switzerland). +// +// SVO is free software: you can redistribute it and/or modify it under the +// terms of the GNU General Public License as published by the Free Software +// Foundation, either version 3 of the License, or any later version. +// +// SVO is distributed in the hope that it will be useful, but WITHOUT ANY +// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS +// FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. +// +// You should have received a copy of the GNU General Public License +// along with this program. If not, see . + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +namespace svo { + +Reprojector::Reprojector(vk::AbstractCamera* cam, Map& map) : + map_(map) +{ + initializeGrid(cam); +} + +Reprojector::~Reprojector() +{ + std::for_each(grid_.cells.begin(), grid_.cells.end(), [&](Cell* c){ delete c; }); +} + +void Reprojector::initializeGrid(vk::AbstractCamera* cam) +{ + grid_.cell_size = Config::gridSize(); + grid_.grid_n_cols = ceil(static_cast(cam->width())/grid_.cell_size); + grid_.grid_n_rows = ceil(static_cast(cam->height())/grid_.cell_size); + grid_.cells.resize(grid_.grid_n_cols*grid_.grid_n_rows); + std::for_each(grid_.cells.begin(), grid_.cells.end(), [&](Cell*& c){ c = new Cell; }); + grid_.cell_order.resize(grid_.cells.size()); + for(size_t i=0; iclear(); }); +} + +void Reprojector::reprojectMap( + FramePtr frame, + std::vector< std::pair >& overlap_kfs) +{ + resetGrid(); + + // Identify those Keyframes which share a common field of view. + SVO_START_TIMER("reproject_kfs"); + list< pair > close_kfs; + map_.getCloseKeyframes(frame, close_kfs); + + // Sort KFs with overlap according to their closeness + close_kfs.sort(boost::bind(&std::pair::second, _1) < + boost::bind(&std::pair::second, _2)); + + // Reproject all mappoints of the closest N kfs with overlap. We only store + // in which grid cell the points fall. + size_t n = 0; + overlap_kfs.reserve(options_.max_n_kfs); + for(auto it_frame=close_kfs.begin(), ite_frame=close_kfs.end(); + it_frame!=ite_frame && nfirst; + overlap_kfs.push_back(pair(ref_frame,0)); + + // Try to reproject each mappoint that the other KF observes + for(auto it_ftr=ref_frame->fts_.begin(), ite_ftr=ref_frame->fts_.end(); + it_ftr!=ite_ftr; ++it_ftr) + { + // check if the feature has a mappoint assigned + if((*it_ftr)->point == NULL) + continue; + + // make sure we project a point only once + if((*it_ftr)->point->last_projected_kf_id_ == frame->id_) + continue; + (*it_ftr)->point->last_projected_kf_id_ = frame->id_; + if(reprojectPoint(frame, (*it_ftr)->point)) + overlap_kfs.back().second++; + } + } + SVO_STOP_TIMER("reproject_kfs"); + + // Now project all point candidates + SVO_START_TIMER("reproject_candidates"); + { + boost::unique_lock lock(map_.point_candidates_.mut_); + auto it=map_.point_candidates_.candidates_.begin(); + while(it!=map_.point_candidates_.candidates_.end()) + { + if(!reprojectPoint(frame, it->first)) + { + it->first->n_failed_reproj_ += 3; + if(it->first->n_failed_reproj_ > 30) + { + map_.point_candidates_.deleteCandidate(*it); + it = map_.point_candidates_.candidates_.erase(it); + continue; + } + } + ++it; + } + } // unlock the mutex when out of scope + SVO_STOP_TIMER("reproject_candidates"); + + // Now we go through each grid cell and select one point to match. + // At the end, we should have at maximum one reprojected point per cell. + SVO_START_TIMER("feature_align"); + for(size_t i=0; i (size_t) Config::maxFts()) + break; + } + SVO_STOP_TIMER("feature_align"); +} + +bool Reprojector::pointQualityComparator(Candidate& lhs, Candidate& rhs) +{ + if(lhs.pt->type_ > rhs.pt->type_) + return true; + return false; +} + +bool Reprojector::reprojectCell(Cell& cell, FramePtr frame) +{ + cell.sort(boost::bind(&Reprojector::pointQualityComparator, _1, _2)); + Cell::iterator it=cell.begin(); + while(it!=cell.end()) + { + ++n_trials_; + + if(it->pt->type_ == Point::TYPE_DELETED) + { + it = cell.erase(it); + continue; + } + + bool found_match = true; + if(options_.find_match_direct) + found_match = matcher_.findMatchDirect(*it->pt, *frame, it->px); + if(!found_match) + { + it->pt->n_failed_reproj_++; + if(it->pt->type_ == Point::TYPE_UNKNOWN && it->pt->n_failed_reproj_ > 15) + map_.safeDeletePoint(it->pt); + if(it->pt->type_ == Point::TYPE_CANDIDATE && it->pt->n_failed_reproj_ > 30) + map_.point_candidates_.deleteCandidatePoint(it->pt); + it = cell.erase(it); + continue; + } + it->pt->n_succeeded_reproj_++; + if(it->pt->type_ == Point::TYPE_UNKNOWN && it->pt->n_succeeded_reproj_ > 10) + it->pt->type_ = Point::TYPE_GOOD; + + Feature* new_feature = new Feature(frame.get(), it->px, matcher_.search_level_); + frame->addFeature(new_feature); + + // Here we add a reference in the feature to the 3D point, the other way + // round is only done if this frame is selected as keyframe. + new_feature->point = it->pt; + + if(matcher_.ref_ftr_->type == Feature::EDGELET) + { + new_feature->type = Feature::EDGELET; + new_feature->grad = matcher_.A_cur_ref_*matcher_.ref_ftr_->grad; + new_feature->grad.normalize(); + } + + // If the keyframe is selected and we reproject the rest, we don't have to + // check this point anymore. + it = cell.erase(it); + + // Maximum one point per cell. + return true; + } + return false; +} + +bool Reprojector::reprojectPoint(FramePtr frame, Point* point) +{ + Vector2d px(frame->w2c(point->pos_)); + if(frame->cam_->isInFrame(px.cast(), 8)) // 8px is the patch size in the matcher + { + const int k = static_cast(px[1]/grid_.cell_size)*grid_.grid_n_cols + + static_cast(px[0]/grid_.cell_size); + grid_.cells.at(k)->push_back(Candidate(point, px)); + return true; + } + return false; +} + +} // namespace svo diff --git a/GPU_version/svo/src/sparse_img_align.cpp b/GPU_version/svo/src/sparse_img_align.cpp new file mode 100644 index 0000000..ce1570b --- /dev/null +++ b/GPU_version/svo/src/sparse_img_align.cpp @@ -0,0 +1,274 @@ +// This file is part of SVO - Semi-direct Visual Odometry. +// +// Copyright (C) 2014 Christian Forster +// (Robotics and Perception Group, University of Zurich, Switzerland). +// +// SVO is free software: you can redistribute it and/or modify it under the +// terms of the GNU General Public License as published by the Free Software +// Foundation, either version 3 of the License, or any later version. +// +// SVO is distributed in the hope that it will be useful, but WITHOUT ANY +// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS +// FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. +// +// You should have received a copy of the GNU General Public License +// along with this program. If not, see . + +#include +#include +#include +#include +#include +#include +#include +#include +#include + +namespace svo { + +SparseImgAlign::SparseImgAlign( + int max_level, int min_level, int n_iter, + Method method, bool display, bool verbose) : + display_(display), + max_level_(max_level), + min_level_(min_level) +{ + n_iter_ = n_iter; + n_iter_init_ = n_iter_; + method_ = method; + verbose_ = verbose; + eps_ = 0.000001; +} + +size_t SparseImgAlign::run(FramePtr ref_frame, FramePtr cur_frame) +{ + reset(); + + if(ref_frame->fts_.empty()) + { + SVO_WARN_STREAM("SparseImgAlign: no features to track!"); + return 0; + } + + ref_frame_ = ref_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? + + SE3 T_cur_from_ref(cur_frame_->T_f_w_ * ref_frame_->T_f_w_.inverse()); + + for(level_=max_level_; level_>=min_level_; --level_) + { + mu_ = 0.1; + jacobian_cache_.setZero(); + have_ref_patch_cache_ = false; + if(verbose_) + printf("\nPYRAMID LEVEL %i\n---------------\n", level_); + optimize(T_cur_from_ref); + } + cur_frame_->T_f_w_ = T_cur_from_ref * ref_frame_->T_f_w_; + + + + return n_meas_/patch_area_; +} + +Matrix SparseImgAlign::getFisherInformation() +{ + double sigma_i_sq = 5e-4*255*255; // image noise + Matrix I = H_/sigma_i_sq; + return I; +} + +void SparseImgAlign::precomputeReferencePatches() +{ + const int border = patch_halfsize_+1; + const cv::Mat& ref_img = ref_frame_->img_pyr_.at(level_); + const int stride = ref_img.cols; + const float scale = 1.0f/(1<pos(); + const double focal_length = ref_frame_->cam_->errorMultiplier2(); + size_t feature_counter = 0; + std::vector::iterator visiblity_it = visible_fts_.begin(); + for(auto it=ref_frame_->fts_.begin(), ite=ref_frame_->fts_.end(); + it!=ite; ++it, ++feature_counter, ++visiblity_it) + { + // check if reference with patch size is within image + const float u_ref = (*it)->px[0]*scale; + const float v_ref = (*it)->px[1]*scale; + const int u_ref_i = floorf(u_ref); + const int v_ref_i = floorf(v_ref); + if((*it)->point == NULL || u_ref_i-border < 0 || v_ref_i-border < 0 || u_ref_i+border >= ref_img.cols || v_ref_i+border >= ref_img.rows) + continue; + *visiblity_it = true; + + // cannot just take the 3d points coordinate because of the reprojection errors in the reference image!!! + const double depth(((*it)->point->pos_ - ref_pos).norm()); + const Vector3d xyz_ref((*it)->f*depth); + + // evaluate projection jacobian + Matrix frame_jac; + Frame::jacobian_xyz2uv(xyz_ref, frame_jac); + + // compute bilateral interpolation weights for reference image + const float subpix_u_ref = u_ref-u_ref_i; + const float subpix_v_ref = v_ref-v_ref_i; + const float w_ref_tl = (1.0-subpix_u_ref) * (1.0-subpix_v_ref); + const float w_ref_tr = subpix_u_ref * (1.0-subpix_v_ref); + const float w_ref_bl = (1.0-subpix_u_ref) * subpix_v_ref; + const float w_ref_br = subpix_u_ref * subpix_v_ref; + size_t pixel_counter = 0; + float* cache_ptr = reinterpret_cast(ref_patch_cache_.data) + patch_area_*feature_counter; + for(int y=0; yimg_pyr_.at(level_); + + if(linearize_system && display_) + resimg_ = cv::Mat(cur_img.size(), CV_32F, cv::Scalar(0)); + + if(have_ref_patch_cache_ == false) + precomputeReferencePatches(); + + // compute the weights on the first iteration + std::vector errors; + if(compute_weight_scale) + errors.reserve(visible_fts_.size()); + const int stride = cur_img.cols; + const int border = patch_halfsize_+1; + const float scale = 1.0f/(1<pos()); + float chi2 = 0.0; + size_t feature_counter = 0; // is used to compute the index of the cached jacobian + std::vector::iterator visiblity_it = visible_fts_.begin(); + for(auto it=ref_frame_->fts_.begin(); it!=ref_frame_->fts_.end(); + ++it, ++feature_counter, ++visiblity_it) + { + // check if feature is within image + if(!*visiblity_it) + continue; + + // compute pixel location in cur img + const double depth = ((*it)->point->pos_ - ref_pos).norm(); + const Vector3d xyz_ref((*it)->f*depth); + const Vector3d xyz_cur(T_cur_from_ref * xyz_ref); + const Vector2f uv_cur_pyr(cur_frame_->cam_->world2cam(xyz_cur).cast() * scale); + const float u_cur = uv_cur_pyr[0]; + const float v_cur = uv_cur_pyr[1]; + const int u_cur_i = floorf(u_cur); + const int v_cur_i = floorf(v_cur); + + // check if projection is within the image + if(u_cur_i < 0 || v_cur_i < 0 || u_cur_i-border < 0 || v_cur_i-border < 0 || u_cur_i+border >= cur_img.cols || v_cur_i+border >= cur_img.rows) + continue; + + // compute bilateral interpolation weights for the current image + const float subpix_u_cur = u_cur-u_cur_i; + const float subpix_v_cur = v_cur-v_cur_i; + const float w_cur_tl = (1.0-subpix_u_cur) * (1.0-subpix_v_cur); + const float w_cur_tr = subpix_u_cur * (1.0-subpix_v_cur); + const float w_cur_bl = (1.0-subpix_u_cur) * subpix_v_cur; + const float w_cur_br = subpix_u_cur * subpix_v_cur; + float* ref_patch_cache_ptr = reinterpret_cast(ref_patch_cache_.data) + patch_area_*feature_counter; + size_t pixel_counter = 0; // is used to compute the index of the cached jacobian + for(int y=0; yvalue(res/scale_); + } + + chi2 += res*res*weight; + n_meas_++; + + if(linearize_system) + { + // compute Jacobian, weighted Hessian and weighted "steepest descend images" (times error) + const Vector6d J(jacobian_cache_.col(feature_counter*patch_area_ + pixel_counter)); + H_.noalias() += J*J.transpose()*weight; + Jres_.noalias() -= J*res*weight; + if(display_) + resimg_.at((int) v_cur+y-patch_halfsize_, (int) u_cur+x-patch_halfsize_) = res/255.0; + } + } + } + } + + // compute the weights on the first iteration + if(compute_weight_scale && iter_ == 0) + scale_ = scale_estimator_->compute(errors); + + return chi2/n_meas_; +} + +int SparseImgAlign::solve() +{ + x_ = H_.ldlt().solve(Jres_); + if((bool) std::isnan((double) x_[0])) + return 0; + return 1; +} + +void SparseImgAlign::update( + const ModelType& T_curold_from_ref, + ModelType& T_curnew_from_ref) +{ + T_curnew_from_ref = T_curold_from_ref * SE3::exp(-x_); +} + +void SparseImgAlign::startIteration() +{} + +void SparseImgAlign::finishIteration() +{ + if(display_) + { + cv::namedWindow("residuals", CV_WINDOW_AUTOSIZE); + cv::imshow("residuals", resimg_*10); + cv::waitKey(0); + } +} + +} // namespace svo + diff --git a/GPU_version/svo/test/README.md b/GPU_version/svo/test/README.md new file mode 100644 index 0000000..c70f832 --- /dev/null +++ b/GPU_version/svo/test/README.md @@ -0,0 +1,24 @@ +#### Download Test Data + +Create a folder where you will store all datasets, e.g.: + + mkdir Datasets + +In your `.bashrc` script, create a new environment variable pointing to the dataset folder: + + export SVO_DATASET_DIR=${HOME}/Datasets + +Source your new `.bashrc` script, go to the new dataset folder and download the test data: + + source ~/.bashrc + cd ${SVO_DATASET_DIR} + wget http://rpg.ifi.uzh.ch/datasets/sin2_tex2_h1_v8_d.tar.gz -O - | tar -xz + +You can then run the tests, e.g.: + + rosrun svo test_pipeline + +or if you are not using ROS: + + cd svo/bin + ./test_pipeline diff --git a/GPU_version/svo/test/benchmark.csv b/GPU_version/svo/test/benchmark.csv new file mode 100644 index 0000000..a3831e4 --- /dev/null +++ b/GPU_version/svo/test/benchmark.csv @@ -0,0 +1,307 @@ +local_ba,point_optimizer,pose_optimizer,pyramid_creation,reproject,sparse_img_align,tot_time,dropout,img_align_n_tracked,loba_err_fin,loba_err_init,loba_n_erredges_fin,loba_n_erredges_init,n_candidates,repr_n_mps,repr_n_new_references,sfba_error_final,sfba_error_init,sfba_n_edges_final,sfba_thresh 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b/GPU_version/svo/test/results/.gitignore new file mode 100644 index 0000000..cf57c3b --- /dev/null +++ b/GPU_version/svo/test/results/.gitignore @@ -0,0 +1,2 @@ +.gitignore +!.gitignore \ No newline at end of file diff --git a/GPU_version/svo/test/test_depth_filter.cpp b/GPU_version/svo/test/test_depth_filter.cpp new file mode 100644 index 0000000..4d22493 --- /dev/null +++ b/GPU_version/svo/test/test_depth_filter.cpp @@ -0,0 +1,206 @@ +// This file is part of SVO - Semi-direct Visual Odometry. +// +// Copyright (C) 2014 Christian Forster +// (Robotics and Perception Group, University of Zurich, Switzerland). +// +// SVO is free software: you can redistribute it and/or modify it under the +// terms of the GNU General Public License as published by the Free Software +// Foundation, either version 3 of the License, or any later version. +// +// SVO is distributed in the hope that it will be useful, but WITHOUT ANY +// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS +// FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. +// +// You should have received a copy of the GNU General Public License +// along with this program. If not, see . + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include "test_utils.h" + +namespace { + +struct ConvergedSeed { + int x_, y_; + double depth_, error_; + ConvergedSeed(int x, int y, double depth, double error) : + x_(x), y_(y), depth_(depth), error_(error) + {} +}; + +/// DepthFilter Test-Fixture +class DepthFilterTest { + public: + DepthFilterTest(); + virtual ~DepthFilterTest(); + void depthFilterCb(svo::Point* point, double depth_sigma2); + void testReconstruction(std::string dataset_dir, std::string experiment_name); + + std::list results_; + std::vector errors_; + size_t n_converged_seeds_; + vk::PinholeCamera* cam_; + svo::DepthFilter* depth_filter_; + svo::FramePtr frame_ref_; + svo::FramePtr frame_cur_; + cv::Mat depth_ref_; +}; + +DepthFilterTest::DepthFilterTest() : + n_converged_seeds_(0), + cam_(new vk::PinholeCamera(752, 480, 315.5, 315.5, 376.0, 240.0)), + depth_filter_(NULL) +{ + errors_.reserve(1000); +} + +DepthFilterTest::~DepthFilterTest() +{ + delete cam_; +} + +void DepthFilterTest::depthFilterCb(svo::Point* point, double depth_sigma2) +{ + double depth = (frame_ref_->pos() - point->pos_).norm(); + double error = fabs(depth - depth_ref_.at(point->obs_.front()->px[1], + point->obs_.front()->px[0])); + results_.push_back(ConvergedSeed( + point->obs_.front()->px[0], point->obs_.front()->px[1], depth, error)); + errors_.push_back(error); + delete point->obs_.front(); + delete point; + ++n_converged_seeds_; +} + +void DepthFilterTest::testReconstruction( + std::string dataset_dir, + std::string experiment_name) +{ + vk::FileReader sequence_file_reader(dataset_dir+"/trajectory.txt"); + std::vector sequence; + sequence_file_reader.skipComments(); + if(!sequence_file_reader.next()) + std::runtime_error("Failed to open sequence file"); + sequence_file_reader.readAllEntries(sequence); + std::cout << "RUN EXPERIMENT: read " << sequence.size() << " dataset entries." << std::endl; + std::vector::iterator it = sequence.begin(); + vk::Timer t; + std::list n_converged_per_iteration; + + svo::feature_detection::DetectorPtr feature_detector( + new svo::feature_detection::FastDetector( + cam_->width(), cam_->height(), svo::Config::gridSize(), svo::Config::nPyrLevels())); + svo::DepthFilter::callback_t depth_filter_cb = boost::bind(&DepthFilterTest::depthFilterCb, this, _1, _2); + depth_filter_ = new svo::DepthFilter(feature_detector, depth_filter_cb); + depth_filter_->options_.verbose = true; + + for(int i=0; it != sequence.end() && i<20; ++it, ++i) + { + std::string img_name(dataset_dir+"/img/" + (*it).image_name_ + "_0.png"); + printf("reading image: '%s'\n", img_name.c_str()); + cv::Mat img(cv::imread(img_name, 0)); + assert(!img.empty()); + + Sophus::SE3 T_w_f(it->q_, it->t_); + if(i == 0) + { + // create reference frame and load ground truth depthmap + frame_ref_ = boost::make_shared(cam_, img, 0.0); + frame_ref_->T_f_w_ = T_w_f.inverse(); + depth_filter_->addKeyframe(frame_ref_, 2, 0.5); + vk::blender_utils::loadBlenderDepthmap(dataset_dir+"/depth/" + (*it).image_name_ + "_0.depth", *cam_, depth_ref_); + continue; + } + + n_converged_seeds_ = 0; + frame_cur_ = boost::make_shared(cam_, img, 0.0); + frame_cur_->T_f_w_ = T_w_f.inverse(); + depth_filter_->addFrame(frame_cur_); + n_converged_per_iteration.push_back(n_converged_seeds_); + } + printf("Experiment '%s' took %f ms\n", experiment_name.c_str(), t.stop()*1000); + + // compute mean, median and variance of error in converged area + { + printf("# converged: \t %zu (ref: 287)\n", errors_.size()); + double sum_error = 0; + std::for_each(errors_.begin(), errors_.end(), [&](double& e){sum_error+=e;}); + printf("mean error: \t %f cm (ref: 0.080357)\n", sum_error*100/errors_.size()); + std::vector::iterator it = errors_.begin()+0.5*errors_.size(); + std::nth_element(errors_.begin(), it, errors_.end()); + printf("50-percentile: \t %f cm (ref: 0.062042)\n", *it*100); + it = errors_.begin()+0.8*errors_.size(); + std::nth_element(errors_.begin(), it, errors_.end()); + printf("80-percentile: \t %f cm (ref: 0.124526)\n", *it*100); + it = errors_.begin()+0.95*errors_.size(); + std::nth_element(errors_.begin(), it, errors_.end()); + printf("95-percentile: \t %f cm (ref: 0.200417)\n", *it*100); + } + + // trace error + std::string trace_dir(svo::test_utils::getTraceDir()); + std::string trace_name(trace_dir + "/depth_filter_" + experiment_name + ".txt"); + std::ofstream ofs(trace_name.c_str()); + for(std::list::iterator i=results_.begin(); i!=results_.end(); ++i) + ofs << i->x_ << ", " << i->y_ << ", " << fabs(i->error_) << std::endl; + ofs.close(); + + // trace convergence rate + trace_name = trace_dir + "/depth_filter_" + experiment_name + "_convergence.txt"; + ofs.open(trace_name.c_str()); + for(std::list::iterator it=n_converged_per_iteration.begin(); + it!=n_converged_per_iteration.end(); ++it) + ofs << *it << std::endl; + ofs.close(); + + // write ply file for pointcloud visualization in Meshlab + trace_name = trace_dir + "/depth_filter_" + experiment_name + ".ply"; + ofs.open(trace_name.c_str()); + ofs << "ply" << std::endl + << "format ascii 1.0" << std::endl + << "element vertex " << results_.size() << std::endl + << "property float x" << std::endl + << "property float y" << std::endl + << "property float z" << std::endl + << "property uchar blue" << std::endl + << "property uchar green" << std::endl + << "property uchar red" << std::endl + << "end_header" << std::endl; + + for(std::list::iterator i=results_.begin(); i!=results_.end(); ++i) + { + cv::Vec3b c = frame_ref_->img_pyr_[0].at(i->y_, i->x_); + Eigen::Vector3d p = cam_->cam2world(i->x_, i->y_)*i->depth_; + ofs << p[0] << " " << p[1] << " " << p[2] << " " + << (int) c[0] << " " << (int) c[1] << " " << (int) c[2] << std::endl; + } +} + +} // namespace + +int main(int argc, char** argv) +{ + DepthFilterTest test; + std::string dataset_dir(svo::test_utils::getDatasetDir() + "/sin2_tex2_h1_v8_d"); + std::string experiment_name("sin2_tex2_h1_v8_d"); + test.testReconstruction(dataset_dir, experiment_name); + return 0; +} diff --git a/GPU_version/svo/test/test_feature_alignment.cpp b/GPU_version/svo/test/test_feature_alignment.cpp new file mode 100644 index 0000000..dac8911 --- /dev/null +++ b/GPU_version/svo/test/test_feature_alignment.cpp @@ -0,0 +1,124 @@ +// This file is part of SVO - Semi-direct Visual Odometry. +// +// Copyright (C) 2014 Christian Forster +// (Robotics and Perception Group, University of Zurich, Switzerland). +// +// SVO is free software: you can redistribute it and/or modify it under the +// terms of the GNU General Public License as published by the Free Software +// Foundation, either version 3 of the License, or any later version. +// +// SVO is distributed in the hope that it will be useful, but WITHOUT ANY +// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS +// FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. +// +// You should have received a copy of the GNU General Public License +// along with this program. If not, see . + +#include +#include +#include +#include +#include +#include "test_utils.h" +#if __ARM_NEON__ +#include +#endif + +using namespace Eigen; + +void generateRefPatchNoWarpInterpolate(const cv::Mat& img, const Vector2d& px, + cv::Mat& ref_patch_with_border) +{ + // compute interpolation weights + const int u_r = floor(px[0]); + const int v_r = floor(px[1]); + const float subpix_u = px[0]-u_r; + const float subpix_v = px[1]-v_r; + const float wTL = (1.0-subpix_u)*(1.0-subpix_v); + const float wTR = subpix_u * (1.0-subpix_v); + const float wBL = (1.0-subpix_u)*subpix_v; + const float wBR = subpix_u * subpix_v; + + // loop through search_patch, interpolate + ref_patch_with_border = cv::Mat(10, 10, CV_8UC1); + uint8_t* patch_ptr = ref_patch_with_border.data; + const int stride = img.step.p[0]; + for(int y=0; y<10; ++y) + { + uint8_t* img_ptr = (uint8_t*) img.data + (v_r+y-4-1)*stride + u_r-4-1; + for(int x=0; x<10; ++x, ++patch_ptr, ++img_ptr) + *patch_ptr = wTL*img_ptr[0] + wTR*img_ptr[1] + wBL*img_ptr[stride] + wBR*img_ptr[stride+1]; + } +} + +int main(int argc, char **argv) +{ + + std::string img_name(svo::test_utils::getDatasetDir() + "/sin2_tex2_h1_v8_d/img/frame_000002_0.png"); + printf("Loading image '%s'\n", img_name.c_str()); + cv::Mat img(cv::imread(img_name, 0)); + assert(img.type() == CV_8UC1); + + // TODO: test on corner/gradient features! + Vector2d px_true(130.2,120.3); + + // create reference patch with border + cv::Mat ref_patch_with_border; + generateRefPatchNoWarpInterpolate(img, px_true, ref_patch_with_border); + + // create reference patch, aligned + uint8_t* ref_patch = vk::aligned_mem::aligned_alloc(64, 16); + uint8_t* ref_patch_ptr = ref_patch; + for(int y=1; y<9; ++y) + { + uint8_t* ref_patch_border_ptr = ref_patch_with_border.data + y*10 + 1; + for(int x=0; x<8; ++x, ++ref_patch_border_ptr, ++ref_patch_ptr) + *ref_patch_ptr = *ref_patch_border_ptr; + } + + Vector2d px_est, px_error(-1.1, -0.8); + double h_inv; + vk::Timer t; + for(int i=0; i<1000; ++i) + { + px_est = px_true-px_error; + Vector2f dir = px_error.normalized().cast(); + svo::feature_alignment::align1D(img, dir, ref_patch_with_border.data, ref_patch, 3, px_est, h_inv); + } + Vector2d e = px_est-px_true; + printf("1000Xalign 1D took %fms, error = %fpx \t (ref i7-W520: 1.982000ms, 0.000033px) \n", t.stop()*1000, e.norm()); + + t.start(); + for(int i=0; i<1000; ++i) + { + px_est = px_true-px_error; + svo::feature_alignment::align2D(img, ref_patch_with_border.data, ref_patch, 3, px_est, true); + } + e = px_est-px_true; + printf("1000Xalign 2D took %fms, error = %fpx \t (ref i7-W520: 2.306000ms, 0.015102px)\n", t.stop()*1000, e.norm()); + +#ifdef __SSE2__ + // Note, this KLT implementation is not invariant to illuminatino changes! + t.start(); + for(int i=0; i<1000; ++i) + { + px_est = px_true-px_error; + svo::feature_alignment::align2D_SSE2(img, ref_patch_with_border.data, ref_patch, 3, px_est); + } + e = px_est-px_true; + printf("1000Xalign 2D SSE2 %fms, error = %fpx \t (ref i7-W520: 0.460000ms, 0.021881px)\n", t.stop()*1000, e.norm()); +#endif + +#ifdef __ARM_NEON__ + t.start(); + for(int i=0; i<1000; ++i) + { + px_est = px_true-px_error; + svo::feature_alignment::align2D_NEON(img, ref_patch_with_border.data, ref_patch, 3, px_est); + } + e = px_est-px_true; + printf("1000Xalign 2D NEON %fms, error = %fpx \t (ref Odroid-U2: ?, ?)\n", t.stop()*1000, e.norm()); +#endif + + return 0; +} diff --git a/GPU_version/svo/test/test_feature_detection.cpp b/GPU_version/svo/test/test_feature_detection.cpp new file mode 100644 index 0000000..3ba2b2f --- /dev/null +++ b/GPU_version/svo/test/test_feature_detection.cpp @@ -0,0 +1,74 @@ +// This file is part of SVO - Semi-direct Visual Odometry. +// +// Copyright (C) 2014 Christian Forster +// (Robotics and Perception Group, University of Zurich, Switzerland). +// +// SVO is free software: you can redistribute it and/or modify it under the +// terms of the GNU General Public License as published by the Free Software +// Foundation, either version 3 of the License, or any later version. +// +// SVO is distributed in the hope that it will be useful, but WITHOUT ANY +// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS +// FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. +// +// You should have received a copy of the GNU General Public License +// along with this program. If not, see . + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include "test_utils.h" + +namespace { + +using namespace Eigen; +using namespace std; + +void testCornerDetector() +{ + std::string img_name(svo::test_utils::getDatasetDir() + "/sin2_tex2_h1_v8_d/img/frame_000002_0.png"); + printf("Loading image '%s'\n", img_name.c_str()); + cv::Mat img(cv::imread(img_name, 0)); + assert(img.type() == CV_8UC1 && !img.empty()); + + vk::AbstractCamera* cam = new vk::ATANCamera(752, 480, 0.511496, 0.802603, 0.530199, 0.496011, 0.934092); + svo::FramePtr frame(new svo::Frame(cam, img, 0.0)); + + // Corner detection + vk::Timer t; + svo::Features fts; + svo::feature_detection::FastDetector fast_detector( + img.cols, img.rows, svo::Config::gridSize(), svo::Config::nPyrLevels()); + for(int i=0; i<100; ++i) + { + fast_detector.detect(frame.get(), frame->img_pyr_, svo::Config::triangMinCornerScore(), fts); + } + printf("Fast corner detection took %f ms, %zu corners detected (ref i7-W520: 7.166360ms, 40000)\n", t.stop()*10, fts.size()); + printf("Note, in this case, feature detection also contains the cam2world projection of the feature.\n"); + cv::Mat img_rgb = cv::Mat(img.size(), CV_8UC3); + cv::cvtColor(img, img_rgb, CV_GRAY2RGB); + std::for_each(fts.begin(), fts.end(), [&](svo::Feature* i){ + cv::circle(img_rgb, cv::Point2f(i->px[0], i->px[1]), 4*(i->level+1), cv::Scalar(0,255,0), 1); + }); + cv::imshow("ref_img", img_rgb); + cv::waitKey(0); + + std::for_each(fts.begin(), fts.end(), [&](svo::Feature* i){ delete i; }); +} + +} // namespace + + +int main(int argc, char **argv) +{ + testCornerDetector(); + return 0; +} diff --git a/GPU_version/svo/test/test_matcher.cpp b/GPU_version/svo/test/test_matcher.cpp new file mode 100644 index 0000000..0b65cb9 --- /dev/null +++ b/GPU_version/svo/test/test_matcher.cpp @@ -0,0 +1,200 @@ +// This file is part of SVO - Semi-direct Visual Odometry. +// +// Copyright (C) 2014 Christian Forster +// (Robotics and Perception Group, University of Zurich, Switzerland). +// +// SVO is free software: you can redistribute it and/or modify it under the +// terms of the GNU General Public License as published by the Free Software +// Foundation, either version 3 of the License, or any later version. +// +// SVO is distributed in the hope that it will be useful, but WITHOUT ANY +// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS +// FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. +// +// You should have received a copy of the GNU General Public License +// along with this program. If not, see . + +#include +#include +#include +#include +#include +#include +#include +#include +#include "test_utils.h" + +namespace { + +/// Matcher Test-Fixture +class MatcherTest { + public: + MatcherTest() + { + cam_ = new vk::PinholeCamera(752, 480, 315.5, 315.5, 376.0, 240.0); + + // load images + std::string dataset_dir(svo::test_utils::getDatasetDir() + "/sin2_tex2_h1_v8_d"); + std::string img_name(dataset_dir+"/img/frame_000002_0.png"); + printf("Loading image '%s'\n", img_name.c_str()); + cv::Mat img_ref(cv::imread(img_name, 0)); + img_name = std::string(dataset_dir+"/img/frame_000006_0.png"); + printf("Loading image '%s'\n", img_name.c_str()); + cv::Mat img_cur(cv::imread(img_name, 0)); + assert(!img_ref.empty() && !img_cur.empty()); + + // create frame + frame_ref_ = new svo::Frame(cam_, img_ref, 1.0); + frame_cur_ = new svo::Frame(cam_, img_cur, 2.0); + ref_ftr_ = new svo::Feature(frame_ref_, Eigen::Vector2d(300, 260), 0); + + // set poses + Eigen::Vector3d t_w_ref(0.1131, 0.1131, 2.0000); + Eigen::Vector3d t_w_cur(0.5673, 0.5641, 2.0000); + Eigen::Quaterniond q_w_ref(0.0, 0.8227, 0.2149, 0.0); + Eigen::Quaterniond q_w_cur(0.0, 0.8235, 0.2130, 0.0); + frame_ref_->T_f_w_ = Sophus::SE3(q_w_ref, t_w_ref).inverse(); + frame_cur_->T_f_w_ = Sophus::SE3(q_w_cur, t_w_cur).inverse(); + + // load ground-truth depth + vk::blender_utils::loadBlenderDepthmap(dataset_dir+"/depth/frame_000002_0.depth", *cam_, depth_ref_); + } + + virtual ~MatcherTest() + { + delete cam_; + delete frame_ref_; + delete frame_cur_; + delete ref_ftr_; + } + + // Individual tests + void testEpipolarSearchFullImg(); + void testWarpAffine(); + + // Objects declared here can be used by all tests + vk::PinholeCamera* cam_; + svo::Frame* frame_ref_; + svo::Frame* frame_cur_; + svo::Feature* ref_ftr_; + cv::Mat depth_ref_; +}; + +void MatcherTest::testEpipolarSearchFullImg() +{ + svo::Matcher matcher; + cv::Mat depthmap(frame_ref_->cam_->height(), frame_ref_->cam_->width(), CV_32FC1, cv::Scalar(0)); + cv::Mat error_map(depthmap.rows, depthmap.cols, CV_32FC1, cv::Scalar(0)); + cv::Mat mask(depthmap.rows, depthmap.cols, CV_8UC1, cv::Scalar(1)); + double depth_range = 0.8; + size_t n_converged = 0; + double sum_error = 0; + std::vector errors; errors.reserve(depthmap.cols*depthmap.rows); + for(int y=4; y(y, x); + double depth_estimate; + int res = matcher.findEpipolarMatchDirect( + *frame_ref_, *frame_cur_, ftr, depth_gt, fmax(depth_gt-depth_range,0.0), + depth_gt+depth_range, depth_estimate); + if(res) + { + depthmap.at(y,x) = depth_estimate; + error_map.at(y,x) = fabsf(depth_estimate-depth_gt); + ++n_converged; + sum_error += error_map.at(y,x); + errors.push_back(error_map.at(y,x)); + } + else + mask.at(y,x) = 0; + } + } + + // compute mean, median and variance of error in converged area + printf("n converged: \t %zu mm (ref: 216114)\n", n_converged); + printf("mean error: \t %f mm (ref: 0.410084)\n", sum_error*100/n_converged); + std::vector::iterator it = errors.begin()+0.5*errors.size(); + std::nth_element(errors.begin(), it, errors.end()); + printf("50-percentile: \t %f mm (ref: 0.083203)\n", *it*100); + it = errors.begin()+0.8*errors.size(); + std::nth_element(errors.begin(), it, errors.end()); + printf("80-percentile: \t %f mm (ref: 0.161824)\n", *it*100); + it = errors.begin()+0.95*errors.size(); + std::nth_element(errors.begin(), it, errors.end()); + printf("95-percentile: \t %f mm (ref: 0.263539)\n", *it*100); + + // save results to file + std::ofstream output_stream; + std::string trace_dir(svo::test_utils::getTraceDir()); + std::string output_filename(trace_dir + "/depthmap.bin"); + output_stream.open(output_filename.c_str(), std::ios::out | std::ios::binary | std::ios::trunc); + output_stream.write((const char *)depthmap.data, depthmap.rows*depthmap.cols*sizeof(float)); + output_stream.close(); + + output_filename.assign(trace_dir + "/depthmap_error.bin"); + output_stream.open(output_filename.c_str(), std::ios::out | std::ios::binary | std::ios::trunc); + output_stream.write((const char *)error_map.data, error_map.rows*error_map.cols*sizeof(float)); + output_stream.close(); + + output_filename.assign(trace_dir + "/depthmap_mask.bin"); + output_stream.open(output_filename.c_str(), std::ios::out | std::ios::binary | std::ios::trunc); + output_stream.write((const char *)mask.data, mask.rows*mask.cols*sizeof(uint8_t)); + output_stream.close(); +} + +void MatcherTest::testWarpAffine() +{ + const int halfpatch_size = 15; + const int patch_size=halfpatch_size*2; + svo::Matcher matcher; + double depth = 1.0; + + Sophus::SE3 T_cur_ref(frame_cur_->T_f_w_*frame_ref_->T_f_w_.inverse()); + Eigen::Vector2d px_cur(frame_cur_->cam_->world2cam(T_cur_ref*(ref_ftr_->f*depth))); + + // compute reference patch + cv::Mat ref_patch(matcher.halfpatch_size_+1, matcher.halfpatch_size_+1, + CV_8U, matcher.patch_with_border_); + + Eigen::Matrix2d A_cur_ref; + svo::warp::getWarpMatrixAffine( + *cam_, *cam_, ref_ftr_->px, ref_ftr_->f, 1.0, T_cur_ref, ref_ftr_->level, A_cur_ref); + int level_cur = svo::warp::getBestSearchLevel(A_cur_ref, svo::Config::nPyrLevels()-1); + svo::warp::warpAffine( + A_cur_ref, ref_ftr_->frame->img_pyr_[ref_ftr_->level], ref_ftr_->px, + ref_ftr_->level, level_cur, matcher.halfpatch_size_+1, matcher.patch_with_border_); + + // copy current patch + Eigen::Vector2i pxi(px_cur[0]/(1<img_pyr_.at(level_cur)(cv::Range(pxi[1]-halfpatch_size, + pxi[1]+halfpatch_size), + cv::Range(pxi[0]-halfpatch_size, + pxi[0]+halfpatch_size)).copyTo(cur_patch); + + // display results + cv::circle(frame_cur_->img_pyr_[level_cur], + cv::Point2f(pxi[0], pxi[1]), + patch_size, cv::Scalar(255), 2); + cv::circle(frame_ref_->img_pyr_[ref_ftr_->level], + cv::Point2f(ref_ftr_->px[0]/(1<level), ref_ftr_->px[1]/(1<level)), + patch_size, cv::Scalar(255), 2); + cv::imshow("cur_patch", cur_patch); + cv::imshow("ref_patch", ref_patch); + cv::imshow("ref_img", frame_ref_->img_pyr_[ref_ftr_->level]); + cv::imshow("cur_img", frame_cur_->img_pyr_[level_cur]); + cv::waitKey(0); +} + +} // namespace + +int main(int argc, char** argv) +{ + MatcherTest test; + test.testEpipolarSearchFullImg(); +// test.testWarpAffine(); + return 0; +} diff --git a/GPU_version/svo/test/test_pipeline.cpp b/GPU_version/svo/test/test_pipeline.cpp new file mode 100644 index 0000000..ede3b25 --- /dev/null +++ b/GPU_version/svo/test/test_pipeline.cpp @@ -0,0 +1,98 @@ +// This file is part of SVO - Semi-direct Visual Odometry. +// +// Copyright (C) 2014 Christian Forster +// (Robotics and Perception Group, University of Zurich, Switzerland). +// +// SVO is free software: you can redistribute it and/or modify it under the +// terms of the GNU General Public License as published by the Free Software +// Foundation, either version 3 of the License, or any later version. +// +// SVO is distributed in the hope that it will be useful, but WITHOUT ANY +// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS +// FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. +// +// You should have received a copy of the GNU General Public License +// along with this program. If not, see . + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include "test_utils.h" + +namespace svo { + +class BenchmarkNode +{ + vk::AbstractCamera* cam_; + svo::FrameHandlerMono* vo_; + +public: + BenchmarkNode(); + ~BenchmarkNode(); + void runFromFolder(); +}; + +BenchmarkNode::BenchmarkNode() +{ + cam_ = new vk::PinholeCamera(752, 480, 315.5, 315.5, 376.0, 240.0); + vo_ = new svo::FrameHandlerMono(cam_); + vo_->start(); +} + +BenchmarkNode::~BenchmarkNode() +{ + delete vo_; + delete cam_; +} + +void BenchmarkNode::runFromFolder() +{ + for(int img_id = 2; img_id < 188; ++img_id) + { + // load image + std::stringstream ss; + ss << svo::test_utils::getDatasetDir() << "/sin2_tex2_h1_v8_d/img/frame_" + << std::setw( 6 ) << std::setfill( '0' ) << img_id << "_0.png"; + if(img_id == 2) + std::cout << "reading image " << ss.str() << std::endl; + cv::Mat img(cv::imread(ss.str().c_str(), 0)); + assert(!img.empty()); + + // process frame + vo_->addImage(img, 0.01*img_id); + + // display tracking quality + if(vo_->lastFrame() != NULL) + { + std::cout << "Frame-Id: " << vo_->lastFrame()->id_ << " \t" + << "#Features: " << vo_->lastNumObservations() << " \t" + << "Proc. Time: " << vo_->lastProcessingTime()*1000 << "ms \n"; + + // access the pose of the camera via vo_->lastFrame()->T_f_w_. + } + } +} + +} // namespace svo + +int main(int argc, char** argv) +{ + { + svo::BenchmarkNode benchmark; + benchmark.runFromFolder(); + } + printf("BenchmarkNode finished.\n"); + return 0; +} + diff --git a/GPU_version/svo/test/test_pose_optimizer.cpp b/GPU_version/svo/test/test_pose_optimizer.cpp new file mode 100644 index 0000000..59e0b46 --- /dev/null +++ b/GPU_version/svo/test/test_pose_optimizer.cpp @@ -0,0 +1,110 @@ +// This file is part of SVO - Semi-direct Visual Odometry. +// +// Copyright (C) 2014 Christian Forster +// (Robotics and Perception Group, University of Zurich, Switzerland). +// +// SVO is free software: you can redistribute it and/or modify it under the +// terms of the GNU General Public License as published by the Free Software +// Foundation, either version 3 of the License, or any later version. +// +// SVO is distributed in the hope that it will be useful, but WITHOUT ANY +// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS +// FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. +// +// You should have received a copy of the GNU General Public License +// along with this program. If not, see . + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include "test_utils.h" + +namespace { + +using namespace svo; +using namespace Eigen; + +/// Pose Optimizer Test-Fixture +class PoseOptimizerTest { + public: + PoseOptimizerTest() + { + cam_ = new vk::PinholeCamera(752, 480, 315.5, 315.5, 376.0, 240.0); + + // load image + std::string dataset_dir(svo::test_utils::getDatasetDir() + "/sin2_tex2_h1_v8_d"); + std::string img_name(dataset_dir+"/img/frame_000002_0.png"); + printf("Loading image '%s'\n", img_name.c_str()); + cv::Mat img(cv::imread(img_name, 0)); + assert(!img.empty()); + + // create frame + frame_.reset(new svo::Frame(cam_, img, 1.0)); + + // set pose + Eigen::Vector3d t_w_ref(0.1131, 0.1131, 2.0000); + Eigen::Quaterniond q_w_ref(0.0, 0.8227, 0.2149, 0.0); + frame_->T_f_w_ = Sophus::SE3(q_w_ref, t_w_ref).inverse(); + + // load ground-truth depth + vk::blender_utils::loadBlenderDepthmap(dataset_dir + "/depth/frame_000002_0.depth", *cam_, depthmap_); + + // detect features + feature_detection::FastDetector detector( + cam_->width(), cam_->height(), Config::gridSize(), Config::nPyrLevels()); + detector.detect(frame_.get(), frame_->img_pyr_, Config::triangMinCornerScore(), frame_->fts_); + size_t n_fts = 0; + std::for_each(frame_->fts_.begin(), frame_->fts_.end(), [&](Feature* i){ + Point* point(new Point(frame_->f2w(i->f*depthmap_.at(i->px[1], i->px[0])), i)); + i->point = point; + ++n_fts; + }); + printf("Added %zu features to frame.\n", n_fts); + } + + virtual ~PoseOptimizerTest() + { + delete cam_; + } + + // Individual tests + void test(const Vector3d& pose_disturbance, double pixel_sigma2); + + // Objects declared here can be used by all tests + vk::PinholeCamera* cam_; + FramePtr frame_; + cv::Mat depthmap_; +}; + +void PoseOptimizerTest::test(const Vector3d& pose_disturbance, double pixel_sigma2) +{ + printf("Add %f px noise to each observation\n", pixel_sigma2); + for(Features::iterator it=frame_->fts_.begin(); it!=frame_->fts_.end(); ++it) + { + (*it)->px += Vector2d(vk::Sample::gaussian(pixel_sigma2), vk::Sample::gaussian(pixel_sigma2)); + (*it)->f = frame_->c2f((*it)->px); + } + frame_->T_f_w_ = frame_->T_f_w_*SE3(Matrix3d::Identity(), pose_disturbance); + double estimated_scale, error_init, error_final; + size_t num_obs; + pose_optimizer::optimizeGaussNewton( + Config::reprojThresh(), 10, true, frame_, + estimated_scale, error_init, error_final, num_obs); +} + +} // namespace + +int main(int argc, char** argv) +{ + PoseOptimizerTest test; + test.test(Eigen::Vector3d(0.2, 0.2, 0.2), 1.0); + return 0; +} diff --git a/GPU_version/svo/test/test_sparse_img_align.cpp b/GPU_version/svo/test/test_sparse_img_align.cpp new file mode 100644 index 0000000..1312da0 --- /dev/null +++ b/GPU_version/svo/test/test_sparse_img_align.cpp @@ -0,0 +1,163 @@ +// This file is part of SVO - Semi-direct Visual Odometry. +// +// Copyright (C) 2014 Christian Forster +// (Robotics and Perception Group, University of Zurich, Switzerland). +// +// SVO is free software: you can redistribute it and/or modify it under the +// terms of the GNU General Public License as published by the Free Software +// Foundation, either version 3 of the License, or any later version. +// +// SVO is distributed in the hope that it will be useful, but WITHOUT ANY +// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS +// FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. +// +// You should have received a copy of the GNU General Public License +// along with this program. If not, see . + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include "test_utils.h" + +namespace { + +/// SparseImgAlign Test-Fixture +class SparseImgAlignTest { + public: + + SparseImgAlignTest(); + virtual ~SparseImgAlignTest(); + void testSequence( + const std::string& dataset_dir, + const std::string& experiment_name, + svo::feature_detection::AbstractDetector* feature_detector); + + vk::PinholeCamera* cam_; + svo::FramePtr frame_ref_; + svo::FramePtr frame_cur_; +}; + +SparseImgAlignTest::SparseImgAlignTest() : + cam_(new vk::PinholeCamera(752, 480, 315.5, 315.5, 376.0, 240.0)) +{} + +SparseImgAlignTest::~SparseImgAlignTest() +{} + +void SparseImgAlignTest::testSequence( + const std::string& dataset_dir, + const std::string& experiment_name, + svo::feature_detection::AbstractDetector* feature_detector) +{ + vk::FileReader sequence_file_reader(dataset_dir+"/trajectory.txt"); + std::vector sequence; + sequence_file_reader.skipComments(); + if(!sequence_file_reader.next()) + std::runtime_error("Failed to open sequence file"); + sequence_file_reader.readAllEntries(sequence); + printf("RUN EXPERIMENT: read %zu dataset entries.\n", sequence.size()); + std::vector::iterator iter = sequence.begin(); + std::list translation_error; + + Sophus::SE3 T_prev_w, T_prevgt_w; + std::string trace_dir(svo::test_utils::getTraceDir()); + std::string trace_name(trace_dir + "/sparse_img_align_" + experiment_name + "_trans_estimate.txt"); + std::ofstream ofs(trace_name.c_str()); + for(int i=0; iter != sequence.end() && i<30; ++iter, ++i) + { + // load img + // IMPORTANT: We need to flip the image because the Povray dataset has a + // negative focal length in y direction which we didn't set. + std::string img_name(dataset_dir+"/img/" + iter->image_name_ + "_0.png"); + cv::Mat img(cv::imread(img_name, 0)); + assert(!img.empty()); + + // load pose + Sophus::SE3 T_w_gt(iter->q_, iter->t_); + Sophus::SE3 T_gt_w = T_w_gt.inverse(); // ground-truth + + if(i==0) + { + // set reference frame + frame_ref_.reset(new svo::Frame(cam_, img, 0.0)); + frame_ref_->T_f_w_ = T_gt_w; + + // load ground-truth depth + cv::Mat depthmap; + vk::blender_utils::loadBlenderDepthmap( + dataset_dir+"/depth/"+iter->image_name_+"_0.depth", *cam_, depthmap); + + // extract features, generate features with 3D points + feature_detector->detect( + frame_ref_.get(), frame_ref_->img_pyr_, svo::Config::triangMinCornerScore(), frame_ref_->fts_); + std::for_each(frame_ref_->fts_.begin(), frame_ref_->fts_.end(), [&](svo::Feature* i) { + Eigen::Vector3d pt_pos_cur = i->f*depthmap.at(i->px[1], i->px[0]); + Eigen::Vector3d pt_pos_w = frame_ref_->T_f_w_.inverse()*pt_pos_cur; + svo::Point* pt = new svo::Point(pt_pos_w, i); + i->point = pt; + }); + + printf("Added %zu 3d pts to the reference frame.\n", frame_ref_->nObs()); + T_prev_w = frame_ref_->T_f_w_; + T_prevgt_w = T_gt_w; + continue; + } + + frame_cur_.reset(new svo::Frame(cam_, img, 0.0)); + //frame_cur_->T_f_w_ = frame_ref_->T_f_w_; // start at reference frame + frame_cur_->T_f_w_ = T_prev_w; // start at last frame + + // run image align + vk::Timer t; + svo::SparseImgAlign img_align(svo::Config::kltMaxLevel(), svo::Config::kltMinLevel(), + 30, svo::SparseImgAlign::GaussNewton, false, false); + img_align.run(frame_ref_, frame_cur_); + + // compute error + Sophus::SE3 T_f_gt = frame_cur_->T_f_w_ * T_gt_w.inverse(); + translation_error.push_back(T_f_gt.translation().norm()); + printf("[%3.i] time = %f ms \t |t| = %f \t translation error = %f\n", + i, t.stop()*1000, (frame_ref_->T_f_w_*T_gt_w.inverse()).translation().norm(), + translation_error.back()); + + // save old pose for next iteration + T_prev_w = frame_cur_->T_f_w_; + T_prevgt_w = T_gt_w; + + ofs << frame_cur_->T_f_w_.inverse().translation().transpose() << " " + << T_gt_w.inverse().translation().transpose() << std::endl; + } + ofs.close(); + + // trace error + trace_name = trace_dir + "/sparse_img_align_" + experiment_name + "_trans_error.txt"; + ofs.open(trace_name.c_str()); + for(std::list::iterator it=translation_error.begin(); it!=translation_error.end(); ++it) + ofs << *it << std::endl; + ofs.close(); +} + +} // namespace + + +int main(int argc, char** argv) +{ + std::string experiment_name("flying_room_1_rig_1_fast_minlev0"); + std::string dataset_dir(svo::test_utils::getDatasetDir() + "/sin2_tex2_h1_v8_d"); + svo::Config::triangMinCornerScore() = 20; + svo::Config::kltMinLevel() = 0; + SparseImgAlignTest test; + svo::feature_detection::FastDetector detector( + test.cam_->width(), test.cam_->height(), svo::Config::gridSize(), svo::Config::nPyrLevels()); + test.testSequence(dataset_dir, experiment_name, &detector); + return 0; +} diff --git a/GPU_version/svo/test/test_utils.h b/GPU_version/svo/test/test_utils.h new file mode 100644 index 0000000..2759fe0 --- /dev/null +++ b/GPU_version/svo/test/test_utils.h @@ -0,0 +1,57 @@ +// This file is part of SVO - Semi-direct Visual Odometry. +// +// Copyright (C) 2014 Christian Forster +// (Robotics and Perception Group, University of Zurich, Switzerland). +// +// SVO is free software: you can redistribute it and/or modify it under the +// terms of the GNU General Public License as published by the Free Software +// Foundation, either version 3 of the License, or any later version. +// +// SVO is distributed in the hope that it will be useful, but WITHOUT ANY +// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS +// FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. +// +// You should have received a copy of the GNU General Public License +// along with this program. If not, see . + +#ifndef TEST_UTILS_H_ +#define TEST_UTILS_H_ + +#include +#include // for getenv +#ifdef SVO_USE_ROS +# include +# include +#endif + +namespace svo { +namespace test_utils { + +std::string getDatasetDir() +{ + const char* env_dir = std::getenv("SVO_DATASET_DIR"); +#ifdef SVO_USE_ROS + std::string dataset_dir(ros::package::getPath("svo")+"/test/data"); + if(env_dir != NULL) + dataset_dir = std::string(env_dir); + return dataset_dir; +#else + return std::string(env_dir); +#endif +} + +std::string getTraceDir() +{ +#ifdef SVO_USE_ROS + std::string default_dir(ros::package::getPath("svo")+"/test/results"); + return vk::getParam("svo/trace_dir", default_dir); +#else + return "/tmp"; +#endif +} + +} // namespace test_utils +} // namespace svo + + +#endif // TEST_UTILS_H_ From 5687fe5057657f3dbc82904bcf6896f5579f9415 Mon Sep 17 00:00:00 2001 From: gfuse Date: Wed, 5 May 2021 14:35:12 +0200 Subject: [PATCH 187/215] add fast kernel --- GPU_version/svo/CMakeLists.txt | 90 ++++------- GPU_version/svo/include/svo/cl_class.h | 197 +++++++++++++++++++++++++ GPU_version/svo/kernel/fast-gray.cl | 103 +++++++++++++ GPU_version/svo/src/cl_class.cpp | 56 +++++++ 4 files changed, 384 insertions(+), 62 deletions(-) create mode 100644 GPU_version/svo/include/svo/cl_class.h create mode 100644 GPU_version/svo/kernel/fast-gray.cl create mode 100644 GPU_version/svo/src/cl_class.cpp diff --git a/GPU_version/svo/CMakeLists.txt b/GPU_version/svo/CMakeLists.txt index ed4b593..4f0c7c5 100644 --- a/GPU_version/svo/CMakeLists.txt +++ b/GPU_version/svo/CMakeLists.txt @@ -1,16 +1,7 @@ -################################################################################ -# user build settings - -SET(TRACE TRUE) -SET(HAVE_G2O FALSE) -SET(USE_ROS TRUE) # Set FALSE if you want to build this package without Catkin -SET(DEBUG_OUTPUT FALSE) # Only relevant if build without ROS - -################################################################################ - SET(PROJECT_NAME gpu_svo) PROJECT(${PROJECT_NAME}) CMAKE_MINIMUM_REQUIRED (VERSION 2.8.3) + SET(CMAKE_BUILD_TYPE Release) # Release, RelWithDebInfo SET(CMAKE_VERBOSE_MAKEFILE OFF) SET(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${PROJECT_SOURCE_DIR}/CMakeModules/") @@ -18,18 +9,9 @@ set(CMAKE_C_STANDARD 14) set(CMAKE_CXX_STANDARD 14) # Set definitions -IF(TRACE) - ADD_DEFINITIONS(-DSVO_TRACE) -ENDIF() -IF(HAVE_G2O) - ADD_DEFINITIONS(-DUSE_BUNDLE_ADJUSTMENT) -ENDIF() -IF(USE_ROS) - ADD_DEFINITIONS(-DSVO_USE_ROS) -ENDIF() -IF(DEBUG_OUTPUT) - ADD_DEFINITIONS(-DSVO_DEBUG_OUTPUT) -ENDIF() +ADD_DEFINITIONS(-DSVO_TRACE) +ADD_DEFINITIONS(-DSVO_USE_ROS) + # Set build flags, set ARM_ARCHITECTURE environment variable on Odroid # Set build flags. Set IS_ARM on odroid board as environment variable @@ -50,49 +32,44 @@ SET(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS} -O3 -fsee -fomit-frame-pointer - FIND_PACKAGE(OpenCV REQUIRED) FIND_PACKAGE(Eigen REQUIRED) FIND_PACKAGE(Sophus REQUIRED) -FIND_PACKAGE(fast REQUIRED) FIND_PACKAGE(Boost REQUIRED COMPONENTS thread system) FIND_PACKAGE(GTSAM REQUIRED) +FIND_PACKAGE(OpenCL REQUIRED) +FIND_PACKAGE(vikit_common REQUIRED) set(GTSAM_INCLUDE_DIRS "${GTSAM_INCLUDE_DIR}") -IF(USE_ROS) - FIND_PACKAGE(catkin REQUIRED COMPONENTS roscpp roslib cmake_modules vikit_common vikit_ros) - catkin_package( +FIND_PACKAGE(catkin REQUIRED COMPONENTS roscpp roslib cmake_modules vikit_common vikit_ros) +catkin_package( DEPENDS Eigen OpenCV Sophus Boost fast GTSAM CATKIN_DEPENDS roscpp roslib vikit_common vikit_ros INCLUDE_DIRS include LIBRARIES ${PROJECT_NAME} - ) -ELSE() - FIND_PACKAGE(vikit_common REQUIRED) - SET(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin) - SET(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib) -ENDIF() +) + # Include dirs INCLUDE_DIRECTORIES( include - ${Eigen_INCLUDE_DIRS} - ${OpenCV_INCLUDE_DIRS} - ${Sophus_INCLUDE_DIRS} - ${Boost_INCLUDE_DIRS} - ${fast_INCLUDE_DIRS} ${GTSAM_INCLUDE_DIR} + kernel + ${Eigen_INCLUDE_DIRS} + ${OpenCV_INCLUDE_DIRS} + ${Sophus_INCLUDE_DIRS} + ${Boost_INCLUDE_DIRS} + ${OpenCL_INCLUDE_DIRS} + ${GTSAM_INCLUDE_DIR} + ${catkin_INCLUDE_DIRS} ) # Set link libraries -LIST(APPEND LINK_LIBS +LIST(APPEND LINK_LIBS + gtsam ${OpenCV_LIBS} ${Sophus_LIBRARIES} ${Boost_LIBRARIES} - ${fast_LIBRARIES} + ${OpenCL_LIBRARIES} + ${catkin_LIBRARIES} ) -IF(USE_ROS) - INCLUDE_DIRECTORIES(${catkin_INCLUDE_DIRS}) - LIST(APPEND LINK_LIBS ${catkin_LIBRARIES}) -ELSE() - INCLUDE_DIRECTORIES(${vikit_common_INCLUDE_DIRS}) - LIST(APPEND LINK_LIBS ${vikit_common_LIBRARIES}) -ENDIF() + # Set sourcefiles LIST(APPEND SOURCEFILES @@ -109,24 +86,13 @@ LIST(APPEND SOURCEFILES src/feature_detection.cpp src/depth_filter.cpp src/config.cpp - src/sparse_img_align.cpp src/imu_integration.cpp) - -# Add g2o if available -IF(HAVE_G2O) - FIND_PACKAGE(G2O REQUIRED) - INCLUDE_DIRECTORIES( - ${G2O_INCLUDE_DIR} - /usr/include/suitesparse # for cholmod - ) - LIST(APPEND LINK_LIBS - ${G2O_CORE_LIBRARY} ${G2O_STUFF_LIBRARY} ${G2O_SOLVER_CHOLMOD} ${G2O_SOLVER_CSPARSE} ${G2O_SOLVER_DENSE} - ${G2O_SOLVER_PCG} ${G2O_TYPES_SBA} cholmod cxsparse - ) - LIST(APPEND SOURCEFILES src/bundle_adjustment.cpp) -ENDIF(HAVE_G2O) + src/sparse_img_align.cpp + src/imu_integration.cpp + src/cl_class.cpp) # Create svo library ADD_LIBRARY(${PROJECT_NAME} SHARED ${SOURCEFILES}) -TARGET_LINK_LIBRARIES(${PROJECT_NAME} ${LINK_LIBS} gtsam) +TARGET_LINK_LIBRARIES(${PROJECT_NAME} ${LINK_LIBS} ) set_property(TARGET ${PROJECT_NAME} PROPERTY CXX_STANDARD 14) set_property(TARGET ${PROJECT_NAME} PROPERTY CXX_STANDARD_REQUIRED ON) +target_compile_features(${PROJECT_NAME} PRIVATE cxx_range_for) diff --git a/GPU_version/svo/include/svo/cl_class.h b/GPU_version/svo/include/svo/cl_class.h new file mode 100644 index 0000000..c0b378a --- /dev/null +++ b/GPU_version/svo/include/svo/cl_class.h @@ -0,0 +1,197 @@ +// +// Created by root on 4/27/21. +// + +#ifndef VIO_OPENCL_CL_CLASS_H +#define VIO_OPENCL_CL_CLASS_H +#include +#include +#include +#include +#include +#include +#define __CL_ENABLE_EXCEPTIONS +#include +#include + +class kernel{ +public: + kernel(cl::Program* program,std::string name){_kernel = new cl::Kernel(*program,name.c_str());}; + ~kernel(){ + //for(auto i:_buffers)i.first.first.; + _buffers.clear(); + _images.clear(); + }; + template + int32_t write(size_t id/*buffer ID*/,T* buf,cl::CommandQueue* queue,cl::Context* context,size_t buf_size){ + try{ + _buffers.push_back(std::pair,size_t>(std::pair(cl::Buffer(*context, CL_MEM_READ_WRITE, sizeof(T) * buf_size), + buf_size),id)); + queue->enqueueWriteBuffer(_buffers.back().first.first,CL_TRUE, 0, sizeof(T) * buf_size, buf); + _kernel->setArg(id,_buffers.back().first.first); + return CL_SUCCESS; + }catch (std::exception& err){ + std::cerr<<"Error C:Kernel, F:write\n"<(cl::Image2D(*context, CL_MEM_READ_ONLY | CL_MEM_COPY_HOST_PTR, + cl::ImageFormat(CL_R, CL_UNSIGNED_INT8), + buf.size().width, + buf.size().height, + 0, + reinterpret_cast(buf.data)),id)); + /* }else{ + _images.push_back(std::pair(cl::Image2D(*context, CL_MEM_READ_WRITE, + cl::ImageFormat(CL_RGBA, CL_UNORM_INT8), + buf.size().width, + buf.size().height),id)); + }*/ + + _kernel->setArg(id,_images.back().first); + return CL_SUCCESS; + }catch (std::exception& err){ + std::cerr<<"Error C:Kernel, F:write image\n"< + int32_t reload(size_t id,T* buf,cl::CommandQueue* queue){ + try{ + if(id>_buffers.size())return CL_MAP_FAILURE; + for(auto i:_buffers)if(i.second==id) + queue->enqueueWriteBuffer(i.first.first,CL_TRUE, 0, sizeof(T) * i.first.second, buf); + return CL_SUCCESS; + }catch (std::exception& err){ + std::cerr<<"Reload buffer on GPU failed\n"<(buf.data)); + return CL_SUCCESS; + }catch (std::exception& err){ + std::cerr<<"Reload buffer on GPU failed\n"<,size_t>> _buffers; + std::vector> _images; + +}; +class read_cl{ +public: + read_cl(std::string path){ + src_str=(char *)malloc(0x100000); + FILE *fp; + fp = fopen(path.c_str(), "r"); + size = fread(src_str, 1, 0x100000, fp); + fclose(fp); + } + void print(){ + std::cerr< + int32_t write_buf(size_t id1/*kernal ID*/,size_t id2/*buffer ID*/, int size,T* buf) { + try{ + _kernels.at(id1).write(id2,buf,queue,context,size); + return CL_SUCCESS; + }catch (std::exception& err){ + std::cerr<<"Write buffer on GPU failed\n"< + int32_t write_buf(size_t id1/*kernal ID*/,size_t id2/*buffer ID*/,T& value){ + _kernels.at(id1)._kernel->setArg(id2,value); + }; + template + int32_t reload_buf(size_t id1/*kernal ID*/,size_t id2/*buffer ID*/,T* buf) { + try{ + _kernels.at(id1).reload(id2,buf,queue); + return CL_SUCCESS; + }catch (std::exception& err){ + std::cerr<<"Reload buffer on GPU failed\n"< + int32_t run(size_t id1/*kernal ID*/,std::size_t x=1,std::size_t y=1,std::size_t z=1,size_t id2=0/*last id of the kernel related to the output*/, + size_t size_out=0/*out put buffer size*/, + T* out= nullptr) { + try{ + //std::cerr<<"kernel: "<<_kernels.at(id1)._kernel->getInfo(); + //std::cerr<<" ,Args: "<<_kernels.at(id1)._kernel->getInfo()<<" ,Run out: "; + cl::Buffer out_buf(*context, CL_MEM_READ_WRITE, sizeof(T) * size_out); + _kernels.at(id1)._kernel->setArg(id2,out_buf); + if(z>1 && y>1){ + std::cerr<enqueueNDRangeKernel(*_kernels.at(id1)._kernel, cl::NullRange/*offset*/, cl::NDRange(x,y,z)/*Global*/, cl::NullRange/*local*/)<<'\n'; + }else if(z<2 && y>1){ + queue->enqueueNDRangeKernel(*_kernels.at(id1)._kernel, cl::NullRange/*offset*/, cl::NDRange(x,y)/*Global*/, cl::NullRange/*local*/); + //std::cerr<enqueueNDRangeKernel(*_kernels.at(id1)._kernel, cl::NullRange/*offset*/, cl::NDRange(x,y)/*Global*/, cl::NullRange/*local*/)<<'\n'; + /*std::cerr<<_kernels.at(id1)._kernel->getArgInfo(0)<<'\n'; + std::cerr<<_kernels.at(id1)._kernel->getArgInfo(1)<<'\n'; + std::cerr<<_kernels.at(id1)._kernel->getArgInfo(2)<<'\n'; + std::cerr<<_kernels.at(id1)._kernel->getArgInfo(3)<<'\n';*/ + }else{ + std::cerr<enqueueNDRangeKernel(*_kernels.at(id1)._kernel, cl::NullRange/*offset*/, cl::NDRange(x)/*Global*/, cl::NullRange/*local*/)<<'\n'; + }; + queue->enqueueReadBuffer(out_buf, CL_TRUE, 0, sizeof(T) * size_out, out); + //wait for kernel to finish + queue->finish(); + return CL_SUCCESS; + } catch (std::exception& err) { + std::cerr<<"RUN kernel Error\n"< _kernels; + cl::Context* context = NULL; + cl::Device device; + cl::Program* program = NULL; + cl::CommandQueue* queue=NULL; +}; + +#endif //VIO_OPENCL_CL_CLASS_H diff --git a/GPU_version/svo/kernel/fast-gray.cl b/GPU_version/svo/kernel/fast-gray.cl new file mode 100644 index 0000000..e9ba8f4 --- /dev/null +++ b/GPU_version/svo/kernel/fast-gray.cl @@ -0,0 +1,103 @@ +// Copyright (C) 2011 Dmitri Nikulin +// Copyright (C) 2011 Monash University +// +// Permission is hereby granted, free of charge, to any person +// obtaining a copy of this software and associated documentation +// files (the "Software"), to deal in the Software without +// restriction, including without limitation the rights to use, +// copy, modify, merge, publish, distribute, sublicense, and/or sell +// copies of the Software, and to permit persons to whom the +// Software is furnished to do so, subject to the following +// conditions: +// +// The above copyright notice and this permission notice shall be +// included in all copies or substantial portions of the Software. +// +// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, +// EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES +// OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND +// NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT +// HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, +// WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING +// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR +// OTHER DEALINGS IN THE SOFTWARE. + +// Enable OpenCL 32-bit integer atomic functions. + +__kernel void fast_gray( + __read_only image2d_t image, + __global int2 * corners, + __global int * icorner, + int fast_count +) { + + // Prepare a suitable OpenCL image sampler. + sampler_t const sampler = CLK_ADDRESS_CLAMP | CLK_FILTER_NEAREST; + + // Use global work item as 2D image coordinates. + int const x = get_global_id(0); + int const y = get_global_id(1); + if(x>16 && x16){ + int2 const xy = (int2)(x, y); + // Read the candidate pixel. + int const p00 = read_imageui(image, sampler, xy).x; + + // Read other pixels in a circle around the candidate pixel. + int const p01 = read_imageui(image, sampler, xy + (int2)( 0, 3)).x; + int const p05 = read_imageui(image, sampler, xy + (int2)( 3, 0)).x; + int const p09 = read_imageui(image, sampler, xy + (int2)( 0, -3)).x; + int const p13 = read_imageui(image, sampler, xy + (int2)(-3, 0)).x; + + // Check the absolute difference of each circle pixel. + int const d01 = (abs(p01 - p00) > FAST_THRESH); + int const d05 = (abs(p05 - p00) > FAST_THRESH); + int const d09 = (abs(p09 - p00) > FAST_THRESH); + int const d13 = (abs(p13 - p00) > FAST_THRESH); + + // Check if any two adjacent circle pixels have a high absolute difference. + + if ((d01 && d05) ||(d05 && d09) ||(d09 && d13) ||(d13 && d01)) { + // Read other pixels in a circle around the candidate pixel. + int const p02 = read_imageui(image, sampler, xy + (int2)( 1, 3)).x; + int const p03 = read_imageui(image, sampler, xy + (int2)( 2, 2)).x; + int const p04 = read_imageui(image, sampler, xy + (int2)( 3, 1)).x; + int const p06 = read_imageui(image, sampler, xy + (int2)( 3, -1)).x; + int const p07 = read_imageui(image, sampler, xy + (int2)( 2, -2)).x; + int const p08 = read_imageui(image, sampler, xy + (int2)( 1, -3)).x; + int const p10 = read_imageui(image, sampler, xy + (int2)(-1, -3)).x; + int const p11 = read_imageui(image, sampler, xy + (int2)(-2, -2)).x; + int const p12 = read_imageui(image, sampler, xy + (int2)(-3, -1)).x; + int const p14 = read_imageui(image, sampler, xy + (int2)(-3, 1)).x; + int const p15 = read_imageui(image, sampler, xy + (int2)(-2, 2)).x; + int const p16 = read_imageui(image, sampler, xy + (int2)(-1, 3)).x; + // Select the maximum score. + int sco = p00; + sco = max(sco, p01); + sco = max(sco, p02); + sco = max(sco, p03); + sco = max(sco, p04); + sco = max(sco, p05); + sco = max(sco, p06); + sco = max(sco, p07); + sco = max(sco, p08); + sco = max(sco, p09); + sco = max(sco, p10); + sco = max(sco, p11); + sco = max(sco, p12); + sco = max(sco, p13); + sco = max(sco, p14); + sco = max(sco, p15); + + // Keep this score if it is as good as the maximum. + if (p00 >= sco) { + // Atomically append to corner buffer. + int const icorn = atom_inc(icorner); + if (icorn < fast_count) + corners[icorn] = xy; + } + } + + } + +} + diff --git a/GPU_version/svo/src/cl_class.cpp b/GPU_version/svo/src/cl_class.cpp new file mode 100644 index 0000000..59ba287 --- /dev/null +++ b/GPU_version/svo/src/cl_class.cpp @@ -0,0 +1,56 @@ +// +// Created by root on 4/27/21. +// +#include "svo/cl_class.h" +opencl::opencl() { + std::vector all_platforms; + cl::Platform::get(&all_platforms); + if (all_platforms.size() == 0){ + std::cerr << " No platforms found. Check OpenCL installation!\n"; + exit(1); + } + //get default device of the default platform + std::vector all_devices; + for(auto i:all_platforms){ + std::cout << "Find platform: " << i.getInfo() << "\n"; + i.getDevices(CL_DEVICE_TYPE_GPU, &all_devices); + } + + if (all_devices.size() == 0){ + std::cout << " No devices found. Check OpenCL installation!\n"; + exit(1); + } + device = all_devices[0]; + std::cout << "CL_DEVICE_NAME: " << device.getInfo() <<'\n' + << "CL_DEVICE_OPENCL_C_VERSION: " <()<<'\n' + << "CL_DEVICE_BUILT_IN_KERNELS: " <()<<'\n' + << "CL_DEVICE_COMPILER_AVAILABLE: " <()<<'\n' + << "CL_DEVICE_LOCAL_MEM_SIZE: " <()<<'\n' + << "CL_DEVICE_GLOBAL_MEM_SIZE: " <()<<'\n'; + + context=new cl::Context({ device }); + cl::Program::Sources sources; + read_cl int_add("../kernel/int_add.cl"); + sources.push_back({ int_add.src_str, int_add.size }); + read_cl double_add("../kernel/double_add.cl"); + sources.push_back({ double_add.src_str, double_add.size }); + read_cl corner_10_less("../kernel/is_corner_10_less.cl"); + sources.push_back({ corner_10_less.src_str, corner_10_less.size }); + read_cl prefast("../kernel/prefast-gray.cl"); + sources.push_back({ prefast.src_str, prefast.size }); + //read_cl fast("../kernel/fast-gray.cl"); + // sources.push_back({ fast.src_str, fast.size}); + program=new cl::Program(*context, sources); + if(program->build({ device },"-DFAST_THRESH=40 -DFAST_RING=15") !=0) + std::cout << " Error building: " << program->getBuildInfo(device)<<'\n' + <getBuildInfo(device) << '\n'; + queue=new cl::CommandQueue(*context,device,0,NULL); +} +opencl::~opencl() { + queue->finish(); +} +void opencl::clear_buf() { + _kernels.clear(); + queue->flush(); +} + From 5a693259d6aa9d238310cfcba23eb240df4e5af5 Mon Sep 17 00:00:00 2001 From: gfuse Date: Wed, 5 May 2021 19:12:01 +0200 Subject: [PATCH 188/215] add fast kernel --- GPU_version/svo/include/svo/cl_class.h | 92 +++++++++---------- .../svo/include/svo/feature_detection.h | 7 +- GPU_version/svo/kernel/fast-gray.cl | 27 +----- GPU_version/svo/src/cl_class.cpp | 22 ++--- GPU_version/svo/src/feature_detection.cpp | 53 ++++++----- GPU_version/svo/src/frame.cpp | 1 - 6 files changed, 85 insertions(+), 117 deletions(-) diff --git a/GPU_version/svo/include/svo/cl_class.h b/GPU_version/svo/include/svo/cl_class.h index c0b378a..ff4cd39 100644 --- a/GPU_version/svo/include/svo/cl_class.h +++ b/GPU_version/svo/include/svo/cl_class.h @@ -10,7 +10,6 @@ #include #include #include -#define __CL_ENABLE_EXCEPTIONS #include #include @@ -18,45 +17,40 @@ class kernel{ public: kernel(cl::Program* program,std::string name){_kernel = new cl::Kernel(*program,name.c_str());}; ~kernel(){ - //for(auto i:_buffers)i.first.first.; _buffers.clear(); _images.clear(); }; template int32_t write(size_t id/*buffer ID*/,T* buf,cl::CommandQueue* queue,cl::Context* context,size_t buf_size){ - try{ - _buffers.push_back(std::pair,size_t>(std::pair(cl::Buffer(*context, CL_MEM_READ_WRITE, sizeof(T) * buf_size), + _buffers.push_back(std::pair,size_t>(std::pair(cl::Buffer(*context, CL_MEM_READ_WRITE, sizeof(T) * buf_size), buf_size),id)); - queue->enqueueWriteBuffer(_buffers.back().first.first,CL_TRUE, 0, sizeof(T) * buf_size, buf); - _kernel->setArg(id,_buffers.back().first.first); - return CL_SUCCESS; - }catch (std::exception& err){ - std::cerr<<"Error C:Kernel, F:write\n"<enqueueWriteBuffer(_buffers.back().first.first,CL_TRUE, 0, sizeof(T) * buf_size, buf); + if(err!=0){ + std::cerr<<"Error C:Kernel, F:write, L:enqueueWriteBuffer\n"<setArg(id,_buffers.back().first.first); + if(err!=0){ + std::cerr<<"Error C:Kernel, F:write, L3:setArg\n"<(cl::Image2D(*context, CL_MEM_READ_ONLY | CL_MEM_COPY_HOST_PTR, + _images.push_back(std::pair(cl::Image2D(*context, CL_MEM_READ_ONLY | CL_MEM_COPY_HOST_PTR, cl::ImageFormat(CL_R, CL_UNSIGNED_INT8), buf.size().width, buf.size().height, 0, reinterpret_cast(buf.data)),id)); - /* }else{ - _images.push_back(std::pair(cl::Image2D(*context, CL_MEM_READ_WRITE, - cl::ImageFormat(CL_RGBA, CL_UNORM_INT8), - buf.size().width, - buf.size().height),id)); - }*/ - _kernel->setArg(id,_images.back().first); - return CL_SUCCESS; - }catch (std::exception& err){ - std::cerr<<"Error C:Kernel, F:write image\n"<setArg(id,_images.back().first); + if(err!=0){ + std::cerr<<"Error C:Kernel, F:write image, L:setArg\n"< @@ -87,6 +81,12 @@ public: } }; cl::Kernel* _kernel = NULL; + std::pair read(size_t id){ + for(auto i:_buffers)if(i.second==id)return i.first; + } + cl::Image2D read_img(size_t id){ + for(auto i:_images)if(i.second==id)return i.first; + } private: std::vector,size_t>> _buffers; std::vector> _images; @@ -132,7 +132,7 @@ public: } } template - int32_t write_buf(size_t id1/*kernal ID*/,size_t id2/*buffer ID*/,T& value){ + int32_t write_buf(size_t id1/*kernal ID*/,size_t id2/*buffer ID*/,T&& value){ _kernels.at(id1)._kernel->setArg(id2,value); }; template @@ -154,37 +154,29 @@ public: return CL_MAP_FAILURE; } } - template - int32_t run(size_t id1/*kernal ID*/,std::size_t x=1,std::size_t y=1,std::size_t z=1,size_t id2=0/*last id of the kernel related to the output*/, - size_t size_out=0/*out put buffer size*/, - T* out= nullptr) { - try{ - //std::cerr<<"kernel: "<<_kernels.at(id1)._kernel->getInfo(); - //std::cerr<<" ,Args: "<<_kernels.at(id1)._kernel->getInfo()<<" ,Run out: "; - cl::Buffer out_buf(*context, CL_MEM_READ_WRITE, sizeof(T) * size_out); - _kernels.at(id1)._kernel->setArg(id2,out_buf); + int32_t run(size_t id1/*kernal ID*/,std::size_t x=1,std::size_t y=1,std::size_t z=1) { + cl_int err=0; if(z>1 && y>1){ - std::cerr<enqueueNDRangeKernel(*_kernels.at(id1)._kernel, cl::NullRange/*offset*/, cl::NDRange(x,y,z)/*Global*/, cl::NullRange/*local*/)<<'\n'; + err=queue->enqueueNDRangeKernel(*_kernels.at(id1)._kernel, cl::NullRange/*offset*/, cl::NDRange(x,y,z)/*Global*/, cl::NullRange/*local*/); }else if(z<2 && y>1){ - queue->enqueueNDRangeKernel(*_kernels.at(id1)._kernel, cl::NullRange/*offset*/, cl::NDRange(x,y)/*Global*/, cl::NullRange/*local*/); - //std::cerr<enqueueNDRangeKernel(*_kernels.at(id1)._kernel, cl::NullRange/*offset*/, cl::NDRange(x,y)/*Global*/, cl::NullRange/*local*/)<<'\n'; - /*std::cerr<<_kernels.at(id1)._kernel->getArgInfo(0)<<'\n'; - std::cerr<<_kernels.at(id1)._kernel->getArgInfo(1)<<'\n'; - std::cerr<<_kernels.at(id1)._kernel->getArgInfo(2)<<'\n'; - std::cerr<<_kernels.at(id1)._kernel->getArgInfo(3)<<'\n';*/ + err=queue->enqueueNDRangeKernel(*_kernels.at(id1)._kernel, cl::NullRange/*offset*/, cl::NDRange(x,y)/*Global*/, cl::NullRange/*local*/); }else{ - std::cerr<enqueueNDRangeKernel(*_kernels.at(id1)._kernel, cl::NullRange/*offset*/, cl::NDRange(x)/*Global*/, cl::NullRange/*local*/)<<'\n'; + err=queue->enqueueNDRangeKernel(*_kernels.at(id1)._kernel, cl::NullRange/*offset*/, cl::NDRange(x)/*Global*/, cl::NullRange/*local*/); }; - queue->enqueueReadBuffer(out_buf, CL_TRUE, 0, sizeof(T) * size_out, out); - //wait for kernel to finish queue->finish(); - return CL_SUCCESS; - } catch (std::exception& err) { - std::cerr<<"RUN kernel Error\n"<getInfo(); + std::cerr<<" ,Args: "<<_kernels.at(id1)._kernel->getInfo()<<" ,Run out: "<getInfo();++i) + std::cerr<<"argument type "<getArgInfo(i)<<'\n'; + } + return err; } + template + void read(size_t id1/*kernal ID*/,size_t id2/*buffer ID*/, T* out){ + queue->enqueueReadBuffer(_kernels.at(id1).read(id2).first, CL_TRUE, 0, sizeof(T) * _kernels.at(id1).read(id2).second, out); + } void clear_buf(); private: std::vector _kernels; diff --git a/GPU_version/svo/include/svo/feature_detection.h b/GPU_version/svo/include/svo/feature_detection.h index d0990a8..6267d20 100644 --- a/GPU_version/svo/include/svo/feature_detection.h +++ b/GPU_version/svo/include/svo/feature_detection.h @@ -19,6 +19,7 @@ #include #include +#include namespace svo { @@ -49,7 +50,10 @@ public: const int cell_size, const int n_pyr_levels); - virtual ~AbstractDetector() {}; + virtual ~AbstractDetector() { + gpu_fast_->clear_buf(); + gpu_fast_->make_kernel("fast_gray"); + }; virtual void detect( Frame* frame, @@ -62,6 +66,7 @@ public: /// Set grid cells of existing features as occupied void setExistingFeatures(const Features& fts); + opencl* gpu_fast_= nullptr; protected: diff --git a/GPU_version/svo/kernel/fast-gray.cl b/GPU_version/svo/kernel/fast-gray.cl index e9ba8f4..ec36066 100644 --- a/GPU_version/svo/kernel/fast-gray.cl +++ b/GPU_version/svo/kernel/fast-gray.cl @@ -1,28 +1,5 @@ -// Copyright (C) 2011 Dmitri Nikulin -// Copyright (C) 2011 Monash University -// -// Permission is hereby granted, free of charge, to any person -// obtaining a copy of this software and associated documentation -// files (the "Software"), to deal in the Software without -// restriction, including without limitation the rights to use, -// copy, modify, merge, publish, distribute, sublicense, and/or sell -// copies of the Software, and to permit persons to whom the -// Software is furnished to do so, subject to the following -// conditions: -// -// The above copyright notice and this permission notice shall be -// included in all copies or substantial portions of the Software. -// -// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, -// EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES -// OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND -// NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT -// HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, -// WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING -// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR -// OTHER DEALINGS IN THE SOFTWARE. - -// Enable OpenCL 32-bit integer atomic functions. +// Copyright (C) 2021 Majid Geravand +// Copyright (C) 2021 Gfuse __kernel void fast_gray( __read_only image2d_t image, diff --git a/GPU_version/svo/src/cl_class.cpp b/GPU_version/svo/src/cl_class.cpp index 59ba287..d32f140 100644 --- a/GPU_version/svo/src/cl_class.cpp +++ b/GPU_version/svo/src/cl_class.cpp @@ -25,32 +25,24 @@ opencl::opencl() { << "CL_DEVICE_OPENCL_C_VERSION: " <()<<'\n' << "CL_DEVICE_BUILT_IN_KERNELS: " <()<<'\n' << "CL_DEVICE_COMPILER_AVAILABLE: " <()<<'\n' - << "CL_DEVICE_LOCAL_MEM_SIZE: " <()<<'\n' - << "CL_DEVICE_GLOBAL_MEM_SIZE: " <()<<'\n'; + << "CL_DEVICE_LOCAL_MEM_SIZE: " <()<<'\n' + << "CL_DEVICE_GLOBAL_MEM_SIZE: " <()<<'\n'; context=new cl::Context({ device }); cl::Program::Sources sources; - read_cl int_add("../kernel/int_add.cl"); - sources.push_back({ int_add.src_str, int_add.size }); - read_cl double_add("../kernel/double_add.cl"); - sources.push_back({ double_add.src_str, double_add.size }); - read_cl corner_10_less("../kernel/is_corner_10_less.cl"); - sources.push_back({ corner_10_less.src_str, corner_10_less.size }); - read_cl prefast("../kernel/prefast-gray.cl"); - sources.push_back({ prefast.src_str, prefast.size }); - //read_cl fast("../kernel/fast-gray.cl"); - // sources.push_back({ fast.src_str, fast.size}); + read_cl fast("../kernel/fast-gray.cl"); + sources.push_back({ fast.src_str, fast.size }); program=new cl::Program(*context, sources); - if(program->build({ device },"-DFAST_THRESH=40 -DFAST_RING=15") !=0) + if(program->build({ device },"-DFAST_THRESH=40") !=0) std::cout << " Error building: " << program->getBuildInfo(device)<<'\n' <getBuildInfo(device) << '\n'; queue=new cl::CommandQueue(*context,device,0,NULL); } opencl::~opencl() { - queue->finish(); } void opencl::clear_buf() { - _kernels.clear(); + queue->finish(); queue->flush(); + _kernels.clear(); } diff --git a/GPU_version/svo/src/feature_detection.cpp b/GPU_version/svo/src/feature_detection.cpp index 98183f8..8aaac0c 100644 --- a/GPU_version/svo/src/feature_detection.cpp +++ b/GPU_version/svo/src/feature_detection.cpp @@ -16,7 +16,6 @@ #include #include -#include #include namespace svo { @@ -32,7 +31,16 @@ AbstractDetector::AbstractDetector( grid_n_cols_(ceil(static_cast(img_width)/cell_size_)), grid_n_rows_(ceil(static_cast(img_height)/cell_size_)), grid_occupancy_(grid_n_cols_*grid_n_rows_, false) -{} +{ + gpu_fast_= new opencl(); + cv::Mat init=cv::Mat::zeros(cv::Size(img_width, img_height),CV_8UC1); + gpu_fast_->write_buf(0,0,init); + cl_int2 corners[img_width*img_height]; + gpu_fast_->write_buf(0,1,img_width*img_height,corners); + int icorner[1]={0}; + gpu_fast_->write_buf(0,2,1,icorner); + gpu_fast_->write_buf(0,3,(1 << 18)); +} void AbstractDetector::resetGrid() { @@ -73,35 +81,30 @@ void FastDetector::detect( for(int L=0; L fast_corners; -#if __SSE2__ - fast::fast_corner_detect_10_sse2( - (fast::fast_byte*) img_pyr[L].data, img_pyr[L].cols, - img_pyr[L].rows, img_pyr[L].cols, 20, fast_corners); -#elif HAVE_FAST_NEON - fast::fast_corner_detect_9_neon( - (fast::fast_byte*) img_pyr[L].data, img_pyr[L].cols, - img_pyr[L].rows, img_pyr[L].cols, 20, fast_corners); -#else - fast::fast_corner_detect_10( - (fast::fast_byte*) img_pyr[L].data, img_pyr[L].cols, - img_pyr[L].rows, img_pyr[L].cols, 20, fast_corners); -#endif - vector scores, nm_corners; - fast::fast_corner_score_10((fast::fast_byte*) img_pyr[L].data, img_pyr[L].cols, fast_corners, 20, scores); - fast::fast_nonmax_3x3(fast_corners, scores, nm_corners); + gpu_fast_->reload_buf(0,0,img_pyr[L].data); + int icorner[1]={0}; + gpu_fast_->reload_buf(0,2,icorner); + gpu_fast_->run(0,img_pyr[L].cols,img_pyr[L].rows); + cl_int2* fast_corners; + gpu_fast_->read(0,1,fast_corners); + int count[1]={0}; + gpu_fast_->read(0,2,count); + //vector scores, nm_corners; + //fast::fast_corner_score_10((fast::fast_byte*) img_pyr[L].data, img_pyr[L].cols, fast_corners, 20, scores); + //fast::fast_nonmax_3x3(fast_corners, scores, nm_corners); - for(auto it=nm_corners.begin(), ite=nm_corners.end(); it!=ite; ++it) + for(uint i=0;i((xy.y*scale)/cell_size_)*grid_n_cols_ - + static_cast((xy.x*scale)/cell_size_); + if(fast_corners[i].x<0 || fast_corners[i].x>img_pyr[L].cols || fast_corners[i].y>img_pyr[L].rows || fast_corners[i].y<0)continue; + const int k = static_cast((fast_corners[i].y*scale)/cell_size_)*grid_n_cols_ + + static_cast((fast_corners[i].x*scale)/cell_size_); if(grid_occupancy_[k]) continue; - const float score = vk::shiTomasiScore(img_pyr[L], xy.x, xy.y); + const float score = vk::shiTomasiScore(img_pyr[L], fast_corners[i].x, fast_corners[i].y); if(score > corners.at(k).score) - corners.at(k) = Corner(xy.x*scale, xy.y*scale, score, L, 0.0f); + corners.at(k) = Corner(fast_corners[i].x*scale, fast_corners[i].y*scale, score, L, 0.0f); } + } // Create feature for every corner that has high enough corner score diff --git a/GPU_version/svo/src/frame.cpp b/GPU_version/svo/src/frame.cpp index 44ddab6..440c32d 100644 --- a/GPU_version/svo/src/frame.cpp +++ b/GPU_version/svo/src/frame.cpp @@ -22,7 +22,6 @@ #include #include #include -#include namespace svo { From 9dbc540a5d6f00428d5eb12523cad86b4ce99b96 Mon Sep 17 00:00:00 2001 From: gfuse Date: Sat, 8 May 2021 11:53:15 +0200 Subject: [PATCH 189/215] debug gpu version done --- GPU_version/svo/CMakeLists.txt | 1 + .../{svo => gpu_svo}/bundle_adjustment.h | 2 +- .../svo/include/{svo => gpu_svo}/cl_class.h | 6 +- .../svo/include/{svo => gpu_svo}/config.h | 0 .../include/{svo => gpu_svo}/depth_filter.h | 6 +- .../svo/include/{svo => gpu_svo}/feature.h | 2 +- .../{svo => gpu_svo}/feature_alignment.h | 2 +- .../{svo => gpu_svo}/feature_detection.h | 11 +- .../svo/include/{svo => gpu_svo}/frame.h | 2 +- .../{svo => gpu_svo}/frame_handler_base.h | 4 +- .../{svo => gpu_svo}/frame_handler_mono.h | 17 +- .../svo/include/{svo => gpu_svo}/global.h | 0 .../{svo => gpu_svo}/imu_integration.h | 2 +- .../include/{svo => gpu_svo}/initialization.h | 9 +- .../svo/include/{svo => gpu_svo}/map.h | 2 +- .../svo/include/{svo => gpu_svo}/matcher.h | 2 +- .../svo/include/{svo => gpu_svo}/point.h | 2 +- .../include/{svo => gpu_svo}/pose_optimizer.h | 2 +- .../include/{svo => gpu_svo}/reprojector.h | 4 +- .../{svo => gpu_svo}/sparse_img_align.h | 2 +- .../{svo => gpu_svo}/svoVisionFactor.h | 2 +- GPU_version/svo/src/bundle_adjustment.cpp | 12 +- GPU_version/svo/src/cl_class.cpp | 6 +- GPU_version/svo/src/config.cpp | 2 +- GPU_version/svo/src/depth_filter.cpp | 16 +- GPU_version/svo/src/feature_alignment.cpp | 2 +- GPU_version/svo/src/feature_detection.cpp | 34 +- GPU_version/svo/src/frame.cpp | 8 +- GPU_version/svo/src/frame_handler_base.cpp | 12 +- GPU_version/svo/src/frame_handler_mono.cpp | 38 ++- GPU_version/svo/src/imu_integration.cpp | 10 +- GPU_version/svo/src/initialization.cpp | 19 +- GPU_version/svo/src/map.cpp | 8 +- GPU_version/svo/src/matcher.cpp | 12 +- GPU_version/svo/src/point.cpp | 6 +- GPU_version/svo/src/pose_optimizer.cpp | 8 +- GPU_version/svo/src/reprojector.cpp | 12 +- GPU_version/svo/src/sparse_img_align.cpp | 10 +- GPU_version/vio/.idea/.gitignore | 8 + GPU_version/vio/.idea/misc.xml | 4 + GPU_version/vio/.idea/modules.xml | 8 + GPU_version/vio/.idea/vcs.xml | 6 + GPU_version/vio/CMakeLists.txt | 92 ++++++ GPU_version/vio/include/vio_gpu/visualizer.h | 73 +++++ GPU_version/vio/launch/Px30.launch | 22 ++ GPU_version/vio/launch/live.launch | 16 + GPU_version/vio/launch/test.launch | 22 ++ GPU_version/vio/launch/unity.launch | 22 ++ GPU_version/vio/msg/Info.msg | 6 + GPU_version/vio/package.xml | 43 +++ GPU_version/vio/param/camera_atan.yaml | 8 + GPU_version/vio/param/camera_pinhole.yaml | 11 + GPU_version/vio/param/px30.yaml | 8 + GPU_version/vio/param/unity.yaml | 8 + GPU_version/vio/param/vo_accurate.yaml | 4 + GPU_version/vio/param/vo_fast.yaml | 13 + GPU_version/vio/rqt.perspective | 293 ++++++++++++++++++ GPU_version/vio/rviz_config.rviz | 153 +++++++++ GPU_version/vio/src/visualizer.cpp | 127 ++++++++ GPU_version/vio/src/vo_node.cpp | 148 +++++++++ 60 files changed, 1249 insertions(+), 141 deletions(-) rename GPU_version/svo/include/{svo => gpu_svo}/bundle_adjustment.h (99%) rename GPU_version/svo/include/{svo => gpu_svo}/cl_class.h (98%) rename GPU_version/svo/include/{svo => gpu_svo}/config.h (100%) rename GPU_version/svo/include/{svo => gpu_svo}/depth_filter.h (98%) rename GPU_version/svo/include/{svo => gpu_svo}/feature.h (98%) rename GPU_version/svo/include/{svo => gpu_svo}/feature_alignment.h (98%) rename GPU_version/svo/include/{svo => gpu_svo}/feature_detection.h (94%) rename GPU_version/svo/include/{svo => gpu_svo}/frame.h (99%) rename GPU_version/svo/include/{svo => gpu_svo}/frame_handler_base.h (98%) rename GPU_version/svo/include/{svo => gpu_svo}/frame_handler_mono.h (90%) rename GPU_version/svo/include/{svo => gpu_svo}/global.h (100%) rename GPU_version/svo/include/{svo => gpu_svo}/imu_integration.h (99%) rename GPU_version/svo/include/{svo => gpu_svo}/initialization.h (93%) rename GPU_version/svo/include/{svo => gpu_svo}/map.h (99%) rename GPU_version/svo/include/{svo => gpu_svo}/matcher.h (99%) rename GPU_version/svo/include/{svo => gpu_svo}/point.h (99%) rename GPU_version/svo/include/{svo => gpu_svo}/pose_optimizer.h (98%) rename GPU_version/svo/include/{svo => gpu_svo}/reprojector.h (98%) rename GPU_version/svo/include/{svo => gpu_svo}/sparse_img_align.h (98%) rename GPU_version/svo/include/{svo => gpu_svo}/svoVisionFactor.h (99%) create mode 100644 GPU_version/vio/.idea/.gitignore create mode 100644 GPU_version/vio/.idea/misc.xml create mode 100644 GPU_version/vio/.idea/modules.xml create mode 100644 GPU_version/vio/.idea/vcs.xml create mode 100644 GPU_version/vio/CMakeLists.txt create mode 100644 GPU_version/vio/include/vio_gpu/visualizer.h create mode 100644 GPU_version/vio/launch/Px30.launch create mode 100644 GPU_version/vio/launch/live.launch create mode 100644 GPU_version/vio/launch/test.launch create mode 100644 GPU_version/vio/launch/unity.launch create mode 100644 GPU_version/vio/msg/Info.msg create mode 100644 GPU_version/vio/package.xml create mode 100644 GPU_version/vio/param/camera_atan.yaml create mode 100644 GPU_version/vio/param/camera_pinhole.yaml create mode 100644 GPU_version/vio/param/px30.yaml create mode 100644 GPU_version/vio/param/unity.yaml create mode 100644 GPU_version/vio/param/vo_accurate.yaml create mode 100644 GPU_version/vio/param/vo_fast.yaml create mode 100644 GPU_version/vio/rqt.perspective create mode 100644 GPU_version/vio/rviz_config.rviz create mode 100644 GPU_version/vio/src/visualizer.cpp create mode 100644 GPU_version/vio/src/vo_node.cpp diff --git a/GPU_version/svo/CMakeLists.txt b/GPU_version/svo/CMakeLists.txt index 4f0c7c5..ed41132 100644 --- a/GPU_version/svo/CMakeLists.txt +++ b/GPU_version/svo/CMakeLists.txt @@ -96,3 +96,4 @@ TARGET_LINK_LIBRARIES(${PROJECT_NAME} ${LINK_LIBS} ) set_property(TARGET ${PROJECT_NAME} PROPERTY CXX_STANDARD 14) set_property(TARGET ${PROJECT_NAME} PROPERTY CXX_STANDARD_REQUIRED ON) target_compile_features(${PROJECT_NAME} PRIVATE cxx_range_for) +ADD_DEFINITIONS(-DKERNEL_DIR=\"${PROJECT_SOURCE_DIR}/kernel\") diff --git a/GPU_version/svo/include/svo/bundle_adjustment.h b/GPU_version/svo/include/gpu_svo/bundle_adjustment.h similarity index 99% rename from GPU_version/svo/include/svo/bundle_adjustment.h rename to GPU_version/svo/include/gpu_svo/bundle_adjustment.h index f3c3501..9eb8a94 100644 --- a/GPU_version/svo/include/svo/bundle_adjustment.h +++ b/GPU_version/svo/include/gpu_svo/bundle_adjustment.h @@ -17,7 +17,7 @@ #ifndef SVO_BUNDLE_ADJUSTMENT_H_ #define SVO_BUNDLE_ADJUSTMENT_H_ -#include +#include namespace g2o { class EdgeProjectXYZ2UV; diff --git a/GPU_version/svo/include/svo/cl_class.h b/GPU_version/svo/include/gpu_svo/cl_class.h similarity index 98% rename from GPU_version/svo/include/svo/cl_class.h rename to GPU_version/svo/include/gpu_svo/cl_class.h index ff4cd39..bffee33 100644 --- a/GPU_version/svo/include/svo/cl_class.h +++ b/GPU_version/svo/include/gpu_svo/cl_class.h @@ -67,13 +67,15 @@ public: }; int32_t reload(size_t id,cv::Mat& buf,cl::Context* context){ try{ - for(auto i:_images)if(i.second==id) + for(auto i:_images)if(i.second==id){ i.first=cl::Image2D(*context, CL_MEM_READ_ONLY | CL_MEM_COPY_HOST_PTR, cl::ImageFormat(CL_R, CL_UNSIGNED_INT8), buf.size().width, buf.size().height, 0, reinterpret_cast(buf.data)); + } + return CL_SUCCESS; }catch (std::exception& err){ std::cerr<<"Reload buffer on GPU failed\n"< #include #include -#include -#include -#include +#include +#include +#include namespace svo { diff --git a/GPU_version/svo/include/svo/feature.h b/GPU_version/svo/include/gpu_svo/feature.h similarity index 98% rename from GPU_version/svo/include/svo/feature.h rename to GPU_version/svo/include/gpu_svo/feature.h index 6f90a9a..2184c4b 100644 --- a/GPU_version/svo/include/svo/feature.h +++ b/GPU_version/svo/include/gpu_svo/feature.h @@ -17,7 +17,7 @@ #ifndef SVO_FEATURE_H_ #define SVO_FEATURE_H_ -#include +#include namespace svo { diff --git a/GPU_version/svo/include/svo/feature_alignment.h b/GPU_version/svo/include/gpu_svo/feature_alignment.h similarity index 98% rename from GPU_version/svo/include/svo/feature_alignment.h rename to GPU_version/svo/include/gpu_svo/feature_alignment.h index 12523e3..e3b40a8 100644 --- a/GPU_version/svo/include/svo/feature_alignment.h +++ b/GPU_version/svo/include/gpu_svo/feature_alignment.h @@ -17,7 +17,7 @@ #ifndef SVO_FEATURE_ALIGNMENT_H_ #define SVO_FEATURE_ALIGNMENT_H_ -#include +#include namespace svo { diff --git a/GPU_version/svo/include/svo/feature_detection.h b/GPU_version/svo/include/gpu_svo/feature_detection.h similarity index 94% rename from GPU_version/svo/include/svo/feature_detection.h rename to GPU_version/svo/include/gpu_svo/feature_detection.h index 6267d20..4dc5ec8 100644 --- a/GPU_version/svo/include/svo/feature_detection.h +++ b/GPU_version/svo/include/gpu_svo/feature_detection.h @@ -17,9 +17,9 @@ #ifndef SVO_FEATURE_DETECTION_H_ #define SVO_FEATURE_DETECTION_H_ -#include -#include -#include +#include +#include +#include namespace svo { @@ -51,8 +51,6 @@ public: const int n_pyr_levels); virtual ~AbstractDetector() { - gpu_fast_->clear_buf(); - gpu_fast_->make_kernel("fast_gray"); }; virtual void detect( @@ -66,7 +64,6 @@ public: /// Set grid cells of existing features as occupied void setExistingFeatures(const Features& fts); - opencl* gpu_fast_= nullptr; protected: @@ -95,6 +92,7 @@ public: const int img_width, const int img_height, const int cell_size, + opencl* gpu_fast_, const int n_pyr_levels); virtual ~FastDetector() {} @@ -104,6 +102,7 @@ public: const ImgPyr& img_pyr, const double detection_threshold, Features& fts); + opencl* gpu_fast_; }; } // namespace feature_detection diff --git a/GPU_version/svo/include/svo/frame.h b/GPU_version/svo/include/gpu_svo/frame.h similarity index 99% rename from GPU_version/svo/include/svo/frame.h rename to GPU_version/svo/include/gpu_svo/frame.h index c926277..43b344e 100644 --- a/GPU_version/svo/include/svo/frame.h +++ b/GPU_version/svo/include/gpu_svo/frame.h @@ -21,7 +21,7 @@ #include #include #include -#include +#include namespace g2o { class VertexSE3Expmap; diff --git a/GPU_version/svo/include/svo/frame_handler_base.h b/GPU_version/svo/include/gpu_svo/frame_handler_base.h similarity index 98% rename from GPU_version/svo/include/svo/frame_handler_base.h rename to GPU_version/svo/include/gpu_svo/frame_handler_base.h index 9a78639..9b207b3 100644 --- a/GPU_version/svo/include/svo/frame_handler_base.h +++ b/GPU_version/svo/include/gpu_svo/frame_handler_base.h @@ -23,8 +23,8 @@ #include #include #include -#include -#include +#include +#include namespace vk { diff --git a/GPU_version/svo/include/svo/frame_handler_mono.h b/GPU_version/svo/include/gpu_svo/frame_handler_mono.h similarity index 90% rename from GPU_version/svo/include/svo/frame_handler_mono.h rename to GPU_version/svo/include/gpu_svo/frame_handler_mono.h index 58789c8..58b8b22 100644 --- a/GPU_version/svo/include/svo/frame_handler_mono.h +++ b/GPU_version/svo/include/gpu_svo/frame_handler_mono.h @@ -19,10 +19,11 @@ #include #include -#include -#include -#include -#include +#include +#include +#include +#include +#include namespace svo { @@ -48,8 +49,8 @@ public: const set& coreKeyframes() { return core_kfs_; } /// Return the feature track to visualize the KLT tracking during initialization. - const vector& initFeatureTrackRefPx() const { return klt_homography_init_.px_ref_; } - const vector& initFeatureTrackCurPx() const { return klt_homography_init_.px_cur_; } + const vector& initFeatureTrackRefPx() const { return klt_homography_init_->px_ref_; } + const vector& initFeatureTrackCurPx() const { return klt_homography_init_->px_cur_; } /// Access the depth filter. DepthFilter* depthFilter() const { return depth_filter_; } @@ -69,9 +70,9 @@ protected: FramePtr last_frame_; //!< Last frame, not necessarily a keyframe. set core_kfs_; //!< Keyframes in the closer neighbourhood. vector< pair > overlap_kfs_; //!< All keyframes with overlapping field of view. the paired number specifies how many common mappoints are observed TODO: why vector!? - initialization::KltHomographyInit klt_homography_init_; //!< Used to estimate pose of the first two keyframes by estimating a homography. + initialization::KltHomographyInit* klt_homography_init_; //!< Used to estimate pose of the first two keyframes by estimating a homography. DepthFilter* depth_filter_; //!< Depth estimation algorithm runs in a parallel thread and is used to initialize new 3D points. - + opencl* gpu_fast_; /// Initialize the visual odometry algorithm. virtual void initialize(); diff --git a/GPU_version/svo/include/svo/global.h b/GPU_version/svo/include/gpu_svo/global.h similarity index 100% rename from GPU_version/svo/include/svo/global.h rename to GPU_version/svo/include/gpu_svo/global.h diff --git a/GPU_version/svo/include/svo/imu_integration.h b/GPU_version/svo/include/gpu_svo/imu_integration.h similarity index 99% rename from GPU_version/svo/include/svo/imu_integration.h rename to GPU_version/svo/include/gpu_svo/imu_integration.h index 11b9055..2692f71 100644 --- a/GPU_version/svo/include/svo/imu_integration.h +++ b/GPU_version/svo/include/gpu_svo/imu_integration.h @@ -13,7 +13,7 @@ #include #include #include -#include +#include using gtsam::symbol_shorthand::B; // Bias (ax,ay,az,gx,gy,gz) using gtsam::symbol_shorthand::V; // Vel (xdot,ydot,zdot) diff --git a/GPU_version/svo/include/svo/initialization.h b/GPU_version/svo/include/gpu_svo/initialization.h similarity index 93% rename from GPU_version/svo/include/svo/initialization.h rename to GPU_version/svo/include/gpu_svo/initialization.h index cb562e5..21f9350 100644 --- a/GPU_version/svo/include/svo/initialization.h +++ b/GPU_version/svo/include/gpu_svo/initialization.h @@ -17,7 +17,8 @@ #ifndef SVO_INITIALIZATION_H #define SVO_INITIALIZATION_H -#include +#include +#include namespace svo { @@ -35,7 +36,7 @@ public: EIGEN_MAKE_ALIGNED_OPERATOR_NEW FramePtr frame_ref_; - KltHomographyInit() {}; + KltHomographyInit(opencl* gpu_fast_):gpu_fast_(gpu_fast_) {}; ~KltHomographyInit() {}; InitResult addFirstFrame(FramePtr frame_ref); InitResult addSecondFrame(FramePtr frame_ref); @@ -50,13 +51,15 @@ protected: vector inliers_; //!< inliers after the geometric check (e.g., Homography). vector xyz_in_cur_; //!< 3D points computed during the geometric check. SE3 T_cur_from_ref_; //!< computed transformation between the first two frames. + opencl* gpu_fast_; }; /// Detect Fast corners in the image. void detectFeatures( FramePtr frame, vector& px_vec, - vector& f_vec); + vector& f_vec, + opencl* gpu_fast); /// Compute optical flow (Lucas Kanade) for selected keypoints. void trackKlt( diff --git a/GPU_version/svo/include/svo/map.h b/GPU_version/svo/include/gpu_svo/map.h similarity index 99% rename from GPU_version/svo/include/svo/map.h rename to GPU_version/svo/include/gpu_svo/map.h index 458622b..3bee80b 100644 --- a/GPU_version/svo/include/svo/map.h +++ b/GPU_version/svo/include/gpu_svo/map.h @@ -20,7 +20,7 @@ #include #include #include -#include +#include namespace svo { diff --git a/GPU_version/svo/include/svo/matcher.h b/GPU_version/svo/include/gpu_svo/matcher.h similarity index 99% rename from GPU_version/svo/include/svo/matcher.h rename to GPU_version/svo/include/gpu_svo/matcher.h index b53340e..1eeb9fd 100644 --- a/GPU_version/svo/include/svo/matcher.h +++ b/GPU_version/svo/include/gpu_svo/matcher.h @@ -17,7 +17,7 @@ #ifndef SVO_MATCHER_H_ #define SVO_MATCHER_H_ -#include +#include namespace vk { class AbstractCamera; diff --git a/GPU_version/svo/include/svo/point.h b/GPU_version/svo/include/gpu_svo/point.h similarity index 99% rename from GPU_version/svo/include/svo/point.h rename to GPU_version/svo/include/gpu_svo/point.h index e1bb81b..81d2769 100644 --- a/GPU_version/svo/include/svo/point.h +++ b/GPU_version/svo/include/gpu_svo/point.h @@ -18,7 +18,7 @@ #define SVO_POINT_H_ #include -#include +#include namespace g2o { class VertexSBAPointXYZ; diff --git a/GPU_version/svo/include/svo/pose_optimizer.h b/GPU_version/svo/include/gpu_svo/pose_optimizer.h similarity index 98% rename from GPU_version/svo/include/svo/pose_optimizer.h rename to GPU_version/svo/include/gpu_svo/pose_optimizer.h index ca048ae..d0ad926 100644 --- a/GPU_version/svo/include/svo/pose_optimizer.h +++ b/GPU_version/svo/include/gpu_svo/pose_optimizer.h @@ -17,7 +17,7 @@ #ifndef SVO_POSE_OPTIMIZER_H_ #define SVO_POSE_OPTIMIZER_H_ -#include +#include namespace svo { diff --git a/GPU_version/svo/include/svo/reprojector.h b/GPU_version/svo/include/gpu_svo/reprojector.h similarity index 98% rename from GPU_version/svo/include/svo/reprojector.h rename to GPU_version/svo/include/gpu_svo/reprojector.h index e345f0d..8d50c35 100644 --- a/GPU_version/svo/include/svo/reprojector.h +++ b/GPU_version/svo/include/gpu_svo/reprojector.h @@ -17,8 +17,8 @@ #ifndef SVO_REPROJECTION_H_ #define SVO_REPROJECTION_H_ -#include -#include +#include +#include namespace vk { class AbstractCamera; diff --git a/GPU_version/svo/include/svo/sparse_img_align.h b/GPU_version/svo/include/gpu_svo/sparse_img_align.h similarity index 98% rename from GPU_version/svo/include/svo/sparse_img_align.h rename to GPU_version/svo/include/gpu_svo/sparse_img_align.h index 1bedfed..58374be 100644 --- a/GPU_version/svo/include/svo/sparse_img_align.h +++ b/GPU_version/svo/include/gpu_svo/sparse_img_align.h @@ -19,7 +19,7 @@ #include #include -#include +#include namespace vk { class AbstractCamera; diff --git a/GPU_version/svo/include/svo/svoVisionFactor.h b/GPU_version/svo/include/gpu_svo/svoVisionFactor.h similarity index 99% rename from GPU_version/svo/include/svo/svoVisionFactor.h rename to GPU_version/svo/include/gpu_svo/svoVisionFactor.h index cd00816..738bd95 100644 --- a/GPU_version/svo/include/svo/svoVisionFactor.h +++ b/GPU_version/svo/include/gpu_svo/svoVisionFactor.h @@ -12,7 +12,7 @@ #include #include #include -#include +#include namespace svo { diff --git a/GPU_version/svo/src/bundle_adjustment.cpp b/GPU_version/svo/src/bundle_adjustment.cpp index eaba2b0..883116f 100644 --- a/GPU_version/svo/src/bundle_adjustment.cpp +++ b/GPU_version/svo/src/bundle_adjustment.cpp @@ -26,12 +26,12 @@ #include #include #include -#include -#include -#include -#include -#include -#include +#include +#include +#include +#include +#include +#include #define SCHUR_TRICK 1 diff --git a/GPU_version/svo/src/cl_class.cpp b/GPU_version/svo/src/cl_class.cpp index d32f140..a26d455 100644 --- a/GPU_version/svo/src/cl_class.cpp +++ b/GPU_version/svo/src/cl_class.cpp @@ -1,7 +1,7 @@ // // Created by root on 4/27/21. // -#include "svo/cl_class.h" +#include "gpu_svo/cl_class.h" opencl::opencl() { std::vector all_platforms; cl::Platform::get(&all_platforms); @@ -12,7 +12,7 @@ opencl::opencl() { //get default device of the default platform std::vector all_devices; for(auto i:all_platforms){ - std::cout << "Find platform: " << i.getInfo() << "\n"; + std::cout << "Find platform number:"<< i.getInfo() << "\n"; i.getDevices(CL_DEVICE_TYPE_GPU, &all_devices); } @@ -30,7 +30,7 @@ opencl::opencl() { context=new cl::Context({ device }); cl::Program::Sources sources; - read_cl fast("../kernel/fast-gray.cl"); + read_cl fast(std::string(KERNEL_DIR)+"/fast-gray.cl"); sources.push_back({ fast.src_str, fast.size }); program=new cl::Program(*context, sources); if(program->build({ device },"-DFAST_THRESH=40") !=0) diff --git a/GPU_version/svo/src/config.cpp b/GPU_version/svo/src/config.cpp index e8475fe..2f09b60 100644 --- a/GPU_version/svo/src/config.cpp +++ b/GPU_version/svo/src/config.cpp @@ -17,7 +17,7 @@ #ifdef SVO_USE_ROS #include #endif -#include +#include namespace svo { diff --git a/GPU_version/svo/src/depth_filter.cpp b/GPU_version/svo/src/depth_filter.cpp index db24408..f6fa977 100644 --- a/GPU_version/svo/src/depth_filter.cpp +++ b/GPU_version/svo/src/depth_filter.cpp @@ -20,14 +20,14 @@ #include #include #include -#include -#include -#include -#include -#include -#include -#include -#include +#include +#include +#include +#include +#include +#include +#include +#include namespace svo { diff --git a/GPU_version/svo/src/feature_alignment.cpp b/GPU_version/svo/src/feature_alignment.cpp index faa4027..3605333 100644 --- a/GPU_version/svo/src/feature_alignment.cpp +++ b/GPU_version/svo/src/feature_alignment.cpp @@ -20,7 +20,7 @@ #ifdef __ARM_NEON__ #include #endif -#include +#include namespace svo { namespace feature_alignment { diff --git a/GPU_version/svo/src/feature_detection.cpp b/GPU_version/svo/src/feature_detection.cpp index 8aaac0c..3a98d20 100644 --- a/GPU_version/svo/src/feature_detection.cpp +++ b/GPU_version/svo/src/feature_detection.cpp @@ -14,8 +14,8 @@ // You should have received a copy of the GNU General Public License // along with this program. If not, see . -#include -#include +#include +#include #include namespace svo { @@ -32,14 +32,6 @@ AbstractDetector::AbstractDetector( grid_n_rows_(ceil(static_cast(img_height)/cell_size_)), grid_occupancy_(grid_n_cols_*grid_n_rows_, false) { - gpu_fast_= new opencl(); - cv::Mat init=cv::Mat::zeros(cv::Size(img_width, img_height),CV_8UC1); - gpu_fast_->write_buf(0,0,init); - cl_int2 corners[img_width*img_height]; - gpu_fast_->write_buf(0,1,img_width*img_height,corners); - int icorner[1]={0}; - gpu_fast_->write_buf(0,2,1,icorner); - gpu_fast_->write_buf(0,3,(1 << 18)); } void AbstractDetector::resetGrid() @@ -67,9 +59,11 @@ FastDetector::FastDetector( const int img_width, const int img_height, const int cell_size, + opencl* gpu_fast_, const int n_pyr_levels) : - AbstractDetector(img_width, img_height, cell_size, n_pyr_levels) -{} + AbstractDetector(img_width, img_height, cell_size, n_pyr_levels),gpu_fast_(gpu_fast_) +{ +} void FastDetector::detect( Frame* frame, @@ -81,26 +75,28 @@ void FastDetector::detect( for(int L=0; Lreload_buf(0,0,img_pyr[L].data); + cv::Mat img=img_pyr.at(L); + gpu_fast_->reload_buf(0,0,img); int icorner[1]={0}; gpu_fast_->reload_buf(0,2,icorner); gpu_fast_->run(0,img_pyr[L].cols,img_pyr[L].rows); - cl_int2* fast_corners; + cl_int2 fast_corners[1000000]; gpu_fast_->read(0,1,fast_corners); int count[1]={0}; gpu_fast_->read(0,2,count); - //vector scores, nm_corners; - //fast::fast_corner_score_10((fast::fast_byte*) img_pyr[L].data, img_pyr[L].cols, fast_corners, 20, scores); - //fast::fast_nonmax_3x3(fast_corners, scores, nm_corners); - for(uint i=0;iimg_pyr[L].cols || fast_corners[i].y>img_pyr[L].rows || fast_corners[i].y<0)continue; + if(fast_corners[i].x<0 || fast_corners[i].x>img_pyr[L].cols || fast_corners[i].y>img_pyr[L].rows || fast_corners[i].y<0) + continue; + const int k = static_cast((fast_corners[i].y*scale)/cell_size_)*grid_n_cols_ + static_cast((fast_corners[i].x*scale)/cell_size_); + if(grid_occupancy_[k]) continue; + const float score = vk::shiTomasiScore(img_pyr[L], fast_corners[i].x, fast_corners[i].y); + if(score > corners.at(k).score) corners.at(k) = Corner(fast_corners[i].x*scale, fast_corners[i].y*scale, score, L, 0.0f); } diff --git a/GPU_version/svo/src/frame.cpp b/GPU_version/svo/src/frame.cpp index 440c32d..632e376 100644 --- a/GPU_version/svo/src/frame.cpp +++ b/GPU_version/svo/src/frame.cpp @@ -15,10 +15,10 @@ // along with this program. If not, see . #include -#include -#include -#include -#include +#include +#include +#include +#include #include #include #include diff --git a/GPU_version/svo/src/frame_handler_base.cpp b/GPU_version/svo/src/frame_handler_base.cpp index 175ee01..6dcef82 100644 --- a/GPU_version/svo/src/frame_handler_base.cpp +++ b/GPU_version/svo/src/frame_handler_base.cpp @@ -19,12 +19,12 @@ #include #include #include -#include -#include -#include -#include -#include -#include +#include +#include +#include +#include +#include +#include namespace svo { diff --git a/GPU_version/svo/src/frame_handler_mono.cpp b/GPU_version/svo/src/frame_handler_mono.cpp index 799cb8c..1e6a98e 100644 --- a/GPU_version/svo/src/frame_handler_mono.cpp +++ b/GPU_version/svo/src/frame_handler_mono.cpp @@ -14,18 +14,18 @@ // You should have received a copy of the GNU General Public License // along with this program. If not, see . -#include -#include -#include -#include -#include -#include -#include -#include +#include +#include +#include +#include +#include +#include +#include +#include #include -#include +#include #ifdef USE_BUNDLE_ADJUSTMENT -#include +#include #endif namespace svo { @@ -36,6 +36,16 @@ FrameHandlerMono::FrameHandlerMono(vk::AbstractCamera* cam,Sophus::SE3& SE_init) reprojector_(cam_, map_), depth_filter_(NULL) { + gpu_fast_= new opencl(); + gpu_fast_->make_kernel("fast_gray"); + cv::Mat img=cv::Mat(cv::Size(1000, 1000),CV_8UC1); + gpu_fast_->write_buf(0,0,img); + cl_int2 corners_[1000000]; + gpu_fast_->write_buf(0,1,1000000,corners_); + int icorner[1]={0}; + gpu_fast_->write_buf(0,2,1,icorner); + gpu_fast_->write_buf(0,3,(1 << 18)); + klt_homography_init_=new initialization::KltHomographyInit(gpu_fast_); initialize(); imu_integPtr_=std::make_unique(SE_init); } @@ -44,7 +54,7 @@ void FrameHandlerMono::initialize() { feature_detection::DetectorPtr feature_detector( new feature_detection::FastDetector( - cam_->width(), cam_->height(), Config::gridSize(), Config::nPyrLevels())); + cam_->width(), cam_->height(), Config::gridSize(),gpu_fast_, Config::nPyrLevels())); DepthFilter::callback_t depth_filter_cb = boost::bind( &MapPointCandidates::newCandidatePoint, &map_.point_candidates_, _1, _2); depth_filter_ = new DepthFilter(feature_detector, depth_filter_cb); @@ -90,7 +100,7 @@ void FrameHandlerMono::addImage(const cv::Mat& img, const double timestamp) FrameHandlerMono::UpdateResult FrameHandlerMono::processFirstFrame() { new_frame_->T_f_w_ = SE3(Matrix3d::Identity(), Vector3d::Zero()); - if(klt_homography_init_.addFirstFrame(new_frame_) == initialization::FAILURE) + if(klt_homography_init_->addFirstFrame(new_frame_) == initialization::FAILURE) return RESULT_NO_KEYFRAME; new_frame_->setKeyframe(); map_.addKeyframe(new_frame_); @@ -101,7 +111,7 @@ FrameHandlerMono::UpdateResult FrameHandlerMono::processFirstFrame() FrameHandlerBase::UpdateResult FrameHandlerMono::processSecondFrame() { - initialization::InitResult res = klt_homography_init_.addSecondFrame(new_frame_); + initialization::InitResult res = klt_homography_init_->addSecondFrame(new_frame_); if(res == initialization::FAILURE) return RESULT_FAILURE; else if(res == initialization::NO_KEYFRAME) @@ -120,7 +130,7 @@ FrameHandlerBase::UpdateResult FrameHandlerMono::processSecondFrame() // add frame to map map_.addKeyframe(new_frame_); stage_ = STAGE_DEFAULT_FRAME; - klt_homography_init_.reset(); + klt_homography_init_->reset(); SVO_INFO_STREAM("Init: Selected second frame, triangulated initial map."); return RESULT_IS_KEYFRAME; } diff --git a/GPU_version/svo/src/imu_integration.cpp b/GPU_version/svo/src/imu_integration.cpp index c2a720f..2238f7c 100644 --- a/GPU_version/svo/src/imu_integration.cpp +++ b/GPU_version/svo/src/imu_integration.cpp @@ -2,16 +2,16 @@ // Created by gfuse on 4/9/21. // //#define NDEBUG -#include "svo/imu_integration.h" +#include "gpu_svo/imu_integration.h" #include #include -#include "svo/feature.h" -#include "svo/point.h" -#include "svo/svoVisionFactor.h" +#include "gpu_svo/feature.h" +#include "gpu_svo/point.h" +#include "gpu_svo/svoVisionFactor.h" #include #include #include -#include +#include Imu_Integration::Imu_Integration(Sophus::SE3& SE_init){ graphPtr=std::make_shared(); diff --git a/GPU_version/svo/src/initialization.cpp b/GPU_version/svo/src/initialization.cpp index 571a0bc..ce04d24 100644 --- a/GPU_version/svo/src/initialization.cpp +++ b/GPU_version/svo/src/initialization.cpp @@ -14,12 +14,12 @@ // You should have received a copy of the GNU General Public License // along with this program. If not, see . -#include -#include -#include -#include -#include -#include +#include +#include +#include +#include +#include +#include #include #include @@ -29,7 +29,7 @@ namespace initialization { InitResult KltHomographyInit::addFirstFrame(FramePtr frame_ref) { reset(); - detectFeatures(frame_ref, px_ref_, f_ref_); + detectFeatures(frame_ref, px_ref_, f_ref_,gpu_fast_); if(px_ref_.size() < 100) { SVO_WARN_STREAM_THROTTLE(2.0, "First image has less than 100 features. Retry in more textured environment."); @@ -107,11 +107,12 @@ void KltHomographyInit::reset() void detectFeatures( FramePtr frame, vector& px_vec, - vector& f_vec) + vector& f_vec, + opencl* gpu_fast) { Features new_features; feature_detection::FastDetector detector( - frame->img().cols, frame->img().rows, Config::gridSize(), Config::nPyrLevels()); + frame->img().cols, frame->img().rows, Config::gridSize(), gpu_fast,Config::nPyrLevels()); detector.detect(frame.get(), frame->img_pyr_, Config::triangMinCornerScore(), new_features); // now for all maximum corners, initialize a new seed diff --git a/GPU_version/svo/src/map.cpp b/GPU_version/svo/src/map.cpp index 2ecad1c..90c7416 100644 --- a/GPU_version/svo/src/map.cpp +++ b/GPU_version/svo/src/map.cpp @@ -15,10 +15,10 @@ // along with this program. If not, see . #include -#include -#include -#include -#include +#include +#include +#include +#include #include namespace svo { diff --git a/GPU_version/svo/src/matcher.cpp b/GPU_version/svo/src/matcher.cpp index 38a89fb..9f44701 100644 --- a/GPU_version/svo/src/matcher.cpp +++ b/GPU_version/svo/src/matcher.cpp @@ -19,12 +19,12 @@ #include #include #include -#include -#include -#include -#include -#include -#include +#include +#include +#include +#include +#include +#include namespace svo { diff --git a/GPU_version/svo/src/point.cpp b/GPU_version/svo/src/point.cpp index 2e45e06..533bed4 100644 --- a/GPU_version/svo/src/point.cpp +++ b/GPU_version/svo/src/point.cpp @@ -16,9 +16,9 @@ #include #include -#include -#include -#include +#include +#include +#include namespace svo { diff --git a/GPU_version/svo/src/pose_optimizer.cpp b/GPU_version/svo/src/pose_optimizer.cpp index 1c491b0..8af359f 100644 --- a/GPU_version/svo/src/pose_optimizer.cpp +++ b/GPU_version/svo/src/pose_optimizer.cpp @@ -15,10 +15,10 @@ // along with this program. If not, see . #include -#include -#include -#include -#include +#include +#include +#include +#include #include #include diff --git a/GPU_version/svo/src/reprojector.cpp b/GPU_version/svo/src/reprojector.cpp index 81a7835..888d3d2 100644 --- a/GPU_version/svo/src/reprojector.cpp +++ b/GPU_version/svo/src/reprojector.cpp @@ -16,12 +16,12 @@ #include #include -#include -#include -#include -#include -#include -#include +#include +#include +#include +#include +#include +#include #include #include #include diff --git a/GPU_version/svo/src/sparse_img_align.cpp b/GPU_version/svo/src/sparse_img_align.cpp index ce1570b..21432c6 100644 --- a/GPU_version/svo/src/sparse_img_align.cpp +++ b/GPU_version/svo/src/sparse_img_align.cpp @@ -15,11 +15,11 @@ // along with this program. If not, see . #include -#include -#include -#include -#include -#include +#include +#include +#include +#include +#include #include #include #include diff --git a/GPU_version/vio/.idea/.gitignore b/GPU_version/vio/.idea/.gitignore new file mode 100644 index 0000000..73f69e0 --- /dev/null +++ b/GPU_version/vio/.idea/.gitignore @@ -0,0 +1,8 @@ +# Default ignored files +/shelf/ +/workspace.xml +# Datasource local storage ignored files +/dataSources/ +/dataSources.local.xml +# Editor-based HTTP Client requests +/httpRequests/ diff --git a/GPU_version/vio/.idea/misc.xml b/GPU_version/vio/.idea/misc.xml new file mode 100644 index 0000000..79b3c94 --- /dev/null +++ b/GPU_version/vio/.idea/misc.xml @@ -0,0 +1,4 @@ + + + + \ No newline at end of file diff --git a/GPU_version/vio/.idea/modules.xml b/GPU_version/vio/.idea/modules.xml new file mode 100644 index 0000000..eb3cacf --- /dev/null +++ b/GPU_version/vio/.idea/modules.xml @@ -0,0 +1,8 @@ + + + + + + + + \ No newline at end of file diff --git a/GPU_version/vio/.idea/vcs.xml b/GPU_version/vio/.idea/vcs.xml new file mode 100644 index 0000000..6c0b863 --- /dev/null +++ b/GPU_version/vio/.idea/vcs.xml @@ -0,0 +1,6 @@ + + + + + + \ No newline at end of file diff --git a/GPU_version/vio/CMakeLists.txt b/GPU_version/vio/CMakeLists.txt new file mode 100644 index 0000000..a9872a4 --- /dev/null +++ b/GPU_version/vio/CMakeLists.txt @@ -0,0 +1,92 @@ +SET(PROJECT_NAME vio_gpu) +PROJECT(${PROJECT_NAME}) +CMAKE_MINIMUM_REQUIRED (VERSION 2.8.3) +SET(CMAKE_BUILD_TYPE Release) # Release, RelWithDebInfo +SET(CMAKE_VERBOSE_MAKEFILE OFF) +SET(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${PROJECT_SOURCE_DIR}/CMakeModules/") + +# Set build flags. Set IS_ARM on odroid board as environment variable +SET(CMAKE_CXX_FLAGS "-Wall -D_LINUX -D_REENTRANT -march=native -Wno-unused-variable -Wno-unused-but-set-variable -Wno-unknown-pragmas") +IF(DEFINED ENV{ARM_ARCHITECTURE}) + SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS}") +ELSE() + SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -mmmx -msse -msse -msse2 -msse3 -mssse3") +ENDIF() +IF(CMAKE_COMPILER_IS_GNUCC) + SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x") +ELSE() + SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11") +ENDIF() +SET(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS} -O3 -fsee -fomit-frame-pointer -fno-signed-zeros -fno-math-errno -funroll-loops") + +# Add catkin and required ROS packages +FIND_PACKAGE(catkin REQUIRED COMPONENTS + geometry_msgs + roscpp + cmake_modules + nav_msgs + std_msgs + visualization_msgs + sensor_msgs + image_transport + cv_bridge + tf + gpu_svo + vikit_common + vikit_ros +) + +# Add plain cmake packages +FIND_PACKAGE(OpenCV REQUIRED) +FIND_PACKAGE(Eigen REQUIRED) +FIND_PACKAGE(Sophus REQUIRED) +FIND_PACKAGE(Boost REQUIRED COMPONENTS thread) +FIND_PACKAGE(GTSAM REQUIRED) +FIND_PACKAGE(OpenCL REQUIRED) + +# notify catkin to look at the previously found msg files +add_message_files( + FILES + Info.msg +) + +# build the header files from the msg files, and notify catkin about the dependencies +generate_messages( + DEPENDENCIES + geometry_msgs + sensor_msgs +) +# Describe catkin Project +catkin_package( + DEPENDS Eigen OpenCV Sophus Boost + CATKIN_DEPENDS roscpp nav_msgs std_msgs visualization_msgs sensor_msgs image_transport cv_bridge tf gpu_svo vikit_common vikit_ros geometry_msgs + INCLUDE_DIRS include + LIBRARIES ${PROJECT_NAME}_visualizer +) + +# Include dirs +INCLUDE_DIRECTORIES( + include + ${Eigen_INCLUDE_DIRS} + ${OpenCV_INCLUDE_DIRS} + ${Sophus_INCLUDE_DIRS} + ${Boost_INCLUDE_DIRS} + ${catkin_INCLUDE_DIRS} +) + +# Set link libraries +LIST(APPEND LINK_LIBS + ${OpenCV_LIBS} + ${Sophus_LIBRARIES} + ${Boost_LIBRARIES} + ${catkin_LIBRARIES} + ${OpenCL_LIBRARIES} +) + +# Create visualizer library +ADD_LIBRARY(${PROJECT_NAME}_visualizer src/visualizer.cpp) +TARGET_LINK_LIBRARIES(${PROJECT_NAME}_visualizer ${LINK_LIBS} gtsam) + +# Create Executables +ADD_EXECUTABLE(${PROJECT_NAME} src/vo_node.cpp) +TARGET_LINK_LIBRARIES(${PROJECT_NAME} ${PROJECT_NAME}_visualizer ${LINK_LIBS}) diff --git a/GPU_version/vio/include/vio_gpu/visualizer.h b/GPU_version/vio/include/vio_gpu/visualizer.h new file mode 100644 index 0000000..0ff8834 --- /dev/null +++ b/GPU_version/vio/include/vio_gpu/visualizer.h @@ -0,0 +1,73 @@ +// This file is part of SVO - Semi-direct Visual Odometry. +// +// Copyright (C) 2014 Christian Forster +// (Robotics and Perception Group, University of Zurich, Switzerland). +// +// SVO is free software: you can redistribute it and/or modify it under the +// terms of the GNU General Public License as published by the Free Software +// Foundation, either version 3 of the License, or any later version. +// +// SVO is distributed in the hope that it will be useful, but WITHOUT ANY +// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS +// FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. +// +// You should have received a copy of the GNU General Public License +// along with this program. If not, see . + +#ifndef SVO_VISUALIZER_H_ +#define SVO_VISUALIZER_H_ + +#include +#include +#include +#include +#include +#include +#include +#include +#include + +namespace svo { + +class Frame; +class Point; +class Map; +class FrameHandlerMono; + +typedef boost::shared_ptr FramePtr; + +/// This class bundles all functions to publish visualisation messages. +class Visualizer +{ +public: + ros::NodeHandle pnh_; + size_t trace_id_; + ros::Publisher pub_frames_; + ros::Publisher pub_points_; + ros::Publisher pub_pose_; + ros::Publisher pub_info_; + tf::TransformBroadcaster br_; + SE3 T_world_from_vision_; + + Visualizer(); + + ~Visualizer() {}; + + void publishMinimal( + const cv::Mat& img, + const FramePtr& frame, + const FrameHandlerMono& slam, + const double timestamp); + + void visualizeMarkers( + const FramePtr& frame, + const set& core_kfs, + const Map& map); + + void removeDeletedPts(const Map& map); + +}; + +} // end namespace svo + +#endif /* SVO_VISUALIZER_H_ */ diff --git a/GPU_version/vio/launch/Px30.launch b/GPU_version/vio/launch/Px30.launch new file mode 100644 index 0000000..f57f8c0 --- /dev/null +++ b/GPU_version/vio/launch/Px30.launch @@ -0,0 +1,22 @@ + + + + + + + + + + + + + + + + + + + + + + diff --git a/GPU_version/vio/launch/live.launch b/GPU_version/vio/launch/live.launch new file mode 100644 index 0000000..7cd0ad8 --- /dev/null +++ b/GPU_version/vio/launch/live.launch @@ -0,0 +1,16 @@ + + + + + + + + + + + + + + + + diff --git a/GPU_version/vio/launch/test.launch b/GPU_version/vio/launch/test.launch new file mode 100644 index 0000000..4bcd965 --- /dev/null +++ b/GPU_version/vio/launch/test.launch @@ -0,0 +1,22 @@ + + + + + + + + + + + + + + + + + + + + + + diff --git a/GPU_version/vio/launch/unity.launch b/GPU_version/vio/launch/unity.launch new file mode 100644 index 0000000..ea34997 --- /dev/null +++ b/GPU_version/vio/launch/unity.launch @@ -0,0 +1,22 @@ + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/GPU_version/vio/msg/Info.msg b/GPU_version/vio/msg/Info.msg new file mode 100644 index 0000000..b962e1b --- /dev/null +++ b/GPU_version/vio/msg/Info.msg @@ -0,0 +1,6 @@ +Header header +float32 processing_time +int32[] keyframes +int32 num_matches +int32 tracking_quality +int32 stage \ No newline at end of file diff --git a/GPU_version/vio/package.xml b/GPU_version/vio/package.xml new file mode 100644 index 0000000..7f8fbc5 --- /dev/null +++ b/GPU_version/vio/package.xml @@ -0,0 +1,43 @@ + + + vio_gpu + 0.1.0 + + Monocular Visual Odometry - ROS Nodes + + Majid Geravand + Majid Geravand + GPLv3 + + + catkin + + + roscpp + cmake_modules + nav_msgs + std_msgs + visualization_msgs + sensor_msgs + image_transport + cv_bridge + tf + gpu_svo + vikit_common + vikit_ros + geometry_msgs + + + roscpp + nav_msgs + std_msgs + visualization_msgs + sensor_msgs + image_transport + cv_bridge + tf + vikit_common + vikit_ros + geometry_msgs + gpu_svo + \ No newline at end of file diff --git a/GPU_version/vio/param/camera_atan.yaml b/GPU_version/vio/param/camera_atan.yaml new file mode 100644 index 0000000..e3c625c --- /dev/null +++ b/GPU_version/vio/param/camera_atan.yaml @@ -0,0 +1,8 @@ +cam_model: ATAN +cam_width: 752 +cam_height: 480 +cam_fx: 0.509326 +cam_fy: 0.796651 +cam_cx: 0.45905 +cam_cy: 0.510056 +cam_d0: 0.9320 \ No newline at end of file diff --git a/GPU_version/vio/param/camera_pinhole.yaml b/GPU_version/vio/param/camera_pinhole.yaml new file mode 100644 index 0000000..506a856 --- /dev/null +++ b/GPU_version/vio/param/camera_pinhole.yaml @@ -0,0 +1,11 @@ +cam_model: Pinhole +cam_width: 640 +cam_height: 480 +cam_fx: 789.860721 +cam_fy: 790.097440 +cam_cx: 305.323524 +cam_cy: 260.464072 +cam_d0: 0.027470 +cam_d1: -0.051518 +cam_d2: 0.004375 +cam_d3: -0.004028 \ No newline at end of file diff --git a/GPU_version/vio/param/px30.yaml b/GPU_version/vio/param/px30.yaml new file mode 100644 index 0000000..10fa932 --- /dev/null +++ b/GPU_version/vio/param/px30.yaml @@ -0,0 +1,8 @@ +cam_model: ATAN +cam_width: 640 +cam_height: 480 +cam_fx: 0.463632 +cam_fy: 0.823661 +cam_cx: 0.497465 +cam_cy: 0.498443 +cam_d0: 1.01687 \ No newline at end of file diff --git a/GPU_version/vio/param/unity.yaml b/GPU_version/vio/param/unity.yaml new file mode 100644 index 0000000..023f378 --- /dev/null +++ b/GPU_version/vio/param/unity.yaml @@ -0,0 +1,8 @@ +cam_model: ATAN +cam_width: 1024 +cam_height: 720 +cam_fx: 1.98248 +cam_fy: 2.68212 +cam_cx: 0.502524 +cam_cy: 0.497744 +cam_d0: -0.000499999 \ No newline at end of file diff --git a/GPU_version/vio/param/vo_accurate.yaml b/GPU_version/vio/param/vo_accurate.yaml new file mode 100644 index 0000000..8446875 --- /dev/null +++ b/GPU_version/vio/param/vo_accurate.yaml @@ -0,0 +1,4 @@ +grid_size: 20 +max_n_kfs: 50 +loba_num_iter: 10 +max_fts: 200 \ No newline at end of file diff --git a/GPU_version/vio/param/vo_fast.yaml b/GPU_version/vio/param/vo_fast.yaml new file mode 100644 index 0000000..e33b18a --- /dev/null +++ b/GPU_version/vio/param/vo_fast.yaml @@ -0,0 +1,13 @@ +svo: + grid_size: 30 #Feature grid size of a cell in [px]. + max_n_kfs: 10 #Limit the number of keyframes in the map. This makes nslam essentially. a Visual Odometry. Set to 0 if unlimited number of keyframes are allowed. Minimum number of keyframes is 3. + loba_num_iter: 0 #Number of iterations in the local bundle adjustment. + quality_min_fts: 10 #If the number of tracked features drops below this threshold. Tracking quality is bad. + quality_max_drop_fts: 60 #If within one frame, this amount of features are dropped. 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+ Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: true + Width: 2511 + X: 1962 + Y: 24 diff --git a/GPU_version/vio/src/visualizer.cpp b/GPU_version/vio/src/visualizer.cpp new file mode 100644 index 0000000..d2327f4 --- /dev/null +++ b/GPU_version/vio/src/visualizer.cpp @@ -0,0 +1,127 @@ +// This file is part of SVO - Semi-direct Visual Odometry. +// +// Copyright (C) 2014 Christian Forster +// (Robotics and Perception Group, University of Zurich, Switzerland). +// +// SVO is free software: you can redistribute it and/or modify it under the +// terms of the GNU General Public License as published by the Free Software +// Foundation, either version 3 of the License, or any later version. +// +// SVO is distributed in the hope that it will be useful, but WITHOUT ANY +// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS +// FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. +// +// You should have received a copy of the GNU General Public License +// along with this program. If not, see . + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +namespace svo { + +Visualizer:: +Visualizer() : + pnh_("~"), + trace_id_(0), + T_world_from_vision_(Matrix3d::Identity(), Vector3d::Zero()) +{ + // Init ROS Marker Publishers + pub_frames_ = pnh_.advertise("keyframes", 10); + pub_points_ = pnh_.advertise("points", 1000); + pub_pose_ = pnh_.advertise("pose",10); + pub_info_ = pnh_.advertise("info", 10); +} + +void Visualizer::publishMinimal( + const cv::Mat& img, + const FramePtr& frame, + const FrameHandlerMono& slam, + const double timestamp) +{ + ++trace_id_; + std_msgs::Header header_msg; + header_msg.frame_id = "/cam"; + header_msg.seq = trace_id_; + header_msg.stamp = ros::Time(timestamp); + + // publish info msg. + if(pub_info_.getNumSubscribers() > 0) + { + vio_gpu::Info msg_info; + msg_info.header = header_msg; + msg_info.processing_time = slam.lastProcessingTime(); + msg_info.keyframes.reserve(slam.map().keyframes_.size()); + for(list::const_iterator it=slam.map().keyframes_.begin(); it!=slam.map().keyframes_.end(); ++it) + msg_info.keyframes.push_back((*it)->id_); + msg_info.stage = static_cast(slam.stage()); + msg_info.tracking_quality = static_cast(slam.trackingQuality()); + if(frame != NULL) + msg_info.num_matches = slam.lastNumObservations(); + else + msg_info.num_matches = 0; + pub_info_.publish(msg_info); + } + if(pub_pose_.getNumSubscribers() > 0 && slam.stage() == FrameHandlerBase::STAGE_DEFAULT_FRAME) + { + Quaterniond q; + Vector3d p; + Matrix Cov; + // publish cam in world frame (Estimated odometry in the worls frame) + SE3 T_world_from_cam(T_world_from_vision_*frame->T_f_w_.inverse());// do not confused with inverse. the T_f_w_ is the from camera to initial position with reference of camera + q = Quaterniond(T_world_from_cam.rotation_matrix()*T_world_from_vision_.rotation_matrix().transpose()); + p = T_world_from_cam.translation(); + Cov = T_world_from_cam.Adj()*frame->Cov_*T_world_from_cam.inverse().Adj(); + geometry_msgs::PoseWithCovarianceStampedPtr msg_pose(new geometry_msgs::PoseWithCovarianceStamped); + msg_pose->header = header_msg; + msg_pose->pose.pose.position.x = p[0]; + msg_pose->pose.pose.position.y = p[1]; + msg_pose->pose.pose.position.z = p[2]; + msg_pose->pose.pose.orientation.x = q.x(); + msg_pose->pose.pose.orientation.y = q.y(); + msg_pose->pose.pose.orientation.z = q.z(); + msg_pose->pose.pose.orientation.w = q.w(); + for(size_t i=0; i<36; ++i) + msg_pose->pose.covariance[i] = Cov(i%6, i/6); + pub_pose_.publish(msg_pose); + } +} + +void Visualizer::visualizeMarkers( + const FramePtr& frame, + const set& core_kfs, + const Map& map) +{ + if(frame == NULL) + return; + + vk::output_helper::publishTfTransform( + frame->T_f_w_*T_world_from_vision_.inverse(), + ros::Time(frame->timestamp_), "cam_pos", "world", br_); + + if(pub_frames_.getNumSubscribers() > 0 || pub_points_.getNumSubscribers() > 0) + { + vk::output_helper::publishPointMarker( + pub_points_, T_world_from_vision_*frame->pos(), "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::const_iterator it=map.trash_points_.begin(); it!=map.trash_points_.end(); ++it) + vk::output_helper::publishPointMarker(pub_points_, Vector3d(), "pts", ros::Time::now(), (*it)->id_, 2, 0.006, Vector3d()); + } +} + +} // end namespace gpu_svo diff --git a/GPU_version/vio/src/vo_node.cpp b/GPU_version/vio/src/vo_node.cpp new file mode 100644 index 0000000..c11c6a0 --- /dev/null +++ b/GPU_version/vio/src/vo_node.cpp @@ -0,0 +1,148 @@ +// This file is part of SVO - Semi-direct Visual Odometry. +// +// Copyright (C) 2014 Christian Forster +// (Robotics and Perception Group, University of Zurich, Switzerland). +// +// SVO is free software: you can redistribute it and/or modify it under the +// terms of the GNU General Public License as published by the Free Software +// Foundation, either version 3 of the License, or any later version. +// +// SVO is distributed in the hope that it will be useful, but WITHOUT ANY +// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS +// FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. +// +// You should have received a copy of the GNU General Public License +// along with this program. If not, see . +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + + +namespace svo { + +/// SVO Interface +class VoNode +{ +public: + svo::FrameHandlerMono* vo_; + svo::Visualizer visualizer_; + bool publish_markers_; //!< publish only the minimal amount of info (choice for embedded devices) + vk::AbstractCamera* cam_; + FILE* logtime; + bool quit_; + boost::thread* imu_th; + VoNode(); + ~VoNode(); + void imgCb(const sensor_msgs::ImageConstPtr& msg); + void imuCb(const sensor_msgs::ImuPtr& imu); + void imu(); +private: + double* imu_; +}; + +VoNode::VoNode() : + vo_(NULL), + publish_markers_(vk::getParam("vio/publish_markers", true)), + cam_(NULL), + quit_(false) +{ + // Create Camera + imu_=(double *)calloc(static_cast(6), sizeof(double)); + if(!vk::camera_loader::loadFromRosNs("vio", cam_)) + throw std::runtime_error("Camera model not correctly specified."); + // Get initial position and orientation + visualizer_.T_world_from_vision_ = Sophus::SE3( + vk::rpy2dcm(Vector3d(vk::getParam("vio/init_rx", 0.0), + vk::getParam("vio/init_ry", 0.0), + vk::getParam("vio/init_rz", 0.0))), + Eigen::Vector3d(vk::getParam("vio/init_tx", 0.0), + vk::getParam("vio/init_ty", 0.0), + vk::getParam("vio/init_tz", 0.0))); + // Init VO and start + vo_ = new svo::FrameHandlerMono(cam_,visualizer_.T_world_from_vision_); + vo_->start(); + imu_th=new boost::thread(&VoNode::imu,this); + logtime = fopen((std::string(getenv("HOME"))+"/time.txt").c_str(), "w+"); + +} + +VoNode::~VoNode() +{ + quit_=true; + fclose(logtime); + imu_th->join(); + delete imu_th; + delete logtime; + delete vo_; + delete cam_; +} + +void VoNode::imgCb(const sensor_msgs::ImageConstPtr& msg) +{ + try { + auto start=std::chrono::steady_clock::now(); + cv::Mat img=cv_bridge::toCvShare(msg, "mono8")->image; + vo_->addImage(img, msg->header.stamp.toSec()); + visualizer_.publishMinimal(img, vo_->lastFrame(), *vo_, msg->header.stamp.toSec()); + if(publish_markers_ && vo_->stage() != FrameHandlerBase::STAGE_PAUSED) + visualizer_.visualizeMarkers(vo_->lastFrame(), vo_->coreKeyframes(), vo_->map()); + if(vo_->stage() == FrameHandlerMono::STAGE_PAUSED) + usleep(100000); + fprintf(logtime, "%s\n",std::to_string(std::chrono::duration(std::chrono::steady_clock::now()-start).count()).c_str()); + + } catch (cv_bridge::Exception& e) { + ROS_ERROR("cv_bridge exception: %s", e.what()); + } +} +void VoNode::imuCb(const sensor_msgs::ImuPtr &imu) { + double imu_in[6]; + imu_in[0] = 0.1*imu_[0]+0.9*imu->linear_acceleration.x; + imu_in[1] = 0.1*imu_[1]+0.9*imu->linear_acceleration.y; + imu_in[2] = 0.1*imu_[2]+0.9*imu->linear_acceleration.z; + imu_in[3] = 0.1*imu_[3]+0.9*imu->angular_velocity.x; + imu_in[4] = 0.1*imu_[4]+0.9*imu->angular_velocity.y; + imu_in[5] = 0.1*imu_[5]+0.9*imu->angular_velocity.z; + memcpy(imu_, imu_in, static_cast(6*sizeof(double))); + vo_->imu_integPtr_->update(imu_in); +} +void VoNode::imu(){ + ros::NodeHandle nh; + // subscribe to cam msgs + image_transport::ImageTransport it(nh); + image_transport::Subscriber it_sub = it.subscribe(vk::getParam("vio/cam_topic", "camera/image_raw"), 1, &svo::VoNode::imgCb, this); + // start processing callbacks + while(ros::ok() && !quit_) + { + ros::spinOnce(); + } + +} +} // namespace svo + +int main(int argc, char **argv) +{ + ros::init(argc, argv, "vio"); + svo::VoNode vo_node; + ros::NodeHandle nh; + ros::Subscriber imu_sub=nh.subscribe(vk::getParam("vio/imu_topic", "imu/raw"),1,&svo::VoNode::imuCb, &vo_node); + // start processing callbacks + while(ros::ok() && !vo_node.quit_) + { + ros::spinOnce(); + usleep(1000); + // TODO check when last image was processed. when too long ago. publish warning that no msgs are received! + } + printf("SVO terminated.\n"); + return 0; +} From 2d0f81ebe05b44da30c7ed3be617ef7641513ff3 Mon Sep 17 00:00:00 2001 From: gfuse Date: Sat, 8 May 2021 17:26:27 +0200 Subject: [PATCH 190/215] 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zSWVU#2r>mAl?fQsxsPyMjo~~Wb+Lt+8O610S5;(W2*CM(DlmMW#DoNPjxXJmkYQCW zh3HIK@ljz-ov|-wfOD7Zmr05Jjl9CJ*rRLB&2HzX8SSUsv7LQ+m z;YZ4?xb^Ej)-&k)LKYz`FHHGiUh2L&oE20BzkJ|KHCu%yKkC;s5EA5@_*jsZ_5iA* zDPq;&%5$8Qm=Kev?sRpKdH@q?{KW$tJSgk)x#02V~zJDhh%pH=UE&#D-YaC=I zyEW?>6an=Y$c`REbKvIYW)M(-A|ld9 z{kC9@ig|5);I&ZJ)ukcr9~cl87H%~yf%9r!1qLo3b)Wpl)gcc())=V6?7_~au~o~~ z*WYgkBCgC4!M=<>%t$sHH4t9XP zQp@)ndW})*@OP?oaJjJ8uVtZ*wzaYJ-yL>(?m(`CwM4@Rj3_i>l$DfhY;Jn*ZCM!` zPeUw<-|&Q6gN05dgf>-GjjFB|N$rGFQN%+V>FF`LMIXqRSy)tPRIURt8xFwu;!6WF zqx$G#8(=Uvv_3!ZWv{NLCL=4$!f*ib zIn-&OI;MHaHAH55cJ|d%m=aHamDY>`xDw0^Ol}G;C_X?I9PR83XA@ZjlfYRxj2XGP z%yXoTj6U-6!OK=q7o`UH#%)+22)9_r{?r|^7OtQ-EFXnLhtRBeSpJc9)zMt*e1G=!|%|V)!H5{shl;q@sLPAa$-MI$93I_+DV>($> zi_sriT!9U90$goZoRdOB9}JjF3t3rNE2~e_%`kE#bfPCX5INS9x4-Qh>r`5UV~OCH z31B(pD8@&^fi!)6W#%0T5Wrs}Cui5M`C3)A2Q_?Z0b55WC!(); valuesPtr=std::make_shared(); - parameterPtr = gtsam::PreintegratedCombinedMeasurements::Params::MakeSharedD();// TODO check the IMU frame + gtsam::Vector4 g=SE_init.matrix()*gtsam::Vector4(0, 0, 9.8,1.0); + parameterPtr = boost::shared_ptr(new gtsam::PreintegrationCombinedParams(gtsam::Vector3(g.x(),g.y(),g.z()))); + parameterPtr->setBodyPSensor(gtsam::Pose3(SE_init.matrix()));// The pose of the sensor in the body frame parameterPtr->accelerometerCovariance=gtsam::I_3x3 * svo::Config::ACC_Noise(); // acc white noise in continuous parameterPtr->gyroscopeCovariance=gtsam::I_3x3 * svo::Config::GYO_Noise();// gyro white noise in continuous parameterPtr->integrationCovariance=gtsam::I_3x3 * svo::Config::IUC(); // integration uncertainty continuous @@ -148,4 +150,4 @@ bool Imu_Integration::predict(boost::shared_ptr& new_frame,std::size } } return true; -} \ No newline at end of file +} diff --git a/GPU_version/svo/.idea/.name b/GPU_version/svo/.idea/.name new file mode 100644 index 0000000..4b0f94b --- /dev/null +++ b/GPU_version/svo/.idea/.name @@ -0,0 +1 @@ +gpu_svo \ No newline at end of file diff --git a/GPU_version/svo/.idea/svo.iml b/GPU_version/svo/.idea/svo.iml new file mode 100644 index 0000000..f08604b --- /dev/null +++ b/GPU_version/svo/.idea/svo.iml @@ -0,0 +1,2 @@ + + \ No newline at end of file diff --git a/GPU_version/svo/.idea/vcs.xml b/GPU_version/svo/.idea/vcs.xml index 6c0b863..64713b8 100644 --- a/GPU_version/svo/.idea/vcs.xml +++ b/GPU_version/svo/.idea/vcs.xml @@ -1,6 +1,7 @@ + \ No newline at end of file diff --git a/GPU_version/svo/src/imu_integration.cpp b/GPU_version/svo/src/imu_integration.cpp index 2238f7c..b3f80ab 100644 --- a/GPU_version/svo/src/imu_integration.cpp +++ b/GPU_version/svo/src/imu_integration.cpp @@ -16,7 +16,12 @@ Imu_Integration::Imu_Integration(Sophus::SE3& SE_init){ graphPtr=std::make_shared(); valuesPtr=std::make_shared(); - parameterPtr = gtsam::PreintegratedCombinedMeasurements::Params::MakeSharedD();// TODO check the IMU frame + // Example: pitch and roll of aircraft in an ENU Cartesian frame. + // If pitch and roll are zero for an aerospace frame, + // that means Z is pointing down, i.e., direction of Z = (0,0,-1) + gtsam::Vector4 g=SE_init.matrix()*gtsam::Vector4(0, 0, 9.8,1.0); + parameterPtr = boost::shared_ptr(new gtsam::PreintegrationCombinedParams(gtsam::Vector3(g.x(),g.y(),g.z()))); + parameterPtr->setBodyPSensor(gtsam::Pose3(SE_init.matrix()));// The pose of the sensor in the body frame parameterPtr->accelerometerCovariance=gtsam::I_3x3 * svo::Config::ACC_Noise(); // acc white noise in continuous parameterPtr->gyroscopeCovariance=gtsam::I_3x3 * svo::Config::GYO_Noise();// gyro white noise in continuous parameterPtr->integrationCovariance=gtsam::I_3x3 * svo::Config::IUC(); // integration uncertainty continuous @@ -122,14 +127,6 @@ bool Imu_Integration::predict(boost::shared_ptr& new_frame,std::size ++num_obs; } // Now optimize. - //gtsam::ISAM2 optimizer(*optimizerParamPtr); - //optimizer.update(*graphPtr, *valuesPtr); - // Each call to iSAM2 update(*) performs one iteration of the iterative - // nonlinear solver. If accuracy is desired at the expense of time, - // update(*) can be called additional times to perform multiple optimizer - // iterations every step. - //optimizer.update(); - // optimizer.print(); gtsam::LevenbergMarquardtOptimizer optimizer(*graphPtr, *valuesPtr); reset(optimizer,new_frame); diff --git a/GPU_version/vio/.idea/.name b/GPU_version/vio/.idea/.name new file mode 100644 index 0000000..06a578d --- /dev/null +++ b/GPU_version/vio/.idea/.name @@ -0,0 +1 @@ +vio_gpu \ No newline at end of file diff --git a/GPU_version/vio/.idea/svo_ros.iml b/GPU_version/vio/.idea/svo_ros.iml new file mode 100644 index 0000000..f08604b --- /dev/null +++ b/GPU_version/vio/.idea/svo_ros.iml @@ -0,0 +1,2 @@ + + \ No newline at end of file diff --git a/GPU_version/vio/.idea/vcs.xml b/GPU_version/vio/.idea/vcs.xml index 6c0b863..64713b8 100644 --- a/GPU_version/vio/.idea/vcs.xml +++ b/GPU_version/vio/.idea/vcs.xml @@ -1,6 +1,7 @@ + \ No newline at end of file From d3dbd88133c77f99247cb98e2968c5803e911d41 Mon Sep 17 00:00:00 2001 From: gfuse Date: Tue, 11 May 2021 10:38:13 +0200 Subject: [PATCH 191/215] optimized gpu --- CPU_version/vio_svo/launch/Px30.launch | 2 +- GPU_version/svo/include/gpu_svo/cl.hpp | 12947 +++++++++++++++++++ GPU_version/svo/include/gpu_svo/cl_class.h | 2 +- GPU_version/svo/include/gpu_svo/config.h | 10 +- GPU_version/svo/kernel/fast-gray.cl | 3 + GPU_version/svo/src/feature_detection.cpp | 17 +- GPU_version/svo/src/frame_handler_mono.cpp | 6 +- GPU_version/svo/src/imu_integration.cpp | 2 + GPU_version/vio/launch/Px30.launch | 6 +- 9 files changed, 12972 insertions(+), 23 deletions(-) create mode 100644 GPU_version/svo/include/gpu_svo/cl.hpp diff --git a/CPU_version/vio_svo/launch/Px30.launch b/CPU_version/vio_svo/launch/Px30.launch index 06083d0..f6cad34 100644 --- a/CPU_version/vio_svo/launch/Px30.launch +++ b/CPU_version/vio_svo/launch/Px30.launch @@ -10,7 +10,7 @@ - + diff --git a/GPU_version/svo/include/gpu_svo/cl.hpp b/GPU_version/svo/include/gpu_svo/cl.hpp new file mode 100644 index 0000000..6634f8c --- /dev/null +++ b/GPU_version/svo/include/gpu_svo/cl.hpp @@ -0,0 +1,12947 @@ +/******************************************************************************* + * Copyright (c) 2008-2015 The Khronos Group Inc. + * + * Permission is hereby granted, free of charge, to any person obtaining a + * copy of this software and/or associated documentation files (the + * "Materials"), to deal in the Materials without restriction, including + * without limitation the rights to use, copy, modify, merge, publish, + * distribute, sublicense, and/or sell copies of the Materials, and to + * permit persons to whom the Materials are furnished to do so, subject to + * the following conditions: + * + * The above copyright notice and this permission notice shall be included + * in all copies or substantial portions of the Materials. + * + * MODIFICATIONS TO THIS FILE MAY MEAN IT NO LONGER ACCURATELY REFLECTS + * KHRONOS STANDARDS. THE UNMODIFIED, NORMATIVE VERSIONS OF KHRONOS + * SPECIFICATIONS AND HEADER INFORMATION ARE LOCATED AT + * https://www.khronos.org/registry/ + * + * THE MATERIALS ARE PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, + * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF + * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. + * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY + * CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, + * TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE + * MATERIALS OR THE USE OR OTHER DEALINGS IN THE MATERIALS. + ******************************************************************************/ + +/*! \file + * + * \brief C++ bindings for OpenCL 1.0 (rev 48), OpenCL 1.1 (rev 33) and + * OpenCL 1.2 (rev 15) + * \author Benedict R. Gaster, Laurent Morichetti and Lee Howes + * + * Additions and fixes from: + * Brian Cole, March 3rd 2010 and April 2012 + * Matt Gruenke, April 2012. + * Bruce Merry, February 2013. + * Tom Deakin and Simon McIntosh-Smith, July 2013 + * + * \version 1.2.9 + * \date December 2015 + * + * Optional extension support + * + * cl + * cl_ext_device_fission + * #define USE_CL_DEVICE_FISSION + */ + +/*! \mainpage + * \section intro Introduction + * For many large applications C++ is the language of choice and so it seems + * reasonable to define C++ bindings for OpenCL. + * + * + * The interface is contained with a single C++ header file \em cl.hpp and all + * definitions are contained within the namespace \em cl. There is no additional + * requirement to include \em cl.h and to use either the C++ or original C + * bindings it is enough to simply include \em cl.hpp. + * + * The bindings themselves are lightweight and correspond closely to the + * underlying C API. Using the C++ bindings introduces no additional execution + * overhead. + * + * For detail documentation on the bindings see: + * + * The OpenCL C++ Wrapper API 1.2 (revision 09) + * http://www.khronos.org/registry/cl/specs/opencl-cplusplus-1.2.pdf + * + * \section example Example + * + * The following example shows a general use case for the C++ + * bindings, including support for the optional exception feature and + * also the supplied vector and string classes, see following sections for + * decriptions of these features. + * + * \code + * #define __CL_ENABLE_EXCEPTIONS + * + * #if defined(__APPLE__) || defined(__MACOSX) + * #include + * #else + * #include + * #endif + * #include + * #include + * #include + * + * const char * helloStr = "__kernel void " + * "hello(void) " + * "{ " + * " " + * "} "; + * + * int + * main(void) + * { + * cl_int err = CL_SUCCESS; + * try { + * + * std::vector platforms; + * cl::Platform::get(&platforms); + * if (platforms.size() == 0) { + * std::cout << "Platform size 0\n"; + * return -1; + * } + * + * cl_context_properties properties[] = + * { CL_CONTEXT_PLATFORM, (cl_context_properties)(platforms[0])(), 0}; + * cl::Context context(CL_DEVICE_TYPE_CPU, properties); + * + * std::vector devices = context.getInfo(); + * + * cl::Program::Sources source(1, + * std::make_pair(helloStr,strlen(helloStr))); + * cl::Program program_ = cl::Program(context, source); + * program_.build(devices); + * + * cl::Kernel kernel(program_, "hello", &err); + * + * cl::Event event; + * cl::CommandQueue queue(context, devices[0], 0, &err); + * queue.enqueueNDRangeKernel( + * kernel, + * cl::NullRange, + * cl::NDRange(4,4), + * cl::NullRange, + * NULL, + * &event); + * + * event.wait(); + * } + * catch (cl::Error err) { + * std::cerr + * << "ERROR: " + * << err.what() + * << "(" + * << err.err() + * << ")" + * << std::endl; + * } + * + * return EXIT_SUCCESS; + * } + * + * \endcode + * + */ +#ifndef CL_HPP_ +#define CL_HPP_ + +#ifdef _WIN32 + +#include + +#if defined(USE_DX_INTEROP) +#include +#include +#endif +#endif // _WIN32 + +#if defined(_MSC_VER) +#include +#endif // _MSC_VER + +// +#if defined(USE_CL_DEVICE_FISSION) +#include +#endif + +#if defined(__APPLE__) || defined(__MACOSX) +#include +#else +#include +#endif // !__APPLE__ + +#if (_MSC_VER >= 1700) || (__cplusplus >= 201103L) +#define CL_HPP_RVALUE_REFERENCES_SUPPORTED +#define CL_HPP_CPP11_ATOMICS_SUPPORTED +#include +#endif + +#if (__cplusplus >= 201103L) +#define CL_HPP_NOEXCEPT noexcept +#else +#define CL_HPP_NOEXCEPT +#endif + + +// To avoid accidentally taking ownership of core OpenCL types +// such as cl_kernel constructors are made explicit +// under OpenCL 1.2 +#if defined(CL_VERSION_1_2) && !defined(CL_USE_DEPRECATED_OPENCL_1_1_APIS) +#define __CL_EXPLICIT_CONSTRUCTORS explicit +#else // #if defined(CL_USE_DEPRECATED_OPENCL_1_1_APIS) +#define __CL_EXPLICIT_CONSTRUCTORS +#endif // #if defined(CL_USE_DEPRECATED_OPENCL_1_1_APIS) + +// Define deprecated prefixes and suffixes to ensure compilation +// in case they are not pre-defined +#if !defined(CL_EXT_PREFIX__VERSION_1_1_DEPRECATED) +#define CL_EXT_PREFIX__VERSION_1_1_DEPRECATED +#endif // #if !defined(CL_EXT_PREFIX__VERSION_1_1_DEPRECATED) +#if !defined(CL_EXT_SUFFIX__VERSION_1_1_DEPRECATED) +#define CL_EXT_SUFFIX__VERSION_1_1_DEPRECATED +#endif // #if !defined(CL_EXT_PREFIX__VERSION_1_1_DEPRECATED) + +#if !defined(CL_CALLBACK) +#define CL_CALLBACK +#endif //CL_CALLBACK + +#include +#include +#include + +#if defined(__CL_ENABLE_EXCEPTIONS) +#include +#endif // #if defined(__CL_ENABLE_EXCEPTIONS) + +#if !defined(__NO_STD_VECTOR) +#include +#endif + +#if !defined(__NO_STD_STRING) +#include +#endif + +#if defined(__ANDROID__) || defined(linux) || defined(__APPLE__) || defined(__MACOSX) +#include +#endif // linux + +#include + + +/*! \namespace cl + * + * \brief The OpenCL C++ bindings are defined within this namespace. + * + */ +namespace cl { + +class Memory; + +/** + * Deprecated APIs for 1.2 + */ +#if defined(CL_USE_DEPRECATED_OPENCL_1_1_APIS) || (defined(CL_VERSION_1_1) && !defined(CL_VERSION_1_2)) +#define __INIT_CL_EXT_FCN_PTR(name) \ + if(!pfn_##name) { \ + pfn_##name = (PFN_##name) \ + clGetExtensionFunctionAddress(#name); \ + if(!pfn_##name) { \ + } \ + } +#endif // #if defined(CL_VERSION_1_1) + +#if defined(CL_VERSION_1_2) +#define __INIT_CL_EXT_FCN_PTR_PLATFORM(platform, name) \ + if(!pfn_##name) { \ + pfn_##name = (PFN_##name) \ + clGetExtensionFunctionAddressForPlatform(platform, #name); \ + if(!pfn_##name) { \ + } \ + } +#endif // #if defined(CL_VERSION_1_1) + +class Program; +class Device; +class Context; +class CommandQueue; +class Memory; +class Buffer; + +#if defined(__CL_ENABLE_EXCEPTIONS) +/*! \brief Exception class + * + * This may be thrown by API functions when __CL_ENABLE_EXCEPTIONS is defined. + */ +class Error : public std::exception +{ +private: + cl_int err_; + const char * errStr_; +public: + /*! \brief Create a new CL error exception for a given error code + * and corresponding message. + * + * \param err error code value. + * + * \param errStr a descriptive string that must remain in scope until + * handling of the exception has concluded. If set, it + * will be returned by what(). + */ + Error(cl_int err, const char * errStr = NULL) : err_(err), errStr_(errStr) + {} + + ~Error() throw() {} + + /*! \brief Get error string associated with exception + * + * \return A memory pointer to the error message string. + */ + virtual const char * what() const throw () + { + if (errStr_ == NULL) { + return "empty"; + } + else { + return errStr_; + } + } + + /*! \brief Get error code associated with exception + * + * \return The error code. + */ + cl_int err(void) const { return err_; } +}; + +#define __ERR_STR(x) #x +#else +#define __ERR_STR(x) NULL +#endif // __CL_ENABLE_EXCEPTIONS + + +namespace detail +{ +#if defined(__CL_ENABLE_EXCEPTIONS) +static inline cl_int errHandler ( + cl_int err, + const char * errStr = NULL) +{ + if (err != CL_SUCCESS) { + throw Error(err, errStr); + } + return err; +} +#else +static inline cl_int errHandler (cl_int err, const char * errStr = NULL) +{ + (void) errStr; // suppress unused variable warning + return err; +} +#endif // __CL_ENABLE_EXCEPTIONS +} + + + +//! \cond DOXYGEN_DETAIL +#if !defined(__CL_USER_OVERRIDE_ERROR_STRINGS) +#define __GET_DEVICE_INFO_ERR __ERR_STR(clGetDeviceInfo) +#define __GET_PLATFORM_INFO_ERR __ERR_STR(clGetPlatformInfo) +#define __GET_DEVICE_IDS_ERR __ERR_STR(clGetDeviceIDs) +#define __GET_PLATFORM_IDS_ERR __ERR_STR(clGetPlatformIDs) +#define __GET_CONTEXT_INFO_ERR __ERR_STR(clGetContextInfo) +#define __GET_EVENT_INFO_ERR __ERR_STR(clGetEventInfo) +#define __GET_EVENT_PROFILE_INFO_ERR __ERR_STR(clGetEventProfileInfo) +#define __GET_MEM_OBJECT_INFO_ERR __ERR_STR(clGetMemObjectInfo) +#define __GET_IMAGE_INFO_ERR __ERR_STR(clGetImageInfo) +#define __GET_SAMPLER_INFO_ERR __ERR_STR(clGetSamplerInfo) +#define __GET_KERNEL_INFO_ERR __ERR_STR(clGetKernelInfo) +#if defined(CL_VERSION_1_2) +#define __GET_KERNEL_ARG_INFO_ERR __ERR_STR(clGetKernelArgInfo) +#endif // #if defined(CL_VERSION_1_2) +#define __GET_KERNEL_WORK_GROUP_INFO_ERR __ERR_STR(clGetKernelWorkGroupInfo) +#define __GET_PROGRAM_INFO_ERR __ERR_STR(clGetProgramInfo) +#define __GET_PROGRAM_BUILD_INFO_ERR __ERR_STR(clGetProgramBuildInfo) +#define __GET_COMMAND_QUEUE_INFO_ERR __ERR_STR(clGetCommandQueueInfo) + +#define __CREATE_CONTEXT_ERR __ERR_STR(clCreateContext) +#define __CREATE_CONTEXT_FROM_TYPE_ERR __ERR_STR(clCreateContextFromType) +#define __GET_SUPPORTED_IMAGE_FORMATS_ERR __ERR_STR(clGetSupportedImageFormats) + +#define __CREATE_BUFFER_ERR __ERR_STR(clCreateBuffer) +#define __COPY_ERR __ERR_STR(cl::copy) +#define __CREATE_SUBBUFFER_ERR __ERR_STR(clCreateSubBuffer) +#define __CREATE_GL_BUFFER_ERR __ERR_STR(clCreateFromGLBuffer) +#define __CREATE_GL_RENDER_BUFFER_ERR __ERR_STR(clCreateFromGLBuffer) +#define __GET_GL_OBJECT_INFO_ERR __ERR_STR(clGetGLObjectInfo) +#if defined(CL_VERSION_1_2) +#define __CREATE_IMAGE_ERR __ERR_STR(clCreateImage) +#define __CREATE_GL_TEXTURE_ERR __ERR_STR(clCreateFromGLTexture) +#define __IMAGE_DIMENSION_ERR __ERR_STR(Incorrect image dimensions) +#endif // #if defined(CL_VERSION_1_2) +#define __CREATE_SAMPLER_ERR __ERR_STR(clCreateSampler) +#define __SET_MEM_OBJECT_DESTRUCTOR_CALLBACK_ERR __ERR_STR(clSetMemObjectDestructorCallback) + +#define __CREATE_USER_EVENT_ERR __ERR_STR(clCreateUserEvent) +#define __SET_USER_EVENT_STATUS_ERR __ERR_STR(clSetUserEventStatus) +#define __SET_EVENT_CALLBACK_ERR __ERR_STR(clSetEventCallback) +#define __WAIT_FOR_EVENTS_ERR __ERR_STR(clWaitForEvents) + +#define __CREATE_KERNEL_ERR __ERR_STR(clCreateKernel) +#define __SET_KERNEL_ARGS_ERR __ERR_STR(clSetKernelArg) +#define __CREATE_PROGRAM_WITH_SOURCE_ERR __ERR_STR(clCreateProgramWithSource) +#define __CREATE_PROGRAM_WITH_BINARY_ERR __ERR_STR(clCreateProgramWithBinary) +#if defined(CL_VERSION_1_2) +#define __CREATE_PROGRAM_WITH_BUILT_IN_KERNELS_ERR __ERR_STR(clCreateProgramWithBuiltInKernels) +#endif // #if defined(CL_VERSION_1_2) +#define __BUILD_PROGRAM_ERR __ERR_STR(clBuildProgram) +#if defined(CL_VERSION_1_2) +#define __COMPILE_PROGRAM_ERR __ERR_STR(clCompileProgram) +#define __LINK_PROGRAM_ERR __ERR_STR(clLinkProgram) +#endif // #if defined(CL_VERSION_1_2) +#define __CREATE_KERNELS_IN_PROGRAM_ERR __ERR_STR(clCreateKernelsInProgram) + +#define __CREATE_COMMAND_QUEUE_ERR __ERR_STR(clCreateCommandQueue) +#define __SET_COMMAND_QUEUE_PROPERTY_ERR __ERR_STR(clSetCommandQueueProperty) +#define __ENQUEUE_READ_BUFFER_ERR __ERR_STR(clEnqueueReadBuffer) +#define __ENQUEUE_READ_BUFFER_RECT_ERR __ERR_STR(clEnqueueReadBufferRect) +#define __ENQUEUE_WRITE_BUFFER_ERR __ERR_STR(clEnqueueWriteBuffer) +#define __ENQUEUE_WRITE_BUFFER_RECT_ERR __ERR_STR(clEnqueueWriteBufferRect) +#define __ENQEUE_COPY_BUFFER_ERR __ERR_STR(clEnqueueCopyBuffer) +#define __ENQEUE_COPY_BUFFER_RECT_ERR __ERR_STR(clEnqueueCopyBufferRect) +#define __ENQUEUE_FILL_BUFFER_ERR __ERR_STR(clEnqueueFillBuffer) +#define __ENQUEUE_READ_IMAGE_ERR __ERR_STR(clEnqueueReadImage) +#define __ENQUEUE_WRITE_IMAGE_ERR __ERR_STR(clEnqueueWriteImage) +#define __ENQUEUE_COPY_IMAGE_ERR __ERR_STR(clEnqueueCopyImage) +#define __ENQUEUE_FILL_IMAGE_ERR __ERR_STR(clEnqueueFillImage) +#define __ENQUEUE_COPY_IMAGE_TO_BUFFER_ERR __ERR_STR(clEnqueueCopyImageToBuffer) +#define __ENQUEUE_COPY_BUFFER_TO_IMAGE_ERR __ERR_STR(clEnqueueCopyBufferToImage) +#define __ENQUEUE_MAP_BUFFER_ERR __ERR_STR(clEnqueueMapBuffer) +#define __ENQUEUE_MAP_IMAGE_ERR __ERR_STR(clEnqueueMapImage) +#define __ENQUEUE_UNMAP_MEM_OBJECT_ERR __ERR_STR(clEnqueueUnMapMemObject) +#define __ENQUEUE_NDRANGE_KERNEL_ERR __ERR_STR(clEnqueueNDRangeKernel) +#define __ENQUEUE_TASK_ERR __ERR_STR(clEnqueueTask) +#define __ENQUEUE_NATIVE_KERNEL __ERR_STR(clEnqueueNativeKernel) +#if defined(CL_VERSION_1_2) +#define __ENQUEUE_MIGRATE_MEM_OBJECTS_ERR __ERR_STR(clEnqueueMigrateMemObjects) +#endif // #if defined(CL_VERSION_1_2) + +#define __ENQUEUE_ACQUIRE_GL_ERR __ERR_STR(clEnqueueAcquireGLObjects) +#define __ENQUEUE_RELEASE_GL_ERR __ERR_STR(clEnqueueReleaseGLObjects) + + +#define __RETAIN_ERR __ERR_STR(Retain Object) +#define __RELEASE_ERR __ERR_STR(Release Object) +#define __FLUSH_ERR __ERR_STR(clFlush) +#define __FINISH_ERR __ERR_STR(clFinish) +#define __VECTOR_CAPACITY_ERR __ERR_STR(Vector capacity error) + +/** + * CL 1.2 version that uses device fission. + */ +#if defined(CL_VERSION_1_2) +#define __CREATE_SUB_DEVICES __ERR_STR(clCreateSubDevices) +#else +#define __CREATE_SUB_DEVICES __ERR_STR(clCreateSubDevicesEXT) +#endif // #if defined(CL_VERSION_1_2) + +/** + * Deprecated APIs for 1.2 + */ +#if defined(CL_USE_DEPRECATED_OPENCL_1_1_APIS) || (defined(CL_VERSION_1_1) && !defined(CL_VERSION_1_2)) +#define __ENQUEUE_MARKER_ERR __ERR_STR(clEnqueueMarker) +#define __ENQUEUE_WAIT_FOR_EVENTS_ERR __ERR_STR(clEnqueueWaitForEvents) +#define __ENQUEUE_BARRIER_ERR __ERR_STR(clEnqueueBarrier) +#define __UNLOAD_COMPILER_ERR __ERR_STR(clUnloadCompiler) +#define __CREATE_GL_TEXTURE_2D_ERR __ERR_STR(clCreateFromGLTexture2D) +#define __CREATE_GL_TEXTURE_3D_ERR __ERR_STR(clCreateFromGLTexture3D) +#define __CREATE_IMAGE2D_ERR __ERR_STR(clCreateImage2D) +#define __CREATE_IMAGE3D_ERR __ERR_STR(clCreateImage3D) +#endif // #if defined(CL_VERSION_1_1) + +#endif // __CL_USER_OVERRIDE_ERROR_STRINGS +//! \endcond + +/** + * CL 1.2 marker and barrier commands + */ +#if defined(CL_VERSION_1_2) +#define __ENQUEUE_MARKER_WAIT_LIST_ERR __ERR_STR(clEnqueueMarkerWithWaitList) +#define __ENQUEUE_BARRIER_WAIT_LIST_ERR __ERR_STR(clEnqueueBarrierWithWaitList) +#endif // #if defined(CL_VERSION_1_2) + +#if !defined(__USE_DEV_STRING) && !defined(__NO_STD_STRING) +typedef std::string STRING_CLASS; +#elif !defined(__USE_DEV_STRING) + +/*! \class string + * \brief Simple string class, that provides a limited subset of std::string + * functionality but avoids many of the issues that come with that class. + + * \note Deprecated. Please use std::string as default or + * re-define the string class to match the std::string + * interface by defining STRING_CLASS + */ +class CL_EXT_PREFIX__VERSION_1_1_DEPRECATED string +{ +private: + ::size_t size_; + char * str_; +public: + //! \brief Constructs an empty string, allocating no memory. + string(void) : size_(0), str_(NULL) + { + } + + /*! \brief Constructs a string populated from an arbitrary value of + * specified size. + * + * An extra '\0' is added, in case none was contained in str. + * + * \param str the initial value of the string instance. Note that '\0' + * characters receive no special treatment. If NULL, + * the string is left empty, with a size of 0. + * + * \param size the number of characters to copy from str. + */ + string(const char * str, ::size_t size) : + size_(size), + str_(NULL) + { + if( size > 0 ) { + str_ = new char[size_+1]; + if (str_ != NULL) { + memcpy(str_, str, size_ * sizeof(char)); + str_[size_] = '\0'; + } + else { + size_ = 0; + } + } + } + + /*! \brief Constructs a string populated from a null-terminated value. + * + * \param str the null-terminated initial value of the string instance. + * If NULL, the string is left empty, with a size of 0. + */ + string(const char * str) : + size_(0), + str_(NULL) + { + if( str ) { + size_= ::strlen(str); + } + if( size_ > 0 ) { + str_ = new char[size_ + 1]; + if (str_ != NULL) { + memcpy(str_, str, (size_ + 1) * sizeof(char)); + } + } + } + + void resize( ::size_t n ) + { + if( size_ == n ) { + return; + } + if (n == 0) { + if( str_ ) { + delete [] str_; + } + str_ = NULL; + size_ = 0; + } + else { + char *newString = new char[n + 1]; + ::size_t copySize = n; + if( size_ < n ) { + copySize = size_; + } + size_ = n; + + if(str_) { + memcpy(newString, str_, (copySize + 1) * sizeof(char)); + } + if( copySize < size_ ) { + memset(newString + copySize, 0, size_ - copySize); + } + newString[size_] = '\0'; + + delete [] str_; + str_ = newString; + } + } + + const char& operator[] ( ::size_t pos ) const + { + return str_[pos]; + } + + char& operator[] ( ::size_t pos ) + { + return str_[pos]; + } + + /*! \brief Copies the value of another string to this one. + * + * \param rhs the string to copy. + * + * \returns a reference to the modified instance. + */ + string& operator=(const string& rhs) + { + if (this == &rhs) { + return *this; + } + + if( str_ != NULL ) { + delete [] str_; + str_ = NULL; + size_ = 0; + } + + if (rhs.size_ == 0 || rhs.str_ == NULL) { + str_ = NULL; + size_ = 0; + } + else { + str_ = new char[rhs.size_ + 1]; + size_ = rhs.size_; + + if (str_ != NULL) { + memcpy(str_, rhs.str_, (size_ + 1) * sizeof(char)); + } + else { + size_ = 0; + } + } + + return *this; + } + + /*! \brief Constructs a string by copying the value of another instance. + * + * \param rhs the string to copy. + */ + string(const string& rhs) : + size_(0), + str_(NULL) + { + *this = rhs; + } + + //! \brief Destructor - frees memory used to hold the current value. + ~string() + { + delete[] str_; + str_ = NULL; + } + + //! \brief Queries the length of the string, excluding any added '\0's. + ::size_t size(void) const { return size_; } + + //! \brief Queries the length of the string, excluding any added '\0's. + ::size_t length(void) const { return size(); } + + /*! \brief Returns a pointer to the private copy held by this instance, + * or "" if empty/unset. + */ + const char * c_str(void) const { return (str_) ? str_ : "";} +} CL_EXT_SUFFIX__VERSION_1_1_DEPRECATED; +typedef cl::string STRING_CLASS; +#endif // #elif !defined(__USE_DEV_STRING) + +#if !defined(__USE_DEV_VECTOR) && !defined(__NO_STD_VECTOR) +#define VECTOR_CLASS std::vector +#elif !defined(__USE_DEV_VECTOR) +#define VECTOR_CLASS cl::vector + +#if !defined(__MAX_DEFAULT_VECTOR_SIZE) +#define __MAX_DEFAULT_VECTOR_SIZE 10 +#endif + +/*! \class vector + * \brief Fixed sized vector implementation that mirroring + * + * \note Deprecated. Please use std::vector as default or + * re-define the vector class to match the std::vector + * interface by defining VECTOR_CLASS + + * \note Not recommended for use with custom objects as + * current implementation will construct N elements + * + * std::vector functionality. + * \brief Fixed sized vector compatible with std::vector. + * + * \note + * This differs from std::vector<> not just in memory allocation, + * but also in terms of when members are constructed, destroyed, + * and assigned instead of being copy constructed. + * + * \param T type of element contained in the vector. + * + * \param N maximum size of the vector. + */ +template +class CL_EXT_PREFIX__VERSION_1_1_DEPRECATED vector +{ +private: + T data_[N]; + unsigned int size_; + +public: + //! \brief Constructs an empty vector with no memory allocated. + vector() : + size_(static_cast(0)) + {} + + //! \brief Deallocates the vector's memory and destroys all of its elements. + ~vector() + { + clear(); + } + + //! \brief Returns the number of elements currently contained. + unsigned int size(void) const + { + return size_; + } + + /*! \brief Empties the vector of all elements. + * \note + * This does not deallocate memory but will invoke destructors + * on contained elements. + */ + void clear() + { + while(!empty()) { + pop_back(); + } + } + + /*! \brief Appends an element after the last valid element. + * Calling this on a vector that has reached capacity will throw an + * exception if exceptions are enabled. + */ + void push_back (const T& x) + { + if (size() < N) { + new (&data_[size_]) T(x); + size_++; + } else { + detail::errHandler(CL_MEM_OBJECT_ALLOCATION_FAILURE, __VECTOR_CAPACITY_ERR); + } + } + + /*! \brief Removes the last valid element from the vector. + * Calling this on an empty vector will throw an exception + * if exceptions are enabled. + */ + void pop_back(void) + { + if (size_ != 0) { + --size_; + data_[size_].~T(); + } else { + detail::errHandler(CL_MEM_OBJECT_ALLOCATION_FAILURE, __VECTOR_CAPACITY_ERR); + } + } + + /*! \brief Constructs with a value copied from another. + * + * \param vec the vector to copy. + */ + vector(const vector& vec) : + size_(vec.size_) + { + if (size_ != 0) { + assign(vec.begin(), vec.end()); + } + } + + /*! \brief Constructs with a specified number of initial elements. + * + * \param size number of initial elements. + * + * \param val value of initial elements. + */ + vector(unsigned int size, const T& val = T()) : + size_(0) + { + for (unsigned int i = 0; i < size; i++) { + push_back(val); + } + } + + /*! \brief Overwrites the current content with that copied from another + * instance. + * + * \param rhs vector to copy. + * + * \returns a reference to this. + */ + vector& operator=(const vector& rhs) + { + if (this == &rhs) { + return *this; + } + + if (rhs.size_ != 0) { + assign(rhs.begin(), rhs.end()); + } else { + clear(); + } + + return *this; + } + + /*! \brief Tests equality against another instance. + * + * \param vec the vector against which to compare. + */ + bool operator==(vector &vec) + { + if (size() != vec.size()) { + return false; + } + + for( unsigned int i = 0; i < size(); ++i ) { + if( operator[](i) != vec[i] ) { + return false; + } + } + return true; + } + + //! \brief Conversion operator to T*. + operator T* () { return data_; } + + //! \brief Conversion operator to const T*. + operator const T* () const { return data_; } + + //! \brief Tests whether this instance has any elements. + bool empty (void) const + { + return size_==0; + } + + //! \brief Returns the maximum number of elements this instance can hold. + unsigned int max_size (void) const + { + return N; + } + + //! \brief Returns the maximum number of elements this instance can hold. + unsigned int capacity () const + { + return N; + } + + //! \brief Resizes the vector to the given size + void resize(unsigned int newSize, T fill = T()) + { + if (newSize > N) + { + detail::errHandler(CL_MEM_OBJECT_ALLOCATION_FAILURE, __VECTOR_CAPACITY_ERR); + } + else + { + while (size_ < newSize) + { + new (&data_[size_]) T(fill); + size_++; + } + while (size_ > newSize) + { + --size_; + data_[size_].~T(); + } + } + } + + /*! \brief Returns a reference to a given element. + * + * \param index which element to access. * + * \note + * The caller is responsible for ensuring index is >= 0 and < size(). + */ + T& operator[](int index) + { + return data_[index]; + } + + /*! \brief Returns a const reference to a given element. + * + * \param index which element to access. + * + * \note + * The caller is responsible for ensuring index is >= 0 and < size(). + */ + const T& operator[](int index) const + { + return data_[index]; + } + + /*! \brief Assigns elements of the vector based on a source iterator range. + * + * \param start Beginning iterator of source range + * \param end Enditerator of source range + * + * \note + * Will throw an exception if exceptions are enabled and size exceeded. + */ + template + void assign(I start, I end) + { + clear(); + while(start != end) { + push_back(*start); + start++; + } + } + + /*! \class iterator + * \brief Const iterator class for vectors + */ + class iterator + { + private: + const vector *vec_; + int index_; + + /** + * Internal iterator constructor to capture reference + * to the vector it iterates over rather than taking + * the vector by copy. + */ + iterator (const vector &vec, int index) : + vec_(&vec) + { + if( !vec.empty() ) { + index_ = index; + } else { + index_ = -1; + } + } + + public: + iterator(void) : + index_(-1), + vec_(NULL) + { + } + + iterator(const iterator& rhs) : + vec_(rhs.vec_), + index_(rhs.index_) + { + } + + ~iterator(void) {} + + static iterator begin(const cl::vector &vec) + { + iterator i(vec, 0); + + return i; + } + + static iterator end(const cl::vector &vec) + { + iterator i(vec, vec.size()); + + return i; + } + + bool operator==(iterator i) + { + return ((vec_ == i.vec_) && + (index_ == i.index_)); + } + + bool operator!=(iterator i) + { + return (!(*this==i)); + } + + iterator& operator++() + { + ++index_; + return *this; + } + + iterator operator++(int) + { + iterator retVal(*this); + ++index_; + return retVal; + } + + iterator& operator--() + { + --index_; + return *this; + } + + iterator operator--(int) + { + iterator retVal(*this); + --index_; + return retVal; + } + + const T& operator *() const + { + return (*vec_)[index_]; + } + }; + + iterator begin(void) + { + return iterator::begin(*this); + } + + iterator begin(void) const + { + return iterator::begin(*this); + } + + iterator end(void) + { + return iterator::end(*this); + } + + iterator end(void) const + { + return iterator::end(*this); + } + + T& front(void) + { + return data_[0]; + } + + T& back(void) + { + return data_[size_]; + } + + const T& front(void) const + { + return data_[0]; + } + + const T& back(void) const + { + return data_[size_-1]; + } +} CL_EXT_SUFFIX__VERSION_1_1_DEPRECATED; +#endif // #if !defined(__USE_DEV_VECTOR) && !defined(__NO_STD_VECTOR) + + + + + +namespace detail { +#define __DEFAULT_NOT_INITIALIZED 1 +#define __DEFAULT_BEING_INITIALIZED 2 +#define __DEFAULT_INITIALIZED 4 + + /* + * Compare and exchange primitives are needed for handling of defaults + */ + +#ifdef CL_HPP_CPP11_ATOMICS_SUPPORTED + inline int compare_exchange(std::atomic * dest, int exchange, int comparand) +#else // !CL_HPP_CPP11_ATOMICS_SUPPORTED + inline int compare_exchange(volatile int * dest, int exchange, int comparand) +#endif // !CL_HPP_CPP11_ATOMICS_SUPPORTED + { +#ifdef CL_HPP_CPP11_ATOMICS_SUPPORTED + std::atomic_compare_exchange_strong(dest, &comparand, exchange); + return comparand; +#elif _MSC_VER + return (int)(_InterlockedCompareExchange( + (volatile long*)dest, + (long)exchange, + (long)comparand)); +#else // !_MSC_VER && !CL_HPP_CPP11_ATOMICS_SUPPORTED + return (__sync_val_compare_and_swap( + dest, + comparand, + exchange)); +#endif // !CL_HPP_CPP11_ATOMICS_SUPPORTED + } + + inline void fence() { +#ifdef CL_HPP_CPP11_ATOMICS_SUPPORTED + std::atomic_thread_fence(std::memory_order_seq_cst); +#elif _MSC_VER // !CL_HPP_CPP11_ATOMICS_SUPPORTED + _ReadWriteBarrier(); +#else // !_MSC_VER && !CL_HPP_CPP11_ATOMICS_SUPPORTED + __sync_synchronize(); +#endif // !CL_HPP_CPP11_ATOMICS_SUPPORTED + } +} // namespace detail + + +/*! \brief class used to interface between C++ and + * OpenCL C calls that require arrays of size_t values, whose + * size is known statically. + */ +template +class size_t +{ +private: + ::size_t data_[N]; + +public: + //! \brief Initialize size_t to all 0s + size_t() + { + for( int i = 0; i < N; ++i ) { + data_[i] = 0; + } + } + + ::size_t& operator[](int index) + { + return data_[index]; + } + + const ::size_t& operator[](int index) const + { + return data_[index]; + } + + //! \brief Conversion operator to T*. + operator ::size_t* () { return data_; } + + //! \brief Conversion operator to const T*. + operator const ::size_t* () const { return data_; } +}; + +namespace detail { + +// Generic getInfoHelper. The final parameter is used to guide overload +// resolution: the actual parameter passed is an int, which makes this +// a worse conversion sequence than a specialization that declares the +// parameter as an int. +template +inline cl_int getInfoHelper(Functor f, cl_uint name, T* param, long) +{ + return f(name, sizeof(T), param, NULL); +} + +// Specialized getInfoHelper for VECTOR_CLASS params +template +inline cl_int getInfoHelper(Func f, cl_uint name, VECTOR_CLASS* param, long) +{ + ::size_t required; + cl_int err = f(name, 0, NULL, &required); + if (err != CL_SUCCESS) { + return err; + } + + T* value = (T*) alloca(required); + err = f(name, required, value, NULL); + if (err != CL_SUCCESS) { + return err; + } + + param->assign(&value[0], &value[required/sizeof(T)]); + return CL_SUCCESS; +} + +/* Specialization for reference-counted types. This depends on the + * existence of Wrapper::cl_type, and none of the other types having the + * cl_type member. Note that simplify specifying the parameter as Wrapper + * does not work, because when using a derived type (e.g. Context) the generic + * template will provide a better match. + */ +template +inline cl_int getInfoHelper(Func f, cl_uint name, VECTOR_CLASS* param, int, typename T::cl_type = 0) +{ + ::size_t required; + cl_int err = f(name, 0, NULL, &required); + if (err != CL_SUCCESS) { + return err; + } + + typename T::cl_type * value = (typename T::cl_type *) alloca(required); + err = f(name, required, value, NULL); + if (err != CL_SUCCESS) { + return err; + } + + ::size_t elements = required / sizeof(typename T::cl_type); + param->assign(&value[0], &value[elements]); + for (::size_t i = 0; i < elements; i++) + { + if (value[i] != NULL) + { + err = (*param)[i].retain(); + if (err != CL_SUCCESS) { + return err; + } + } + } + return CL_SUCCESS; +} + +// Specialized for getInfo +template +inline cl_int getInfoHelper(Func f, cl_uint name, VECTOR_CLASS* param, int) +{ + cl_int err = f(name, param->size() * sizeof(char *), &(*param)[0], NULL); + + if (err != CL_SUCCESS) { + return err; + } + + return CL_SUCCESS; +} + +// Specialized GetInfoHelper for STRING_CLASS params +template +inline cl_int getInfoHelper(Func f, cl_uint name, STRING_CLASS* param, long) +{ +#if defined(__NO_STD_VECTOR) || defined(__NO_STD_STRING) + ::size_t required; + cl_int err = f(name, 0, NULL, &required); + if (err != CL_SUCCESS) { + return err; + } + + char* value = (char*)alloca(required); + err = f(name, required, value, NULL); + if (err != CL_SUCCESS) { + return err; + } + + *param = value; + return CL_SUCCESS; +#else + ::size_t required; + cl_int err = f(name, 0, NULL, &required); + if (err != CL_SUCCESS) { + return err; + } + + // std::string has a constant data member + // a char vector does not + VECTOR_CLASS value(required); + err = f(name, required, value.data(), NULL); + if (err != CL_SUCCESS) { + return err; + } + if (param) { + param->assign(value.begin(), value.end()); + } +#endif + return CL_SUCCESS; +} + +// Specialized GetInfoHelper for cl::size_t params +template +inline cl_int getInfoHelper(Func f, cl_uint name, size_t* param, long) +{ + ::size_t required; + cl_int err = f(name, 0, NULL, &required); + if (err != CL_SUCCESS) { + return err; + } + + ::size_t* value = (::size_t*) alloca(required); + err = f(name, required, value, NULL); + if (err != CL_SUCCESS) { + return err; + } + + for(int i = 0; i < N; ++i) { + (*param)[i] = value[i]; + } + + return CL_SUCCESS; +} + +template struct ReferenceHandler; + +/* Specialization for reference-counted types. This depends on the + * existence of Wrapper::cl_type, and none of the other types having the + * cl_type member. Note that simplify specifying the parameter as Wrapper + * does not work, because when using a derived type (e.g. Context) the generic + * template will provide a better match. + */ +template +inline cl_int getInfoHelper(Func f, cl_uint name, T* param, int, typename T::cl_type = 0) +{ + typename T::cl_type value; + cl_int err = f(name, sizeof(value), &value, NULL); + if (err != CL_SUCCESS) { + return err; + } + *param = value; + if (value != NULL) + { + err = param->retain(); + if (err != CL_SUCCESS) { + return err; + } + } + return CL_SUCCESS; +} + +#define __PARAM_NAME_INFO_1_0(F) \ + F(cl_platform_info, CL_PLATFORM_PROFILE, STRING_CLASS) \ + F(cl_platform_info, CL_PLATFORM_VERSION, STRING_CLASS) \ + F(cl_platform_info, CL_PLATFORM_NAME, STRING_CLASS) \ + F(cl_platform_info, CL_PLATFORM_VENDOR, STRING_CLASS) \ + F(cl_platform_info, CL_PLATFORM_EXTENSIONS, STRING_CLASS) \ + \ + F(cl_device_info, CL_DEVICE_TYPE, cl_device_type) \ + F(cl_device_info, CL_DEVICE_VENDOR_ID, cl_uint) \ + F(cl_device_info, CL_DEVICE_MAX_COMPUTE_UNITS, cl_uint) \ + F(cl_device_info, CL_DEVICE_MAX_WORK_ITEM_DIMENSIONS, cl_uint) \ + F(cl_device_info, CL_DEVICE_MAX_WORK_GROUP_SIZE, ::size_t) \ + F(cl_device_info, CL_DEVICE_MAX_WORK_ITEM_SIZES, VECTOR_CLASS< ::size_t>) \ + F(cl_device_info, CL_DEVICE_PREFERRED_VECTOR_WIDTH_CHAR, cl_uint) \ + F(cl_device_info, CL_DEVICE_PREFERRED_VECTOR_WIDTH_SHORT, cl_uint) \ + F(cl_device_info, CL_DEVICE_PREFERRED_VECTOR_WIDTH_INT, cl_uint) \ + F(cl_device_info, CL_DEVICE_PREFERRED_VECTOR_WIDTH_LONG, cl_uint) \ + F(cl_device_info, CL_DEVICE_PREFERRED_VECTOR_WIDTH_FLOAT, cl_uint) \ + F(cl_device_info, CL_DEVICE_PREFERRED_VECTOR_WIDTH_DOUBLE, cl_uint) \ + F(cl_device_info, CL_DEVICE_MAX_CLOCK_FREQUENCY, cl_uint) \ + F(cl_device_info, CL_DEVICE_ADDRESS_BITS, cl_uint) \ + F(cl_device_info, CL_DEVICE_MAX_READ_IMAGE_ARGS, cl_uint) \ + F(cl_device_info, CL_DEVICE_MAX_WRITE_IMAGE_ARGS, cl_uint) \ + F(cl_device_info, CL_DEVICE_MAX_MEM_ALLOC_SIZE, cl_ulong) \ + F(cl_device_info, CL_DEVICE_IMAGE2D_MAX_WIDTH, ::size_t) \ + F(cl_device_info, CL_DEVICE_IMAGE2D_MAX_HEIGHT, ::size_t) \ + F(cl_device_info, CL_DEVICE_IMAGE3D_MAX_WIDTH, ::size_t) \ + F(cl_device_info, CL_DEVICE_IMAGE3D_MAX_HEIGHT, ::size_t) \ + F(cl_device_info, CL_DEVICE_IMAGE3D_MAX_DEPTH, ::size_t) \ + F(cl_device_info, CL_DEVICE_IMAGE_SUPPORT, cl_bool) \ + F(cl_device_info, CL_DEVICE_MAX_PARAMETER_SIZE, ::size_t) \ + F(cl_device_info, CL_DEVICE_MAX_SAMPLERS, cl_uint) \ + F(cl_device_info, CL_DEVICE_MEM_BASE_ADDR_ALIGN, cl_uint) \ + F(cl_device_info, CL_DEVICE_MIN_DATA_TYPE_ALIGN_SIZE, cl_uint) \ + F(cl_device_info, CL_DEVICE_SINGLE_FP_CONFIG, cl_device_fp_config) \ + F(cl_device_info, CL_DEVICE_GLOBAL_MEM_CACHE_TYPE, cl_device_mem_cache_type) \ + F(cl_device_info, CL_DEVICE_GLOBAL_MEM_CACHELINE_SIZE, cl_uint)\ + F(cl_device_info, CL_DEVICE_GLOBAL_MEM_CACHE_SIZE, cl_ulong) \ + F(cl_device_info, CL_DEVICE_GLOBAL_MEM_SIZE, cl_ulong) \ + F(cl_device_info, CL_DEVICE_MAX_CONSTANT_BUFFER_SIZE, cl_ulong) \ + F(cl_device_info, CL_DEVICE_MAX_CONSTANT_ARGS, cl_uint) \ + F(cl_device_info, CL_DEVICE_LOCAL_MEM_TYPE, cl_device_local_mem_type) \ + F(cl_device_info, CL_DEVICE_LOCAL_MEM_SIZE, cl_ulong) \ + F(cl_device_info, CL_DEVICE_ERROR_CORRECTION_SUPPORT, cl_bool) \ + F(cl_device_info, CL_DEVICE_PROFILING_TIMER_RESOLUTION, ::size_t) \ + F(cl_device_info, CL_DEVICE_ENDIAN_LITTLE, cl_bool) \ + F(cl_device_info, CL_DEVICE_AVAILABLE, cl_bool) \ + F(cl_device_info, CL_DEVICE_COMPILER_AVAILABLE, cl_bool) \ + F(cl_device_info, CL_DEVICE_EXECUTION_CAPABILITIES, cl_device_exec_capabilities) \ + F(cl_device_info, CL_DEVICE_QUEUE_PROPERTIES, cl_command_queue_properties) \ + F(cl_device_info, CL_DEVICE_PLATFORM, cl_platform_id) \ + F(cl_device_info, CL_DEVICE_NAME, STRING_CLASS) \ + F(cl_device_info, CL_DEVICE_VENDOR, STRING_CLASS) \ + F(cl_device_info, CL_DRIVER_VERSION, STRING_CLASS) \ + F(cl_device_info, CL_DEVICE_PROFILE, STRING_CLASS) \ + F(cl_device_info, CL_DEVICE_VERSION, STRING_CLASS) \ + F(cl_device_info, CL_DEVICE_EXTENSIONS, STRING_CLASS) \ + \ + F(cl_context_info, CL_CONTEXT_REFERENCE_COUNT, cl_uint) \ + F(cl_context_info, CL_CONTEXT_DEVICES, VECTOR_CLASS) \ + F(cl_context_info, CL_CONTEXT_PROPERTIES, VECTOR_CLASS) \ + \ + F(cl_event_info, CL_EVENT_COMMAND_QUEUE, cl::CommandQueue) \ + F(cl_event_info, CL_EVENT_COMMAND_TYPE, cl_command_type) \ + F(cl_event_info, CL_EVENT_REFERENCE_COUNT, cl_uint) \ + F(cl_event_info, CL_EVENT_COMMAND_EXECUTION_STATUS, cl_int) \ + \ + F(cl_profiling_info, CL_PROFILING_COMMAND_QUEUED, cl_ulong) \ + F(cl_profiling_info, CL_PROFILING_COMMAND_SUBMIT, cl_ulong) \ + F(cl_profiling_info, CL_PROFILING_COMMAND_START, cl_ulong) \ + F(cl_profiling_info, CL_PROFILING_COMMAND_END, cl_ulong) \ + \ + F(cl_mem_info, CL_MEM_TYPE, cl_mem_object_type) \ + F(cl_mem_info, CL_MEM_FLAGS, cl_mem_flags) \ + F(cl_mem_info, CL_MEM_SIZE, ::size_t) \ + F(cl_mem_info, CL_MEM_HOST_PTR, void*) \ + F(cl_mem_info, CL_MEM_MAP_COUNT, cl_uint) \ + F(cl_mem_info, CL_MEM_REFERENCE_COUNT, cl_uint) \ + F(cl_mem_info, CL_MEM_CONTEXT, cl::Context) \ + \ + F(cl_image_info, CL_IMAGE_FORMAT, cl_image_format) \ + F(cl_image_info, CL_IMAGE_ELEMENT_SIZE, ::size_t) \ + F(cl_image_info, CL_IMAGE_ROW_PITCH, ::size_t) \ + F(cl_image_info, CL_IMAGE_SLICE_PITCH, ::size_t) \ + F(cl_image_info, CL_IMAGE_WIDTH, ::size_t) \ + F(cl_image_info, CL_IMAGE_HEIGHT, ::size_t) \ + F(cl_image_info, CL_IMAGE_DEPTH, ::size_t) \ + \ + F(cl_sampler_info, CL_SAMPLER_REFERENCE_COUNT, cl_uint) \ + F(cl_sampler_info, CL_SAMPLER_CONTEXT, cl::Context) \ + F(cl_sampler_info, CL_SAMPLER_NORMALIZED_COORDS, cl_bool) \ + F(cl_sampler_info, CL_SAMPLER_ADDRESSING_MODE, cl_addressing_mode) \ + F(cl_sampler_info, CL_SAMPLER_FILTER_MODE, cl_filter_mode) \ + \ + F(cl_program_info, CL_PROGRAM_REFERENCE_COUNT, cl_uint) \ + F(cl_program_info, CL_PROGRAM_CONTEXT, cl::Context) \ + F(cl_program_info, CL_PROGRAM_NUM_DEVICES, cl_uint) \ + F(cl_program_info, CL_PROGRAM_DEVICES, VECTOR_CLASS) \ + F(cl_program_info, CL_PROGRAM_SOURCE, STRING_CLASS) \ + F(cl_program_info, CL_PROGRAM_BINARY_SIZES, VECTOR_CLASS< ::size_t>) \ + F(cl_program_info, CL_PROGRAM_BINARIES, VECTOR_CLASS) \ + \ + F(cl_program_build_info, CL_PROGRAM_BUILD_STATUS, cl_build_status) \ + F(cl_program_build_info, CL_PROGRAM_BUILD_OPTIONS, STRING_CLASS) \ + F(cl_program_build_info, CL_PROGRAM_BUILD_LOG, STRING_CLASS) \ + \ + F(cl_kernel_info, CL_KERNEL_FUNCTION_NAME, STRING_CLASS) \ + F(cl_kernel_info, CL_KERNEL_NUM_ARGS, cl_uint) \ + F(cl_kernel_info, CL_KERNEL_REFERENCE_COUNT, cl_uint) \ + F(cl_kernel_info, CL_KERNEL_CONTEXT, cl::Context) \ + F(cl_kernel_info, CL_KERNEL_PROGRAM, cl::Program) \ + \ + F(cl_kernel_work_group_info, CL_KERNEL_WORK_GROUP_SIZE, ::size_t) \ + F(cl_kernel_work_group_info, CL_KERNEL_COMPILE_WORK_GROUP_SIZE, cl::size_t<3>) \ + F(cl_kernel_work_group_info, CL_KERNEL_LOCAL_MEM_SIZE, cl_ulong) \ + \ + F(cl_command_queue_info, CL_QUEUE_CONTEXT, cl::Context) \ + F(cl_command_queue_info, CL_QUEUE_DEVICE, cl::Device) \ + F(cl_command_queue_info, CL_QUEUE_REFERENCE_COUNT, cl_uint) \ + F(cl_command_queue_info, CL_QUEUE_PROPERTIES, cl_command_queue_properties) + +#if defined(CL_VERSION_1_1) +#define __PARAM_NAME_INFO_1_1(F) \ + F(cl_context_info, CL_CONTEXT_NUM_DEVICES, cl_uint)\ + F(cl_device_info, CL_DEVICE_PREFERRED_VECTOR_WIDTH_HALF, cl_uint) \ + F(cl_device_info, CL_DEVICE_NATIVE_VECTOR_WIDTH_CHAR, cl_uint) \ + F(cl_device_info, CL_DEVICE_NATIVE_VECTOR_WIDTH_SHORT, cl_uint) \ + F(cl_device_info, CL_DEVICE_NATIVE_VECTOR_WIDTH_INT, cl_uint) \ + F(cl_device_info, CL_DEVICE_NATIVE_VECTOR_WIDTH_LONG, cl_uint) \ + F(cl_device_info, CL_DEVICE_NATIVE_VECTOR_WIDTH_FLOAT, cl_uint) \ + F(cl_device_info, CL_DEVICE_NATIVE_VECTOR_WIDTH_DOUBLE, cl_uint) \ + F(cl_device_info, CL_DEVICE_NATIVE_VECTOR_WIDTH_HALF, cl_uint) \ + F(cl_device_info, CL_DEVICE_DOUBLE_FP_CONFIG, cl_device_fp_config) \ + F(cl_device_info, CL_DEVICE_HALF_FP_CONFIG, cl_device_fp_config) \ + F(cl_device_info, CL_DEVICE_HOST_UNIFIED_MEMORY, cl_bool) \ + F(cl_device_info, CL_DEVICE_OPENCL_C_VERSION, STRING_CLASS) \ + \ + F(cl_mem_info, CL_MEM_ASSOCIATED_MEMOBJECT, cl::Memory) \ + F(cl_mem_info, CL_MEM_OFFSET, ::size_t) \ + \ + F(cl_kernel_work_group_info, CL_KERNEL_PREFERRED_WORK_GROUP_SIZE_MULTIPLE, ::size_t) \ + F(cl_kernel_work_group_info, CL_KERNEL_PRIVATE_MEM_SIZE, cl_ulong) \ + \ + F(cl_event_info, CL_EVENT_CONTEXT, cl::Context) +#endif // CL_VERSION_1_1 + + +#if defined(CL_VERSION_1_2) +#define __PARAM_NAME_INFO_1_2(F) \ + F(cl_image_info, CL_IMAGE_BUFFER, cl::Buffer) \ + \ + F(cl_program_info, CL_PROGRAM_NUM_KERNELS, ::size_t) \ + F(cl_program_info, CL_PROGRAM_KERNEL_NAMES, STRING_CLASS) \ + \ + F(cl_program_build_info, CL_PROGRAM_BINARY_TYPE, cl_program_binary_type) \ + \ + F(cl_kernel_info, CL_KERNEL_ATTRIBUTES, STRING_CLASS) \ + \ + F(cl_kernel_arg_info, CL_KERNEL_ARG_ADDRESS_QUALIFIER, cl_kernel_arg_address_qualifier) \ + F(cl_kernel_arg_info, CL_KERNEL_ARG_ACCESS_QUALIFIER, cl_kernel_arg_access_qualifier) \ + F(cl_kernel_arg_info, CL_KERNEL_ARG_TYPE_NAME, STRING_CLASS) \ + F(cl_kernel_arg_info, CL_KERNEL_ARG_NAME, STRING_CLASS) \ + F(cl_kernel_arg_info, CL_KERNEL_ARG_TYPE_QUALIFIER, cl_kernel_arg_type_qualifier) \ + \ + F(cl_device_info, CL_DEVICE_PARENT_DEVICE, cl_device_id) \ + F(cl_device_info, CL_DEVICE_PARTITION_PROPERTIES, VECTOR_CLASS) \ + F(cl_device_info, CL_DEVICE_PARTITION_TYPE, VECTOR_CLASS) \ + F(cl_device_info, CL_DEVICE_REFERENCE_COUNT, cl_uint) \ + F(cl_device_info, CL_DEVICE_PREFERRED_INTEROP_USER_SYNC, ::size_t) \ + F(cl_device_info, CL_DEVICE_PARTITION_AFFINITY_DOMAIN, cl_device_affinity_domain) \ + F(cl_device_info, CL_DEVICE_BUILT_IN_KERNELS, STRING_CLASS) +#endif // #if defined(CL_VERSION_1_2) + +#if defined(USE_CL_DEVICE_FISSION) +#define __PARAM_NAME_DEVICE_FISSION(F) \ + F(cl_device_info, CL_DEVICE_PARENT_DEVICE_EXT, cl_device_id) \ + F(cl_device_info, CL_DEVICE_PARTITION_TYPES_EXT, VECTOR_CLASS) \ + F(cl_device_info, CL_DEVICE_AFFINITY_DOMAINS_EXT, VECTOR_CLASS) \ + F(cl_device_info, CL_DEVICE_REFERENCE_COUNT_EXT , cl_uint) \ + F(cl_device_info, CL_DEVICE_PARTITION_STYLE_EXT, VECTOR_CLASS) +#endif // USE_CL_DEVICE_FISSION + +template +struct param_traits {}; + +#define __CL_DECLARE_PARAM_TRAITS(token, param_name, T) \ +struct token; \ +template<> \ +struct param_traits \ +{ \ + enum { value = param_name }; \ + typedef T param_type; \ +}; + +__PARAM_NAME_INFO_1_0(__CL_DECLARE_PARAM_TRAITS) +#if defined(CL_VERSION_1_1) +__PARAM_NAME_INFO_1_1(__CL_DECLARE_PARAM_TRAITS) +#endif // CL_VERSION_1_1 +#if defined(CL_VERSION_1_2) +__PARAM_NAME_INFO_1_2(__CL_DECLARE_PARAM_TRAITS) +#endif // CL_VERSION_1_1 + +#if defined(USE_CL_DEVICE_FISSION) +__PARAM_NAME_DEVICE_FISSION(__CL_DECLARE_PARAM_TRAITS); +#endif // USE_CL_DEVICE_FISSION + +#ifdef CL_PLATFORM_ICD_SUFFIX_KHR +__CL_DECLARE_PARAM_TRAITS(cl_platform_info, CL_PLATFORM_ICD_SUFFIX_KHR, STRING_CLASS) +#endif + +#ifdef CL_DEVICE_PROFILING_TIMER_OFFSET_AMD +__CL_DECLARE_PARAM_TRAITS(cl_device_info, CL_DEVICE_PROFILING_TIMER_OFFSET_AMD, cl_ulong) +#endif + +#ifdef CL_DEVICE_GLOBAL_FREE_MEMORY_AMD +__CL_DECLARE_PARAM_TRAITS(cl_device_info, CL_DEVICE_GLOBAL_FREE_MEMORY_AMD, VECTOR_CLASS< ::size_t>) +#endif +#ifdef CL_DEVICE_SIMD_PER_COMPUTE_UNIT_AMD +__CL_DECLARE_PARAM_TRAITS(cl_device_info, CL_DEVICE_SIMD_PER_COMPUTE_UNIT_AMD, cl_uint) +#endif +#ifdef CL_DEVICE_SIMD_WIDTH_AMD +__CL_DECLARE_PARAM_TRAITS(cl_device_info, CL_DEVICE_SIMD_WIDTH_AMD, cl_uint) +#endif +#ifdef CL_DEVICE_SIMD_INSTRUCTION_WIDTH_AMD +__CL_DECLARE_PARAM_TRAITS(cl_device_info, CL_DEVICE_SIMD_INSTRUCTION_WIDTH_AMD, cl_uint) +#endif +#ifdef CL_DEVICE_WAVEFRONT_WIDTH_AMD +__CL_DECLARE_PARAM_TRAITS(cl_device_info, CL_DEVICE_WAVEFRONT_WIDTH_AMD, cl_uint) +#endif +#ifdef CL_DEVICE_GLOBAL_MEM_CHANNELS_AMD +__CL_DECLARE_PARAM_TRAITS(cl_device_info, CL_DEVICE_GLOBAL_MEM_CHANNELS_AMD, cl_uint) +#endif +#ifdef CL_DEVICE_GLOBAL_MEM_CHANNEL_BANKS_AMD +__CL_DECLARE_PARAM_TRAITS(cl_device_info, CL_DEVICE_GLOBAL_MEM_CHANNEL_BANKS_AMD, cl_uint) +#endif +#ifdef CL_DEVICE_GLOBAL_MEM_CHANNEL_BANK_WIDTH_AMD +__CL_DECLARE_PARAM_TRAITS(cl_device_info, CL_DEVICE_GLOBAL_MEM_CHANNEL_BANK_WIDTH_AMD, cl_uint) +#endif +#ifdef CL_DEVICE_LOCAL_MEM_SIZE_PER_COMPUTE_UNIT_AMD +__CL_DECLARE_PARAM_TRAITS(cl_device_info, CL_DEVICE_LOCAL_MEM_SIZE_PER_COMPUTE_UNIT_AMD, cl_uint) +#endif +#ifdef CL_DEVICE_LOCAL_MEM_BANKS_AMD +__CL_DECLARE_PARAM_TRAITS(cl_device_info, CL_DEVICE_LOCAL_MEM_BANKS_AMD, cl_uint) +#endif + +#ifdef CL_DEVICE_COMPUTE_CAPABILITY_MAJOR_NV +__CL_DECLARE_PARAM_TRAITS(cl_device_info, CL_DEVICE_COMPUTE_CAPABILITY_MAJOR_NV, cl_uint) +#endif +#ifdef CL_DEVICE_COMPUTE_CAPABILITY_MINOR_NV +__CL_DECLARE_PARAM_TRAITS(cl_device_info, CL_DEVICE_COMPUTE_CAPABILITY_MINOR_NV, cl_uint) +#endif +#ifdef CL_DEVICE_REGISTERS_PER_BLOCK_NV +__CL_DECLARE_PARAM_TRAITS(cl_device_info, CL_DEVICE_REGISTERS_PER_BLOCK_NV, cl_uint) +#endif +#ifdef CL_DEVICE_WARP_SIZE_NV +__CL_DECLARE_PARAM_TRAITS(cl_device_info, CL_DEVICE_WARP_SIZE_NV, cl_uint) +#endif +#ifdef CL_DEVICE_GPU_OVERLAP_NV +__CL_DECLARE_PARAM_TRAITS(cl_device_info, CL_DEVICE_GPU_OVERLAP_NV, cl_bool) +#endif +#ifdef CL_DEVICE_KERNEL_EXEC_TIMEOUT_NV +__CL_DECLARE_PARAM_TRAITS(cl_device_info, CL_DEVICE_KERNEL_EXEC_TIMEOUT_NV, cl_bool) +#endif +#ifdef CL_DEVICE_INTEGRATED_MEMORY_NV +__CL_DECLARE_PARAM_TRAITS(cl_device_info, CL_DEVICE_INTEGRATED_MEMORY_NV, cl_bool) +#endif + +// Convenience functions + +template +inline cl_int +getInfo(Func f, cl_uint name, T* param) +{ + return getInfoHelper(f, name, param, 0); +} + +template +struct GetInfoFunctor0 +{ + Func f_; const Arg0& arg0_; + cl_int operator ()( + cl_uint param, ::size_t size, void* value, ::size_t* size_ret) + { return f_(arg0_, param, size, value, size_ret); } +}; + +template +struct GetInfoFunctor1 +{ + Func f_; const Arg0& arg0_; const Arg1& arg1_; + cl_int operator ()( + cl_uint param, ::size_t size, void* value, ::size_t* size_ret) + { return f_(arg0_, arg1_, param, size, value, size_ret); } +}; + +template +inline cl_int +getInfo(Func f, const Arg0& arg0, cl_uint name, T* param) +{ + GetInfoFunctor0 f0 = { f, arg0 }; + return getInfoHelper(f0, name, param, 0); +} + +template +inline cl_int +getInfo(Func f, const Arg0& arg0, const Arg1& arg1, cl_uint name, T* param) +{ + GetInfoFunctor1 f0 = { f, arg0, arg1 }; + return getInfoHelper(f0, name, param, 0); +} + +template +struct ReferenceHandler +{ }; + +#if defined(CL_VERSION_1_2) +/** + * OpenCL 1.2 devices do have retain/release. + */ +template <> +struct ReferenceHandler +{ + /** + * Retain the device. + * \param device A valid device created using createSubDevices + * \return + * CL_SUCCESS if the function executed successfully. + * CL_INVALID_DEVICE if device was not a valid subdevice + * CL_OUT_OF_RESOURCES + * CL_OUT_OF_HOST_MEMORY + */ + static cl_int retain(cl_device_id device) + { return ::clRetainDevice(device); } + /** + * Retain the device. + * \param device A valid device created using createSubDevices + * \return + * CL_SUCCESS if the function executed successfully. + * CL_INVALID_DEVICE if device was not a valid subdevice + * CL_OUT_OF_RESOURCES + * CL_OUT_OF_HOST_MEMORY + */ + static cl_int release(cl_device_id device) + { return ::clReleaseDevice(device); } +}; +#else // #if defined(CL_VERSION_1_2) +/** + * OpenCL 1.1 devices do not have retain/release. + */ +template <> +struct ReferenceHandler +{ + // cl_device_id does not have retain(). + static cl_int retain(cl_device_id) + { return CL_SUCCESS; } + // cl_device_id does not have release(). + static cl_int release(cl_device_id) + { return CL_SUCCESS; } +}; +#endif // #if defined(CL_VERSION_1_2) + +template <> +struct ReferenceHandler +{ + // cl_platform_id does not have retain(). + static cl_int retain(cl_platform_id) + { return CL_SUCCESS; } + // cl_platform_id does not have release(). + static cl_int release(cl_platform_id) + { return CL_SUCCESS; } +}; + +template <> +struct ReferenceHandler +{ + static cl_int retain(cl_context context) + { return ::clRetainContext(context); } + static cl_int release(cl_context context) + { return ::clReleaseContext(context); } +}; + +template <> +struct ReferenceHandler +{ + static cl_int retain(cl_command_queue queue) + { return ::clRetainCommandQueue(queue); } + static cl_int release(cl_command_queue queue) + { return ::clReleaseCommandQueue(queue); } +}; + +template <> +struct ReferenceHandler +{ + static cl_int retain(cl_mem memory) + { return ::clRetainMemObject(memory); } + static cl_int release(cl_mem memory) + { return ::clReleaseMemObject(memory); } +}; + +template <> +struct ReferenceHandler +{ + static cl_int retain(cl_sampler sampler) + { return ::clRetainSampler(sampler); } + static cl_int release(cl_sampler sampler) + { return ::clReleaseSampler(sampler); } +}; + +template <> +struct ReferenceHandler +{ + static cl_int retain(cl_program program) + { return ::clRetainProgram(program); } + static cl_int release(cl_program program) + { return ::clReleaseProgram(program); } +}; + +template <> +struct ReferenceHandler +{ + static cl_int retain(cl_kernel kernel) + { return ::clRetainKernel(kernel); } + static cl_int release(cl_kernel kernel) + { return ::clReleaseKernel(kernel); } +}; + +template <> +struct ReferenceHandler +{ + static cl_int retain(cl_event event) + { return ::clRetainEvent(event); } + static cl_int release(cl_event event) + { return ::clReleaseEvent(event); } +}; + + +// Extracts version number with major in the upper 16 bits, minor in the lower 16 +static cl_uint getVersion(const char *versionInfo) +{ + int highVersion = 0; + int lowVersion = 0; + int index = 7; + while(versionInfo[index] != '.' ) { + highVersion *= 10; + highVersion += versionInfo[index]-'0'; + ++index; + } + ++index; + while(versionInfo[index] != ' ' && versionInfo[index] != '\0') { + lowVersion *= 10; + lowVersion += versionInfo[index]-'0'; + ++index; + } + return (highVersion << 16) | lowVersion; +} + +static cl_uint getPlatformVersion(cl_platform_id platform) +{ + ::size_t size = 0; + clGetPlatformInfo(platform, CL_PLATFORM_VERSION, 0, NULL, &size); + char *versionInfo = (char *) alloca(size); + clGetPlatformInfo(platform, CL_PLATFORM_VERSION, size, &versionInfo[0], &size); + return getVersion(versionInfo); +} + +static cl_uint getDevicePlatformVersion(cl_device_id device) +{ + cl_platform_id platform; + clGetDeviceInfo(device, CL_DEVICE_PLATFORM, sizeof(platform), &platform, NULL); + return getPlatformVersion(platform); +} + +#if defined(CL_VERSION_1_2) && defined(CL_USE_DEPRECATED_OPENCL_1_1_APIS) +static cl_uint getContextPlatformVersion(cl_context context) +{ + // The platform cannot be queried directly, so we first have to grab a + // device and obtain its context + ::size_t size = 0; + clGetContextInfo(context, CL_CONTEXT_DEVICES, 0, NULL, &size); + if (size == 0) + return 0; + cl_device_id *devices = (cl_device_id *) alloca(size); + clGetContextInfo(context, CL_CONTEXT_DEVICES, size, devices, NULL); + return getDevicePlatformVersion(devices[0]); +} +#endif // #if defined(CL_VERSION_1_2) && defined(CL_USE_DEPRECATED_OPENCL_1_1_APIS) + +template +class Wrapper +{ +public: + typedef T cl_type; + +protected: + cl_type object_; + +public: + Wrapper() : object_(NULL) { } + + Wrapper(const cl_type &obj) : object_(obj) { } + + ~Wrapper() + { + if (object_ != NULL) { release(); } + } + + Wrapper(const Wrapper& rhs) + { + object_ = rhs.object_; + if (object_ != NULL) { detail::errHandler(retain(), __RETAIN_ERR); } + } + +#if defined(CL_HPP_RVALUE_REFERENCES_SUPPORTED) + Wrapper(Wrapper&& rhs) CL_HPP_NOEXCEPT + { + object_ = rhs.object_; + rhs.object_ = NULL; + } +#endif + + Wrapper& operator = (const Wrapper& rhs) + { + if (this != &rhs) { + if (object_ != NULL) { detail::errHandler(release(), __RELEASE_ERR); } + object_ = rhs.object_; + if (object_ != NULL) { detail::errHandler(retain(), __RETAIN_ERR); } + } + return *this; + } + +#if defined(CL_HPP_RVALUE_REFERENCES_SUPPORTED) + Wrapper& operator = (Wrapper&& rhs) + { + if (this != &rhs) { + if (object_ != NULL) { detail::errHandler(release(), __RELEASE_ERR); } + object_ = rhs.object_; + rhs.object_ = NULL; + } + return *this; + } +#endif + + Wrapper& operator = (const cl_type &rhs) + { + if (object_ != NULL) { detail::errHandler(release(), __RELEASE_ERR); } + object_ = rhs; + return *this; + } + + cl_type operator ()() const { return object_; } + + cl_type& operator ()() { return object_; } + +protected: + template + friend inline cl_int getInfoHelper(Func, cl_uint, U*, int, typename U::cl_type); + + cl_int retain() const + { + return ReferenceHandler::retain(object_); + } + + cl_int release() const + { + return ReferenceHandler::release(object_); + } +}; + +template <> +class Wrapper +{ +public: + typedef cl_device_id cl_type; + +protected: + cl_type object_; + bool referenceCountable_; + + static bool isReferenceCountable(cl_device_id device) + { + bool retVal = false; + if (device != NULL) { + int version = getDevicePlatformVersion(device); + if(version > ((1 << 16) + 1)) { + retVal = true; + } + } + return retVal; + } + +public: + Wrapper() : object_(NULL), referenceCountable_(false) + { + } + + Wrapper(const cl_type &obj) : object_(obj), referenceCountable_(false) + { + referenceCountable_ = isReferenceCountable(obj); + } + + ~Wrapper() + { + if (object_ != NULL) { release(); } + } + + Wrapper(const Wrapper& rhs) + { + object_ = rhs.object_; + referenceCountable_ = isReferenceCountable(object_); + if (object_ != NULL) { detail::errHandler(retain(), __RETAIN_ERR); } + } + +#if defined(CL_HPP_RVALUE_REFERENCES_SUPPORTED) + Wrapper(Wrapper&& rhs) CL_HPP_NOEXCEPT + { + object_ = rhs.object_; + referenceCountable_ = rhs.referenceCountable_; + rhs.object_ = NULL; + rhs.referenceCountable_ = false; + } +#endif + + Wrapper& operator = (const Wrapper& rhs) + { + if (this != &rhs) { + if (object_ != NULL) { detail::errHandler(release(), __RELEASE_ERR); } + object_ = rhs.object_; + referenceCountable_ = rhs.referenceCountable_; + if (object_ != NULL) { detail::errHandler(retain(), __RETAIN_ERR); } + } + return *this; + } + +#if defined(CL_HPP_RVALUE_REFERENCES_SUPPORTED) + Wrapper& operator = (Wrapper&& rhs) + { + if (this != &rhs) { + if (object_ != NULL) { detail::errHandler(release(), __RELEASE_ERR); } + object_ = rhs.object_; + referenceCountable_ = rhs.referenceCountable_; + rhs.object_ = NULL; + rhs.referenceCountable_ = false; + } + return *this; + } +#endif + + Wrapper& operator = (const cl_type &rhs) + { + if (object_ != NULL) { detail::errHandler(release(), __RELEASE_ERR); } + object_ = rhs; + referenceCountable_ = isReferenceCountable(object_); + return *this; + } + + cl_type operator ()() const { return object_; } + + cl_type& operator ()() { return object_; } + +protected: + template + friend inline cl_int getInfoHelper(Func, cl_uint, U*, int, typename U::cl_type); + + template + friend inline cl_int getInfoHelper(Func, cl_uint, VECTOR_CLASS*, int, typename U::cl_type); + + cl_int retain() const + { + if( referenceCountable_ ) { + return ReferenceHandler::retain(object_); + } + else { + return CL_SUCCESS; + } + } + + cl_int release() const + { + if( referenceCountable_ ) { + return ReferenceHandler::release(object_); + } + else { + return CL_SUCCESS; + } + } +}; + +} // namespace detail +//! \endcond + +/*! \stuct ImageFormat + * \brief Adds constructors and member functions for cl_image_format. + * + * \see cl_image_format + */ +struct ImageFormat : public cl_image_format +{ + //! \brief Default constructor - performs no initialization. + ImageFormat(){} + + //! \brief Initializing constructor. + ImageFormat(cl_channel_order order, cl_channel_type type) + { + image_channel_order = order; + image_channel_data_type = type; + } + + //! \brief Assignment operator. + ImageFormat& operator = (const ImageFormat& rhs) + { + if (this != &rhs) { + this->image_channel_data_type = rhs.image_channel_data_type; + this->image_channel_order = rhs.image_channel_order; + } + return *this; + } +}; + +/*! \brief Class interface for cl_device_id. + * + * \note Copies of these objects are inexpensive, since they don't 'own' + * any underlying resources or data structures. + * + * \see cl_device_id + */ +class Device : public detail::Wrapper +{ +public: + //! \brief Default constructor - initializes to NULL. + Device() : detail::Wrapper() { } + + /*! \brief Constructor from cl_device_id. + * + * This simply copies the device ID value, which is an inexpensive operation. + */ + __CL_EXPLICIT_CONSTRUCTORS Device(const cl_device_id &device) : detail::Wrapper(device) { } + + /*! \brief Returns the first device on the default context. + * + * \see Context::getDefault() + */ + static Device getDefault(cl_int * err = NULL); + + /*! \brief Assignment operator from cl_device_id. + * + * This simply copies the device ID value, which is an inexpensive operation. + */ + Device& operator = (const cl_device_id& rhs) + { + detail::Wrapper::operator=(rhs); + return *this; + } + + /*! \brief Copy constructor to forward copy to the superclass correctly. + * Required for MSVC. + */ + Device(const Device& dev) : detail::Wrapper(dev) {} + + /*! \brief Copy assignment to forward copy to the superclass correctly. + * Required for MSVC. + */ + Device& operator = (const Device &dev) + { + detail::Wrapper::operator=(dev); + return *this; + } + +#if defined(CL_HPP_RVALUE_REFERENCES_SUPPORTED) + /*! \brief Move constructor to forward move to the superclass correctly. + * Required for MSVC. + */ + Device(Device&& dev) CL_HPP_NOEXCEPT : detail::Wrapper(std::move(dev)) {} + + /*! \brief Move assignment to forward move to the superclass correctly. + * Required for MSVC. + */ + Device& operator = (Device &&dev) + { + detail::Wrapper::operator=(std::move(dev)); + return *this; + } +#endif // #if defined(CL_HPP_RVALUE_REFERENCES_SUPPORTED) + + //! \brief Wrapper for clGetDeviceInfo(). + template + cl_int getInfo(cl_device_info name, T* param) const + { + return detail::errHandler( + detail::getInfo(&::clGetDeviceInfo, object_, name, param), + __GET_DEVICE_INFO_ERR); + } + + //! \brief Wrapper for clGetDeviceInfo() that returns by value. + template typename + detail::param_traits::param_type + getInfo(cl_int* err = NULL) const + { + typename detail::param_traits< + detail::cl_device_info, name>::param_type param; + cl_int result = getInfo(name, ¶m); + if (err != NULL) { + *err = result; + } + return param; + } + + /** + * CL 1.2 version + */ +#if defined(CL_VERSION_1_2) + //! \brief Wrapper for clCreateSubDevicesEXT(). + cl_int createSubDevices( + const cl_device_partition_property * properties, + VECTOR_CLASS* devices) + { + cl_uint n = 0; + cl_int err = clCreateSubDevices(object_, properties, 0, NULL, &n); + if (err != CL_SUCCESS) { + return detail::errHandler(err, __CREATE_SUB_DEVICES); + } + + cl_device_id* ids = (cl_device_id*) alloca(n * sizeof(cl_device_id)); + err = clCreateSubDevices(object_, properties, n, ids, NULL); + if (err != CL_SUCCESS) { + return detail::errHandler(err, __CREATE_SUB_DEVICES); + } + + devices->assign(&ids[0], &ids[n]); + return CL_SUCCESS; + } +#endif // #if defined(CL_VERSION_1_2) + +/** + * CL 1.1 version that uses device fission. + */ +#if defined(CL_VERSION_1_1) +#if defined(USE_CL_DEVICE_FISSION) + cl_int createSubDevices( + const cl_device_partition_property_ext * properties, + VECTOR_CLASS* devices) + { + typedef CL_API_ENTRY cl_int + ( CL_API_CALL * PFN_clCreateSubDevicesEXT)( + cl_device_id /*in_device*/, + const cl_device_partition_property_ext * /* properties */, + cl_uint /*num_entries*/, + cl_device_id * /*out_devices*/, + cl_uint * /*num_devices*/ ) CL_EXT_SUFFIX__VERSION_1_1; + + static PFN_clCreateSubDevicesEXT pfn_clCreateSubDevicesEXT = NULL; + __INIT_CL_EXT_FCN_PTR(clCreateSubDevicesEXT); + + cl_uint n = 0; + cl_int err = pfn_clCreateSubDevicesEXT(object_, properties, 0, NULL, &n); + if (err != CL_SUCCESS) { + return detail::errHandler(err, __CREATE_SUB_DEVICES); + } + + cl_device_id* ids = (cl_device_id*) alloca(n * sizeof(cl_device_id)); + err = pfn_clCreateSubDevicesEXT(object_, properties, n, ids, NULL); + if (err != CL_SUCCESS) { + return detail::errHandler(err, __CREATE_SUB_DEVICES); + } + + devices->assign(&ids[0], &ids[n]); + return CL_SUCCESS; + } +#endif // #if defined(USE_CL_DEVICE_FISSION) +#endif // #if defined(CL_VERSION_1_1) +}; + +/*! \brief Class interface for cl_platform_id. + * + * \note Copies of these objects are inexpensive, since they don't 'own' + * any underlying resources or data structures. + * + * \see cl_platform_id + */ +class Platform : public detail::Wrapper +{ +public: + //! \brief Default constructor - initializes to NULL. + Platform() : detail::Wrapper() { } + + /*! \brief Constructor from cl_platform_id. + * + * This simply copies the platform ID value, which is an inexpensive operation. + */ + __CL_EXPLICIT_CONSTRUCTORS Platform(const cl_platform_id &platform) : detail::Wrapper(platform) { } + + /*! \brief Assignment operator from cl_platform_id. + * + * This simply copies the platform ID value, which is an inexpensive operation. + */ + Platform& operator = (const cl_platform_id& rhs) + { + detail::Wrapper::operator=(rhs); + return *this; + } + + //! \brief Wrapper for clGetPlatformInfo(). + cl_int getInfo(cl_platform_info name, STRING_CLASS* param) const + { + return detail::errHandler( + detail::getInfo(&::clGetPlatformInfo, object_, name, param), + __GET_PLATFORM_INFO_ERR); + } + + //! \brief Wrapper for clGetPlatformInfo() that returns by value. + template typename + detail::param_traits::param_type + getInfo(cl_int* err = NULL) const + { + typename detail::param_traits< + detail::cl_platform_info, name>::param_type param; + cl_int result = getInfo(name, ¶m); + if (err != NULL) { + *err = result; + } + return param; + } + + /*! \brief Gets a list of devices for this platform. + * + * Wraps clGetDeviceIDs(). + */ + cl_int getDevices( + cl_device_type type, + VECTOR_CLASS* devices) const + { + cl_uint n = 0; + if( devices == NULL ) { + return detail::errHandler(CL_INVALID_ARG_VALUE, __GET_DEVICE_IDS_ERR); + } + cl_int err = ::clGetDeviceIDs(object_, type, 0, NULL, &n); + if (err != CL_SUCCESS) { + return detail::errHandler(err, __GET_DEVICE_IDS_ERR); + } + + cl_device_id* ids = (cl_device_id*) alloca(n * sizeof(cl_device_id)); + err = ::clGetDeviceIDs(object_, type, n, ids, NULL); + if (err != CL_SUCCESS) { + return detail::errHandler(err, __GET_DEVICE_IDS_ERR); + } + + devices->assign(&ids[0], &ids[n]); + return CL_SUCCESS; + } + +#if defined(USE_DX_INTEROP) + /*! \brief Get the list of available D3D10 devices. + * + * \param d3d_device_source. + * + * \param d3d_object. + * + * \param d3d_device_set. + * + * \param devices returns a vector of OpenCL D3D10 devices found. The cl::Device + * values returned in devices can be used to identify a specific OpenCL + * device. If \a devices argument is NULL, this argument is ignored. + * + * \return One of the following values: + * - CL_SUCCESS if the function is executed successfully. + * + * The application can query specific capabilities of the OpenCL device(s) + * returned by cl::getDevices. This can be used by the application to + * determine which device(s) to use. + * + * \note In the case that exceptions are enabled and a return value + * other than CL_SUCCESS is generated, then cl::Error exception is + * generated. + */ + cl_int getDevices( + cl_d3d10_device_source_khr d3d_device_source, + void * d3d_object, + cl_d3d10_device_set_khr d3d_device_set, + VECTOR_CLASS* devices) const + { + typedef CL_API_ENTRY cl_int (CL_API_CALL *PFN_clGetDeviceIDsFromD3D10KHR)( + cl_platform_id platform, + cl_d3d10_device_source_khr d3d_device_source, + void * d3d_object, + cl_d3d10_device_set_khr d3d_device_set, + cl_uint num_entries, + cl_device_id * devices, + cl_uint* num_devices); + + if( devices == NULL ) { + return detail::errHandler(CL_INVALID_ARG_VALUE, __GET_DEVICE_IDS_ERR); + } + + static PFN_clGetDeviceIDsFromD3D10KHR pfn_clGetDeviceIDsFromD3D10KHR = NULL; + __INIT_CL_EXT_FCN_PTR_PLATFORM(object_, clGetDeviceIDsFromD3D10KHR); + + cl_uint n = 0; + cl_int err = pfn_clGetDeviceIDsFromD3D10KHR( + object_, + d3d_device_source, + d3d_object, + d3d_device_set, + 0, + NULL, + &n); + if (err != CL_SUCCESS) { + return detail::errHandler(err, __GET_DEVICE_IDS_ERR); + } + + cl_device_id* ids = (cl_device_id*) alloca(n * sizeof(cl_device_id)); + err = pfn_clGetDeviceIDsFromD3D10KHR( + object_, + d3d_device_source, + d3d_object, + d3d_device_set, + n, + ids, + NULL); + if (err != CL_SUCCESS) { + return detail::errHandler(err, __GET_DEVICE_IDS_ERR); + } + + devices->assign(&ids[0], &ids[n]); + return CL_SUCCESS; + } +#endif + + /*! \brief Gets a list of available platforms. + * + * Wraps clGetPlatformIDs(). + */ + static cl_int get( + VECTOR_CLASS* platforms) + { + cl_uint n = 0; + + if( platforms == NULL ) { + return detail::errHandler(CL_INVALID_ARG_VALUE, __GET_PLATFORM_IDS_ERR); + } + + cl_int err = ::clGetPlatformIDs(0, NULL, &n); + if (err != CL_SUCCESS) { + return detail::errHandler(err, __GET_PLATFORM_IDS_ERR); + } + + cl_platform_id* ids = (cl_platform_id*) alloca( + n * sizeof(cl_platform_id)); + err = ::clGetPlatformIDs(n, ids, NULL); + if (err != CL_SUCCESS) { + return detail::errHandler(err, __GET_PLATFORM_IDS_ERR); + } + + platforms->assign(&ids[0], &ids[n]); + return CL_SUCCESS; + } + + /*! \brief Gets the first available platform. + * + * Wraps clGetPlatformIDs(), returning the first result. + */ + static cl_int get( + Platform * platform) + { + cl_uint n = 0; + + if( platform == NULL ) { + return detail::errHandler(CL_INVALID_ARG_VALUE, __GET_PLATFORM_IDS_ERR); + } + + cl_int err = ::clGetPlatformIDs(0, NULL, &n); + if (err != CL_SUCCESS) { + return detail::errHandler(err, __GET_PLATFORM_IDS_ERR); + } + + cl_platform_id* ids = (cl_platform_id*) alloca( + n * sizeof(cl_platform_id)); + err = ::clGetPlatformIDs(n, ids, NULL); + if (err != CL_SUCCESS) { + return detail::errHandler(err, __GET_PLATFORM_IDS_ERR); + } + + *platform = ids[0]; + return CL_SUCCESS; + } + + /*! \brief Gets the first available platform, returning it by value. + * + * Wraps clGetPlatformIDs(), returning the first result. + */ + static Platform get( + cl_int * errResult = NULL) + { + Platform platform; + cl_uint n = 0; + cl_int err = ::clGetPlatformIDs(0, NULL, &n); + if (err != CL_SUCCESS) { + detail::errHandler(err, __GET_PLATFORM_IDS_ERR); + if (errResult != NULL) { + *errResult = err; + } + return Platform(); + } + + cl_platform_id* ids = (cl_platform_id*) alloca( + n * sizeof(cl_platform_id)); + err = ::clGetPlatformIDs(n, ids, NULL); + + if (err != CL_SUCCESS) { + detail::errHandler(err, __GET_PLATFORM_IDS_ERR); + if (errResult != NULL) { + *errResult = err; + } + return Platform(); + } + + + return Platform(ids[0]); + } + + static Platform getDefault( + cl_int *errResult = NULL ) + { + return get(errResult); + } + + +#if defined(CL_VERSION_1_2) + //! \brief Wrapper for clUnloadCompiler(). + cl_int + unloadCompiler() + { + return ::clUnloadPlatformCompiler(object_); + } +#endif // #if defined(CL_VERSION_1_2) +}; // class Platform + +/** + * Deprecated APIs for 1.2 + */ +#if defined(CL_USE_DEPRECATED_OPENCL_1_1_APIS) || (defined(CL_VERSION_1_1) && !defined(CL_VERSION_1_2)) +/** + * Unload the OpenCL compiler. + * \note Deprecated for OpenCL 1.2. Use Platform::unloadCompiler instead. + */ +inline CL_EXT_PREFIX__VERSION_1_1_DEPRECATED cl_int +UnloadCompiler() CL_EXT_SUFFIX__VERSION_1_1_DEPRECATED; +inline cl_int +UnloadCompiler() +{ + return ::clUnloadCompiler(); +} +#endif // #if defined(CL_VERSION_1_1) + +/*! \brief Class interface for cl_context. + * + * \note Copies of these objects are shallow, meaning that the copy will refer + * to the same underlying cl_context as the original. For details, see + * clRetainContext() and clReleaseContext(). + * + * \see cl_context + */ +class Context + : public detail::Wrapper +{ +private: + +#ifdef CL_HPP_CPP11_ATOMICS_SUPPORTED + static std::atomic default_initialized_; +#else // !CL_HPP_CPP11_ATOMICS_SUPPORTED + static volatile int default_initialized_; +#endif // !CL_HPP_CPP11_ATOMICS_SUPPORTED + static Context default_; + static volatile cl_int default_error_; +public: + /*! \brief Constructs a context including a list of specified devices. + * + * Wraps clCreateContext(). + */ + Context( + const VECTOR_CLASS& devices, + cl_context_properties* properties = NULL, + void (CL_CALLBACK * notifyFptr)( + const char *, + const void *, + ::size_t, + void *) = NULL, + void* data = NULL, + cl_int* err = NULL) + { + cl_int error; + + ::size_t numDevices = devices.size(); + cl_device_id* deviceIDs = (cl_device_id*) alloca(numDevices * sizeof(cl_device_id)); + for( ::size_t deviceIndex = 0; deviceIndex < numDevices; ++deviceIndex ) { + deviceIDs[deviceIndex] = (devices[deviceIndex])(); + } + + object_ = ::clCreateContext( + properties, (cl_uint) numDevices, + deviceIDs, + notifyFptr, data, &error); + + detail::errHandler(error, __CREATE_CONTEXT_ERR); + if (err != NULL) { + *err = error; + } + } + + Context( + const Device& device, + cl_context_properties* properties = NULL, + void (CL_CALLBACK * notifyFptr)( + const char *, + const void *, + ::size_t, + void *) = NULL, + void* data = NULL, + cl_int* err = NULL) + { + cl_int error; + + cl_device_id deviceID = device(); + + object_ = ::clCreateContext( + properties, 1, + &deviceID, + notifyFptr, data, &error); + + detail::errHandler(error, __CREATE_CONTEXT_ERR); + if (err != NULL) { + *err = error; + } + } + + /*! \brief Constructs a context including all or a subset of devices of a specified type. + * + * Wraps clCreateContextFromType(). + */ + Context( + cl_device_type type, + cl_context_properties* properties = NULL, + void (CL_CALLBACK * notifyFptr)( + const char *, + const void *, + ::size_t, + void *) = NULL, + void* data = NULL, + cl_int* err = NULL) + { + cl_int error; + +#if !defined(__APPLE__) && !defined(__MACOS) + cl_context_properties prop[4] = {CL_CONTEXT_PLATFORM, 0, 0, 0 }; + + if (properties == NULL) { + // Get a valid platform ID as we cannot send in a blank one + VECTOR_CLASS platforms; + error = Platform::get(&platforms); + if (error != CL_SUCCESS) { + detail::errHandler(error, __CREATE_CONTEXT_FROM_TYPE_ERR); + if (err != NULL) { + *err = error; + } + return; + } + + // Check the platforms we found for a device of our specified type + cl_context_properties platform_id = 0; + for (unsigned int i = 0; i < platforms.size(); i++) { + + VECTOR_CLASS devices; + +#if defined(__CL_ENABLE_EXCEPTIONS) + try { +#endif + + error = platforms[i].getDevices(type, &devices); + +#if defined(__CL_ENABLE_EXCEPTIONS) + } catch (Error) {} + // Catch if exceptions are enabled as we don't want to exit if first platform has no devices of type + // We do error checking next anyway, and can throw there if needed +#endif + + // Only squash CL_SUCCESS and CL_DEVICE_NOT_FOUND + if (error != CL_SUCCESS && error != CL_DEVICE_NOT_FOUND) { + detail::errHandler(error, __CREATE_CONTEXT_FROM_TYPE_ERR); + if (err != NULL) { + *err = error; + } + } + + if (devices.size() > 0) { + platform_id = (cl_context_properties)platforms[i](); + break; + } + } + + if (platform_id == 0) { + detail::errHandler(CL_DEVICE_NOT_FOUND, __CREATE_CONTEXT_FROM_TYPE_ERR); + if (err != NULL) { + *err = CL_DEVICE_NOT_FOUND; + } + return; + } + + prop[1] = platform_id; + properties = &prop[0]; + } +#endif + object_ = ::clCreateContextFromType( + properties, type, notifyFptr, data, &error); + + detail::errHandler(error, __CREATE_CONTEXT_FROM_TYPE_ERR); + if (err != NULL) { + *err = error; + } + } + + /*! \brief Copy constructor to forward copy to the superclass correctly. + * Required for MSVC. + */ + Context(const Context& ctx) : detail::Wrapper(ctx) {} + + /*! \brief Copy assignment to forward copy to the superclass correctly. + * Required for MSVC. + */ + Context& operator = (const Context &ctx) + { + detail::Wrapper::operator=(ctx); + return *this; + } + +#if defined(CL_HPP_RVALUE_REFERENCES_SUPPORTED) + /*! \brief Move constructor to forward move to the superclass correctly. + * Required for MSVC. + */ + Context(Context&& ctx) CL_HPP_NOEXCEPT : detail::Wrapper(std::move(ctx)) {} + + /*! \brief Move assignment to forward move to the superclass correctly. + * Required for MSVC. + */ + Context& operator = (Context &&ctx) + { + detail::Wrapper::operator=(std::move(ctx)); + return *this; + } +#endif // #if defined(CL_HPP_RVALUE_REFERENCES_SUPPORTED) + + /*! \brief Returns a singleton context including all devices of CL_DEVICE_TYPE_DEFAULT. + * + * \note All calls to this function return the same cl_context as the first. + */ + static Context getDefault(cl_int * err = NULL) + { + int state = detail::compare_exchange( + &default_initialized_, + __DEFAULT_BEING_INITIALIZED, __DEFAULT_NOT_INITIALIZED); + + if (state & __DEFAULT_INITIALIZED) { + if (err != NULL) { + *err = default_error_; + } + return default_; + } + + if (state & __DEFAULT_BEING_INITIALIZED) { + // Assume writes will propagate eventually... + while(default_initialized_ != __DEFAULT_INITIALIZED) { + detail::fence(); + } + + if (err != NULL) { + *err = default_error_; + } + return default_; + } + + cl_int error; + default_ = Context( + CL_DEVICE_TYPE_DEFAULT, + NULL, + NULL, + NULL, + &error); + + detail::fence(); + + default_error_ = error; + // Assume writes will propagate eventually... + default_initialized_ = __DEFAULT_INITIALIZED; + + detail::fence(); + + if (err != NULL) { + *err = default_error_; + } + return default_; + + } + + //! \brief Default constructor - initializes to NULL. + Context() : detail::Wrapper() { } + + /*! \brief Constructor from cl_context - takes ownership. + * + * This effectively transfers ownership of a refcount on the cl_context + * into the new Context object. + */ + __CL_EXPLICIT_CONSTRUCTORS Context(const cl_context& context) : detail::Wrapper(context) { } + + /*! \brief Assignment operator from cl_context - takes ownership. + * + * This effectively transfers ownership of a refcount on the rhs and calls + * clReleaseContext() on the value previously held by this instance. + */ + Context& operator = (const cl_context& rhs) + { + detail::Wrapper::operator=(rhs); + return *this; + } + + //! \brief Wrapper for clGetContextInfo(). + template + cl_int getInfo(cl_context_info name, T* param) const + { + return detail::errHandler( + detail::getInfo(&::clGetContextInfo, object_, name, param), + __GET_CONTEXT_INFO_ERR); + } + + //! \brief Wrapper for clGetContextInfo() that returns by value. + template typename + detail::param_traits::param_type + getInfo(cl_int* err = NULL) const + { + typename detail::param_traits< + detail::cl_context_info, name>::param_type param; + cl_int result = getInfo(name, ¶m); + if (err != NULL) { + *err = result; + } + return param; + } + + /*! \brief Gets a list of supported image formats. + * + * Wraps clGetSupportedImageFormats(). + */ + cl_int getSupportedImageFormats( + cl_mem_flags flags, + cl_mem_object_type type, + VECTOR_CLASS* formats) const + { + cl_uint numEntries; + + if (!formats) { + return CL_SUCCESS; + } + + cl_int err = ::clGetSupportedImageFormats( + object_, + flags, + type, + 0, + NULL, + &numEntries); + if (err != CL_SUCCESS) { + return detail::errHandler(err, __GET_SUPPORTED_IMAGE_FORMATS_ERR); + } + + if (numEntries > 0) { + ImageFormat* value = (ImageFormat*) + alloca(numEntries * sizeof(ImageFormat)); + err = ::clGetSupportedImageFormats( + object_, + flags, + type, + numEntries, + (cl_image_format*)value, + NULL); + if (err != CL_SUCCESS) { + return detail::errHandler(err, __GET_SUPPORTED_IMAGE_FORMATS_ERR); + } + + formats->assign(&value[0], &value[numEntries]); + } + else { + formats->clear(); + } + return CL_SUCCESS; + } +}; + +inline Device Device::getDefault(cl_int * err) +{ + cl_int error; + Device device; + + Context context = Context::getDefault(&error); + detail::errHandler(error, __CREATE_CONTEXT_ERR); + + if (error != CL_SUCCESS) { + if (err != NULL) { + *err = error; + } + } + else { + device = context.getInfo()[0]; + if (err != NULL) { + *err = CL_SUCCESS; + } + } + + return device; +} + + +#ifdef _WIN32 +#ifdef CL_HPP_CPP11_ATOMICS_SUPPORTED +__declspec(selectany) std::atomic Context::default_initialized_; +#else // !CL_HPP_CPP11_ATOMICS_SUPPORTED +__declspec(selectany) volatile int Context::default_initialized_ = __DEFAULT_NOT_INITIALIZED; +#endif // !CL_HPP_CPP11_ATOMICS_SUPPORTED +__declspec(selectany) Context Context::default_; +__declspec(selectany) volatile cl_int Context::default_error_ = CL_SUCCESS; +#else // !_WIN32 +#ifdef CL_HPP_CPP11_ATOMICS_SUPPORTED +__attribute__((weak)) std::atomic Context::default_initialized_; +#else // !CL_HPP_CPP11_ATOMICS_SUPPORTED +__attribute__((weak)) volatile int Context::default_initialized_ = __DEFAULT_NOT_INITIALIZED; +#endif // !CL_HPP_CPP11_ATOMICS_SUPPORTED +__attribute__((weak)) Context Context::default_; +__attribute__((weak)) volatile cl_int Context::default_error_ = CL_SUCCESS; +#endif // !_WIN32 + +/*! \brief Class interface for cl_event. + * + * \note Copies of these objects are shallow, meaning that the copy will refer + * to the same underlying cl_event as the original. For details, see + * clRetainEvent() and clReleaseEvent(). + * + * \see cl_event + */ +class Event : public detail::Wrapper +{ +public: + //! \brief Default constructor - initializes to NULL. + Event() : detail::Wrapper() { } + + /*! \brief Constructor from cl_event - takes ownership. + * + * This effectively transfers ownership of a refcount on the cl_event + * into the new Event object. + */ + __CL_EXPLICIT_CONSTRUCTORS Event(const cl_event& event) : detail::Wrapper(event) { } + + /*! \brief Assignment operator from cl_event - takes ownership. + * + * This effectively transfers ownership of a refcount on the rhs and calls + * clReleaseEvent() on the value previously held by this instance. + */ + Event& operator = (const cl_event& rhs) + { + detail::Wrapper::operator=(rhs); + return *this; + } + + //! \brief Wrapper for clGetEventInfo(). + template + cl_int getInfo(cl_event_info name, T* param) const + { + return detail::errHandler( + detail::getInfo(&::clGetEventInfo, object_, name, param), + __GET_EVENT_INFO_ERR); + } + + //! \brief Wrapper for clGetEventInfo() that returns by value. + template typename + detail::param_traits::param_type + getInfo(cl_int* err = NULL) const + { + typename detail::param_traits< + detail::cl_event_info, name>::param_type param; + cl_int result = getInfo(name, ¶m); + if (err != NULL) { + *err = result; + } + return param; + } + + //! \brief Wrapper for clGetEventProfilingInfo(). + template + cl_int getProfilingInfo(cl_profiling_info name, T* param) const + { + return detail::errHandler(detail::getInfo( + &::clGetEventProfilingInfo, object_, name, param), + __GET_EVENT_PROFILE_INFO_ERR); + } + + //! \brief Wrapper for clGetEventProfilingInfo() that returns by value. + template typename + detail::param_traits::param_type + getProfilingInfo(cl_int* err = NULL) const + { + typename detail::param_traits< + detail::cl_profiling_info, name>::param_type param; + cl_int result = getProfilingInfo(name, ¶m); + if (err != NULL) { + *err = result; + } + return param; + } + + /*! \brief Blocks the calling thread until this event completes. + * + * Wraps clWaitForEvents(). + */ + cl_int wait() const + { + return detail::errHandler( + ::clWaitForEvents(1, &object_), + __WAIT_FOR_EVENTS_ERR); + } + +#if defined(CL_VERSION_1_1) + /*! \brief Registers a user callback function for a specific command execution status. + * + * Wraps clSetEventCallback(). + */ + cl_int setCallback( + cl_int type, + void (CL_CALLBACK * pfn_notify)(cl_event, cl_int, void *), + void * user_data = NULL) + { + return detail::errHandler( + ::clSetEventCallback( + object_, + type, + pfn_notify, + user_data), + __SET_EVENT_CALLBACK_ERR); + } +#endif + + /*! \brief Blocks the calling thread until every event specified is complete. + * + * Wraps clWaitForEvents(). + */ + static cl_int + waitForEvents(const VECTOR_CLASS& events) + { + return detail::errHandler( + ::clWaitForEvents( + (cl_uint) events.size(), (events.size() > 0) ? (cl_event*)&events.front() : NULL), + __WAIT_FOR_EVENTS_ERR); + } +}; + +#if defined(CL_VERSION_1_1) +/*! \brief Class interface for user events (a subset of cl_event's). + * + * See Event for details about copy semantics, etc. + */ +class UserEvent : public Event +{ +public: + /*! \brief Constructs a user event on a given context. + * + * Wraps clCreateUserEvent(). + */ + UserEvent( + const Context& context, + cl_int * err = NULL) + { + cl_int error; + object_ = ::clCreateUserEvent( + context(), + &error); + + detail::errHandler(error, __CREATE_USER_EVENT_ERR); + if (err != NULL) { + *err = error; + } + } + + //! \brief Default constructor - initializes to NULL. + UserEvent() : Event() { } + + /*! \brief Sets the execution status of a user event object. + * + * Wraps clSetUserEventStatus(). + */ + cl_int setStatus(cl_int status) + { + return detail::errHandler( + ::clSetUserEventStatus(object_,status), + __SET_USER_EVENT_STATUS_ERR); + } +}; +#endif + +/*! \brief Blocks the calling thread until every event specified is complete. + * + * Wraps clWaitForEvents(). + */ +inline static cl_int +WaitForEvents(const VECTOR_CLASS& events) +{ + return detail::errHandler( + ::clWaitForEvents( + (cl_uint) events.size(), (events.size() > 0) ? (cl_event*)&events.front() : NULL), + __WAIT_FOR_EVENTS_ERR); +} + +/*! \brief Class interface for cl_mem. + * + * \note Copies of these objects are shallow, meaning that the copy will refer + * to the same underlying cl_mem as the original. For details, see + * clRetainMemObject() and clReleaseMemObject(). + * + * \see cl_mem + */ +class Memory : public detail::Wrapper +{ +public: + //! \brief Default constructor - initializes to NULL. + Memory() : detail::Wrapper() { } + + /*! \brief Constructor from cl_mem - takes ownership. + * + * This effectively transfers ownership of a refcount on the cl_mem + * into the new Memory object. + */ + __CL_EXPLICIT_CONSTRUCTORS Memory(const cl_mem& memory) : detail::Wrapper(memory) { } + + /*! \brief Assignment operator from cl_mem - takes ownership. + * + * This effectively transfers ownership of a refcount on the rhs and calls + * clReleaseMemObject() on the value previously held by this instance. + */ + Memory& operator = (const cl_mem& rhs) + { + detail::Wrapper::operator=(rhs); + return *this; + } + + /*! \brief Copy constructor to forward copy to the superclass correctly. + * Required for MSVC. + */ + Memory(const Memory& mem) : detail::Wrapper(mem) {} + + /*! \brief Copy assignment to forward copy to the superclass correctly. + * Required for MSVC. + */ + Memory& operator = (const Memory &mem) + { + detail::Wrapper::operator=(mem); + return *this; + } + +#if defined(CL_HPP_RVALUE_REFERENCES_SUPPORTED) + /*! \brief Move constructor to forward move to the superclass correctly. + * Required for MSVC. + */ + Memory(Memory&& mem) CL_HPP_NOEXCEPT : detail::Wrapper(std::move(mem)) {} + + /*! \brief Move assignment to forward move to the superclass correctly. + * Required for MSVC. + */ + Memory& operator = (Memory &&mem) + { + detail::Wrapper::operator=(std::move(mem)); + return *this; + } +#endif // #if defined(CL_HPP_RVALUE_REFERENCES_SUPPORTED) + + //! \brief Wrapper for clGetMemObjectInfo(). + template + cl_int getInfo(cl_mem_info name, T* param) const + { + return detail::errHandler( + detail::getInfo(&::clGetMemObjectInfo, object_, name, param), + __GET_MEM_OBJECT_INFO_ERR); + } + + //! \brief Wrapper for clGetMemObjectInfo() that returns by value. + template typename + detail::param_traits::param_type + getInfo(cl_int* err = NULL) const + { + typename detail::param_traits< + detail::cl_mem_info, name>::param_type param; + cl_int result = getInfo(name, ¶m); + if (err != NULL) { + *err = result; + } + return param; + } + +#if defined(CL_VERSION_1_1) + /*! \brief Registers a callback function to be called when the memory object + * is no longer needed. + * + * Wraps clSetMemObjectDestructorCallback(). + * + * Repeated calls to this function, for a given cl_mem value, will append + * to the list of functions called (in reverse order) when memory object's + * resources are freed and the memory object is deleted. + * + * \note + * The registered callbacks are associated with the underlying cl_mem + * value - not the Memory class instance. + */ + cl_int setDestructorCallback( + void (CL_CALLBACK * pfn_notify)(cl_mem, void *), + void * user_data = NULL) + { + return detail::errHandler( + ::clSetMemObjectDestructorCallback( + object_, + pfn_notify, + user_data), + __SET_MEM_OBJECT_DESTRUCTOR_CALLBACK_ERR); + } +#endif + +}; + +// Pre-declare copy functions +class Buffer; +template< typename IteratorType > +cl_int copy( IteratorType startIterator, IteratorType endIterator, cl::Buffer &buffer ); +template< typename IteratorType > +cl_int copy( const cl::Buffer &buffer, IteratorType startIterator, IteratorType endIterator ); +template< typename IteratorType > +cl_int copy( const CommandQueue &queue, IteratorType startIterator, IteratorType endIterator, cl::Buffer &buffer ); +template< typename IteratorType > +cl_int copy( const CommandQueue &queue, const cl::Buffer &buffer, IteratorType startIterator, IteratorType endIterator ); + + +/*! \brief Class interface for Buffer Memory Objects. + * + * See Memory for details about copy semantics, etc. + * + * \see Memory + */ +class Buffer : public Memory +{ +public: + + /*! \brief Constructs a Buffer in a specified context. + * + * Wraps clCreateBuffer(). + * + * \param host_ptr Storage to be used if the CL_MEM_USE_HOST_PTR flag was + * specified. Note alignment & exclusivity requirements. + */ + Buffer( + const Context& context, + cl_mem_flags flags, + ::size_t size, + void* host_ptr = NULL, + cl_int* err = NULL) + { + cl_int error; + object_ = ::clCreateBuffer(context(), flags, size, host_ptr, &error); + + detail::errHandler(error, __CREATE_BUFFER_ERR); + if (err != NULL) { + *err = error; + } + } + + /*! \brief Constructs a Buffer in the default context. + * + * Wraps clCreateBuffer(). + * + * \param host_ptr Storage to be used if the CL_MEM_USE_HOST_PTR flag was + * specified. Note alignment & exclusivity requirements. + * + * \see Context::getDefault() + */ + Buffer( + cl_mem_flags flags, + ::size_t size, + void* host_ptr = NULL, + cl_int* err = NULL) + { + cl_int error; + + Context context = Context::getDefault(err); + + object_ = ::clCreateBuffer(context(), flags, size, host_ptr, &error); + + detail::errHandler(error, __CREATE_BUFFER_ERR); + if (err != NULL) { + *err = error; + } + } + + /*! + * \brief Construct a Buffer from a host container via iterators. + * IteratorType must be random access. + * If useHostPtr is specified iterators must represent contiguous data. + */ + template< typename IteratorType > + Buffer( + IteratorType startIterator, + IteratorType endIterator, + bool readOnly, + bool useHostPtr = false, + cl_int* err = NULL) + { + typedef typename std::iterator_traits::value_type DataType; + cl_int error; + + cl_mem_flags flags = 0; + if( readOnly ) { + flags |= CL_MEM_READ_ONLY; + } + else { + flags |= CL_MEM_READ_WRITE; + } + if( useHostPtr ) { + flags |= CL_MEM_USE_HOST_PTR; + } + + ::size_t size = sizeof(DataType)*(endIterator - startIterator); + + Context context = Context::getDefault(err); + + if( useHostPtr ) { + object_ = ::clCreateBuffer(context(), flags, size, static_cast(&*startIterator), &error); + } else { + object_ = ::clCreateBuffer(context(), flags, size, 0, &error); + } + + detail::errHandler(error, __CREATE_BUFFER_ERR); + if (err != NULL) { + *err = error; + } + + if( !useHostPtr ) { + error = cl::copy(startIterator, endIterator, *this); + detail::errHandler(error, __CREATE_BUFFER_ERR); + if (err != NULL) { + *err = error; + } + } + } + + /*! + * \brief Construct a Buffer from a host container via iterators using a specified context. + * IteratorType must be random access. + * If useHostPtr is specified iterators must represent contiguous data. + */ + template< typename IteratorType > + Buffer(const Context &context, IteratorType startIterator, IteratorType endIterator, + bool readOnly, bool useHostPtr = false, cl_int* err = NULL); + + /*! + * \brief Construct a Buffer from a host container via iterators using a specified queue. + * If useHostPtr is specified iterators must represent contiguous data. + */ + template< typename IteratorType > + Buffer(const CommandQueue &queue, IteratorType startIterator, IteratorType endIterator, + bool readOnly, bool useHostPtr = false, cl_int* err = NULL); + + //! \brief Default constructor - initializes to NULL. + Buffer() : Memory() { } + + /*! \brief Constructor from cl_mem - takes ownership. + * + * See Memory for further details. + */ + __CL_EXPLICIT_CONSTRUCTORS Buffer(const cl_mem& buffer) : Memory(buffer) { } + + /*! \brief Assignment from cl_mem - performs shallow copy. + * + * See Memory for further details. + */ + Buffer& operator = (const cl_mem& rhs) + { + Memory::operator=(rhs); + return *this; + } + + /*! \brief Copy constructor to forward copy to the superclass correctly. + * Required for MSVC. + */ + Buffer(const Buffer& buf) : Memory(buf) {} + + /*! \brief Copy assignment to forward copy to the superclass correctly. + * Required for MSVC. + */ + Buffer& operator = (const Buffer &buf) + { + Memory::operator=(buf); + return *this; + } + +#if defined(CL_HPP_RVALUE_REFERENCES_SUPPORTED) + /*! \brief Move constructor to forward move to the superclass correctly. + * Required for MSVC. + */ + Buffer(Buffer&& buf) CL_HPP_NOEXCEPT : Memory(std::move(buf)) {} + + /*! \brief Move assignment to forward move to the superclass correctly. + * Required for MSVC. + */ + Buffer& operator = (Buffer &&buf) + { + Memory::operator=(std::move(buf)); + return *this; + } +#endif // #if defined(CL_HPP_RVALUE_REFERENCES_SUPPORTED) + +#if defined(CL_VERSION_1_1) + /*! \brief Creates a new buffer object from this. + * + * Wraps clCreateSubBuffer(). + */ + Buffer createSubBuffer( + cl_mem_flags flags, + cl_buffer_create_type buffer_create_type, + const void * buffer_create_info, + cl_int * err = NULL) + { + Buffer result; + cl_int error; + result.object_ = ::clCreateSubBuffer( + object_, + flags, + buffer_create_type, + buffer_create_info, + &error); + + detail::errHandler(error, __CREATE_SUBBUFFER_ERR); + if (err != NULL) { + *err = error; + } + + return result; + } +#endif +}; + +#if defined (USE_DX_INTEROP) +/*! \brief Class interface for creating OpenCL buffers from ID3D10Buffer's. + * + * This is provided to facilitate interoperability with Direct3D. + * + * See Memory for details about copy semantics, etc. + * + * \see Memory + */ +class BufferD3D10 : public Buffer +{ +public: + typedef CL_API_ENTRY cl_mem (CL_API_CALL *PFN_clCreateFromD3D10BufferKHR)( + cl_context context, cl_mem_flags flags, ID3D10Buffer* buffer, + cl_int* errcode_ret); + + /*! \brief Constructs a BufferD3D10, in a specified context, from a + * given ID3D10Buffer. + * + * Wraps clCreateFromD3D10BufferKHR(). + */ + BufferD3D10( + const Context& context, + cl_mem_flags flags, + ID3D10Buffer* bufobj, + cl_int * err = NULL) + { + static PFN_clCreateFromD3D10BufferKHR pfn_clCreateFromD3D10BufferKHR = NULL; + +#if defined(CL_VERSION_1_2) + vector props = context.getInfo(); + cl_platform platform = -1; + for( int i = 0; i < props.size(); ++i ) { + if( props[i] == CL_CONTEXT_PLATFORM ) { + platform = props[i+1]; + } + } + __INIT_CL_EXT_FCN_PTR_PLATFORM(platform, clCreateFromD3D10BufferKHR); +#endif +#if defined(CL_VERSION_1_1) + __INIT_CL_EXT_FCN_PTR(clCreateFromD3D10BufferKHR); +#endif + + cl_int error; + object_ = pfn_clCreateFromD3D10BufferKHR( + context(), + flags, + bufobj, + &error); + + detail::errHandler(error, __CREATE_GL_BUFFER_ERR); + if (err != NULL) { + *err = error; + } + } + + //! \brief Default constructor - initializes to NULL. + BufferD3D10() : Buffer() { } + + /*! \brief Constructor from cl_mem - takes ownership. + * + * See Memory for further details. + */ + __CL_EXPLICIT_CONSTRUCTORS BufferD3D10(const cl_mem& buffer) : Buffer(buffer) { } + + /*! \brief Assignment from cl_mem - performs shallow copy. + * + * See Memory for further details. + */ + BufferD3D10& operator = (const cl_mem& rhs) + { + Buffer::operator=(rhs); + return *this; + } + + /*! \brief Copy constructor to forward copy to the superclass correctly. + * Required for MSVC. + */ + BufferD3D10(const BufferD3D10& buf) : Buffer(buf) {} + + /*! \brief Copy assignment to forward copy to the superclass correctly. + * Required for MSVC. + */ + BufferD3D10& operator = (const BufferD3D10 &buf) + { + Buffer::operator=(buf); + return *this; + } + +#if defined(CL_HPP_RVALUE_REFERENCES_SUPPORTED) + /*! \brief Move constructor to forward move to the superclass correctly. + * Required for MSVC. + */ + BufferD3D10(BufferD3D10&& buf) CL_HPP_NOEXCEPT : Buffer(std::move(buf)) {} + + /*! \brief Move assignment to forward move to the superclass correctly. + * Required for MSVC. + */ + BufferD3D10& operator = (BufferD3D10 &&buf) + { + Buffer::operator=(std::move(buf)); + return *this; + } +#endif // #if defined(CL_HPP_RVALUE_REFERENCES_SUPPORTED) +}; +#endif + +/*! \brief Class interface for GL Buffer Memory Objects. + * + * This is provided to facilitate interoperability with OpenGL. + * + * See Memory for details about copy semantics, etc. + * + * \see Memory + */ +class BufferGL : public Buffer +{ +public: + /*! \brief Constructs a BufferGL in a specified context, from a given + * GL buffer. + * + * Wraps clCreateFromGLBuffer(). + */ + BufferGL( + const Context& context, + cl_mem_flags flags, + cl_GLuint bufobj, + cl_int * err = NULL) + { + cl_int error; + object_ = ::clCreateFromGLBuffer( + context(), + flags, + bufobj, + &error); + + detail::errHandler(error, __CREATE_GL_BUFFER_ERR); + if (err != NULL) { + *err = error; + } + } + + //! \brief Default constructor - initializes to NULL. + BufferGL() : Buffer() { } + + /*! \brief Constructor from cl_mem - takes ownership. + * + * See Memory for further details. + */ + __CL_EXPLICIT_CONSTRUCTORS BufferGL(const cl_mem& buffer) : Buffer(buffer) { } + + /*! \brief Assignment from cl_mem - performs shallow copy. + * + * See Memory for further details. + */ + BufferGL& operator = (const cl_mem& rhs) + { + Buffer::operator=(rhs); + return *this; + } + + /*! \brief Copy constructor to forward copy to the superclass correctly. + * Required for MSVC. + */ + BufferGL(const BufferGL& buf) : Buffer(buf) {} + + /*! \brief Copy assignment to forward copy to the superclass correctly. + * Required for MSVC. + */ + BufferGL& operator = (const BufferGL &buf) + { + Buffer::operator=(buf); + return *this; + } + +#if defined(CL_HPP_RVALUE_REFERENCES_SUPPORTED) + /*! \brief Move constructor to forward move to the superclass correctly. + * Required for MSVC. + */ + BufferGL(BufferGL&& buf) CL_HPP_NOEXCEPT : Buffer(std::move(buf)) {} + + /*! \brief Move assignment to forward move to the superclass correctly. + * Required for MSVC. + */ + BufferGL& operator = (BufferGL &&buf) + { + Buffer::operator=(std::move(buf)); + return *this; + } +#endif // #if defined(CL_HPP_RVALUE_REFERENCES_SUPPORTED) + + //! \brief Wrapper for clGetGLObjectInfo(). + cl_int getObjectInfo( + cl_gl_object_type *type, + cl_GLuint * gl_object_name) + { + return detail::errHandler( + ::clGetGLObjectInfo(object_,type,gl_object_name), + __GET_GL_OBJECT_INFO_ERR); + } +}; + +/*! \brief C++ base class for Image Memory objects. + * + * See Memory for details about copy semantics, etc. + * + * \see Memory + */ +class Image : public Memory +{ +protected: + //! \brief Default constructor - initializes to NULL. + Image() : Memory() { } + + /*! \brief Constructor from cl_mem - takes ownership. + * + * See Memory for further details. + */ + __CL_EXPLICIT_CONSTRUCTORS Image(const cl_mem& image) : Memory(image) { } + + /*! \brief Assignment from cl_mem - performs shallow copy. + * + * See Memory for further details. + */ + Image& operator = (const cl_mem& rhs) + { + Memory::operator=(rhs); + return *this; + } + + /*! \brief Copy constructor to forward copy to the superclass correctly. + * Required for MSVC. + */ + Image(const Image& img) : Memory(img) {} + + /*! \brief Copy assignment to forward copy to the superclass correctly. + * Required for MSVC. + */ + Image& operator = (const Image &img) + { + Memory::operator=(img); + return *this; + } + +#if defined(CL_HPP_RVALUE_REFERENCES_SUPPORTED) + /*! \brief Move constructor to forward move to the superclass correctly. + * Required for MSVC. + */ + Image(Image&& img) CL_HPP_NOEXCEPT : Memory(std::move(img)) {} + + /*! \brief Move assignment to forward move to the superclass correctly. + * Required for MSVC. + */ + Image& operator = (Image &&img) + { + Memory::operator=(std::move(img)); + return *this; + } +#endif // #if defined(CL_HPP_RVALUE_REFERENCES_SUPPORTED) + +public: + //! \brief Wrapper for clGetImageInfo(). + template + cl_int getImageInfo(cl_image_info name, T* param) const + { + return detail::errHandler( + detail::getInfo(&::clGetImageInfo, object_, name, param), + __GET_IMAGE_INFO_ERR); + } + + //! \brief Wrapper for clGetImageInfo() that returns by value. + template typename + detail::param_traits::param_type + getImageInfo(cl_int* err = NULL) const + { + typename detail::param_traits< + detail::cl_image_info, name>::param_type param; + cl_int result = getImageInfo(name, ¶m); + if (err != NULL) { + *err = result; + } + return param; + } +}; + +#if defined(CL_VERSION_1_2) +/*! \brief Class interface for 1D Image Memory objects. + * + * See Memory for details about copy semantics, etc. + * + * \see Memory + */ +class Image1D : public Image +{ +public: + /*! \brief Constructs a 1D Image in a specified context. + * + * Wraps clCreateImage(). + */ + Image1D( + const Context& context, + cl_mem_flags flags, + ImageFormat format, + ::size_t width, + void* host_ptr = NULL, + cl_int* err = NULL) + { + cl_int error; + cl_image_desc desc = + { + CL_MEM_OBJECT_IMAGE1D, + width, + 0, 0, 0, 0, 0, 0, 0, 0 + }; + object_ = ::clCreateImage( + context(), + flags, + &format, + &desc, + host_ptr, + &error); + + detail::errHandler(error, __CREATE_IMAGE_ERR); + if (err != NULL) { + *err = error; + } + } + + //! \brief Default constructor - initializes to NULL. + Image1D() { } + + /*! \brief Constructor from cl_mem - takes ownership. + * + * See Memory for further details. + */ + __CL_EXPLICIT_CONSTRUCTORS Image1D(const cl_mem& image1D) : Image(image1D) { } + + /*! \brief Assignment from cl_mem - performs shallow copy. + * + * See Memory for further details. + */ + Image1D& operator = (const cl_mem& rhs) + { + Image::operator=(rhs); + return *this; + } + + /*! \brief Copy constructor to forward copy to the superclass correctly. + * Required for MSVC. + */ + Image1D(const Image1D& img) : Image(img) {} + + /*! \brief Copy assignment to forward copy to the superclass correctly. + * Required for MSVC. + */ + Image1D& operator = (const Image1D &img) + { + Image::operator=(img); + return *this; + } + +#if defined(CL_HPP_RVALUE_REFERENCES_SUPPORTED) + /*! \brief Move constructor to forward move to the superclass correctly. + * Required for MSVC. + */ + Image1D(Image1D&& img) CL_HPP_NOEXCEPT : Image(std::move(img)) {} + + /*! \brief Move assignment to forward move to the superclass correctly. + * Required for MSVC. + */ + Image1D& operator = (Image1D &&img) + { + Image::operator=(std::move(img)); + return *this; + } +#endif // #if defined(CL_HPP_RVALUE_REFERENCES_SUPPORTED) +}; + +/*! \class Image1DBuffer + * \brief Image interface for 1D buffer images. + */ +class Image1DBuffer : public Image +{ +public: + Image1DBuffer( + const Context& context, + cl_mem_flags flags, + ImageFormat format, + ::size_t width, + const Buffer &buffer, + cl_int* err = NULL) + { + cl_int error; + cl_image_desc desc = + { + CL_MEM_OBJECT_IMAGE1D_BUFFER, + width, + 0, 0, 0, 0, 0, 0, 0, + buffer() + }; + object_ = ::clCreateImage( + context(), + flags, + &format, + &desc, + NULL, + &error); + + detail::errHandler(error, __CREATE_IMAGE_ERR); + if (err != NULL) { + *err = error; + } + } + + Image1DBuffer() { } + + __CL_EXPLICIT_CONSTRUCTORS Image1DBuffer(const cl_mem& image1D) : Image(image1D) { } + + Image1DBuffer& operator = (const cl_mem& rhs) + { + Image::operator=(rhs); + return *this; + } + + /*! \brief Copy constructor to forward copy to the superclass correctly. + * Required for MSVC. + */ + Image1DBuffer(const Image1DBuffer& img) : Image(img) {} + + /*! \brief Copy assignment to forward copy to the superclass correctly. + * Required for MSVC. + */ + Image1DBuffer& operator = (const Image1DBuffer &img) + { + Image::operator=(img); + return *this; + } + +#if defined(CL_HPP_RVALUE_REFERENCES_SUPPORTED) + /*! \brief Move constructor to forward move to the superclass correctly. + * Required for MSVC. + */ + Image1DBuffer(Image1DBuffer&& img) CL_HPP_NOEXCEPT : Image(std::move(img)) {} + + /*! \brief Move assignment to forward move to the superclass correctly. + * Required for MSVC. + */ + Image1DBuffer& operator = (Image1DBuffer &&img) + { + Image::operator=(std::move(img)); + return *this; + } +#endif // #if defined(CL_HPP_RVALUE_REFERENCES_SUPPORTED) +}; + +/*! \class Image1DArray + * \brief Image interface for arrays of 1D images. + */ +class Image1DArray : public Image +{ +public: + Image1DArray( + const Context& context, + cl_mem_flags flags, + ImageFormat format, + ::size_t arraySize, + ::size_t width, + ::size_t rowPitch, + void* host_ptr = NULL, + cl_int* err = NULL) + { + cl_int error; + cl_image_desc desc = + { + CL_MEM_OBJECT_IMAGE1D_ARRAY, + width, + 0, 0, // height, depth (unused) + arraySize, + rowPitch, + 0, 0, 0, 0 + }; + object_ = ::clCreateImage( + context(), + flags, + &format, + &desc, + host_ptr, + &error); + + detail::errHandler(error, __CREATE_IMAGE_ERR); + if (err != NULL) { + *err = error; + } + } + + Image1DArray() { } + + __CL_EXPLICIT_CONSTRUCTORS Image1DArray(const cl_mem& imageArray) : Image(imageArray) { } + + Image1DArray& operator = (const cl_mem& rhs) + { + Image::operator=(rhs); + return *this; + } + + /*! \brief Copy constructor to forward copy to the superclass correctly. + * Required for MSVC. + */ + Image1DArray(const Image1DArray& img) : Image(img) {} + + /*! \brief Copy assignment to forward copy to the superclass correctly. + * Required for MSVC. + */ + Image1DArray& operator = (const Image1DArray &img) + { + Image::operator=(img); + return *this; + } + +#if defined(CL_HPP_RVALUE_REFERENCES_SUPPORTED) + /*! \brief Move constructor to forward move to the superclass correctly. + * Required for MSVC. + */ + Image1DArray(Image1DArray&& img) CL_HPP_NOEXCEPT : Image(std::move(img)) {} + + /*! \brief Move assignment to forward move to the superclass correctly. + * Required for MSVC. + */ + Image1DArray& operator = (Image1DArray &&img) + { + Image::operator=(std::move(img)); + return *this; + } +#endif // #if defined(CL_HPP_RVALUE_REFERENCES_SUPPORTED) +}; +#endif // #if defined(CL_VERSION_1_2) + + +/*! \brief Class interface for 2D Image Memory objects. + * + * See Memory for details about copy semantics, etc. + * + * \see Memory + */ +class Image2D : public Image +{ +public: + /*! \brief Constructs a 1D Image in a specified context. + * + * Wraps clCreateImage(). + */ + Image2D( + const Context& context, + cl_mem_flags flags, + ImageFormat format, + ::size_t width, + ::size_t height, + ::size_t row_pitch = 0, + void* host_ptr = NULL, + cl_int* err = NULL) + { + cl_int error; + bool useCreateImage; + +#if defined(CL_VERSION_1_2) && defined(CL_USE_DEPRECATED_OPENCL_1_1_APIS) + // Run-time decision based on the actual platform + { + cl_uint version = detail::getContextPlatformVersion(context()); + useCreateImage = (version >= 0x10002); // OpenCL 1.2 or above + } +#elif defined(CL_VERSION_1_2) + useCreateImage = true; +#else + useCreateImage = false; +#endif + +#if defined(CL_VERSION_1_2) + if (useCreateImage) + { + cl_image_desc desc = + { + CL_MEM_OBJECT_IMAGE2D, + width, + height, + 0, 0, // depth, array size (unused) + row_pitch, + 0, 0, 0, 0 + }; + object_ = ::clCreateImage( + context(), + flags, + &format, + &desc, + host_ptr, + &error); + + detail::errHandler(error, __CREATE_IMAGE_ERR); + if (err != NULL) { + *err = error; + } + } +#endif // #if defined(CL_VERSION_1_2) +#if !defined(CL_VERSION_1_2) || defined(CL_USE_DEPRECATED_OPENCL_1_1_APIS) + if (!useCreateImage) + { + object_ = ::clCreateImage2D( + context(), flags,&format, width, height, row_pitch, host_ptr, &error); + + detail::errHandler(error, __CREATE_IMAGE2D_ERR); + if (err != NULL) { + *err = error; + } + } +#endif // #if !defined(CL_VERSION_1_2) || defined(CL_USE_DEPRECATED_OPENCL_1_1_APIS) + } + + //! \brief Default constructor - initializes to NULL. + Image2D() { } + + /*! \brief Constructor from cl_mem - takes ownership. + * + * See Memory for further details. + */ + __CL_EXPLICIT_CONSTRUCTORS Image2D(const cl_mem& image2D) : Image(image2D) { } + + /*! \brief Assignment from cl_mem - performs shallow copy. + * + * See Memory for further details. + */ + Image2D& operator = (const cl_mem& rhs) + { + Image::operator=(rhs); + return *this; + } + + /*! \brief Copy constructor to forward copy to the superclass correctly. + * Required for MSVC. + */ + Image2D(const Image2D& img) : Image(img) {} + + /*! \brief Copy assignment to forward copy to the superclass correctly. + * Required for MSVC. + */ + Image2D& operator = (const Image2D &img) + { + Image::operator=(img); + return *this; + } + +#if defined(CL_HPP_RVALUE_REFERENCES_SUPPORTED) + /*! \brief Move constructor to forward move to the superclass correctly. + * Required for MSVC. + */ + Image2D(Image2D&& img) CL_HPP_NOEXCEPT : Image(std::move(img)) {} + + /*! \brief Move assignment to forward move to the superclass correctly. + * Required for MSVC. + */ + Image2D& operator = (Image2D &&img) + { + Image::operator=(std::move(img)); + return *this; + } +#endif // #if defined(CL_HPP_RVALUE_REFERENCES_SUPPORTED) +}; + + +#if !defined(CL_VERSION_1_2) +/*! \brief Class interface for GL 2D Image Memory objects. + * + * This is provided to facilitate interoperability with OpenGL. + * + * See Memory for details about copy semantics, etc. + * + * \see Memory + * \note Deprecated for OpenCL 1.2. Please use ImageGL instead. + */ +class CL_EXT_PREFIX__VERSION_1_1_DEPRECATED Image2DGL CL_EXT_SUFFIX__VERSION_1_1_DEPRECATED : public Image2D +{ +public: + /*! \brief Constructs an Image2DGL in a specified context, from a given + * GL Texture. + * + * Wraps clCreateFromGLTexture2D(). + */ + Image2DGL( + const Context& context, + cl_mem_flags flags, + cl_GLenum target, + cl_GLint miplevel, + cl_GLuint texobj, + cl_int * err = NULL) + { + cl_int error; + object_ = ::clCreateFromGLTexture2D( + context(), + flags, + target, + miplevel, + texobj, + &error); + + detail::errHandler(error, __CREATE_GL_TEXTURE_2D_ERR); + if (err != NULL) { + *err = error; + } + + } + + //! \brief Default constructor - initializes to NULL. + Image2DGL() : Image2D() { } + + /*! \brief Constructor from cl_mem - takes ownership. + * + * See Memory for further details. + */ + __CL_EXPLICIT_CONSTRUCTORS Image2DGL(const cl_mem& image) : Image2D(image) { } + + /*! \brief Assignment from cl_mem - performs shallow copy. + * + * See Memory for further details. + */ + Image2DGL& operator = (const cl_mem& rhs) + { + Image2D::operator=(rhs); + return *this; + } + + /*! \brief Copy constructor to forward copy to the superclass correctly. + * Required for MSVC. + */ + Image2DGL(const Image2DGL& img) : Image2D(img) {} + + /*! \brief Copy assignment to forward copy to the superclass correctly. + * Required for MSVC. + */ + Image2DGL& operator = (const Image2DGL &img) + { + Image2D::operator=(img); + return *this; + } + +#if defined(CL_HPP_RVALUE_REFERENCES_SUPPORTED) + /*! \brief Move constructor to forward move to the superclass correctly. + * Required for MSVC. + */ + Image2DGL(Image2DGL&& img) CL_HPP_NOEXCEPT : Image2D(std::move(img)) {} + + /*! \brief Move assignment to forward move to the superclass correctly. + * Required for MSVC. + */ + Image2DGL& operator = (Image2DGL &&img) + { + Image2D::operator=(std::move(img)); + return *this; + } +#endif // #if defined(CL_HPP_RVALUE_REFERENCES_SUPPORTED) +}; +#endif // #if !defined(CL_VERSION_1_2) + +#if defined(CL_VERSION_1_2) +/*! \class Image2DArray + * \brief Image interface for arrays of 2D images. + */ +class Image2DArray : public Image +{ +public: + Image2DArray( + const Context& context, + cl_mem_flags flags, + ImageFormat format, + ::size_t arraySize, + ::size_t width, + ::size_t height, + ::size_t rowPitch, + ::size_t slicePitch, + void* host_ptr = NULL, + cl_int* err = NULL) + { + cl_int error; + cl_image_desc desc = + { + CL_MEM_OBJECT_IMAGE2D_ARRAY, + width, + height, + 0, // depth (unused) + arraySize, + rowPitch, + slicePitch, + 0, 0, 0 + }; + object_ = ::clCreateImage( + context(), + flags, + &format, + &desc, + host_ptr, + &error); + + detail::errHandler(error, __CREATE_IMAGE_ERR); + if (err != NULL) { + *err = error; + } + } + + Image2DArray() { } + + __CL_EXPLICIT_CONSTRUCTORS Image2DArray(const cl_mem& imageArray) : Image(imageArray) { } + + Image2DArray& operator = (const cl_mem& rhs) + { + Image::operator=(rhs); + return *this; + } + + /*! \brief Copy constructor to forward copy to the superclass correctly. + * Required for MSVC. + */ + Image2DArray(const Image2DArray& img) : Image(img) {} + + /*! \brief Copy assignment to forward copy to the superclass correctly. + * Required for MSVC. + */ + Image2DArray& operator = (const Image2DArray &img) + { + Image::operator=(img); + return *this; + } + +#if defined(CL_HPP_RVALUE_REFERENCES_SUPPORTED) + /*! \brief Move constructor to forward move to the superclass correctly. + * Required for MSVC. + */ + Image2DArray(Image2DArray&& img) CL_HPP_NOEXCEPT : Image(std::move(img)) {} + + /*! \brief Move assignment to forward move to the superclass correctly. + * Required for MSVC. + */ + Image2DArray& operator = (Image2DArray &&img) + { + Image::operator=(std::move(img)); + return *this; + } +#endif // #if defined(CL_HPP_RVALUE_REFERENCES_SUPPORTED) +}; +#endif // #if defined(CL_VERSION_1_2) + +/*! \brief Class interface for 3D Image Memory objects. + * + * See Memory for details about copy semantics, etc. + * + * \see Memory + */ +class Image3D : public Image +{ +public: + /*! \brief Constructs a 3D Image in a specified context. + * + * Wraps clCreateImage(). + */ + Image3D( + const Context& context, + cl_mem_flags flags, + ImageFormat format, + ::size_t width, + ::size_t height, + ::size_t depth, + ::size_t row_pitch = 0, + ::size_t slice_pitch = 0, + void* host_ptr = NULL, + cl_int* err = NULL) + { + cl_int error; + bool useCreateImage; + +#if defined(CL_VERSION_1_2) && defined(CL_USE_DEPRECATED_OPENCL_1_1_APIS) + // Run-time decision based on the actual platform + { + cl_uint version = detail::getContextPlatformVersion(context()); + useCreateImage = (version >= 0x10002); // OpenCL 1.2 or above + } +#elif defined(CL_VERSION_1_2) + useCreateImage = true; +#else + useCreateImage = false; +#endif + +#if defined(CL_VERSION_1_2) + if (useCreateImage) + { + cl_image_desc desc = + { + CL_MEM_OBJECT_IMAGE3D, + width, + height, + depth, + 0, // array size (unused) + row_pitch, + slice_pitch, + 0, 0, 0 + }; + object_ = ::clCreateImage( + context(), + flags, + &format, + &desc, + host_ptr, + &error); + + detail::errHandler(error, __CREATE_IMAGE_ERR); + if (err != NULL) { + *err = error; + } + } +#endif // #if defined(CL_VERSION_1_2) +#if !defined(CL_VERSION_1_2) || defined(CL_USE_DEPRECATED_OPENCL_1_1_APIS) + if (!useCreateImage) + { + object_ = ::clCreateImage3D( + context(), flags, &format, width, height, depth, row_pitch, + slice_pitch, host_ptr, &error); + + detail::errHandler(error, __CREATE_IMAGE3D_ERR); + if (err != NULL) { + *err = error; + } + } +#endif // #if !defined(CL_VERSION_1_2) || defined(CL_USE_DEPRECATED_OPENCL_1_1_APIS) + } + + //! \brief Default constructor - initializes to NULL. + Image3D() : Image() { } + + /*! \brief Constructor from cl_mem - takes ownership. + * + * See Memory for further details. + */ + __CL_EXPLICIT_CONSTRUCTORS Image3D(const cl_mem& image3D) : Image(image3D) { } + + /*! \brief Assignment from cl_mem - performs shallow copy. + * + * See Memory for further details. + */ + Image3D& operator = (const cl_mem& rhs) + { + Image::operator=(rhs); + return *this; + } + + /*! \brief Copy constructor to forward copy to the superclass correctly. + * Required for MSVC. + */ + Image3D(const Image3D& img) : Image(img) {} + + /*! \brief Copy assignment to forward copy to the superclass correctly. + * Required for MSVC. + */ + Image3D& operator = (const Image3D &img) + { + Image::operator=(img); + return *this; + } + +#if defined(CL_HPP_RVALUE_REFERENCES_SUPPORTED) + /*! \brief Move constructor to forward move to the superclass correctly. + * Required for MSVC. + */ + Image3D(Image3D&& img) CL_HPP_NOEXCEPT : Image(std::move(img)) {} + + /*! \brief Move assignment to forward move to the superclass correctly. + * Required for MSVC. + */ + Image3D& operator = (Image3D &&img) + { + Image::operator=(std::move(img)); + return *this; + } +#endif // #if defined(CL_HPP_RVALUE_REFERENCES_SUPPORTED) +}; + +#if !defined(CL_VERSION_1_2) +/*! \brief Class interface for GL 3D Image Memory objects. + * + * This is provided to facilitate interoperability with OpenGL. + * + * See Memory for details about copy semantics, etc. + * + * \see Memory + */ +class Image3DGL : public Image3D +{ +public: + /*! \brief Constructs an Image3DGL in a specified context, from a given + * GL Texture. + * + * Wraps clCreateFromGLTexture3D(). + */ + Image3DGL( + const Context& context, + cl_mem_flags flags, + cl_GLenum target, + cl_GLint miplevel, + cl_GLuint texobj, + cl_int * err = NULL) + { + cl_int error; + object_ = ::clCreateFromGLTexture3D( + context(), + flags, + target, + miplevel, + texobj, + &error); + + detail::errHandler(error, __CREATE_GL_TEXTURE_3D_ERR); + if (err != NULL) { + *err = error; + } + } + + //! \brief Default constructor - initializes to NULL. + Image3DGL() : Image3D() { } + + /*! \brief Constructor from cl_mem - takes ownership. + * + * See Memory for further details. + */ + __CL_EXPLICIT_CONSTRUCTORS Image3DGL(const cl_mem& image) : Image3D(image) { } + + /*! \brief Assignment from cl_mem - performs shallow copy. + * + * See Memory for further details. + */ + Image3DGL& operator = (const cl_mem& rhs) + { + Image3D::operator=(rhs); + return *this; + } + + /*! \brief Copy constructor to forward copy to the superclass correctly. + * Required for MSVC. + */ + Image3DGL(const Image3DGL& img) : Image3D(img) {} + + /*! \brief Copy assignment to forward copy to the superclass correctly. + * Required for MSVC. + */ + Image3DGL& operator = (const Image3DGL &img) + { + Image3D::operator=(img); + return *this; + } + +#if defined(CL_HPP_RVALUE_REFERENCES_SUPPORTED) + /*! \brief Move constructor to forward move to the superclass correctly. + * Required for MSVC. + */ + Image3DGL(Image3DGL&& img) CL_HPP_NOEXCEPT : Image3D(std::move(img)) {} + + /*! \brief Move assignment to forward move to the superclass correctly. + * Required for MSVC. + */ + Image3DGL& operator = (Image3DGL &&img) + { + Image3D::operator=(std::move(img)); + return *this; + } +#endif // #if defined(CL_HPP_RVALUE_REFERENCES_SUPPORTED) +}; +#endif // #if !defined(CL_VERSION_1_2) + +#if defined(CL_VERSION_1_2) +/*! \class ImageGL + * \brief general image interface for GL interop. + * We abstract the 2D and 3D GL images into a single instance here + * that wraps all GL sourced images on the grounds that setup information + * was performed by OpenCL anyway. + */ +class ImageGL : public Image +{ +public: + ImageGL( + const Context& context, + cl_mem_flags flags, + cl_GLenum target, + cl_GLint miplevel, + cl_GLuint texobj, + cl_int * err = NULL) + { + cl_int error; + object_ = ::clCreateFromGLTexture( + context(), + flags, + target, + miplevel, + texobj, + &error); + + detail::errHandler(error, __CREATE_GL_TEXTURE_ERR); + if (err != NULL) { + *err = error; + } + } + + ImageGL() : Image() { } + + __CL_EXPLICIT_CONSTRUCTORS ImageGL(const cl_mem& image) : Image(image) { } + + ImageGL& operator = (const cl_mem& rhs) + { + Image::operator=(rhs); + return *this; + } + + /*! \brief Copy constructor to forward copy to the superclass correctly. + * Required for MSVC. + */ + ImageGL(const ImageGL& img) : Image(img) {} + + /*! \brief Copy assignment to forward copy to the superclass correctly. + * Required for MSVC. + */ + ImageGL& operator = (const ImageGL &img) + { + Image::operator=(img); + return *this; + } + +#if defined(CL_HPP_RVALUE_REFERENCES_SUPPORTED) + /*! \brief Move constructor to forward move to the superclass correctly. + * Required for MSVC. + */ + ImageGL(ImageGL&& img) CL_HPP_NOEXCEPT : Image(std::move(img)) {} + + /*! \brief Move assignment to forward move to the superclass correctly. + * Required for MSVC. + */ + ImageGL& operator = (ImageGL &&img) + { + Image::operator=(std::move(img)); + return *this; + } +#endif // #if defined(CL_HPP_RVALUE_REFERENCES_SUPPORTED) +}; +#endif // #if defined(CL_VERSION_1_2) + +/*! \brief Class interface for GL Render Buffer Memory Objects. +* +* This is provided to facilitate interoperability with OpenGL. +* +* See Memory for details about copy semantics, etc. +* +* \see Memory +*/ +class BufferRenderGL : +#if defined(CL_VERSION_1_2) + public ImageGL +#else // #if defined(CL_VERSION_1_2) + public Image2DGL +#endif //#if defined(CL_VERSION_1_2) +{ +public: + /*! \brief Constructs a BufferRenderGL in a specified context, from a given + * GL Renderbuffer. + * + * Wraps clCreateFromGLRenderbuffer(). + */ + BufferRenderGL( + const Context& context, + cl_mem_flags flags, + cl_GLuint bufobj, + cl_int * err = NULL) + { + cl_int error; + object_ = ::clCreateFromGLRenderbuffer( + context(), + flags, + bufobj, + &error); + + detail::errHandler(error, __CREATE_GL_RENDER_BUFFER_ERR); + if (err != NULL) { + *err = error; + } + } + + //! \brief Default constructor - initializes to NULL. +#if defined(CL_VERSION_1_2) + BufferRenderGL() : ImageGL() {}; +#else // #if defined(CL_VERSION_1_2) + BufferRenderGL() : Image2DGL() {}; +#endif //#if defined(CL_VERSION_1_2) + + /*! \brief Constructor from cl_mem - takes ownership. + * + * See Memory for further details. + */ +#if defined(CL_VERSION_1_2) + __CL_EXPLICIT_CONSTRUCTORS BufferRenderGL(const cl_mem& buffer) : ImageGL(buffer) { } +#else // #if defined(CL_VERSION_1_2) + __CL_EXPLICIT_CONSTRUCTORS BufferRenderGL(const cl_mem& buffer) : Image2DGL(buffer) { } +#endif //#if defined(CL_VERSION_1_2) + + + /*! \brief Assignment from cl_mem - performs shallow copy. + * + * See Memory for further details. + */ + BufferRenderGL& operator = (const cl_mem& rhs) + { +#if defined(CL_VERSION_1_2) + ImageGL::operator=(rhs); +#else // #if defined(CL_VERSION_1_2) + Image2DGL::operator=(rhs); +#endif //#if defined(CL_VERSION_1_2) + + return *this; + } + + /*! \brief Copy constructor to forward copy to the superclass correctly. + * Required for MSVC. + */ +#if defined(CL_VERSION_1_2) + BufferRenderGL(const BufferRenderGL& buf) : ImageGL(buf) {} +#else // #if defined(CL_VERSION_1_2) + BufferRenderGL(const BufferRenderGL& buf) : Image2DGL(buf) {} +#endif //#if defined(CL_VERSION_1_2) + + /*! \brief Copy assignment to forward copy to the superclass correctly. + * Required for MSVC. + */ + BufferRenderGL& operator = (const BufferRenderGL &rhs) + { +#if defined(CL_VERSION_1_2) + ImageGL::operator=(rhs); +#else // #if defined(CL_VERSION_1_2) + Image2DGL::operator=(rhs); +#endif //#if defined(CL_VERSION_1_2) + return *this; + } + +#if defined(CL_HPP_RVALUE_REFERENCES_SUPPORTED) + /*! \brief Move constructor to forward move to the superclass correctly. + * Required for MSVC. + */ +#if defined(CL_VERSION_1_2) + BufferRenderGL(BufferRenderGL&& buf) CL_HPP_NOEXCEPT : ImageGL(std::move(buf)) {} +#else // #if defined(CL_VERSION_1_2) + BufferRenderGL(BufferRenderGL&& buf) CL_HPP_NOEXCEPT : Image2DGL(std::move(buf)) {} +#endif //#if defined(CL_VERSION_1_2) + + + /*! \brief Move assignment to forward move to the superclass correctly. + * Required for MSVC. + */ + BufferRenderGL& operator = (BufferRenderGL &&buf) + { +#if defined(CL_VERSION_1_2) + ImageGL::operator=(std::move(buf)); +#else // #if defined(CL_VERSION_1_2) + Image2DGL::operator=(std::move(buf)); +#endif //#if defined(CL_VERSION_1_2) + + return *this; + } +#endif // #if defined(CL_HPP_RVALUE_REFERENCES_SUPPORTED) + + //! \brief Wrapper for clGetGLObjectInfo(). + cl_int getObjectInfo( + cl_gl_object_type *type, + cl_GLuint * gl_object_name) + { + return detail::errHandler( + ::clGetGLObjectInfo(object_, type, gl_object_name), + __GET_GL_OBJECT_INFO_ERR); + } +}; + +/*! \brief Class interface for cl_sampler. + * + * \note Copies of these objects are shallow, meaning that the copy will refer + * to the same underlying cl_sampler as the original. For details, see + * clRetainSampler() and clReleaseSampler(). + * + * \see cl_sampler + */ +class Sampler : public detail::Wrapper +{ +public: + //! \brief Default constructor - initializes to NULL. + Sampler() { } + + /*! \brief Constructs a Sampler in a specified context. + * + * Wraps clCreateSampler(). + */ + Sampler( + const Context& context, + cl_bool normalized_coords, + cl_addressing_mode addressing_mode, + cl_filter_mode filter_mode, + cl_int* err = NULL) + { + cl_int error; + object_ = ::clCreateSampler( + context(), + normalized_coords, + addressing_mode, + filter_mode, + &error); + + detail::errHandler(error, __CREATE_SAMPLER_ERR); + if (err != NULL) { + *err = error; + } + } + + /*! \brief Constructor from cl_sampler - takes ownership. + * + * This effectively transfers ownership of a refcount on the cl_sampler + * into the new Sampler object. + */ + __CL_EXPLICIT_CONSTRUCTORS Sampler(const cl_sampler& sampler) : detail::Wrapper(sampler) { } + + /*! \brief Assignment operator from cl_sampler - takes ownership. + * + * This effectively transfers ownership of a refcount on the rhs and calls + * clReleaseSampler() on the value previously held by this instance. + */ + Sampler& operator = (const cl_sampler& rhs) + { + detail::Wrapper::operator=(rhs); + return *this; + } + + /*! \brief Copy constructor to forward copy to the superclass correctly. + * Required for MSVC. + */ + Sampler(const Sampler& sam) : detail::Wrapper(sam) {} + + /*! \brief Copy assignment to forward copy to the superclass correctly. + * Required for MSVC. + */ + Sampler& operator = (const Sampler &sam) + { + detail::Wrapper::operator=(sam); + return *this; + } + +#if defined(CL_HPP_RVALUE_REFERENCES_SUPPORTED) + /*! \brief Move constructor to forward move to the superclass correctly. + * Required for MSVC. + */ + Sampler(Sampler&& sam) CL_HPP_NOEXCEPT : detail::Wrapper(std::move(sam)) {} + + /*! \brief Move assignment to forward move to the superclass correctly. + * Required for MSVC. + */ + Sampler& operator = (Sampler &&sam) + { + detail::Wrapper::operator=(std::move(sam)); + return *this; + } +#endif // #if defined(CL_HPP_RVALUE_REFERENCES_SUPPORTED) + + //! \brief Wrapper for clGetSamplerInfo(). + template + cl_int getInfo(cl_sampler_info name, T* param) const + { + return detail::errHandler( + detail::getInfo(&::clGetSamplerInfo, object_, name, param), + __GET_SAMPLER_INFO_ERR); + } + + //! \brief Wrapper for clGetSamplerInfo() that returns by value. + template typename + detail::param_traits::param_type + getInfo(cl_int* err = NULL) const + { + typename detail::param_traits< + detail::cl_sampler_info, name>::param_type param; + cl_int result = getInfo(name, ¶m); + if (err != NULL) { + *err = result; + } + return param; + } +}; + +class Program; +class CommandQueue; +class Kernel; + +//! \brief Class interface for specifying NDRange values. +class NDRange +{ +private: + size_t<3> sizes_; + cl_uint dimensions_; + +public: + //! \brief Default constructor - resulting range has zero dimensions. + NDRange() + : dimensions_(0) + { } + + //! \brief Constructs one-dimensional range. + NDRange(::size_t size0) + : dimensions_(1) + { + sizes_[0] = size0; + } + + //! \brief Constructs two-dimensional range. + NDRange(::size_t size0, ::size_t size1) + : dimensions_(2) + { + sizes_[0] = size0; + sizes_[1] = size1; + } + + //! \brief Constructs three-dimensional range. + NDRange(::size_t size0, ::size_t size1, ::size_t size2) + : dimensions_(3) + { + sizes_[0] = size0; + sizes_[1] = size1; + sizes_[2] = size2; + } + + /*! \brief Conversion operator to const ::size_t *. + * + * \returns a pointer to the size of the first dimension. + */ + operator const ::size_t*() const { + return (const ::size_t*) sizes_; + } + + //! \brief Queries the number of dimensions in the range. + ::size_t dimensions() const { return dimensions_; } +}; + +//! \brief A zero-dimensional range. +static const NDRange NullRange; + +//! \brief Local address wrapper for use with Kernel::setArg +struct LocalSpaceArg +{ + ::size_t size_; +}; + +namespace detail { + +template +struct KernelArgumentHandler +{ + static ::size_t size(const T&) { return sizeof(T); } + static const T* ptr(const T& value) { return &value; } +}; + +template <> +struct KernelArgumentHandler +{ + static ::size_t size(const LocalSpaceArg& value) { return value.size_; } + static const void* ptr(const LocalSpaceArg&) { return NULL; } +}; + +} +//! \endcond + +/*! __local + * \brief Helper function for generating LocalSpaceArg objects. + * Deprecated. Replaced with Local. + */ +inline CL_EXT_PREFIX__VERSION_1_1_DEPRECATED LocalSpaceArg +__local(::size_t size) CL_EXT_SUFFIX__VERSION_1_1_DEPRECATED; +inline LocalSpaceArg +__local(::size_t size) +{ + LocalSpaceArg ret = { size }; + return ret; +} + +/*! Local + * \brief Helper function for generating LocalSpaceArg objects. + */ +inline LocalSpaceArg +Local(::size_t size) +{ + LocalSpaceArg ret = { size }; + return ret; +} + +//class KernelFunctor; + +/*! \brief Class interface for cl_kernel. + * + * \note Copies of these objects are shallow, meaning that the copy will refer + * to the same underlying cl_kernel as the original. For details, see + * clRetainKernel() and clReleaseKernel(). + * + * \see cl_kernel + */ +class Kernel : public detail::Wrapper +{ +public: + inline Kernel(const Program& program, const char* name, cl_int* err = NULL); + + //! \brief Default constructor - initializes to NULL. + Kernel() { } + + /*! \brief Constructor from cl_kernel - takes ownership. + * + * This effectively transfers ownership of a refcount on the cl_kernel + * into the new Kernel object. + */ + __CL_EXPLICIT_CONSTRUCTORS Kernel(const cl_kernel& kernel) : detail::Wrapper(kernel) { } + + /*! \brief Assignment operator from cl_kernel - takes ownership. + * + * This effectively transfers ownership of a refcount on the rhs and calls + * clReleaseKernel() on the value previously held by this instance. + */ + Kernel& operator = (const cl_kernel& rhs) + { + detail::Wrapper::operator=(rhs); + return *this; + } + + /*! \brief Copy constructor to forward copy to the superclass correctly. + * Required for MSVC. + */ + Kernel(const Kernel& kernel) : detail::Wrapper(kernel) {} + + /*! \brief Copy assignment to forward copy to the superclass correctly. + * Required for MSVC. + */ + Kernel& operator = (const Kernel &kernel) + { + detail::Wrapper::operator=(kernel); + return *this; + } + +#if defined(CL_HPP_RVALUE_REFERENCES_SUPPORTED) + /*! \brief Move constructor to forward move to the superclass correctly. + * Required for MSVC. + */ + Kernel(Kernel&& kernel) CL_HPP_NOEXCEPT : detail::Wrapper(std::move(kernel)) {} + + /*! \brief Move assignment to forward move to the superclass correctly. + * Required for MSVC. + */ + Kernel& operator = (Kernel &&kernel) + { + detail::Wrapper::operator=(std::move(kernel)); + return *this; + } +#endif // #if defined(CL_HPP_RVALUE_REFERENCES_SUPPORTED) + + template + cl_int getInfo(cl_kernel_info name, T* param) const + { + return detail::errHandler( + detail::getInfo(&::clGetKernelInfo, object_, name, param), + __GET_KERNEL_INFO_ERR); + } + + template typename + detail::param_traits::param_type + getInfo(cl_int* err = NULL) const + { + typename detail::param_traits< + detail::cl_kernel_info, name>::param_type param; + cl_int result = getInfo(name, ¶m); + if (err != NULL) { + *err = result; + } + return param; + } + +#if defined(CL_VERSION_1_2) + template + cl_int getArgInfo(cl_uint argIndex, cl_kernel_arg_info name, T* param) const + { + return detail::errHandler( + detail::getInfo(&::clGetKernelArgInfo, object_, argIndex, name, param), + __GET_KERNEL_ARG_INFO_ERR); + } + + template typename + detail::param_traits::param_type + getArgInfo(cl_uint argIndex, cl_int* err = NULL) const + { + typename detail::param_traits< + detail::cl_kernel_arg_info, name>::param_type param; + cl_int result = getArgInfo(argIndex, name, ¶m); + if (err != NULL) { + *err = result; + } + return param; + } +#endif // #if defined(CL_VERSION_1_2) + + template + cl_int getWorkGroupInfo( + const Device& device, cl_kernel_work_group_info name, T* param) const + { + return detail::errHandler( + detail::getInfo( + &::clGetKernelWorkGroupInfo, object_, device(), name, param), + __GET_KERNEL_WORK_GROUP_INFO_ERR); + } + + template typename + detail::param_traits::param_type + getWorkGroupInfo(const Device& device, cl_int* err = NULL) const + { + typename detail::param_traits< + detail::cl_kernel_work_group_info, name>::param_type param; + cl_int result = getWorkGroupInfo(device, name, ¶m); + if (err != NULL) { + *err = result; + } + return param; + } + + template + cl_int setArg(cl_uint index, const T &value) + { + return detail::errHandler( + ::clSetKernelArg( + object_, + index, + detail::KernelArgumentHandler::size(value), + detail::KernelArgumentHandler::ptr(value)), + __SET_KERNEL_ARGS_ERR); + } + + cl_int setArg(cl_uint index, ::size_t size, const void* argPtr) + { + return detail::errHandler( + ::clSetKernelArg(object_, index, size, argPtr), + __SET_KERNEL_ARGS_ERR); + } +}; + +/*! \class Program + * \brief Program interface that implements cl_program. + */ +class Program : public detail::Wrapper +{ +public: + typedef VECTOR_CLASS > Binaries; + typedef VECTOR_CLASS > Sources; + + Program( + const STRING_CLASS& source, + bool build = false, + cl_int* err = NULL) + { + cl_int error; + + const char * strings = source.c_str(); + const ::size_t length = source.size(); + + Context context = Context::getDefault(err); + + object_ = ::clCreateProgramWithSource( + context(), (cl_uint)1, &strings, &length, &error); + + detail::errHandler(error, __CREATE_PROGRAM_WITH_SOURCE_ERR); + + if (error == CL_SUCCESS && build) { + + error = ::clBuildProgram( + object_, + 0, + NULL, + "", + NULL, + NULL); + + detail::errHandler(error, __BUILD_PROGRAM_ERR); + } + + if (err != NULL) { + *err = error; + } + } + + Program( + const Context& context, + const STRING_CLASS& source, + bool build = false, + cl_int* err = NULL) + { + cl_int error; + + const char * strings = source.c_str(); + const ::size_t length = source.size(); + + object_ = ::clCreateProgramWithSource( + context(), (cl_uint)1, &strings, &length, &error); + + detail::errHandler(error, __CREATE_PROGRAM_WITH_SOURCE_ERR); + + if (error == CL_SUCCESS && build) { + + error = ::clBuildProgram( + object_, + 0, + NULL, + "", + NULL, + NULL); + + detail::errHandler(error, __BUILD_PROGRAM_ERR); + } + + if (err != NULL) { + *err = error; + } + } + + Program( + const Context& context, + const Sources& sources, + cl_int* err = NULL) + { + cl_int error; + + const ::size_t n = (::size_t)sources.size(); + ::size_t* lengths = (::size_t*) alloca(n * sizeof(::size_t)); + const char** strings = (const char**) alloca(n * sizeof(const char*)); + + for (::size_t i = 0; i < n; ++i) { + strings[i] = sources[(int)i].first; + lengths[i] = sources[(int)i].second; + } + + object_ = ::clCreateProgramWithSource( + context(), (cl_uint)n, strings, lengths, &error); + + detail::errHandler(error, __CREATE_PROGRAM_WITH_SOURCE_ERR); + if (err != NULL) { + *err = error; + } + } + + /** + * Construct a program object from a list of devices and a per-device list of binaries. + * \param context A valid OpenCL context in which to construct the program. + * \param devices A vector of OpenCL device objects for which the program will be created. + * \param binaries A vector of pairs of a pointer to a binary object and its length. + * \param binaryStatus An optional vector that on completion will be resized to + * match the size of binaries and filled with values to specify if each binary + * was successfully loaded. + * Set to CL_SUCCESS if the binary was successfully loaded. + * Set to CL_INVALID_VALUE if the length is 0 or the binary pointer is NULL. + * Set to CL_INVALID_BINARY if the binary provided is not valid for the matching device. + * \param err if non-NULL will be set to CL_SUCCESS on successful operation or one of the following errors: + * CL_INVALID_CONTEXT if context is not a valid context. + * CL_INVALID_VALUE if the length of devices is zero; or if the length of binaries does not match the length of devices; + * or if any entry in binaries is NULL or has length 0. + * CL_INVALID_DEVICE if OpenCL devices listed in devices are not in the list of devices associated with context. + * CL_INVALID_BINARY if an invalid program binary was encountered for any device. binaryStatus will return specific status for each device. + * CL_OUT_OF_HOST_MEMORY if there is a failure to allocate resources required by the OpenCL implementation on the host. + */ + Program( + const Context& context, + const VECTOR_CLASS& devices, + const Binaries& binaries, + VECTOR_CLASS* binaryStatus = NULL, + cl_int* err = NULL) + { + cl_int error; + + const ::size_t numDevices = devices.size(); + + // Catch size mismatch early and return + if(binaries.size() != numDevices) { + error = CL_INVALID_VALUE; + detail::errHandler(error, __CREATE_PROGRAM_WITH_BINARY_ERR); + if (err != NULL) { + *err = error; + } + return; + } + + ::size_t* lengths = (::size_t*) alloca(numDevices * sizeof(::size_t)); + const unsigned char** images = (const unsigned char**) alloca(numDevices * sizeof(const unsigned char**)); + + for (::size_t i = 0; i < numDevices; ++i) { + images[i] = (const unsigned char*)binaries[i].first; + lengths[i] = binaries[(int)i].second; + } + + cl_device_id* deviceIDs = (cl_device_id*) alloca(numDevices * sizeof(cl_device_id)); + for( ::size_t deviceIndex = 0; deviceIndex < numDevices; ++deviceIndex ) { + deviceIDs[deviceIndex] = (devices[deviceIndex])(); + } + + if(binaryStatus) { + binaryStatus->resize(numDevices); + } + + object_ = ::clCreateProgramWithBinary( + context(), (cl_uint) devices.size(), + deviceIDs, + lengths, images, (binaryStatus != NULL && numDevices > 0) + ? &binaryStatus->front() + : NULL, &error); + + detail::errHandler(error, __CREATE_PROGRAM_WITH_BINARY_ERR); + if (err != NULL) { + *err = error; + } + } + + +#if defined(CL_VERSION_1_2) + /** + * Create program using builtin kernels. + * \param kernelNames Semi-colon separated list of builtin kernel names + */ + Program( + const Context& context, + const VECTOR_CLASS& devices, + const STRING_CLASS& kernelNames, + cl_int* err = NULL) + { + cl_int error; + + + ::size_t numDevices = devices.size(); + cl_device_id* deviceIDs = (cl_device_id*) alloca(numDevices * sizeof(cl_device_id)); + for( ::size_t deviceIndex = 0; deviceIndex < numDevices; ++deviceIndex ) { + deviceIDs[deviceIndex] = (devices[deviceIndex])(); + } + + object_ = ::clCreateProgramWithBuiltInKernels( + context(), + (cl_uint) devices.size(), + deviceIDs, + kernelNames.c_str(), + &error); + + detail::errHandler(error, __CREATE_PROGRAM_WITH_BUILT_IN_KERNELS_ERR); + if (err != NULL) { + *err = error; + } + } +#endif // #if defined(CL_VERSION_1_2) + + Program() { } + + __CL_EXPLICIT_CONSTRUCTORS Program(const cl_program& program) : detail::Wrapper(program) { } + + Program& operator = (const cl_program& rhs) + { + detail::Wrapper::operator=(rhs); + return *this; + } + + /*! \brief Copy constructor to forward copy to the superclass correctly. + * Required for MSVC. + */ + Program(const Program& program) : detail::Wrapper(program) {} + + /*! \brief Copy assignment to forward copy to the superclass correctly. + * Required for MSVC. + */ + Program& operator = (const Program &program) + { + detail::Wrapper::operator=(program); + return *this; + } + +#if defined(CL_HPP_RVALUE_REFERENCES_SUPPORTED) + /*! \brief Move constructor to forward move to the superclass correctly. + * Required for MSVC. + */ + Program(Program&& program) CL_HPP_NOEXCEPT : detail::Wrapper(std::move(program)) {} + + /*! \brief Move assignment to forward move to the superclass correctly. + * Required for MSVC. + */ + Program& operator = (Program &&program) + { + detail::Wrapper::operator=(std::move(program)); + return *this; + } +#endif // #if defined(CL_HPP_RVALUE_REFERENCES_SUPPORTED) + + cl_int build( + const VECTOR_CLASS& devices, + const char* options = NULL, + void (CL_CALLBACK * notifyFptr)(cl_program, void *) = NULL, + void* data = NULL) const + { + ::size_t numDevices = devices.size(); + cl_device_id* deviceIDs = (cl_device_id*) alloca(numDevices * sizeof(cl_device_id)); + for( ::size_t deviceIndex = 0; deviceIndex < numDevices; ++deviceIndex ) { + deviceIDs[deviceIndex] = (devices[deviceIndex])(); + } + + return detail::errHandler( + ::clBuildProgram( + object_, + (cl_uint) + devices.size(), + deviceIDs, + options, + notifyFptr, + data), + __BUILD_PROGRAM_ERR); + } + + cl_int build( + const char* options = NULL, + void (CL_CALLBACK * notifyFptr)(cl_program, void *) = NULL, + void* data = NULL) const + { + return detail::errHandler( + ::clBuildProgram( + object_, + 0, + NULL, + options, + notifyFptr, + data), + __BUILD_PROGRAM_ERR); + } + +#if defined(CL_VERSION_1_2) + cl_int compile( + const char* options = NULL, + void (CL_CALLBACK * notifyFptr)(cl_program, void *) = NULL, + void* data = NULL) const + { + return detail::errHandler( + ::clCompileProgram( + object_, + 0, + NULL, + options, + 0, + NULL, + NULL, + notifyFptr, + data), + __COMPILE_PROGRAM_ERR); + } +#endif + + template + cl_int getInfo(cl_program_info name, T* param) const + { + return detail::errHandler( + detail::getInfo(&::clGetProgramInfo, object_, name, param), + __GET_PROGRAM_INFO_ERR); + } + + template typename + detail::param_traits::param_type + getInfo(cl_int* err = NULL) const + { + typename detail::param_traits< + detail::cl_program_info, name>::param_type param; + cl_int result = getInfo(name, ¶m); + if (err != NULL) { + *err = result; + } + return param; + } + + template + cl_int getBuildInfo( + const Device& device, cl_program_build_info name, T* param) const + { + return detail::errHandler( + detail::getInfo( + &::clGetProgramBuildInfo, object_, device(), name, param), + __GET_PROGRAM_BUILD_INFO_ERR); + } + + template typename + detail::param_traits::param_type + getBuildInfo(const Device& device, cl_int* err = NULL) const + { + typename detail::param_traits< + detail::cl_program_build_info, name>::param_type param; + cl_int result = getBuildInfo(device, name, ¶m); + if (err != NULL) { + *err = result; + } + return param; + } + + cl_int createKernels(VECTOR_CLASS* kernels) + { + cl_uint numKernels; + cl_int err = ::clCreateKernelsInProgram(object_, 0, NULL, &numKernels); + if (err != CL_SUCCESS) { + return detail::errHandler(err, __CREATE_KERNELS_IN_PROGRAM_ERR); + } + + Kernel* value = (Kernel*) alloca(numKernels * sizeof(Kernel)); + err = ::clCreateKernelsInProgram( + object_, numKernels, (cl_kernel*) value, NULL); + if (err != CL_SUCCESS) { + return detail::errHandler(err, __CREATE_KERNELS_IN_PROGRAM_ERR); + } + + kernels->assign(&value[0], &value[numKernels]); + return CL_SUCCESS; + } +}; + +#if defined(CL_VERSION_1_2) +inline Program linkProgram( + Program input1, + Program input2, + const char* options = NULL, + void (CL_CALLBACK * notifyFptr)(cl_program, void *) = NULL, + void* data = NULL, + cl_int* err = NULL) +{ + cl_int error_local = CL_SUCCESS; + + cl_program programs[2] = { input1(), input2() }; + + Context ctx = input1.getInfo(&error_local); + if(error_local!=CL_SUCCESS) { + detail::errHandler(error_local, __LINK_PROGRAM_ERR); + } + + cl_program prog = ::clLinkProgram( + ctx(), + 0, + NULL, + options, + 2, + programs, + notifyFptr, + data, + &error_local); + + detail::errHandler(error_local,__COMPILE_PROGRAM_ERR); + if (err != NULL) { + *err = error_local; + } + + return Program(prog); +} + +inline Program linkProgram( + VECTOR_CLASS inputPrograms, + const char* options = NULL, + void (CL_CALLBACK * notifyFptr)(cl_program, void *) = NULL, + void* data = NULL, + cl_int* err = NULL) +{ + cl_int error_local = CL_SUCCESS; + + cl_program * programs = (cl_program*) alloca(inputPrograms.size() * sizeof(cl_program)); + + if (programs != NULL) { + for (unsigned int i = 0; i < inputPrograms.size(); i++) { + programs[i] = inputPrograms[i](); + } + } + + Context ctx; + if(inputPrograms.size() > 0) { + ctx = inputPrograms[0].getInfo(&error_local); + if(error_local!=CL_SUCCESS) { + detail::errHandler(error_local, __LINK_PROGRAM_ERR); + } + } + cl_program prog = ::clLinkProgram( + ctx(), + 0, + NULL, + options, + (cl_uint)inputPrograms.size(), + programs, + notifyFptr, + data, + &error_local); + + detail::errHandler(error_local,__COMPILE_PROGRAM_ERR); + if (err != NULL) { + *err = error_local; + } + + return Program(prog); +} +#endif + +template<> +inline VECTOR_CLASS cl::Program::getInfo(cl_int* err) const +{ + VECTOR_CLASS< ::size_t> sizes = getInfo(); + VECTOR_CLASS binaries; + for (VECTOR_CLASS< ::size_t>::iterator s = sizes.begin(); s != sizes.end(); ++s) + { + char *ptr = NULL; + if (*s != 0) + ptr = new char[*s]; + binaries.push_back(ptr); + } + + cl_int result = getInfo(CL_PROGRAM_BINARIES, &binaries); + if (err != NULL) { + *err = result; + } + return binaries; +} + +inline Kernel::Kernel(const Program& program, const char* name, cl_int* err) +{ + cl_int error; + + object_ = ::clCreateKernel(program(), name, &error); + detail::errHandler(error, __CREATE_KERNEL_ERR); + + if (err != NULL) { + *err = error; + } + +} + +/*! \class CommandQueue + * \brief CommandQueue interface for cl_command_queue. + */ +class CommandQueue : public detail::Wrapper +{ +private: +#ifdef CL_HPP_CPP11_ATOMICS_SUPPORTED + static std::atomic default_initialized_; +#else // !CL_HPP_CPP11_ATOMICS_SUPPORTED + static volatile int default_initialized_; +#endif // !CL_HPP_CPP11_ATOMICS_SUPPORTED + static CommandQueue default_; + static volatile cl_int default_error_; +public: + CommandQueue( + cl_command_queue_properties properties, + cl_int* err = NULL) + { + cl_int error; + + Context context = Context::getDefault(&error); + detail::errHandler(error, __CREATE_CONTEXT_ERR); + + if (error != CL_SUCCESS) { + if (err != NULL) { + *err = error; + } + } + else { + Device device = context.getInfo()[0]; + + object_ = ::clCreateCommandQueue( + context(), device(), properties, &error); + + detail::errHandler(error, __CREATE_COMMAND_QUEUE_ERR); + if (err != NULL) { + *err = error; + } + } + } + /*! + * \brief Constructs a CommandQueue for an implementation defined device in the given context + */ + explicit CommandQueue( + const Context& context, + cl_command_queue_properties properties = 0, + cl_int* err = NULL) + { + cl_int error; + VECTOR_CLASS devices; + error = context.getInfo(CL_CONTEXT_DEVICES, &devices); + + detail::errHandler(error, __CREATE_CONTEXT_ERR); + + if (error != CL_SUCCESS) + { + if (err != NULL) { + *err = error; + } + return; + } + + object_ = ::clCreateCommandQueue(context(), devices[0](), properties, &error); + + detail::errHandler(error, __CREATE_COMMAND_QUEUE_ERR); + + if (err != NULL) { + *err = error; + } + + } + + CommandQueue( + const Context& context, + const Device& device, + cl_command_queue_properties properties = 0, + cl_int* err = NULL) + { + cl_int error; + object_ = ::clCreateCommandQueue( + context(), device(), properties, &error); + + detail::errHandler(error, __CREATE_COMMAND_QUEUE_ERR); + if (err != NULL) { + *err = error; + } + } + + /*! \brief Copy constructor to forward copy to the superclass correctly. + * Required for MSVC. + */ + CommandQueue(const CommandQueue& queue) : detail::Wrapper(queue) {} + + /*! \brief Copy assignment to forward copy to the superclass correctly. + * Required for MSVC. + */ + CommandQueue& operator = (const CommandQueue &queue) + { + detail::Wrapper::operator=(queue); + return *this; + } + +#if defined(CL_HPP_RVALUE_REFERENCES_SUPPORTED) + /*! \brief Move constructor to forward move to the superclass correctly. + * Required for MSVC. + */ + CommandQueue(CommandQueue&& queue) CL_HPP_NOEXCEPT : detail::Wrapper(std::move(queue)) {} + + /*! \brief Move assignment to forward move to the superclass correctly. + * Required for MSVC. + */ + CommandQueue& operator = (CommandQueue &&queue) + { + detail::Wrapper::operator=(std::move(queue)); + return *this; + } +#endif // #if defined(CL_HPP_RVALUE_REFERENCES_SUPPORTED) + + static CommandQueue getDefault(cl_int * err = NULL) + { + int state = detail::compare_exchange( + &default_initialized_, + __DEFAULT_BEING_INITIALIZED, __DEFAULT_NOT_INITIALIZED); + + if (state & __DEFAULT_INITIALIZED) { + if (err != NULL) { + *err = default_error_; + } + return default_; + } + + if (state & __DEFAULT_BEING_INITIALIZED) { + // Assume writes will propagate eventually... + while(default_initialized_ != __DEFAULT_INITIALIZED) { + detail::fence(); + } + + if (err != NULL) { + *err = default_error_; + } + return default_; + } + + cl_int error; + + Context context = Context::getDefault(&error); + detail::errHandler(error, __CREATE_COMMAND_QUEUE_ERR); + + if (error != CL_SUCCESS) { + if (err != NULL) { + *err = error; + } + } + else { + Device device = context.getInfo()[0]; + + default_ = CommandQueue(context, device, 0, &error); + + detail::errHandler(error, __CREATE_COMMAND_QUEUE_ERR); + if (err != NULL) { + *err = error; + } + } + + detail::fence(); + + default_error_ = error; + // Assume writes will propagate eventually... + default_initialized_ = __DEFAULT_INITIALIZED; + + detail::fence(); + + if (err != NULL) { + *err = default_error_; + } + return default_; + + } + + CommandQueue() { } + + __CL_EXPLICIT_CONSTRUCTORS CommandQueue(const cl_command_queue& commandQueue) : detail::Wrapper(commandQueue) { } + + CommandQueue& operator = (const cl_command_queue& rhs) + { + detail::Wrapper::operator=(rhs); + return *this; + } + + template + cl_int getInfo(cl_command_queue_info name, T* param) const + { + return detail::errHandler( + detail::getInfo( + &::clGetCommandQueueInfo, object_, name, param), + __GET_COMMAND_QUEUE_INFO_ERR); + } + + template typename + detail::param_traits::param_type + getInfo(cl_int* err = NULL) const + { + typename detail::param_traits< + detail::cl_command_queue_info, name>::param_type param; + cl_int result = getInfo(name, ¶m); + if (err != NULL) { + *err = result; + } + return param; + } + + cl_int enqueueReadBuffer( + const Buffer& buffer, + cl_bool blocking, + ::size_t offset, + ::size_t size, + void* ptr, + const VECTOR_CLASS* events = NULL, + Event* event = NULL) const + { + cl_event tmp; + cl_int err = detail::errHandler( + ::clEnqueueReadBuffer( + object_, buffer(), blocking, offset, size, + ptr, + (events != NULL) ? (cl_uint) events->size() : 0, + (events != NULL && events->size() > 0) ? (cl_event*) &events->front() : NULL, + (event != NULL) ? &tmp : NULL), + __ENQUEUE_READ_BUFFER_ERR); + + if (event != NULL && err == CL_SUCCESS) + *event = tmp; + + return err; + } + + cl_int enqueueWriteBuffer( + const Buffer& buffer, + cl_bool blocking, + ::size_t offset, + ::size_t size, + const void* ptr, + const VECTOR_CLASS* events = NULL, + Event* event = NULL) const + { + cl_event tmp; + cl_int err = detail::errHandler( + ::clEnqueueWriteBuffer( + object_, buffer(), blocking, offset, size, + ptr, + (events != NULL) ? (cl_uint) events->size() : 0, + (events != NULL && events->size() > 0) ? (cl_event*) &events->front() : NULL, + (event != NULL) ? &tmp : NULL), + __ENQUEUE_WRITE_BUFFER_ERR); + + if (event != NULL && err == CL_SUCCESS) + *event = tmp; + + return err; + } + + cl_int enqueueCopyBuffer( + const Buffer& src, + const Buffer& dst, + ::size_t src_offset, + ::size_t dst_offset, + ::size_t size, + const VECTOR_CLASS* events = NULL, + Event* event = NULL) const + { + cl_event tmp; + cl_int err = detail::errHandler( + ::clEnqueueCopyBuffer( + object_, src(), dst(), src_offset, dst_offset, size, + (events != NULL) ? (cl_uint) events->size() : 0, + (events != NULL && events->size() > 0) ? (cl_event*) &events->front() : NULL, + (event != NULL) ? &tmp : NULL), + __ENQEUE_COPY_BUFFER_ERR); + + if (event != NULL && err == CL_SUCCESS) + *event = tmp; + + return err; + } + + cl_int enqueueReadBufferRect( + const Buffer& buffer, + cl_bool blocking, + const size_t<3>& buffer_offset, + const size_t<3>& host_offset, + const size_t<3>& region, + ::size_t buffer_row_pitch, + ::size_t buffer_slice_pitch, + ::size_t host_row_pitch, + ::size_t host_slice_pitch, + void *ptr, + const VECTOR_CLASS* events = NULL, + Event* event = NULL) const + { + cl_event tmp; + cl_int err = detail::errHandler( + ::clEnqueueReadBufferRect( + object_, + buffer(), + blocking, + (const ::size_t *)buffer_offset, + (const ::size_t *)host_offset, + (const ::size_t *)region, + buffer_row_pitch, + buffer_slice_pitch, + host_row_pitch, + host_slice_pitch, + ptr, + (events != NULL) ? (cl_uint) events->size() : 0, + (events != NULL && events->size() > 0) ? (cl_event*) &events->front() : NULL, + (event != NULL) ? &tmp : NULL), + __ENQUEUE_READ_BUFFER_RECT_ERR); + + if (event != NULL && err == CL_SUCCESS) + *event = tmp; + + return err; + } + + cl_int enqueueWriteBufferRect( + const Buffer& buffer, + cl_bool blocking, + const size_t<3>& buffer_offset, + const size_t<3>& host_offset, + const size_t<3>& region, + ::size_t buffer_row_pitch, + ::size_t buffer_slice_pitch, + ::size_t host_row_pitch, + ::size_t host_slice_pitch, + const void *ptr, + const VECTOR_CLASS* events = NULL, + Event* event = NULL) const + { + cl_event tmp; + cl_int err = detail::errHandler( + ::clEnqueueWriteBufferRect( + object_, + buffer(), + blocking, + (const ::size_t *)buffer_offset, + (const ::size_t *)host_offset, + (const ::size_t *)region, + buffer_row_pitch, + buffer_slice_pitch, + host_row_pitch, + host_slice_pitch, + ptr, + (events != NULL) ? (cl_uint) events->size() : 0, + (events != NULL && events->size() > 0) ? (cl_event*) &events->front() : NULL, + (event != NULL) ? &tmp : NULL), + __ENQUEUE_WRITE_BUFFER_RECT_ERR); + + if (event != NULL && err == CL_SUCCESS) + *event = tmp; + + return err; + } + + cl_int enqueueCopyBufferRect( + const Buffer& src, + const Buffer& dst, + const size_t<3>& src_origin, + const size_t<3>& dst_origin, + const size_t<3>& region, + ::size_t src_row_pitch, + ::size_t src_slice_pitch, + ::size_t dst_row_pitch, + ::size_t dst_slice_pitch, + const VECTOR_CLASS* events = NULL, + Event* event = NULL) const + { + cl_event tmp; + cl_int err = detail::errHandler( + ::clEnqueueCopyBufferRect( + object_, + src(), + dst(), + (const ::size_t *)src_origin, + (const ::size_t *)dst_origin, + (const ::size_t *)region, + src_row_pitch, + src_slice_pitch, + dst_row_pitch, + dst_slice_pitch, + (events != NULL) ? (cl_uint) events->size() : 0, + (events != NULL && events->size() > 0) ? (cl_event*) &events->front() : NULL, + (event != NULL) ? &tmp : NULL), + __ENQEUE_COPY_BUFFER_RECT_ERR); + + if (event != NULL && err == CL_SUCCESS) + *event = tmp; + + return err; + } + +#if defined(CL_VERSION_1_2) + /** + * Enqueue a command to fill a buffer object with a pattern + * of a given size. The pattern is specified a as vector. + * \tparam PatternType The datatype of the pattern field. + * The pattern type must be an accepted OpenCL data type. + */ + template + cl_int enqueueFillBuffer( + const Buffer& buffer, + PatternType pattern, + ::size_t offset, + ::size_t size, + const VECTOR_CLASS* events = NULL, + Event* event = NULL) const + { + cl_event tmp; + cl_int err = detail::errHandler( + ::clEnqueueFillBuffer( + object_, + buffer(), + static_cast(&pattern), + sizeof(PatternType), + offset, + size, + (events != NULL) ? (cl_uint) events->size() : 0, + (events != NULL && events->size() > 0) ? (cl_event*) &events->front() : NULL, + (event != NULL) ? &tmp : NULL), + __ENQUEUE_FILL_BUFFER_ERR); + + if (event != NULL && err == CL_SUCCESS) + *event = tmp; + + return err; + } +#endif // #if defined(CL_VERSION_1_2) + + cl_int enqueueReadImage( + const Image& image, + cl_bool blocking, + const size_t<3>& origin, + const size_t<3>& region, + ::size_t row_pitch, + ::size_t slice_pitch, + void* ptr, + const VECTOR_CLASS* events = NULL, + Event* event = NULL) const + { + cl_event tmp; + cl_int err = detail::errHandler( + ::clEnqueueReadImage( + object_, image(), blocking, (const ::size_t *) origin, + (const ::size_t *) region, row_pitch, slice_pitch, ptr, + (events != NULL) ? (cl_uint) events->size() : 0, + (events != NULL && events->size() > 0) ? (cl_event*) &events->front() : NULL, + (event != NULL) ? &tmp : NULL), + __ENQUEUE_READ_IMAGE_ERR); + + if (event != NULL && err == CL_SUCCESS) + *event = tmp; + + return err; + } + + cl_int enqueueWriteImage( + const Image& image, + cl_bool blocking, + const size_t<3>& origin, + const size_t<3>& region, + ::size_t row_pitch, + ::size_t slice_pitch, + const void* ptr, + const VECTOR_CLASS* events = NULL, + Event* event = NULL) const + { + cl_event tmp; + cl_int err = detail::errHandler( + ::clEnqueueWriteImage( + object_, image(), blocking, (const ::size_t *) origin, + (const ::size_t *) region, row_pitch, slice_pitch, ptr, + (events != NULL) ? (cl_uint) events->size() : 0, + (events != NULL && events->size() > 0) ? (cl_event*) &events->front() : NULL, + (event != NULL) ? &tmp : NULL), + __ENQUEUE_WRITE_IMAGE_ERR); + + if (event != NULL && err == CL_SUCCESS) + *event = tmp; + + return err; + } + + cl_int enqueueCopyImage( + const Image& src, + const Image& dst, + const size_t<3>& src_origin, + const size_t<3>& dst_origin, + const size_t<3>& region, + const VECTOR_CLASS* events = NULL, + Event* event = NULL) const + { + cl_event tmp; + cl_int err = detail::errHandler( + ::clEnqueueCopyImage( + object_, src(), dst(), (const ::size_t *) src_origin, + (const ::size_t *)dst_origin, (const ::size_t *) region, + (events != NULL) ? (cl_uint) events->size() : 0, + (events != NULL && events->size() > 0) ? (cl_event*) &events->front() : NULL, + (event != NULL) ? &tmp : NULL), + __ENQUEUE_COPY_IMAGE_ERR); + + if (event != NULL && err == CL_SUCCESS) + *event = tmp; + + return err; + } + +#if defined(CL_VERSION_1_2) + /** + * Enqueue a command to fill an image object with a specified color. + * \param fillColor is the color to use to fill the image. + * This is a four component RGBA floating-point color value if + * the image channel data type is not an unnormalized signed or + * unsigned data type. + */ + cl_int enqueueFillImage( + const Image& image, + cl_float4 fillColor, + const size_t<3>& origin, + const size_t<3>& region, + const VECTOR_CLASS* events = NULL, + Event* event = NULL) const + { + cl_event tmp; + cl_int err = detail::errHandler( + ::clEnqueueFillImage( + object_, + image(), + static_cast(&fillColor), + (const ::size_t *) origin, + (const ::size_t *) region, + (events != NULL) ? (cl_uint) events->size() : 0, + (events != NULL && events->size() > 0) ? (cl_event*) &events->front() : NULL, + (event != NULL) ? &tmp : NULL), + __ENQUEUE_FILL_IMAGE_ERR); + + if (event != NULL && err == CL_SUCCESS) + *event = tmp; + + return err; + } + + /** + * Enqueue a command to fill an image object with a specified color. + * \param fillColor is the color to use to fill the image. + * This is a four component RGBA signed integer color value if + * the image channel data type is an unnormalized signed integer + * type. + */ + cl_int enqueueFillImage( + const Image& image, + cl_int4 fillColor, + const size_t<3>& origin, + const size_t<3>& region, + const VECTOR_CLASS* events = NULL, + Event* event = NULL) const + { + cl_event tmp; + cl_int err = detail::errHandler( + ::clEnqueueFillImage( + object_, + image(), + static_cast(&fillColor), + (const ::size_t *) origin, + (const ::size_t *) region, + (events != NULL) ? (cl_uint) events->size() : 0, + (events != NULL && events->size() > 0) ? (cl_event*) &events->front() : NULL, + (event != NULL) ? &tmp : NULL), + __ENQUEUE_FILL_IMAGE_ERR); + + if (event != NULL && err == CL_SUCCESS) + *event = tmp; + + return err; + } + + /** + * Enqueue a command to fill an image object with a specified color. + * \param fillColor is the color to use to fill the image. + * This is a four component RGBA unsigned integer color value if + * the image channel data type is an unnormalized unsigned integer + * type. + */ + cl_int enqueueFillImage( + const Image& image, + cl_uint4 fillColor, + const size_t<3>& origin, + const size_t<3>& region, + const VECTOR_CLASS* events = NULL, + Event* event = NULL) const + { + cl_event tmp; + cl_int err = detail::errHandler( + ::clEnqueueFillImage( + object_, + image(), + static_cast(&fillColor), + (const ::size_t *) origin, + (const ::size_t *) region, + (events != NULL) ? (cl_uint) events->size() : 0, + (events != NULL && events->size() > 0) ? (cl_event*) &events->front() : NULL, + (event != NULL) ? &tmp : NULL), + __ENQUEUE_FILL_IMAGE_ERR); + + if (event != NULL && err == CL_SUCCESS) + *event = tmp; + + return err; + } +#endif // #if defined(CL_VERSION_1_2) + + cl_int enqueueCopyImageToBuffer( + const Image& src, + const Buffer& dst, + const size_t<3>& src_origin, + const size_t<3>& region, + ::size_t dst_offset, + const VECTOR_CLASS* events = NULL, + Event* event = NULL) const + { + cl_event tmp; + cl_int err = detail::errHandler( + ::clEnqueueCopyImageToBuffer( + object_, src(), dst(), (const ::size_t *) src_origin, + (const ::size_t *) region, dst_offset, + (events != NULL) ? (cl_uint) events->size() : 0, + (events != NULL && events->size() > 0) ? (cl_event*) &events->front() : NULL, + (event != NULL) ? &tmp : NULL), + __ENQUEUE_COPY_IMAGE_TO_BUFFER_ERR); + + if (event != NULL && err == CL_SUCCESS) + *event = tmp; + + return err; + } + + cl_int enqueueCopyBufferToImage( + const Buffer& src, + const Image& dst, + ::size_t src_offset, + const size_t<3>& dst_origin, + const size_t<3>& region, + const VECTOR_CLASS* events = NULL, + Event* event = NULL) const + { + cl_event tmp; + cl_int err = detail::errHandler( + ::clEnqueueCopyBufferToImage( + object_, src(), dst(), src_offset, + (const ::size_t *) dst_origin, (const ::size_t *) region, + (events != NULL) ? (cl_uint) events->size() : 0, + (events != NULL && events->size() > 0) ? (cl_event*) &events->front() : NULL, + (event != NULL) ? &tmp : NULL), + __ENQUEUE_COPY_BUFFER_TO_IMAGE_ERR); + + if (event != NULL && err == CL_SUCCESS) + *event = tmp; + + return err; + } + + void* enqueueMapBuffer( + const Buffer& buffer, + cl_bool blocking, + cl_map_flags flags, + ::size_t offset, + ::size_t size, + const VECTOR_CLASS* events = NULL, + Event* event = NULL, + cl_int* err = NULL) const + { + cl_event tmp; + cl_int error; + void * result = ::clEnqueueMapBuffer( + object_, buffer(), blocking, flags, offset, size, + (events != NULL) ? (cl_uint) events->size() : 0, + (events != NULL && events->size() > 0) ? (cl_event*) &events->front() : NULL, + (event != NULL) ? &tmp : NULL, + &error); + + detail::errHandler(error, __ENQUEUE_MAP_BUFFER_ERR); + if (err != NULL) { + *err = error; + } + if (event != NULL && error == CL_SUCCESS) + *event = tmp; + + return result; + } + + void* enqueueMapImage( + const Image& buffer, + cl_bool blocking, + cl_map_flags flags, + const size_t<3>& origin, + const size_t<3>& region, + ::size_t * row_pitch, + ::size_t * slice_pitch, + const VECTOR_CLASS* events = NULL, + Event* event = NULL, + cl_int* err = NULL) const + { + cl_event tmp; + cl_int error; + void * result = ::clEnqueueMapImage( + object_, buffer(), blocking, flags, + (const ::size_t *) origin, (const ::size_t *) region, + row_pitch, slice_pitch, + (events != NULL) ? (cl_uint) events->size() : 0, + (events != NULL && events->size() > 0) ? (cl_event*) &events->front() : NULL, + (event != NULL) ? &tmp : NULL, + &error); + + detail::errHandler(error, __ENQUEUE_MAP_IMAGE_ERR); + if (err != NULL) { + *err = error; + } + if (event != NULL && error == CL_SUCCESS) + *event = tmp; + return result; + } + + cl_int enqueueUnmapMemObject( + const Memory& memory, + void* mapped_ptr, + const VECTOR_CLASS* events = NULL, + Event* event = NULL) const + { + cl_event tmp; + cl_int err = detail::errHandler( + ::clEnqueueUnmapMemObject( + object_, memory(), mapped_ptr, + (events != NULL) ? (cl_uint) events->size() : 0, + (events != NULL && events->size() > 0) ? (cl_event*) &events->front() : NULL, + (event != NULL) ? &tmp : NULL), + __ENQUEUE_UNMAP_MEM_OBJECT_ERR); + + if (event != NULL && err == CL_SUCCESS) + *event = tmp; + + return err; + } + +#if defined(CL_VERSION_1_2) + /** + * Enqueues a marker command which waits for either a list of events to complete, + * or all previously enqueued commands to complete. + * + * Enqueues a marker command which waits for either a list of events to complete, + * or if the list is empty it waits for all commands previously enqueued in command_queue + * to complete before it completes. This command returns an event which can be waited on, + * i.e. this event can be waited on to insure that all events either in the event_wait_list + * or all previously enqueued commands, queued before this command to command_queue, + * have completed. + */ + cl_int enqueueMarkerWithWaitList( + const VECTOR_CLASS *events = 0, + Event *event = 0) const + { + cl_event tmp; + cl_int err = detail::errHandler( + ::clEnqueueMarkerWithWaitList( + object_, + (events != NULL) ? (cl_uint) events->size() : 0, + (events != NULL && events->size() > 0) ? (cl_event*) &events->front() : NULL, + (event != NULL) ? &tmp : NULL), + __ENQUEUE_MARKER_WAIT_LIST_ERR); + + if (event != NULL && err == CL_SUCCESS) + *event = tmp; + + return err; + } + + /** + * A synchronization point that enqueues a barrier operation. + * + * Enqueues a barrier command which waits for either a list of events to complete, + * or if the list is empty it waits for all commands previously enqueued in command_queue + * to complete before it completes. This command blocks command execution, that is, any + * following commands enqueued after it do not execute until it completes. This command + * returns an event which can be waited on, i.e. this event can be waited on to insure that + * all events either in the event_wait_list or all previously enqueued commands, queued + * before this command to command_queue, have completed. + */ + cl_int enqueueBarrierWithWaitList( + const VECTOR_CLASS *events = 0, + Event *event = 0) const + { + cl_event tmp; + cl_int err = detail::errHandler( + ::clEnqueueBarrierWithWaitList( + object_, + (events != NULL) ? (cl_uint) events->size() : 0, + (events != NULL && events->size() > 0) ? (cl_event*) &events->front() : NULL, + (event != NULL) ? &tmp : NULL), + __ENQUEUE_BARRIER_WAIT_LIST_ERR); + + if (event != NULL && err == CL_SUCCESS) + *event = tmp; + + return err; + } + + /** + * Enqueues a command to indicate with which device a set of memory objects + * should be associated. + */ + cl_int enqueueMigrateMemObjects( + const VECTOR_CLASS &memObjects, + cl_mem_migration_flags flags, + const VECTOR_CLASS* events = NULL, + Event* event = NULL + ) const + { + cl_event tmp; + + cl_mem* localMemObjects = static_cast(alloca(memObjects.size() * sizeof(cl_mem))); + for( int i = 0; i < (int)memObjects.size(); ++i ) { + localMemObjects[i] = memObjects[i](); + } + + + cl_int err = detail::errHandler( + ::clEnqueueMigrateMemObjects( + object_, + (cl_uint)memObjects.size(), + static_cast(localMemObjects), + flags, + (events != NULL) ? (cl_uint) events->size() : 0, + (events != NULL && events->size() > 0) ? (cl_event*) &events->front() : NULL, + (event != NULL) ? &tmp : NULL), + __ENQUEUE_UNMAP_MEM_OBJECT_ERR); + + if (event != NULL && err == CL_SUCCESS) + *event = tmp; + + return err; + } +#endif // #if defined(CL_VERSION_1_2) + + cl_int enqueueNDRangeKernel( + const Kernel& kernel, + const NDRange& offset, + const NDRange& global, + const NDRange& local = NullRange, + const VECTOR_CLASS* events = NULL, + Event* event = NULL) const + { + cl_event tmp; + cl_int err = detail::errHandler( + ::clEnqueueNDRangeKernel( + object_, kernel(), (cl_uint) global.dimensions(), + offset.dimensions() != 0 ? (const ::size_t*) offset : NULL, + (const ::size_t*) global, + local.dimensions() != 0 ? (const ::size_t*) local : NULL, + (events != NULL) ? (cl_uint) events->size() : 0, + (events != NULL && events->size() > 0) ? (cl_event*) &events->front() : NULL, + (event != NULL) ? &tmp : NULL), + __ENQUEUE_NDRANGE_KERNEL_ERR); + + if (event != NULL && err == CL_SUCCESS) + *event = tmp; + + return err; + } + + cl_int enqueueTask( + const Kernel& kernel, + const VECTOR_CLASS* events = NULL, + Event* event = NULL) const + { + cl_event tmp; + cl_int err = detail::errHandler( + ::clEnqueueTask( + object_, kernel(), + (events != NULL) ? (cl_uint) events->size() : 0, + (events != NULL && events->size() > 0) ? (cl_event*) &events->front() : NULL, + (event != NULL) ? &tmp : NULL), + __ENQUEUE_TASK_ERR); + + if (event != NULL && err == CL_SUCCESS) + *event = tmp; + + return err; + } + + cl_int enqueueNativeKernel( + void (CL_CALLBACK *userFptr)(void *), + std::pair args, + const VECTOR_CLASS* mem_objects = NULL, + const VECTOR_CLASS* mem_locs = NULL, + const VECTOR_CLASS* events = NULL, + Event* event = NULL) const + { + cl_mem * mems = (mem_objects != NULL && mem_objects->size() > 0) + ? (cl_mem*) alloca(mem_objects->size() * sizeof(cl_mem)) + : NULL; + + if (mems != NULL) { + for (unsigned int i = 0; i < mem_objects->size(); i++) { + mems[i] = ((*mem_objects)[i])(); + } + } + + cl_event tmp; + cl_int err = detail::errHandler( + ::clEnqueueNativeKernel( + object_, userFptr, args.first, args.second, + (mem_objects != NULL) ? (cl_uint) mem_objects->size() : 0, + mems, + (mem_locs != NULL && mem_locs->size() > 0) ? (const void **) &mem_locs->front() : NULL, + (events != NULL) ? (cl_uint) events->size() : 0, + (events != NULL && events->size() > 0) ? (cl_event*) &events->front() : NULL, + (event != NULL) ? &tmp : NULL), + __ENQUEUE_NATIVE_KERNEL); + + if (event != NULL && err == CL_SUCCESS) + *event = tmp; + + return err; + } + +/** + * Deprecated APIs for 1.2 + */ +#if defined(CL_USE_DEPRECATED_OPENCL_1_1_APIS) || (defined(CL_VERSION_1_1) && !defined(CL_VERSION_1_2)) + CL_EXT_PREFIX__VERSION_1_1_DEPRECATED + cl_int enqueueMarker(Event* event = NULL) const CL_EXT_SUFFIX__VERSION_1_1_DEPRECATED + { + cl_event tmp; + cl_int err = detail::errHandler( + ::clEnqueueMarker( + object_, + (event != NULL) ? &tmp : NULL), + __ENQUEUE_MARKER_ERR); + + if (event != NULL && err == CL_SUCCESS) + *event = tmp; + + return err; + } + + CL_EXT_PREFIX__VERSION_1_1_DEPRECATED + cl_int enqueueWaitForEvents(const VECTOR_CLASS& events) const CL_EXT_SUFFIX__VERSION_1_1_DEPRECATED + { + return detail::errHandler( + ::clEnqueueWaitForEvents( + object_, + (cl_uint) events.size(), + events.size() > 0 ? (const cl_event*) &events.front() : NULL), + __ENQUEUE_WAIT_FOR_EVENTS_ERR); + } +#endif // #if defined(CL_VERSION_1_1) + + cl_int enqueueAcquireGLObjects( + const VECTOR_CLASS* mem_objects = NULL, + const VECTOR_CLASS* events = NULL, + Event* event = NULL) const + { + cl_event tmp; + cl_int err = detail::errHandler( + ::clEnqueueAcquireGLObjects( + object_, + (mem_objects != NULL) ? (cl_uint) mem_objects->size() : 0, + (mem_objects != NULL && mem_objects->size() > 0) ? (const cl_mem *) &mem_objects->front(): NULL, + (events != NULL) ? (cl_uint) events->size() : 0, + (events != NULL && events->size() > 0) ? (cl_event*) &events->front() : NULL, + (event != NULL) ? &tmp : NULL), + __ENQUEUE_ACQUIRE_GL_ERR); + + if (event != NULL && err == CL_SUCCESS) + *event = tmp; + + return err; + } + + cl_int enqueueReleaseGLObjects( + const VECTOR_CLASS* mem_objects = NULL, + const VECTOR_CLASS* events = NULL, + Event* event = NULL) const + { + cl_event tmp; + cl_int err = detail::errHandler( + ::clEnqueueReleaseGLObjects( + object_, + (mem_objects != NULL) ? (cl_uint) mem_objects->size() : 0, + (mem_objects != NULL && mem_objects->size() > 0) ? (const cl_mem *) &mem_objects->front(): NULL, + (events != NULL) ? (cl_uint) events->size() : 0, + (events != NULL && events->size() > 0) ? (cl_event*) &events->front() : NULL, + (event != NULL) ? &tmp : NULL), + __ENQUEUE_RELEASE_GL_ERR); + + if (event != NULL && err == CL_SUCCESS) + *event = tmp; + + return err; + } + +#if defined (USE_DX_INTEROP) +typedef CL_API_ENTRY cl_int (CL_API_CALL *PFN_clEnqueueAcquireD3D10ObjectsKHR)( + cl_command_queue command_queue, cl_uint num_objects, + const cl_mem* mem_objects, cl_uint num_events_in_wait_list, + const cl_event* event_wait_list, cl_event* event); +typedef CL_API_ENTRY cl_int (CL_API_CALL *PFN_clEnqueueReleaseD3D10ObjectsKHR)( + cl_command_queue command_queue, cl_uint num_objects, + const cl_mem* mem_objects, cl_uint num_events_in_wait_list, + const cl_event* event_wait_list, cl_event* event); + + cl_int enqueueAcquireD3D10Objects( + const VECTOR_CLASS* mem_objects = NULL, + const VECTOR_CLASS* events = NULL, + Event* event = NULL) const + { + static PFN_clEnqueueAcquireD3D10ObjectsKHR pfn_clEnqueueAcquireD3D10ObjectsKHR = NULL; +#if defined(CL_VERSION_1_2) + cl_context context = getInfo(); + cl::Device device(getInfo()); + cl_platform_id platform = device.getInfo(); + __INIT_CL_EXT_FCN_PTR_PLATFORM(platform, clEnqueueAcquireD3D10ObjectsKHR); +#endif +#if defined(CL_VERSION_1_1) + __INIT_CL_EXT_FCN_PTR(clEnqueueAcquireD3D10ObjectsKHR); +#endif + + cl_event tmp; + cl_int err = detail::errHandler( + pfn_clEnqueueAcquireD3D10ObjectsKHR( + object_, + (mem_objects != NULL) ? (cl_uint) mem_objects->size() : 0, + (mem_objects != NULL && mem_objects->size() > 0) ? (const cl_mem *) &mem_objects->front(): NULL, + (events != NULL) ? (cl_uint) events->size() : 0, + (events != NULL) ? (cl_event*) &events->front() : NULL, + (event != NULL) ? &tmp : NULL), + __ENQUEUE_ACQUIRE_GL_ERR); + + if (event != NULL && err == CL_SUCCESS) + *event = tmp; + + return err; + } + + cl_int enqueueReleaseD3D10Objects( + const VECTOR_CLASS* mem_objects = NULL, + const VECTOR_CLASS* events = NULL, + Event* event = NULL) const + { + static PFN_clEnqueueReleaseD3D10ObjectsKHR pfn_clEnqueueReleaseD3D10ObjectsKHR = NULL; +#if defined(CL_VERSION_1_2) + cl_context context = getInfo(); + cl::Device device(getInfo()); + cl_platform_id platform = device.getInfo(); + __INIT_CL_EXT_FCN_PTR_PLATFORM(platform, clEnqueueReleaseD3D10ObjectsKHR); +#endif // #if defined(CL_VERSION_1_2) +#if defined(CL_VERSION_1_1) + __INIT_CL_EXT_FCN_PTR(clEnqueueReleaseD3D10ObjectsKHR); +#endif // #if defined(CL_VERSION_1_1) + + cl_event tmp; + cl_int err = detail::errHandler( + pfn_clEnqueueReleaseD3D10ObjectsKHR( + object_, + (mem_objects != NULL) ? (cl_uint) mem_objects->size() : 0, + (mem_objects != NULL && mem_objects->size() > 0) ? (const cl_mem *) &mem_objects->front(): NULL, + (events != NULL) ? (cl_uint) events->size() : 0, + (events != NULL && events->size() > 0) ? (cl_event*) &events->front() : NULL, + (event != NULL) ? &tmp : NULL), + __ENQUEUE_RELEASE_GL_ERR); + + if (event != NULL && err == CL_SUCCESS) + *event = tmp; + + return err; + } +#endif + +/** + * Deprecated APIs for 1.2 + */ +#if defined(CL_USE_DEPRECATED_OPENCL_1_1_APIS) || (defined(CL_VERSION_1_1) && !defined(CL_VERSION_1_2)) + CL_EXT_PREFIX__VERSION_1_1_DEPRECATED + cl_int enqueueBarrier() const CL_EXT_SUFFIX__VERSION_1_1_DEPRECATED + { + return detail::errHandler( + ::clEnqueueBarrier(object_), + __ENQUEUE_BARRIER_ERR); + } +#endif // #if defined(CL_VERSION_1_1) + + cl_int flush() const + { + return detail::errHandler(::clFlush(object_), __FLUSH_ERR); + } + + cl_int finish() const + { + return detail::errHandler(::clFinish(object_), __FINISH_ERR); + } +}; + +#ifdef _WIN32 +#ifdef CL_HPP_CPP11_ATOMICS_SUPPORTED +__declspec(selectany) std::atomic CommandQueue::default_initialized_; +#else // !CL_HPP_CPP11_ATOMICS_SUPPORTED +__declspec(selectany) volatile int CommandQueue::default_initialized_ = __DEFAULT_NOT_INITIALIZED; +#endif // !CL_HPP_CPP11_ATOMICS_SUPPORTED +__declspec(selectany) CommandQueue CommandQueue::default_; +__declspec(selectany) volatile cl_int CommandQueue::default_error_ = CL_SUCCESS; +#else // !_WIN32 +#ifdef CL_HPP_CPP11_ATOMICS_SUPPORTED +__attribute__((weak)) std::atomic CommandQueue::default_initialized_; +#else // !CL_HPP_CPP11_ATOMICS_SUPPORTED +__attribute__((weak)) volatile int CommandQueue::default_initialized_ = __DEFAULT_NOT_INITIALIZED; +#endif // !CL_HPP_CPP11_ATOMICS_SUPPORTED +__attribute__((weak)) CommandQueue CommandQueue::default_; +__attribute__((weak)) volatile cl_int CommandQueue::default_error_ = CL_SUCCESS; +#endif // !_WIN32 + +template< typename IteratorType > +Buffer::Buffer( + const Context &context, + IteratorType startIterator, + IteratorType endIterator, + bool readOnly, + bool useHostPtr, + cl_int* err) +{ + typedef typename std::iterator_traits::value_type DataType; + cl_int error; + + cl_mem_flags flags = 0; + if( readOnly ) { + flags |= CL_MEM_READ_ONLY; + } + else { + flags |= CL_MEM_READ_WRITE; + } + if( useHostPtr ) { + flags |= CL_MEM_USE_HOST_PTR; + } + + ::size_t size = sizeof(DataType)*(endIterator - startIterator); + + if( useHostPtr ) { + object_ = ::clCreateBuffer(context(), flags, size, static_cast(&*startIterator), &error); + } else { + object_ = ::clCreateBuffer(context(), flags, size, 0, &error); + } + + detail::errHandler(error, __CREATE_BUFFER_ERR); + if (err != NULL) { + *err = error; + } + + if( !useHostPtr ) { + CommandQueue queue(context, 0, &error); + detail::errHandler(error, __CREATE_BUFFER_ERR); + if (err != NULL) { + *err = error; + } + + error = cl::copy(queue, startIterator, endIterator, *this); + detail::errHandler(error, __CREATE_BUFFER_ERR); + if (err != NULL) { + *err = error; + } + } +} + +template< typename IteratorType > +Buffer::Buffer( + const CommandQueue &queue, + IteratorType startIterator, + IteratorType endIterator, + bool readOnly, + bool useHostPtr, + cl_int* err) +{ + typedef typename std::iterator_traits::value_type DataType; + cl_int error; + + cl_mem_flags flags = 0; + if (readOnly) { + flags |= CL_MEM_READ_ONLY; + } + else { + flags |= CL_MEM_READ_WRITE; + } + if (useHostPtr) { + flags |= CL_MEM_USE_HOST_PTR; + } + + ::size_t size = sizeof(DataType)*(endIterator - startIterator); + + Context context = queue.getInfo(); + + if (useHostPtr) { + object_ = ::clCreateBuffer(context(), flags, size, static_cast(&*startIterator), &error); + } + else { + object_ = ::clCreateBuffer(context(), flags, size, 0, &error); + } + + detail::errHandler(error, __CREATE_BUFFER_ERR); + if (err != NULL) { + *err = error; + } + + if (!useHostPtr) { + error = cl::copy(queue, startIterator, endIterator, *this); + detail::errHandler(error, __CREATE_BUFFER_ERR); + if (err != NULL) { + *err = error; + } + } +} + +inline cl_int enqueueReadBuffer( + const Buffer& buffer, + cl_bool blocking, + ::size_t offset, + ::size_t size, + void* ptr, + const VECTOR_CLASS* events = NULL, + Event* event = NULL) +{ + cl_int error; + CommandQueue queue = CommandQueue::getDefault(&error); + + if (error != CL_SUCCESS) { + return error; + } + + return queue.enqueueReadBuffer(buffer, blocking, offset, size, ptr, events, event); +} + +inline cl_int enqueueWriteBuffer( + const Buffer& buffer, + cl_bool blocking, + ::size_t offset, + ::size_t size, + const void* ptr, + const VECTOR_CLASS* events = NULL, + Event* event = NULL) +{ + cl_int error; + CommandQueue queue = CommandQueue::getDefault(&error); + + if (error != CL_SUCCESS) { + return error; + } + + return queue.enqueueWriteBuffer(buffer, blocking, offset, size, ptr, events, event); +} + +inline void* enqueueMapBuffer( + const Buffer& buffer, + cl_bool blocking, + cl_map_flags flags, + ::size_t offset, + ::size_t size, + const VECTOR_CLASS* events = NULL, + Event* event = NULL, + cl_int* err = NULL) +{ + cl_int error; + CommandQueue queue = CommandQueue::getDefault(&error); + detail::errHandler(error, __ENQUEUE_MAP_BUFFER_ERR); + if (err != NULL) { + *err = error; + } + + void * result = ::clEnqueueMapBuffer( + queue(), buffer(), blocking, flags, offset, size, + (events != NULL) ? (cl_uint) events->size() : 0, + (events != NULL && events->size() > 0) ? (cl_event*) &events->front() : NULL, + (cl_event*) event, + &error); + + detail::errHandler(error, __ENQUEUE_MAP_BUFFER_ERR); + if (err != NULL) { + *err = error; + } + return result; +} + +inline cl_int enqueueUnmapMemObject( + const Memory& memory, + void* mapped_ptr, + const VECTOR_CLASS* events = NULL, + Event* event = NULL) +{ + cl_int error; + CommandQueue queue = CommandQueue::getDefault(&error); + detail::errHandler(error, __ENQUEUE_MAP_BUFFER_ERR); + if (error != CL_SUCCESS) { + return error; + } + + cl_event tmp; + cl_int err = detail::errHandler( + ::clEnqueueUnmapMemObject( + queue(), memory(), mapped_ptr, + (events != NULL) ? (cl_uint) events->size() : 0, + (events != NULL && events->size() > 0) ? (cl_event*) &events->front() : NULL, + (event != NULL) ? &tmp : NULL), + __ENQUEUE_UNMAP_MEM_OBJECT_ERR); + + if (event != NULL && err == CL_SUCCESS) + *event = tmp; + + return err; +} + +inline cl_int enqueueCopyBuffer( + const Buffer& src, + const Buffer& dst, + ::size_t src_offset, + ::size_t dst_offset, + ::size_t size, + const VECTOR_CLASS* events = NULL, + Event* event = NULL) +{ + cl_int error; + CommandQueue queue = CommandQueue::getDefault(&error); + + if (error != CL_SUCCESS) { + return error; + } + + return queue.enqueueCopyBuffer(src, dst, src_offset, dst_offset, size, events, event); +} + +/** + * Blocking copy operation between iterators and a buffer. + * Host to Device. + * Uses default command queue. + */ +template< typename IteratorType > +inline cl_int copy( IteratorType startIterator, IteratorType endIterator, cl::Buffer &buffer ) +{ + cl_int error; + CommandQueue queue = CommandQueue::getDefault(&error); + if (error != CL_SUCCESS) + return error; + + return cl::copy(queue, startIterator, endIterator, buffer); +} + +/** + * Blocking copy operation between iterators and a buffer. + * Device to Host. + * Uses default command queue. + */ +template< typename IteratorType > +inline cl_int copy( const cl::Buffer &buffer, IteratorType startIterator, IteratorType endIterator ) +{ + cl_int error; + CommandQueue queue = CommandQueue::getDefault(&error); + if (error != CL_SUCCESS) + return error; + + return cl::copy(queue, buffer, startIterator, endIterator); +} + +/** + * Blocking copy operation between iterators and a buffer. + * Host to Device. + * Uses specified queue. + */ +template< typename IteratorType > +inline cl_int copy( const CommandQueue &queue, IteratorType startIterator, IteratorType endIterator, cl::Buffer &buffer ) +{ + typedef typename std::iterator_traits::value_type DataType; + cl_int error; + + ::size_t length = endIterator-startIterator; + ::size_t byteLength = length*sizeof(DataType); + + DataType *pointer = + static_cast(queue.enqueueMapBuffer(buffer, CL_TRUE, CL_MAP_WRITE, 0, byteLength, 0, 0, &error)); + // if exceptions enabled, enqueueMapBuffer will throw + if( error != CL_SUCCESS ) { + return error; + } +#if defined(_MSC_VER) + std::copy( + startIterator, + endIterator, + stdext::checked_array_iterator( + pointer, length)); +#else + std::copy(startIterator, endIterator, pointer); +#endif + Event endEvent; + error = queue.enqueueUnmapMemObject(buffer, pointer, 0, &endEvent); + // if exceptions enabled, enqueueUnmapMemObject will throw + if( error != CL_SUCCESS ) { + return error; + } + endEvent.wait(); + return CL_SUCCESS; +} + +/** + * Blocking copy operation between iterators and a buffer. + * Device to Host. + * Uses specified queue. + */ +template< typename IteratorType > +inline cl_int copy( const CommandQueue &queue, const cl::Buffer &buffer, IteratorType startIterator, IteratorType endIterator ) +{ + typedef typename std::iterator_traits::value_type DataType; + cl_int error; + + ::size_t length = endIterator-startIterator; + ::size_t byteLength = length*sizeof(DataType); + + DataType *pointer = + static_cast(queue.enqueueMapBuffer(buffer, CL_TRUE, CL_MAP_READ, 0, byteLength, 0, 0, &error)); + // if exceptions enabled, enqueueMapBuffer will throw + if( error != CL_SUCCESS ) { + return error; + } + std::copy(pointer, pointer + length, startIterator); + Event endEvent; + error = queue.enqueueUnmapMemObject(buffer, pointer, 0, &endEvent); + // if exceptions enabled, enqueueUnmapMemObject will throw + if( error != CL_SUCCESS ) { + return error; + } + endEvent.wait(); + return CL_SUCCESS; +} + +#if defined(CL_VERSION_1_1) +inline cl_int enqueueReadBufferRect( + const Buffer& buffer, + cl_bool blocking, + const size_t<3>& buffer_offset, + const size_t<3>& host_offset, + const size_t<3>& region, + ::size_t buffer_row_pitch, + ::size_t buffer_slice_pitch, + ::size_t host_row_pitch, + ::size_t host_slice_pitch, + void *ptr, + const VECTOR_CLASS* events = NULL, + Event* event = NULL) +{ + cl_int error; + CommandQueue queue = CommandQueue::getDefault(&error); + + if (error != CL_SUCCESS) { + return error; + } + + return queue.enqueueReadBufferRect( + buffer, + blocking, + buffer_offset, + host_offset, + region, + buffer_row_pitch, + buffer_slice_pitch, + host_row_pitch, + host_slice_pitch, + ptr, + events, + event); +} + +inline cl_int enqueueWriteBufferRect( + const Buffer& buffer, + cl_bool blocking, + const size_t<3>& buffer_offset, + const size_t<3>& host_offset, + const size_t<3>& region, + ::size_t buffer_row_pitch, + ::size_t buffer_slice_pitch, + ::size_t host_row_pitch, + ::size_t host_slice_pitch, + const void *ptr, + const VECTOR_CLASS* events = NULL, + Event* event = NULL) +{ + cl_int error; + CommandQueue queue = CommandQueue::getDefault(&error); + + if (error != CL_SUCCESS) { + return error; + } + + return queue.enqueueWriteBufferRect( + buffer, + blocking, + buffer_offset, + host_offset, + region, + buffer_row_pitch, + buffer_slice_pitch, + host_row_pitch, + host_slice_pitch, + ptr, + events, + event); +} + +inline cl_int enqueueCopyBufferRect( + const Buffer& src, + const Buffer& dst, + const size_t<3>& src_origin, + const size_t<3>& dst_origin, + const size_t<3>& region, + ::size_t src_row_pitch, + ::size_t src_slice_pitch, + ::size_t dst_row_pitch, + ::size_t dst_slice_pitch, + const VECTOR_CLASS* events = NULL, + Event* event = NULL) +{ + cl_int error; + CommandQueue queue = CommandQueue::getDefault(&error); + + if (error != CL_SUCCESS) { + return error; + } + + return queue.enqueueCopyBufferRect( + src, + dst, + src_origin, + dst_origin, + region, + src_row_pitch, + src_slice_pitch, + dst_row_pitch, + dst_slice_pitch, + events, + event); +} +#endif + +inline cl_int enqueueReadImage( + const Image& image, + cl_bool blocking, + const size_t<3>& origin, + const size_t<3>& region, + ::size_t row_pitch, + ::size_t slice_pitch, + void* ptr, + const VECTOR_CLASS* events = NULL, + Event* event = NULL) +{ + cl_int error; + CommandQueue queue = CommandQueue::getDefault(&error); + + if (error != CL_SUCCESS) { + return error; + } + + return queue.enqueueReadImage( + image, + blocking, + origin, + region, + row_pitch, + slice_pitch, + ptr, + events, + event); +} + +inline cl_int enqueueWriteImage( + const Image& image, + cl_bool blocking, + const size_t<3>& origin, + const size_t<3>& region, + ::size_t row_pitch, + ::size_t slice_pitch, + const void* ptr, + const VECTOR_CLASS* events = NULL, + Event* event = NULL) +{ + cl_int error; + CommandQueue queue = CommandQueue::getDefault(&error); + + if (error != CL_SUCCESS) { + return error; + } + + return queue.enqueueWriteImage( + image, + blocking, + origin, + region, + row_pitch, + slice_pitch, + ptr, + events, + event); +} + +inline cl_int enqueueCopyImage( + const Image& src, + const Image& dst, + const size_t<3>& src_origin, + const size_t<3>& dst_origin, + const size_t<3>& region, + const VECTOR_CLASS* events = NULL, + Event* event = NULL) +{ + cl_int error; + CommandQueue queue = CommandQueue::getDefault(&error); + + if (error != CL_SUCCESS) { + return error; + } + + return queue.enqueueCopyImage( + src, + dst, + src_origin, + dst_origin, + region, + events, + event); +} + +inline cl_int enqueueCopyImageToBuffer( + const Image& src, + const Buffer& dst, + const size_t<3>& src_origin, + const size_t<3>& region, + ::size_t dst_offset, + const VECTOR_CLASS* events = NULL, + Event* event = NULL) +{ + cl_int error; + CommandQueue queue = CommandQueue::getDefault(&error); + + if (error != CL_SUCCESS) { + return error; + } + + return queue.enqueueCopyImageToBuffer( + src, + dst, + src_origin, + region, + dst_offset, + events, + event); +} + +inline cl_int enqueueCopyBufferToImage( + const Buffer& src, + const Image& dst, + ::size_t src_offset, + const size_t<3>& dst_origin, + const size_t<3>& region, + const VECTOR_CLASS* events = NULL, + Event* event = NULL) +{ + cl_int error; + CommandQueue queue = CommandQueue::getDefault(&error); + + if (error != CL_SUCCESS) { + return error; + } + + return queue.enqueueCopyBufferToImage( + src, + dst, + src_offset, + dst_origin, + region, + events, + event); +} + + +inline cl_int flush(void) +{ + cl_int error; + CommandQueue queue = CommandQueue::getDefault(&error); + + if (error != CL_SUCCESS) { + return error; + } + + return queue.flush(); +} + +inline cl_int finish(void) +{ + cl_int error; + CommandQueue queue = CommandQueue::getDefault(&error); + + if (error != CL_SUCCESS) { + return error; + } + + + return queue.finish(); +} + +// Kernel Functor support +// New interface as of September 2011 +// Requires the C++11 std::tr1::function (note do not support TR1) +// Visual Studio 2010 and GCC 4.2 + +struct EnqueueArgs +{ + CommandQueue queue_; + const NDRange offset_; + const NDRange global_; + const NDRange local_; + VECTOR_CLASS events_; + + EnqueueArgs(NDRange global) : + queue_(CommandQueue::getDefault()), + offset_(NullRange), + global_(global), + local_(NullRange) + { + + } + + EnqueueArgs(NDRange global, NDRange local) : + queue_(CommandQueue::getDefault()), + offset_(NullRange), + global_(global), + local_(local) + { + + } + + EnqueueArgs(NDRange offset, NDRange global, NDRange local) : + queue_(CommandQueue::getDefault()), + offset_(offset), + global_(global), + local_(local) + { + + } + + EnqueueArgs(Event e, NDRange global) : + queue_(CommandQueue::getDefault()), + offset_(NullRange), + global_(global), + local_(NullRange) + { + events_.push_back(e); + } + + EnqueueArgs(Event e, NDRange global, NDRange local) : + queue_(CommandQueue::getDefault()), + offset_(NullRange), + global_(global), + local_(local) + { + events_.push_back(e); + } + + EnqueueArgs(Event e, NDRange offset, NDRange global, NDRange local) : + queue_(CommandQueue::getDefault()), + offset_(offset), + global_(global), + local_(local) + { + events_.push_back(e); + } + + EnqueueArgs(const VECTOR_CLASS &events, NDRange global) : + queue_(CommandQueue::getDefault()), + offset_(NullRange), + global_(global), + local_(NullRange), + events_(events) + { + + } + + EnqueueArgs(const VECTOR_CLASS &events, NDRange global, NDRange local) : + queue_(CommandQueue::getDefault()), + offset_(NullRange), + global_(global), + local_(local), + events_(events) + { + + } + + EnqueueArgs(const VECTOR_CLASS &events, NDRange offset, NDRange global, NDRange local) : + queue_(CommandQueue::getDefault()), + offset_(offset), + global_(global), + local_(local), + events_(events) + { + + } + + EnqueueArgs(CommandQueue &queue, NDRange global) : + queue_(queue), + offset_(NullRange), + global_(global), + local_(NullRange) + { + + } + + EnqueueArgs(CommandQueue &queue, NDRange global, NDRange local) : + queue_(queue), + offset_(NullRange), + global_(global), + local_(local) + { + + } + + EnqueueArgs(CommandQueue &queue, NDRange offset, NDRange global, NDRange local) : + queue_(queue), + offset_(offset), + global_(global), + local_(local) + { + + } + + EnqueueArgs(CommandQueue &queue, Event e, NDRange global) : + queue_(queue), + offset_(NullRange), + global_(global), + local_(NullRange) + { + events_.push_back(e); + } + + EnqueueArgs(CommandQueue &queue, Event e, NDRange global, NDRange local) : + queue_(queue), + offset_(NullRange), + global_(global), + local_(local) + { + events_.push_back(e); + } + + EnqueueArgs(CommandQueue &queue, Event e, NDRange offset, NDRange global, NDRange local) : + queue_(queue), + offset_(offset), + global_(global), + local_(local) + { + events_.push_back(e); + } + + EnqueueArgs(CommandQueue &queue, const VECTOR_CLASS &events, NDRange global) : + queue_(queue), + offset_(NullRange), + global_(global), + local_(NullRange), + events_(events) + { + + } + + EnqueueArgs(CommandQueue &queue, const VECTOR_CLASS &events, NDRange global, NDRange local) : + queue_(queue), + offset_(NullRange), + global_(global), + local_(local), + events_(events) + { + + } + + EnqueueArgs(CommandQueue &queue, const VECTOR_CLASS &events, NDRange offset, NDRange global, NDRange local) : + queue_(queue), + offset_(offset), + global_(global), + local_(local), + events_(events) + { + + } +}; + +namespace detail { + +class NullType {}; + +template +struct SetArg +{ + static void set (Kernel kernel, T0 arg) + { + kernel.setArg(index, arg); + } +}; + +template +struct SetArg +{ + static void set (Kernel, NullType) + { + } +}; + +template < + typename T0, typename T1, typename T2, typename T3, + typename T4, typename T5, typename T6, typename T7, + typename T8, typename T9, typename T10, typename T11, + typename T12, typename T13, typename T14, typename T15, + typename T16, typename T17, typename T18, typename T19, + typename T20, typename T21, typename T22, typename T23, + typename T24, typename T25, typename T26, typename T27, + typename T28, typename T29, typename T30, typename T31 + +> +class KernelFunctorGlobal +{ +private: + Kernel kernel_; + +public: + KernelFunctorGlobal( + Kernel kernel) : + kernel_(kernel) + {} + + KernelFunctorGlobal( + const Program& program, + const STRING_CLASS name, + cl_int * err = NULL) : + kernel_(program, name.c_str(), err) + {} + + Event operator() ( + const EnqueueArgs& args, + T0 t0, + T1 t1 = NullType(), + T2 t2 = NullType(), + T3 t3 = NullType(), + T4 t4 = NullType(), + T5 t5 = NullType(), + T6 t6 = NullType(), + T7 t7 = NullType(), + T8 t8 = NullType(), + T9 t9 = NullType(), + T10 t10 = NullType(), + T11 t11 = NullType(), + T12 t12 = NullType(), + T13 t13 = NullType(), + T14 t14 = NullType(), + T15 t15 = NullType(), + T16 t16 = NullType(), + T17 t17 = NullType(), + T18 t18 = NullType(), + T19 t19 = NullType(), + T20 t20 = NullType(), + T21 t21 = NullType(), + T22 t22 = NullType(), + T23 t23 = NullType(), + T24 t24 = NullType(), + T25 t25 = NullType(), + T26 t26 = NullType(), + T27 t27 = NullType(), + T28 t28 = NullType(), + T29 t29 = NullType(), + T30 t30 = NullType(), + T31 t31 = NullType() + + ) + { + Event event; + SetArg<0, T0>::set(kernel_, t0); + SetArg<1, T1>::set(kernel_, t1); + SetArg<2, T2>::set(kernel_, t2); + SetArg<3, T3>::set(kernel_, t3); + SetArg<4, T4>::set(kernel_, t4); + SetArg<5, T5>::set(kernel_, t5); + SetArg<6, T6>::set(kernel_, t6); + SetArg<7, T7>::set(kernel_, t7); + SetArg<8, T8>::set(kernel_, t8); + SetArg<9, T9>::set(kernel_, t9); + SetArg<10, T10>::set(kernel_, t10); + SetArg<11, T11>::set(kernel_, t11); + SetArg<12, T12>::set(kernel_, t12); + SetArg<13, T13>::set(kernel_, t13); + SetArg<14, T14>::set(kernel_, t14); + SetArg<15, T15>::set(kernel_, t15); + SetArg<16, T16>::set(kernel_, t16); + SetArg<17, T17>::set(kernel_, t17); + SetArg<18, T18>::set(kernel_, t18); + SetArg<19, T19>::set(kernel_, t19); + SetArg<20, T20>::set(kernel_, t20); + SetArg<21, T21>::set(kernel_, t21); + SetArg<22, T22>::set(kernel_, t22); + SetArg<23, T23>::set(kernel_, t23); + SetArg<24, T24>::set(kernel_, t24); + SetArg<25, T25>::set(kernel_, t25); + SetArg<26, T26>::set(kernel_, t26); + SetArg<27, T27>::set(kernel_, t27); + SetArg<28, T28>::set(kernel_, t28); + SetArg<29, T29>::set(kernel_, t29); + SetArg<30, T30>::set(kernel_, t30); + SetArg<31, T31>::set(kernel_, t31); + + + args.queue_.enqueueNDRangeKernel( + kernel_, + args.offset_, + args.global_, + args.local_, + &args.events_, + &event); + + return event; + } + +}; + +//------------------------------------------------------------------------------------------------------ + + +template< + typename T0, + typename T1, + typename T2, + typename T3, + typename T4, + typename T5, + typename T6, + typename T7, + typename T8, + typename T9, + typename T10, + typename T11, + typename T12, + typename T13, + typename T14, + typename T15, + typename T16, + typename T17, + typename T18, + typename T19, + typename T20, + typename T21, + typename T22, + typename T23, + typename T24, + typename T25, + typename T26, + typename T27, + typename T28, + typename T29, + typename T30, + typename T31> +struct functionImplementation_ +{ + typedef detail::KernelFunctorGlobal< + T0, + T1, + T2, + T3, + T4, + T5, + T6, + T7, + T8, + T9, + T10, + T11, + T12, + T13, + T14, + T15, + T16, + T17, + T18, + T19, + T20, + T21, + T22, + T23, + T24, + T25, + T26, + T27, + T28, + T29, + T30, + T31> FunctorType; + + FunctorType functor_; + + functionImplementation_(const FunctorType &functor) : + functor_(functor) + { + + #if (defined(_WIN32) && defined(_VARIADIC_MAX) && (_VARIADIC_MAX < 32)) + // Fail variadic expansion for dev11 + static_assert(0, "Visual Studio has a hard limit of argument count for a std::function expansion. Please define _VARIADIC_MAX to be 10. If you need more arguments than that VC12 and below cannot support it."); + #endif + + } + + //! \brief Return type of the functor + typedef Event result_type; + + //! \brief Function signature of kernel functor with no event dependency. + typedef Event type_( + const EnqueueArgs&, + T0, + T1, + T2, + T3, + T4, + T5, + T6, + T7, + T8, + T9, + T10, + T11, + T12, + T13, + T14, + T15, + T16, + T17, + T18, + T19, + T20, + T21, + T22, + T23, + T24, + T25, + T26, + T27, + T28, + T29, + T30, + T31); + + Event operator()( + const EnqueueArgs& enqueueArgs, + T0 arg0, + T1 arg1, + T2 arg2, + T3 arg3, + T4 arg4, + T5 arg5, + T6 arg6, + T7 arg7, + T8 arg8, + T9 arg9, + T10 arg10, + T11 arg11, + T12 arg12, + T13 arg13, + T14 arg14, + T15 arg15, + T16 arg16, + T17 arg17, + T18 arg18, + T19 arg19, + T20 arg20, + T21 arg21, + T22 arg22, + T23 arg23, + T24 arg24, + T25 arg25, + T26 arg26, + T27 arg27, + T28 arg28, + T29 arg29, + T30 arg30, + T31 arg31) + { + return functor_( + enqueueArgs, + arg0, + arg1, + arg2, + arg3, + arg4, + arg5, + arg6, + arg7, + arg8, + arg9, + arg10, + arg11, + arg12, + arg13, + arg14, + arg15, + arg16, + arg17, + arg18, + arg19, + arg20, + arg21, + arg22, + arg23, + arg24, + arg25, + arg26, + arg27, + arg28, + arg29, + arg30, + arg31); + } + + +}; + +template< + typename T0, + typename T1, + typename T2, + typename T3, + typename T4, + typename T5, + typename T6, + typename T7, + typename T8, + typename T9, + typename T10, + typename T11, + typename T12, + typename T13, + typename T14, + typename T15, + typename T16, + typename T17, + typename T18, + typename T19, + typename T20, + typename T21, + typename T22, + typename T23, + typename T24, + typename T25, + typename T26, + typename T27, + typename T28, + typename T29, + typename T30> +struct functionImplementation_ +< T0, + T1, + T2, + T3, + T4, + T5, + T6, + T7, + T8, + T9, + T10, + T11, + T12, + T13, + T14, + T15, + T16, + T17, + T18, + T19, + T20, + T21, + T22, + T23, + T24, + T25, + T26, + T27, + T28, + T29, + T30, + NullType> +{ + typedef detail::KernelFunctorGlobal< + T0, + T1, + T2, + T3, + T4, + T5, + T6, + T7, + T8, + T9, + T10, + T11, + T12, + T13, + T14, + T15, + T16, + T17, + T18, + T19, + T20, + T21, + T22, + T23, + T24, + T25, + T26, + T27, + T28, + T29, + T30, + NullType> FunctorType; + + FunctorType functor_; + + functionImplementation_(const FunctorType &functor) : + functor_(functor) + { + + #if (defined(_WIN32) && defined(_VARIADIC_MAX) && (_VARIADIC_MAX < 31)) + // Fail variadic expansion for dev11 + static_assert(0, "Visual Studio has a hard limit of argument count for a std::function expansion. Please define _VARIADIC_MAX to be 10. If you need more arguments than that VC12 and below cannot support it."); + #endif + + } + + //! \brief Return type of the functor + typedef Event result_type; + + //! \brief Function signature of kernel functor with no event dependency. + typedef Event type_( + const EnqueueArgs&, + T0, + T1, + T2, + T3, + T4, + T5, + T6, + T7, + T8, + T9, + T10, + T11, + T12, + T13, + T14, + T15, + T16, + T17, + T18, + T19, + T20, + T21, + T22, + T23, + T24, + T25, + T26, + T27, + T28, + T29, + T30); + + Event operator()( + const EnqueueArgs& enqueueArgs, + T0 arg0, + T1 arg1, + T2 arg2, + T3 arg3, + T4 arg4, + T5 arg5, + T6 arg6, + T7 arg7, + T8 arg8, + T9 arg9, + T10 arg10, + T11 arg11, + T12 arg12, + T13 arg13, + T14 arg14, + T15 arg15, + T16 arg16, + T17 arg17, + T18 arg18, + T19 arg19, + T20 arg20, + T21 arg21, + T22 arg22, + T23 arg23, + T24 arg24, + T25 arg25, + T26 arg26, + T27 arg27, + T28 arg28, + T29 arg29, + T30 arg30) + { + return functor_( + enqueueArgs, + arg0, + arg1, + arg2, + arg3, + arg4, + arg5, + arg6, + arg7, + arg8, + arg9, + arg10, + arg11, + arg12, + arg13, + arg14, + arg15, + arg16, + arg17, + arg18, + arg19, + arg20, + arg21, + arg22, + arg23, + arg24, + arg25, + arg26, + arg27, + arg28, + arg29, + arg30); + } + + +}; + +template< + typename T0, + typename T1, + typename T2, + typename T3, + typename T4, + typename T5, + typename T6, + typename T7, + typename T8, + typename T9, + typename T10, + typename T11, + typename T12, + typename T13, + typename T14, + typename T15, + typename T16, + typename T17, + typename T18, + typename T19, + typename T20, + typename T21, + typename T22, + typename T23, + typename T24, + typename T25, + typename T26, + typename T27, + typename T28, + typename T29> +struct functionImplementation_ +< T0, + T1, + T2, + T3, + T4, + T5, + T6, + T7, + T8, + T9, + T10, + T11, + T12, + T13, + T14, + T15, + T16, + T17, + T18, + T19, + T20, + T21, + T22, + T23, + T24, + T25, + T26, + T27, + T28, + T29, + NullType, + NullType> +{ + typedef detail::KernelFunctorGlobal< + T0, + T1, + T2, + T3, + T4, + T5, + T6, + T7, + T8, + T9, + T10, + T11, + T12, + T13, + T14, + T15, + T16, + T17, + T18, + T19, + T20, + T21, + T22, + T23, + T24, + T25, + T26, + T27, + T28, + T29, + NullType, + NullType> FunctorType; + + FunctorType functor_; + + functionImplementation_(const FunctorType &functor) : + functor_(functor) + { + + #if (defined(_WIN32) && defined(_VARIADIC_MAX) && (_VARIADIC_MAX < 30)) + // Fail variadic expansion for dev11 + static_assert(0, "Visual Studio has a hard limit of argument count for a std::function expansion. Please define _VARIADIC_MAX to be 10. If you need more arguments than that VC12 and below cannot support it."); + #endif + + } + + //! \brief Return type of the functor + typedef Event result_type; + + //! \brief Function signature of kernel functor with no event dependency. + typedef Event type_( + const EnqueueArgs&, + T0, + T1, + T2, + T3, + T4, + T5, + T6, + T7, + T8, + T9, + T10, + T11, + T12, + T13, + T14, + T15, + T16, + T17, + T18, + T19, + T20, + T21, + T22, + T23, + T24, + T25, + T26, + T27, + T28, + T29); + + Event operator()( + const EnqueueArgs& enqueueArgs, + T0 arg0, + T1 arg1, + T2 arg2, + T3 arg3, + T4 arg4, + T5 arg5, + T6 arg6, + T7 arg7, + T8 arg8, + T9 arg9, + T10 arg10, + T11 arg11, + T12 arg12, + T13 arg13, + T14 arg14, + T15 arg15, + T16 arg16, + T17 arg17, + T18 arg18, + T19 arg19, + T20 arg20, + T21 arg21, + T22 arg22, + T23 arg23, + T24 arg24, + T25 arg25, + T26 arg26, + T27 arg27, + T28 arg28, + T29 arg29) + { + return functor_( + enqueueArgs, + arg0, + arg1, + arg2, + arg3, + arg4, + arg5, + arg6, + arg7, + arg8, + arg9, + arg10, + arg11, + arg12, + arg13, + arg14, + arg15, + arg16, + arg17, + arg18, + arg19, + arg20, + arg21, + arg22, + arg23, + arg24, + arg25, + arg26, + arg27, + arg28, + arg29); + } + + +}; + +template< + typename T0, + typename T1, + typename T2, + typename T3, + typename T4, + typename T5, + typename T6, + typename T7, + typename T8, + typename T9, + typename T10, + typename T11, + typename T12, + typename T13, + typename T14, + typename T15, + typename T16, + typename T17, + typename T18, + typename T19, + typename T20, + typename T21, + typename T22, + typename T23, + typename T24, + typename T25, + typename T26, + typename T27, + typename T28> +struct functionImplementation_ +< T0, + T1, + T2, + T3, + T4, + T5, + T6, + T7, + T8, + T9, + T10, + T11, + T12, + T13, + T14, + T15, + T16, + T17, + T18, + T19, + T20, + T21, + T22, + T23, + T24, + T25, + T26, + T27, + T28, + NullType, + NullType, + NullType> +{ + typedef detail::KernelFunctorGlobal< + T0, + T1, + T2, + T3, + T4, + T5, + T6, + T7, + T8, + T9, + T10, + T11, + T12, + T13, + T14, + T15, + T16, + T17, + T18, + T19, + T20, + T21, + T22, + T23, + T24, + T25, + T26, + T27, + T28, + NullType, + NullType, + NullType> FunctorType; + + FunctorType functor_; + + functionImplementation_(const FunctorType &functor) : + functor_(functor) + { + + #if (defined(_WIN32) && defined(_VARIADIC_MAX) && (_VARIADIC_MAX < 29)) + // Fail variadic expansion for dev11 + static_assert(0, "Visual Studio has a hard limit of argument count for a std::function expansion. Please define _VARIADIC_MAX to be 10. If you need more arguments than that VC12 and below cannot support it."); + #endif + + } + + //! \brief Return type of the functor + typedef Event result_type; + + //! \brief Function signature of kernel functor with no event dependency. + typedef Event type_( + const EnqueueArgs&, + T0, + T1, + T2, + T3, + T4, + T5, + T6, + T7, + T8, + T9, + T10, + T11, + T12, + T13, + T14, + T15, + T16, + T17, + T18, + T19, + T20, + T21, + T22, + T23, + T24, + T25, + T26, + T27, + T28); + + Event operator()( + const EnqueueArgs& enqueueArgs, + T0 arg0, + T1 arg1, + T2 arg2, + T3 arg3, + T4 arg4, + T5 arg5, + T6 arg6, + T7 arg7, + T8 arg8, + T9 arg9, + T10 arg10, + T11 arg11, + T12 arg12, + T13 arg13, + T14 arg14, + T15 arg15, + T16 arg16, + T17 arg17, + T18 arg18, + T19 arg19, + T20 arg20, + T21 arg21, + T22 arg22, + T23 arg23, + T24 arg24, + T25 arg25, + T26 arg26, + T27 arg27, + T28 arg28) + { + return functor_( + enqueueArgs, + arg0, + arg1, + arg2, + arg3, + arg4, + arg5, + arg6, + arg7, + arg8, + arg9, + arg10, + arg11, + arg12, + arg13, + arg14, + arg15, + arg16, + arg17, + arg18, + arg19, + arg20, + arg21, + arg22, + arg23, + arg24, + arg25, + arg26, + arg27, + arg28); + } + + +}; + +template< + typename T0, + typename T1, + typename T2, + typename T3, + typename T4, + typename T5, + typename T6, + typename T7, + typename T8, + typename T9, + typename T10, + typename T11, + typename T12, + typename T13, + typename T14, + typename T15, + typename T16, + typename T17, + typename T18, + typename T19, + typename T20, + typename T21, + typename T22, + typename T23, + typename T24, + typename T25, + typename T26, + typename T27> +struct functionImplementation_ +< T0, + T1, + T2, + T3, + T4, + T5, + T6, + T7, + T8, + T9, + T10, + T11, + T12, + T13, + T14, + T15, + T16, + T17, + T18, + T19, + T20, + T21, + T22, + T23, + T24, + T25, + T26, + T27, + NullType, + NullType, + NullType, + NullType> +{ + typedef detail::KernelFunctorGlobal< + T0, + T1, + T2, + T3, + T4, + T5, + T6, + T7, + T8, + T9, + T10, + T11, + T12, + T13, + T14, + T15, + T16, + T17, + T18, + T19, + T20, + T21, + T22, + T23, + T24, + T25, + T26, + T27, + NullType, + NullType, + NullType, + NullType> FunctorType; + + FunctorType functor_; + + functionImplementation_(const FunctorType &functor) : + functor_(functor) + { + + #if (defined(_WIN32) && defined(_VARIADIC_MAX) && (_VARIADIC_MAX < 28)) + // Fail variadic expansion for dev11 + static_assert(0, "Visual Studio has a hard limit of argument count for a std::function expansion. Please define _VARIADIC_MAX to be 10. If you need more arguments than that VC12 and below cannot support it."); + #endif + + } + + //! \brief Return type of the functor + typedef Event result_type; + + //! \brief Function signature of kernel functor with no event dependency. + typedef Event type_( + const EnqueueArgs&, + T0, + T1, + T2, + T3, + T4, + T5, + T6, + T7, + T8, + T9, + T10, + T11, + T12, + T13, + T14, + T15, + T16, + T17, + T18, + T19, + T20, + T21, + T22, + T23, + T24, + T25, + T26, + T27); + + Event operator()( + const EnqueueArgs& enqueueArgs, + T0 arg0, + T1 arg1, + T2 arg2, + T3 arg3, + T4 arg4, + T5 arg5, + T6 arg6, + T7 arg7, + T8 arg8, + T9 arg9, + T10 arg10, + T11 arg11, + T12 arg12, + T13 arg13, + T14 arg14, + T15 arg15, + T16 arg16, + T17 arg17, + T18 arg18, + T19 arg19, + T20 arg20, + T21 arg21, + T22 arg22, + T23 arg23, + T24 arg24, + T25 arg25, + T26 arg26, + T27 arg27) + { + return functor_( + enqueueArgs, + arg0, + arg1, + arg2, + arg3, + arg4, + arg5, + arg6, + arg7, + arg8, + arg9, + arg10, + arg11, + arg12, + arg13, + arg14, + arg15, + arg16, + arg17, + arg18, + arg19, + arg20, + arg21, + arg22, + arg23, + arg24, + arg25, + arg26, + arg27); + } + + +}; + +template< + typename T0, + typename T1, + typename T2, + typename T3, + typename T4, + typename T5, + typename T6, + typename T7, + typename T8, + typename T9, + typename T10, + typename T11, + typename T12, + typename T13, + typename T14, + typename T15, + typename T16, + typename T17, + typename T18, + typename T19, + typename T20, + typename T21, + typename T22, + typename T23, + typename T24, + typename T25, + typename T26> +struct functionImplementation_ +< T0, + T1, + T2, + T3, + T4, + T5, + T6, + T7, + T8, + T9, + T10, + T11, + T12, + T13, + T14, + T15, + T16, + T17, + T18, + T19, + T20, + T21, + T22, + T23, + T24, + T25, + T26, + NullType, + NullType, + NullType, + NullType, + NullType> +{ + typedef detail::KernelFunctorGlobal< + T0, + T1, + T2, + T3, + T4, + T5, + T6, + T7, + T8, + T9, + T10, + T11, + T12, + T13, + T14, + T15, + T16, + T17, + T18, + T19, + T20, + T21, + T22, + T23, + T24, + T25, + T26, + NullType, + NullType, + NullType, + NullType, + NullType> FunctorType; + + FunctorType functor_; + + functionImplementation_(const FunctorType &functor) : + functor_(functor) + { + + #if (defined(_WIN32) && defined(_VARIADIC_MAX) && (_VARIADIC_MAX < 27)) + // Fail variadic expansion for dev11 + static_assert(0, "Visual Studio has a hard limit of argument count for a std::function expansion. Please define _VARIADIC_MAX to be 10. If you need more arguments than that VC12 and below cannot support it."); + #endif + + } + + //! \brief Return type of the functor + typedef Event result_type; + + //! \brief Function signature of kernel functor with no event dependency. + typedef Event type_( + const EnqueueArgs&, + T0, + T1, + T2, + T3, + T4, + T5, + T6, + T7, + T8, + T9, + T10, + T11, + T12, + T13, + T14, + T15, + T16, + T17, + T18, + T19, + T20, + T21, + T22, + T23, + T24, + T25, + T26); + + Event operator()( + const EnqueueArgs& enqueueArgs, + T0 arg0, + T1 arg1, + T2 arg2, + T3 arg3, + T4 arg4, + T5 arg5, + T6 arg6, + T7 arg7, + T8 arg8, + T9 arg9, + T10 arg10, + T11 arg11, + T12 arg12, + T13 arg13, + T14 arg14, + T15 arg15, + T16 arg16, + T17 arg17, + T18 arg18, + T19 arg19, + T20 arg20, + T21 arg21, + T22 arg22, + T23 arg23, + T24 arg24, + T25 arg25, + T26 arg26) + { + return functor_( + enqueueArgs, + arg0, + arg1, + arg2, + arg3, + arg4, + arg5, + arg6, + arg7, + arg8, + arg9, + arg10, + arg11, + arg12, + arg13, + arg14, + arg15, + arg16, + arg17, + arg18, + arg19, + arg20, + arg21, + arg22, + arg23, + arg24, + arg25, + arg26); + } + + +}; + +template< + typename T0, + typename T1, + typename T2, + typename T3, + typename T4, + typename T5, + typename T6, + typename T7, + typename T8, + typename T9, + typename T10, + typename T11, + typename T12, + typename T13, + typename T14, + typename T15, + typename T16, + typename T17, + typename T18, + typename T19, + typename T20, + typename T21, + typename T22, + typename T23, + typename T24, + typename T25> +struct functionImplementation_ +< T0, + T1, + T2, + T3, + T4, + T5, + T6, + T7, + T8, + T9, + T10, + T11, + T12, + T13, + T14, + T15, + T16, + T17, + T18, + T19, + T20, + T21, + T22, + T23, + T24, + T25, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType> +{ + typedef detail::KernelFunctorGlobal< + T0, + T1, + T2, + T3, + T4, + T5, + T6, + T7, + T8, + T9, + T10, + T11, + T12, + T13, + T14, + T15, + T16, + T17, + T18, + T19, + T20, + T21, + T22, + T23, + T24, + T25, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType> FunctorType; + + FunctorType functor_; + + functionImplementation_(const FunctorType &functor) : + functor_(functor) + { + + #if (defined(_WIN32) && defined(_VARIADIC_MAX) && (_VARIADIC_MAX < 26)) + // Fail variadic expansion for dev11 + static_assert(0, "Visual Studio has a hard limit of argument count for a std::function expansion. Please define _VARIADIC_MAX to be 10. If you need more arguments than that VC12 and below cannot support it."); + #endif + + } + + //! \brief Return type of the functor + typedef Event result_type; + + //! \brief Function signature of kernel functor with no event dependency. + typedef Event type_( + const EnqueueArgs&, + T0, + T1, + T2, + T3, + T4, + T5, + T6, + T7, + T8, + T9, + T10, + T11, + T12, + T13, + T14, + T15, + T16, + T17, + T18, + T19, + T20, + T21, + T22, + T23, + T24, + T25); + + Event operator()( + const EnqueueArgs& enqueueArgs, + T0 arg0, + T1 arg1, + T2 arg2, + T3 arg3, + T4 arg4, + T5 arg5, + T6 arg6, + T7 arg7, + T8 arg8, + T9 arg9, + T10 arg10, + T11 arg11, + T12 arg12, + T13 arg13, + T14 arg14, + T15 arg15, + T16 arg16, + T17 arg17, + T18 arg18, + T19 arg19, + T20 arg20, + T21 arg21, + T22 arg22, + T23 arg23, + T24 arg24, + T25 arg25) + { + return functor_( + enqueueArgs, + arg0, + arg1, + arg2, + arg3, + arg4, + arg5, + arg6, + arg7, + arg8, + arg9, + arg10, + arg11, + arg12, + arg13, + arg14, + arg15, + arg16, + arg17, + arg18, + arg19, + arg20, + arg21, + arg22, + arg23, + arg24, + arg25); + } + + +}; + +template< + typename T0, + typename T1, + typename T2, + typename T3, + typename T4, + typename T5, + typename T6, + typename T7, + typename T8, + typename T9, + typename T10, + typename T11, + typename T12, + typename T13, + typename T14, + typename T15, + typename T16, + typename T17, + typename T18, + typename T19, + typename T20, + typename T21, + typename T22, + typename T23, + typename T24> +struct functionImplementation_ +< T0, + T1, + T2, + T3, + T4, + T5, + T6, + T7, + T8, + T9, + T10, + T11, + T12, + T13, + T14, + T15, + T16, + T17, + T18, + T19, + T20, + T21, + T22, + T23, + T24, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType> +{ + typedef detail::KernelFunctorGlobal< + T0, + T1, + T2, + T3, + T4, + T5, + T6, + T7, + T8, + T9, + T10, + T11, + T12, + T13, + T14, + T15, + T16, + T17, + T18, + T19, + T20, + T21, + T22, + T23, + T24, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType> FunctorType; + + FunctorType functor_; + + functionImplementation_(const FunctorType &functor) : + functor_(functor) + { + + #if (defined(_WIN32) && defined(_VARIADIC_MAX) && (_VARIADIC_MAX < 25)) + // Fail variadic expansion for dev11 + static_assert(0, "Visual Studio has a hard limit of argument count for a std::function expansion. Please define _VARIADIC_MAX to be 10. If you need more arguments than that VC12 and below cannot support it."); + #endif + + } + + //! \brief Return type of the functor + typedef Event result_type; + + //! \brief Function signature of kernel functor with no event dependency. + typedef Event type_( + const EnqueueArgs&, + T0, + T1, + T2, + T3, + T4, + T5, + T6, + T7, + T8, + T9, + T10, + T11, + T12, + T13, + T14, + T15, + T16, + T17, + T18, + T19, + T20, + T21, + T22, + T23, + T24); + + Event operator()( + const EnqueueArgs& enqueueArgs, + T0 arg0, + T1 arg1, + T2 arg2, + T3 arg3, + T4 arg4, + T5 arg5, + T6 arg6, + T7 arg7, + T8 arg8, + T9 arg9, + T10 arg10, + T11 arg11, + T12 arg12, + T13 arg13, + T14 arg14, + T15 arg15, + T16 arg16, + T17 arg17, + T18 arg18, + T19 arg19, + T20 arg20, + T21 arg21, + T22 arg22, + T23 arg23, + T24 arg24) + { + return functor_( + enqueueArgs, + arg0, + arg1, + arg2, + arg3, + arg4, + arg5, + arg6, + arg7, + arg8, + arg9, + arg10, + arg11, + arg12, + arg13, + arg14, + arg15, + arg16, + arg17, + arg18, + arg19, + arg20, + arg21, + arg22, + arg23, + arg24); + } + + +}; + +template< + typename T0, + typename T1, + typename T2, + typename T3, + typename T4, + typename T5, + typename T6, + typename T7, + typename T8, + typename T9, + typename T10, + typename T11, + typename T12, + typename T13, + typename T14, + typename T15, + typename T16, + typename T17, + typename T18, + typename T19, + typename T20, + typename T21, + typename T22, + typename T23> +struct functionImplementation_ +< T0, + T1, + T2, + T3, + T4, + T5, + T6, + T7, + T8, + T9, + T10, + T11, + T12, + T13, + T14, + T15, + T16, + T17, + T18, + T19, + T20, + T21, + T22, + T23, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType> +{ + typedef detail::KernelFunctorGlobal< + T0, + T1, + T2, + T3, + T4, + T5, + T6, + T7, + T8, + T9, + T10, + T11, + T12, + T13, + T14, + T15, + T16, + T17, + T18, + T19, + T20, + T21, + T22, + T23, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType> FunctorType; + + FunctorType functor_; + + functionImplementation_(const FunctorType &functor) : + functor_(functor) + { + + #if (defined(_WIN32) && defined(_VARIADIC_MAX) && (_VARIADIC_MAX < 24)) + // Fail variadic expansion for dev11 + static_assert(0, "Visual Studio has a hard limit of argument count for a std::function expansion. Please define _VARIADIC_MAX to be 10. If you need more arguments than that VC12 and below cannot support it."); + #endif + + } + + //! \brief Return type of the functor + typedef Event result_type; + + //! \brief Function signature of kernel functor with no event dependency. + typedef Event type_( + const EnqueueArgs&, + T0, + T1, + T2, + T3, + T4, + T5, + T6, + T7, + T8, + T9, + T10, + T11, + T12, + T13, + T14, + T15, + T16, + T17, + T18, + T19, + T20, + T21, + T22, + T23); + + Event operator()( + const EnqueueArgs& enqueueArgs, + T0 arg0, + T1 arg1, + T2 arg2, + T3 arg3, + T4 arg4, + T5 arg5, + T6 arg6, + T7 arg7, + T8 arg8, + T9 arg9, + T10 arg10, + T11 arg11, + T12 arg12, + T13 arg13, + T14 arg14, + T15 arg15, + T16 arg16, + T17 arg17, + T18 arg18, + T19 arg19, + T20 arg20, + T21 arg21, + T22 arg22, + T23 arg23) + { + return functor_( + enqueueArgs, + arg0, + arg1, + arg2, + arg3, + arg4, + arg5, + arg6, + arg7, + arg8, + arg9, + arg10, + arg11, + arg12, + arg13, + arg14, + arg15, + arg16, + arg17, + arg18, + arg19, + arg20, + arg21, + arg22, + arg23); + } + + +}; + +template< + typename T0, + typename T1, + typename T2, + typename T3, + typename T4, + typename T5, + typename T6, + typename T7, + typename T8, + typename T9, + typename T10, + typename T11, + typename T12, + typename T13, + typename T14, + typename T15, + typename T16, + typename T17, + typename T18, + typename T19, + typename T20, + typename T21, + typename T22> +struct functionImplementation_ +< T0, + T1, + T2, + T3, + T4, + T5, + T6, + T7, + T8, + T9, + T10, + T11, + T12, + T13, + T14, + T15, + T16, + T17, + T18, + T19, + T20, + T21, + T22, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType> +{ + typedef detail::KernelFunctorGlobal< + T0, + T1, + T2, + T3, + T4, + T5, + T6, + T7, + T8, + T9, + T10, + T11, + T12, + T13, + T14, + T15, + T16, + T17, + T18, + T19, + T20, + T21, + T22, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType> FunctorType; + + FunctorType functor_; + + functionImplementation_(const FunctorType &functor) : + functor_(functor) + { + + #if (defined(_WIN32) && defined(_VARIADIC_MAX) && (_VARIADIC_MAX < 23)) + // Fail variadic expansion for dev11 + static_assert(0, "Visual Studio has a hard limit of argument count for a std::function expansion. Please define _VARIADIC_MAX to be 10. If you need more arguments than that VC12 and below cannot support it."); + #endif + + } + + //! \brief Return type of the functor + typedef Event result_type; + + //! \brief Function signature of kernel functor with no event dependency. + typedef Event type_( + const EnqueueArgs&, + T0, + T1, + T2, + T3, + T4, + T5, + T6, + T7, + T8, + T9, + T10, + T11, + T12, + T13, + T14, + T15, + T16, + T17, + T18, + T19, + T20, + T21, + T22); + + Event operator()( + const EnqueueArgs& enqueueArgs, + T0 arg0, + T1 arg1, + T2 arg2, + T3 arg3, + T4 arg4, + T5 arg5, + T6 arg6, + T7 arg7, + T8 arg8, + T9 arg9, + T10 arg10, + T11 arg11, + T12 arg12, + T13 arg13, + T14 arg14, + T15 arg15, + T16 arg16, + T17 arg17, + T18 arg18, + T19 arg19, + T20 arg20, + T21 arg21, + T22 arg22) + { + return functor_( + enqueueArgs, + arg0, + arg1, + arg2, + arg3, + arg4, + arg5, + arg6, + arg7, + arg8, + arg9, + arg10, + arg11, + arg12, + arg13, + arg14, + arg15, + arg16, + arg17, + arg18, + arg19, + arg20, + arg21, + arg22); + } + + +}; + +template< + typename T0, + typename T1, + typename T2, + typename T3, + typename T4, + typename T5, + typename T6, + typename T7, + typename T8, + typename T9, + typename T10, + typename T11, + typename T12, + typename T13, + typename T14, + typename T15, + typename T16, + typename T17, + typename T18, + typename T19, + typename T20, + typename T21> +struct functionImplementation_ +< T0, + T1, + T2, + T3, + T4, + T5, + T6, + T7, + T8, + T9, + T10, + T11, + T12, + T13, + T14, + T15, + T16, + T17, + T18, + T19, + T20, + T21, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType> +{ + typedef detail::KernelFunctorGlobal< + T0, + T1, + T2, + T3, + T4, + T5, + T6, + T7, + T8, + T9, + T10, + T11, + T12, + T13, + T14, + T15, + T16, + T17, + T18, + T19, + T20, + T21, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType> FunctorType; + + FunctorType functor_; + + functionImplementation_(const FunctorType &functor) : + functor_(functor) + { + + #if (defined(_WIN32) && defined(_VARIADIC_MAX) && (_VARIADIC_MAX < 22)) + // Fail variadic expansion for dev11 + static_assert(0, "Visual Studio has a hard limit of argument count for a std::function expansion. Please define _VARIADIC_MAX to be 10. If you need more arguments than that VC12 and below cannot support it."); + #endif + + } + + //! \brief Return type of the functor + typedef Event result_type; + + //! \brief Function signature of kernel functor with no event dependency. + typedef Event type_( + const EnqueueArgs&, + T0, + T1, + T2, + T3, + T4, + T5, + T6, + T7, + T8, + T9, + T10, + T11, + T12, + T13, + T14, + T15, + T16, + T17, + T18, + T19, + T20, + T21); + + Event operator()( + const EnqueueArgs& enqueueArgs, + T0 arg0, + T1 arg1, + T2 arg2, + T3 arg3, + T4 arg4, + T5 arg5, + T6 arg6, + T7 arg7, + T8 arg8, + T9 arg9, + T10 arg10, + T11 arg11, + T12 arg12, + T13 arg13, + T14 arg14, + T15 arg15, + T16 arg16, + T17 arg17, + T18 arg18, + T19 arg19, + T20 arg20, + T21 arg21) + { + return functor_( + enqueueArgs, + arg0, + arg1, + arg2, + arg3, + arg4, + arg5, + arg6, + arg7, + arg8, + arg9, + arg10, + arg11, + arg12, + arg13, + arg14, + arg15, + arg16, + arg17, + arg18, + arg19, + arg20, + arg21); + } + + +}; + +template< + typename T0, + typename T1, + typename T2, + typename T3, + typename T4, + typename T5, + typename T6, + typename T7, + typename T8, + typename T9, + typename T10, + typename T11, + typename T12, + typename T13, + typename T14, + typename T15, + typename T16, + typename T17, + typename T18, + typename T19, + typename T20> +struct functionImplementation_ +< T0, + T1, + T2, + T3, + T4, + T5, + T6, + T7, + T8, + T9, + T10, + T11, + T12, + T13, + T14, + T15, + T16, + T17, + T18, + T19, + T20, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType> +{ + typedef detail::KernelFunctorGlobal< + T0, + T1, + T2, + T3, + T4, + T5, + T6, + T7, + T8, + T9, + T10, + T11, + T12, + T13, + T14, + T15, + T16, + T17, + T18, + T19, + T20, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType> FunctorType; + + FunctorType functor_; + + functionImplementation_(const FunctorType &functor) : + functor_(functor) + { + + #if (defined(_WIN32) && defined(_VARIADIC_MAX) && (_VARIADIC_MAX < 21)) + // Fail variadic expansion for dev11 + static_assert(0, "Visual Studio has a hard limit of argument count for a std::function expansion. Please define _VARIADIC_MAX to be 10. If you need more arguments than that VC12 and below cannot support it."); + #endif + + } + + //! \brief Return type of the functor + typedef Event result_type; + + //! \brief Function signature of kernel functor with no event dependency. + typedef Event type_( + const EnqueueArgs&, + T0, + T1, + T2, + T3, + T4, + T5, + T6, + T7, + T8, + T9, + T10, + T11, + T12, + T13, + T14, + T15, + T16, + T17, + T18, + T19, + T20); + + Event operator()( + const EnqueueArgs& enqueueArgs, + T0 arg0, + T1 arg1, + T2 arg2, + T3 arg3, + T4 arg4, + T5 arg5, + T6 arg6, + T7 arg7, + T8 arg8, + T9 arg9, + T10 arg10, + T11 arg11, + T12 arg12, + T13 arg13, + T14 arg14, + T15 arg15, + T16 arg16, + T17 arg17, + T18 arg18, + T19 arg19, + T20 arg20) + { + return functor_( + enqueueArgs, + arg0, + arg1, + arg2, + arg3, + arg4, + arg5, + arg6, + arg7, + arg8, + arg9, + arg10, + arg11, + arg12, + arg13, + arg14, + arg15, + arg16, + arg17, + arg18, + arg19, + arg20); + } + + +}; + +template< + typename T0, + typename T1, + typename T2, + typename T3, + typename T4, + typename T5, + typename T6, + typename T7, + typename T8, + typename T9, + typename T10, + typename T11, + typename T12, + typename T13, + typename T14, + typename T15, + typename T16, + typename T17, + typename T18, + typename T19> +struct functionImplementation_ +< T0, + T1, + T2, + T3, + T4, + T5, + T6, + T7, + T8, + T9, + T10, + T11, + T12, + T13, + T14, + T15, + T16, + T17, + T18, + T19, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType> +{ + typedef detail::KernelFunctorGlobal< + T0, + T1, + T2, + T3, + T4, + T5, + T6, + T7, + T8, + T9, + T10, + T11, + T12, + T13, + T14, + T15, + T16, + T17, + T18, + T19, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType> FunctorType; + + FunctorType functor_; + + functionImplementation_(const FunctorType &functor) : + functor_(functor) + { + + #if (defined(_WIN32) && defined(_VARIADIC_MAX) && (_VARIADIC_MAX < 20)) + // Fail variadic expansion for dev11 + static_assert(0, "Visual Studio has a hard limit of argument count for a std::function expansion. Please define _VARIADIC_MAX to be 10. If you need more arguments than that VC12 and below cannot support it."); + #endif + + } + + //! \brief Return type of the functor + typedef Event result_type; + + //! \brief Function signature of kernel functor with no event dependency. + typedef Event type_( + const EnqueueArgs&, + T0, + T1, + T2, + T3, + T4, + T5, + T6, + T7, + T8, + T9, + T10, + T11, + T12, + T13, + T14, + T15, + T16, + T17, + T18, + T19); + + Event operator()( + const EnqueueArgs& enqueueArgs, + T0 arg0, + T1 arg1, + T2 arg2, + T3 arg3, + T4 arg4, + T5 arg5, + T6 arg6, + T7 arg7, + T8 arg8, + T9 arg9, + T10 arg10, + T11 arg11, + T12 arg12, + T13 arg13, + T14 arg14, + T15 arg15, + T16 arg16, + T17 arg17, + T18 arg18, + T19 arg19) + { + return functor_( + enqueueArgs, + arg0, + arg1, + arg2, + arg3, + arg4, + arg5, + arg6, + arg7, + arg8, + arg9, + arg10, + arg11, + arg12, + arg13, + arg14, + arg15, + arg16, + arg17, + arg18, + arg19); + } + + +}; + +template< + typename T0, + typename T1, + typename T2, + typename T3, + typename T4, + typename T5, + typename T6, + typename T7, + typename T8, + typename T9, + typename T10, + typename T11, + typename T12, + typename T13, + typename T14, + typename T15, + typename T16, + typename T17, + typename T18> +struct functionImplementation_ +< T0, + T1, + T2, + T3, + T4, + T5, + T6, + T7, + T8, + T9, + T10, + T11, + T12, + T13, + T14, + T15, + T16, + T17, + T18, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType> +{ + typedef detail::KernelFunctorGlobal< + T0, + T1, + T2, + T3, + T4, + T5, + T6, + T7, + T8, + T9, + T10, + T11, + T12, + T13, + T14, + T15, + T16, + T17, + T18, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType> FunctorType; + + FunctorType functor_; + + functionImplementation_(const FunctorType &functor) : + functor_(functor) + { + + #if (defined(_WIN32) && defined(_VARIADIC_MAX) && (_VARIADIC_MAX < 19)) + // Fail variadic expansion for dev11 + static_assert(0, "Visual Studio has a hard limit of argument count for a std::function expansion. Please define _VARIADIC_MAX to be 10. If you need more arguments than that VC12 and below cannot support it."); + #endif + + } + + //! \brief Return type of the functor + typedef Event result_type; + + //! \brief Function signature of kernel functor with no event dependency. + typedef Event type_( + const EnqueueArgs&, + T0, + T1, + T2, + T3, + T4, + T5, + T6, + T7, + T8, + T9, + T10, + T11, + T12, + T13, + T14, + T15, + T16, + T17, + T18); + + Event operator()( + const EnqueueArgs& enqueueArgs, + T0 arg0, + T1 arg1, + T2 arg2, + T3 arg3, + T4 arg4, + T5 arg5, + T6 arg6, + T7 arg7, + T8 arg8, + T9 arg9, + T10 arg10, + T11 arg11, + T12 arg12, + T13 arg13, + T14 arg14, + T15 arg15, + T16 arg16, + T17 arg17, + T18 arg18) + { + return functor_( + enqueueArgs, + arg0, + arg1, + arg2, + arg3, + arg4, + arg5, + arg6, + arg7, + arg8, + arg9, + arg10, + arg11, + arg12, + arg13, + arg14, + arg15, + arg16, + arg17, + arg18); + } + + +}; + +template< + typename T0, + typename T1, + typename T2, + typename T3, + typename T4, + typename T5, + typename T6, + typename T7, + typename T8, + typename T9, + typename T10, + typename T11, + typename T12, + typename T13, + typename T14, + typename T15, + typename T16, + typename T17> +struct functionImplementation_ +< T0, + T1, + T2, + T3, + T4, + T5, + T6, + T7, + T8, + T9, + T10, + T11, + T12, + T13, + T14, + T15, + T16, + T17, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType> +{ + typedef detail::KernelFunctorGlobal< + T0, + T1, + T2, + T3, + T4, + T5, + T6, + T7, + T8, + T9, + T10, + T11, + T12, + T13, + T14, + T15, + T16, + T17, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType> FunctorType; + + FunctorType functor_; + + functionImplementation_(const FunctorType &functor) : + functor_(functor) + { + + #if (defined(_WIN32) && defined(_VARIADIC_MAX) && (_VARIADIC_MAX < 18)) + // Fail variadic expansion for dev11 + static_assert(0, "Visual Studio has a hard limit of argument count for a std::function expansion. Please define _VARIADIC_MAX to be 10. If you need more arguments than that VC12 and below cannot support it."); + #endif + + } + + //! \brief Return type of the functor + typedef Event result_type; + + //! \brief Function signature of kernel functor with no event dependency. + typedef Event type_( + const EnqueueArgs&, + T0, + T1, + T2, + T3, + T4, + T5, + T6, + T7, + T8, + T9, + T10, + T11, + T12, + T13, + T14, + T15, + T16, + T17); + + Event operator()( + const EnqueueArgs& enqueueArgs, + T0 arg0, + T1 arg1, + T2 arg2, + T3 arg3, + T4 arg4, + T5 arg5, + T6 arg6, + T7 arg7, + T8 arg8, + T9 arg9, + T10 arg10, + T11 arg11, + T12 arg12, + T13 arg13, + T14 arg14, + T15 arg15, + T16 arg16, + T17 arg17) + { + return functor_( + enqueueArgs, + arg0, + arg1, + arg2, + arg3, + arg4, + arg5, + arg6, + arg7, + arg8, + arg9, + arg10, + arg11, + arg12, + arg13, + arg14, + arg15, + arg16, + arg17); + } + + +}; + +template< + typename T0, + typename T1, + typename T2, + typename T3, + typename T4, + typename T5, + typename T6, + typename T7, + typename T8, + typename T9, + typename T10, + typename T11, + typename T12, + typename T13, + typename T14, + typename T15, + typename T16> +struct functionImplementation_ +< T0, + T1, + T2, + T3, + T4, + T5, + T6, + T7, + T8, + T9, + T10, + T11, + T12, + T13, + T14, + T15, + T16, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType> +{ + typedef detail::KernelFunctorGlobal< + T0, + T1, + T2, + T3, + T4, + T5, + T6, + T7, + T8, + T9, + T10, + T11, + T12, + T13, + T14, + T15, + T16, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType> FunctorType; + + FunctorType functor_; + + functionImplementation_(const FunctorType &functor) : + functor_(functor) + { + + #if (defined(_WIN32) && defined(_VARIADIC_MAX) && (_VARIADIC_MAX < 17)) + // Fail variadic expansion for dev11 + static_assert(0, "Visual Studio has a hard limit of argument count for a std::function expansion. Please define _VARIADIC_MAX to be 10. If you need more arguments than that VC12 and below cannot support it."); + #endif + + } + + //! \brief Return type of the functor + typedef Event result_type; + + //! \brief Function signature of kernel functor with no event dependency. + typedef Event type_( + const EnqueueArgs&, + T0, + T1, + T2, + T3, + T4, + T5, + T6, + T7, + T8, + T9, + T10, + T11, + T12, + T13, + T14, + T15, + T16); + + Event operator()( + const EnqueueArgs& enqueueArgs, + T0 arg0, + T1 arg1, + T2 arg2, + T3 arg3, + T4 arg4, + T5 arg5, + T6 arg6, + T7 arg7, + T8 arg8, + T9 arg9, + T10 arg10, + T11 arg11, + T12 arg12, + T13 arg13, + T14 arg14, + T15 arg15, + T16 arg16) + { + return functor_( + enqueueArgs, + arg0, + arg1, + arg2, + arg3, + arg4, + arg5, + arg6, + arg7, + arg8, + arg9, + arg10, + arg11, + arg12, + arg13, + arg14, + arg15, + arg16); + } + + +}; + +template< + typename T0, + typename T1, + typename T2, + typename T3, + typename T4, + typename T5, + typename T6, + typename T7, + typename T8, + typename T9, + typename T10, + typename T11, + typename T12, + typename T13, + typename T14, + typename T15> +struct functionImplementation_ +< T0, + T1, + T2, + T3, + T4, + T5, + T6, + T7, + T8, + T9, + T10, + T11, + T12, + T13, + T14, + T15, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType> +{ + typedef detail::KernelFunctorGlobal< + T0, + T1, + T2, + T3, + T4, + T5, + T6, + T7, + T8, + T9, + T10, + T11, + T12, + T13, + T14, + T15, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType> FunctorType; + + FunctorType functor_; + + functionImplementation_(const FunctorType &functor) : + functor_(functor) + { + + #if (defined(_WIN32) && defined(_VARIADIC_MAX) && (_VARIADIC_MAX < 16)) + // Fail variadic expansion for dev11 + static_assert(0, "Visual Studio has a hard limit of argument count for a std::function expansion. Please define _VARIADIC_MAX to be 10. If you need more arguments than that VC12 and below cannot support it."); + #endif + + } + + //! \brief Return type of the functor + typedef Event result_type; + + //! \brief Function signature of kernel functor with no event dependency. + typedef Event type_( + const EnqueueArgs&, + T0, + T1, + T2, + T3, + T4, + T5, + T6, + T7, + T8, + T9, + T10, + T11, + T12, + T13, + T14, + T15); + + Event operator()( + const EnqueueArgs& enqueueArgs, + T0 arg0, + T1 arg1, + T2 arg2, + T3 arg3, + T4 arg4, + T5 arg5, + T6 arg6, + T7 arg7, + T8 arg8, + T9 arg9, + T10 arg10, + T11 arg11, + T12 arg12, + T13 arg13, + T14 arg14, + T15 arg15) + { + return functor_( + enqueueArgs, + arg0, + arg1, + arg2, + arg3, + arg4, + arg5, + arg6, + arg7, + arg8, + arg9, + arg10, + arg11, + arg12, + arg13, + arg14, + arg15); + } + + +}; + +template< + typename T0, + typename T1, + typename T2, + typename T3, + typename T4, + typename T5, + typename T6, + typename T7, + typename T8, + typename T9, + typename T10, + typename T11, + typename T12, + typename T13, + typename T14> +struct functionImplementation_ +< T0, + T1, + T2, + T3, + T4, + T5, + T6, + T7, + T8, + T9, + T10, + T11, + T12, + T13, + T14, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType> +{ + typedef detail::KernelFunctorGlobal< + T0, + T1, + T2, + T3, + T4, + T5, + T6, + T7, + T8, + T9, + T10, + T11, + T12, + T13, + T14, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType> FunctorType; + + FunctorType functor_; + + functionImplementation_(const FunctorType &functor) : + functor_(functor) + { + + #if (defined(_WIN32) && defined(_VARIADIC_MAX) && (_VARIADIC_MAX < 15)) + // Fail variadic expansion for dev11 + static_assert(0, "Visual Studio has a hard limit of argument count for a std::function expansion. Please define _VARIADIC_MAX to be 10. If you need more arguments than that VC12 and below cannot support it."); + #endif + + } + + //! \brief Return type of the functor + typedef Event result_type; + + //! \brief Function signature of kernel functor with no event dependency. + typedef Event type_( + const EnqueueArgs&, + T0, + T1, + T2, + T3, + T4, + T5, + T6, + T7, + T8, + T9, + T10, + T11, + T12, + T13, + T14); + + Event operator()( + const EnqueueArgs& enqueueArgs, + T0 arg0, + T1 arg1, + T2 arg2, + T3 arg3, + T4 arg4, + T5 arg5, + T6 arg6, + T7 arg7, + T8 arg8, + T9 arg9, + T10 arg10, + T11 arg11, + T12 arg12, + T13 arg13, + T14 arg14) + { + return functor_( + enqueueArgs, + arg0, + arg1, + arg2, + arg3, + arg4, + arg5, + arg6, + arg7, + arg8, + arg9, + arg10, + arg11, + arg12, + arg13, + arg14); + } + + +}; + +template< + typename T0, + typename T1, + typename T2, + typename T3, + typename T4, + typename T5, + typename T6, + typename T7, + typename T8, + typename T9, + typename T10, + typename T11, + typename T12, + typename T13> +struct functionImplementation_ +< T0, + T1, + T2, + T3, + T4, + T5, + T6, + T7, + T8, + T9, + T10, + T11, + T12, + T13, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType> +{ + typedef detail::KernelFunctorGlobal< + T0, + T1, + T2, + T3, + T4, + T5, + T6, + T7, + T8, + T9, + T10, + T11, + T12, + T13, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType> FunctorType; + + FunctorType functor_; + + functionImplementation_(const FunctorType &functor) : + functor_(functor) + { + + #if (defined(_WIN32) && defined(_VARIADIC_MAX) && (_VARIADIC_MAX < 14)) + // Fail variadic expansion for dev11 + static_assert(0, "Visual Studio has a hard limit of argument count for a std::function expansion. Please define _VARIADIC_MAX to be 10. If you need more arguments than that VC12 and below cannot support it."); + #endif + + } + + //! \brief Return type of the functor + typedef Event result_type; + + //! \brief Function signature of kernel functor with no event dependency. + typedef Event type_( + const EnqueueArgs&, + T0, + T1, + T2, + T3, + T4, + T5, + T6, + T7, + T8, + T9, + T10, + T11, + T12, + T13); + + Event operator()( + const EnqueueArgs& enqueueArgs, + T0 arg0, + T1 arg1, + T2 arg2, + T3 arg3, + T4 arg4, + T5 arg5, + T6 arg6, + T7 arg7, + T8 arg8, + T9 arg9, + T10 arg10, + T11 arg11, + T12 arg12, + T13 arg13) + { + return functor_( + enqueueArgs, + arg0, + arg1, + arg2, + arg3, + arg4, + arg5, + arg6, + arg7, + arg8, + arg9, + arg10, + arg11, + arg12, + arg13); + } + + +}; + +template< + typename T0, + typename T1, + typename T2, + typename T3, + typename T4, + typename T5, + typename T6, + typename T7, + typename T8, + typename T9, + typename T10, + typename T11, + typename T12> +struct functionImplementation_ +< T0, + T1, + T2, + T3, + T4, + T5, + T6, + T7, + T8, + T9, + T10, + T11, + T12, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType> +{ + typedef detail::KernelFunctorGlobal< + T0, + T1, + T2, + T3, + T4, + T5, + T6, + T7, + T8, + T9, + T10, + T11, + T12, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType> FunctorType; + + FunctorType functor_; + + functionImplementation_(const FunctorType &functor) : + functor_(functor) + { + + #if (defined(_WIN32) && defined(_VARIADIC_MAX) && (_VARIADIC_MAX < 13)) + // Fail variadic expansion for dev11 + static_assert(0, "Visual Studio has a hard limit of argument count for a std::function expansion. Please define _VARIADIC_MAX to be 10. If you need more arguments than that VC12 and below cannot support it."); + #endif + + } + + //! \brief Return type of the functor + typedef Event result_type; + + //! \brief Function signature of kernel functor with no event dependency. + typedef Event type_( + const EnqueueArgs&, + T0, + T1, + T2, + T3, + T4, + T5, + T6, + T7, + T8, + T9, + T10, + T11, + T12); + + Event operator()( + const EnqueueArgs& enqueueArgs, + T0 arg0, + T1 arg1, + T2 arg2, + T3 arg3, + T4 arg4, + T5 arg5, + T6 arg6, + T7 arg7, + T8 arg8, + T9 arg9, + T10 arg10, + T11 arg11, + T12 arg12) + { + return functor_( + enqueueArgs, + arg0, + arg1, + arg2, + arg3, + arg4, + arg5, + arg6, + arg7, + arg8, + arg9, + arg10, + arg11, + arg12); + } + + +}; + +template< + typename T0, + typename T1, + typename T2, + typename T3, + typename T4, + typename T5, + typename T6, + typename T7, + typename T8, + typename T9, + typename T10, + typename T11> +struct functionImplementation_ +< T0, + T1, + T2, + T3, + T4, + T5, + T6, + T7, + T8, + T9, + T10, + T11, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType> +{ + typedef detail::KernelFunctorGlobal< + T0, + T1, + T2, + T3, + T4, + T5, + T6, + T7, + T8, + T9, + T10, + T11, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType> FunctorType; + + FunctorType functor_; + + functionImplementation_(const FunctorType &functor) : + functor_(functor) + { + + #if (defined(_WIN32) && defined(_VARIADIC_MAX) && (_VARIADIC_MAX < 12)) + // Fail variadic expansion for dev11 + static_assert(0, "Visual Studio has a hard limit of argument count for a std::function expansion. Please define _VARIADIC_MAX to be 10. If you need more arguments than that VC12 and below cannot support it."); + #endif + + } + + //! \brief Return type of the functor + typedef Event result_type; + + //! \brief Function signature of kernel functor with no event dependency. + typedef Event type_( + const EnqueueArgs&, + T0, + T1, + T2, + T3, + T4, + T5, + T6, + T7, + T8, + T9, + T10, + T11); + + Event operator()( + const EnqueueArgs& enqueueArgs, + T0 arg0, + T1 arg1, + T2 arg2, + T3 arg3, + T4 arg4, + T5 arg5, + T6 arg6, + T7 arg7, + T8 arg8, + T9 arg9, + T10 arg10, + T11 arg11) + { + return functor_( + enqueueArgs, + arg0, + arg1, + arg2, + arg3, + arg4, + arg5, + arg6, + arg7, + arg8, + arg9, + arg10, + arg11); + } + + +}; + +template< + typename T0, + typename T1, + typename T2, + typename T3, + typename T4, + typename T5, + typename T6, + typename T7, + typename T8, + typename T9, + typename T10> +struct functionImplementation_ +< T0, + T1, + T2, + T3, + T4, + T5, + T6, + T7, + T8, + T9, + T10, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType> +{ + typedef detail::KernelFunctorGlobal< + T0, + T1, + T2, + T3, + T4, + T5, + T6, + T7, + T8, + T9, + T10, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType> FunctorType; + + FunctorType functor_; + + functionImplementation_(const FunctorType &functor) : + functor_(functor) + { + + #if (defined(_WIN32) && defined(_VARIADIC_MAX) && (_VARIADIC_MAX < 11)) + // Fail variadic expansion for dev11 + static_assert(0, "Visual Studio has a hard limit of argument count for a std::function expansion. Please define _VARIADIC_MAX to be 10. If you need more arguments than that VC12 and below cannot support it."); + #endif + + } + + //! \brief Return type of the functor + typedef Event result_type; + + //! \brief Function signature of kernel functor with no event dependency. + typedef Event type_( + const EnqueueArgs&, + T0, + T1, + T2, + T3, + T4, + T5, + T6, + T7, + T8, + T9, + T10); + + Event operator()( + const EnqueueArgs& enqueueArgs, + T0 arg0, + T1 arg1, + T2 arg2, + T3 arg3, + T4 arg4, + T5 arg5, + T6 arg6, + T7 arg7, + T8 arg8, + T9 arg9, + T10 arg10) + { + return functor_( + enqueueArgs, + arg0, + arg1, + arg2, + arg3, + arg4, + arg5, + arg6, + arg7, + arg8, + arg9, + arg10); + } + + +}; + +template< + typename T0, + typename T1, + typename T2, + typename T3, + typename T4, + typename T5, + typename T6, + typename T7, + typename T8, + typename T9> +struct functionImplementation_ +< T0, + T1, + T2, + T3, + T4, + T5, + T6, + T7, + T8, + T9, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType> +{ + typedef detail::KernelFunctorGlobal< + T0, + T1, + T2, + T3, + T4, + T5, + T6, + T7, + T8, + T9, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType> FunctorType; + + FunctorType functor_; + + functionImplementation_(const FunctorType &functor) : + functor_(functor) + { + + #if (defined(_WIN32) && defined(_VARIADIC_MAX) && (_VARIADIC_MAX < 10)) + // Fail variadic expansion for dev11 + static_assert(0, "Visual Studio has a hard limit of argument count for a std::function expansion. Please define _VARIADIC_MAX to be 10. If you need more arguments than that VC12 and below cannot support it."); + #endif + + } + + //! \brief Return type of the functor + typedef Event result_type; + + //! \brief Function signature of kernel functor with no event dependency. + typedef Event type_( + const EnqueueArgs&, + T0, + T1, + T2, + T3, + T4, + T5, + T6, + T7, + T8, + T9); + + Event operator()( + const EnqueueArgs& enqueueArgs, + T0 arg0, + T1 arg1, + T2 arg2, + T3 arg3, + T4 arg4, + T5 arg5, + T6 arg6, + T7 arg7, + T8 arg8, + T9 arg9) + { + return functor_( + enqueueArgs, + arg0, + arg1, + arg2, + arg3, + arg4, + arg5, + arg6, + arg7, + arg8, + arg9); + } + + +}; + +template< + typename T0, + typename T1, + typename T2, + typename T3, + typename T4, + typename T5, + typename T6, + typename T7, + typename T8> +struct functionImplementation_ +< T0, + T1, + T2, + T3, + T4, + T5, + T6, + T7, + T8, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType> +{ + typedef detail::KernelFunctorGlobal< + T0, + T1, + T2, + T3, + T4, + T5, + T6, + T7, + T8, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType> FunctorType; + + FunctorType functor_; + + functionImplementation_(const FunctorType &functor) : + functor_(functor) + { + + #if (defined(_WIN32) && defined(_VARIADIC_MAX) && (_VARIADIC_MAX < 9)) + // Fail variadic expansion for dev11 + static_assert(0, "Visual Studio has a hard limit of argument count for a std::function expansion. Please define _VARIADIC_MAX to be 10. If you need more arguments than that VC12 and below cannot support it."); + #endif + + } + + //! \brief Return type of the functor + typedef Event result_type; + + //! \brief Function signature of kernel functor with no event dependency. + typedef Event type_( + const EnqueueArgs&, + T0, + T1, + T2, + T3, + T4, + T5, + T6, + T7, + T8); + + Event operator()( + const EnqueueArgs& enqueueArgs, + T0 arg0, + T1 arg1, + T2 arg2, + T3 arg3, + T4 arg4, + T5 arg5, + T6 arg6, + T7 arg7, + T8 arg8) + { + return functor_( + enqueueArgs, + arg0, + arg1, + arg2, + arg3, + arg4, + arg5, + arg6, + arg7, + arg8); + } + + +}; + +template< + typename T0, + typename T1, + typename T2, + typename T3, + typename T4, + typename T5, + typename T6, + typename T7> +struct functionImplementation_ +< T0, + T1, + T2, + T3, + T4, + T5, + T6, + T7, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType> +{ + typedef detail::KernelFunctorGlobal< + T0, + T1, + T2, + T3, + T4, + T5, + T6, + T7, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType> FunctorType; + + FunctorType functor_; + + functionImplementation_(const FunctorType &functor) : + functor_(functor) + { + + #if (defined(_WIN32) && defined(_VARIADIC_MAX) && (_VARIADIC_MAX < 8)) + // Fail variadic expansion for dev11 + static_assert(0, "Visual Studio has a hard limit of argument count for a std::function expansion. Please define _VARIADIC_MAX to be 10. If you need more arguments than that VC12 and below cannot support it."); + #endif + + } + + //! \brief Return type of the functor + typedef Event result_type; + + //! \brief Function signature of kernel functor with no event dependency. + typedef Event type_( + const EnqueueArgs&, + T0, + T1, + T2, + T3, + T4, + T5, + T6, + T7); + + Event operator()( + const EnqueueArgs& enqueueArgs, + T0 arg0, + T1 arg1, + T2 arg2, + T3 arg3, + T4 arg4, + T5 arg5, + T6 arg6, + T7 arg7) + { + return functor_( + enqueueArgs, + arg0, + arg1, + arg2, + arg3, + arg4, + arg5, + arg6, + arg7); + } + + +}; + +template< + typename T0, + typename T1, + typename T2, + typename T3, + typename T4, + typename T5, + typename T6> +struct functionImplementation_ +< T0, + T1, + T2, + T3, + T4, + T5, + T6, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType> +{ + typedef detail::KernelFunctorGlobal< + T0, + T1, + T2, + T3, + T4, + T5, + T6, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType> FunctorType; + + FunctorType functor_; + + functionImplementation_(const FunctorType &functor) : + functor_(functor) + { + + #if (defined(_WIN32) && defined(_VARIADIC_MAX) && (_VARIADIC_MAX < 7)) + // Fail variadic expansion for dev11 + static_assert(0, "Visual Studio has a hard limit of argument count for a std::function expansion. Please define _VARIADIC_MAX to be 10. If you need more arguments than that VC12 and below cannot support it."); + #endif + + } + + //! \brief Return type of the functor + typedef Event result_type; + + //! \brief Function signature of kernel functor with no event dependency. + typedef Event type_( + const EnqueueArgs&, + T0, + T1, + T2, + T3, + T4, + T5, + T6); + + Event operator()( + const EnqueueArgs& enqueueArgs, + T0 arg0, + T1 arg1, + T2 arg2, + T3 arg3, + T4 arg4, + T5 arg5, + T6 arg6) + { + return functor_( + enqueueArgs, + arg0, + arg1, + arg2, + arg3, + arg4, + arg5, + arg6); + } + + +}; + +template< + typename T0, + typename T1, + typename T2, + typename T3, + typename T4, + typename T5> +struct functionImplementation_ +< T0, + T1, + T2, + T3, + T4, + T5, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType> +{ + typedef detail::KernelFunctorGlobal< + T0, + T1, + T2, + T3, + T4, + T5, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType> FunctorType; + + FunctorType functor_; + + functionImplementation_(const FunctorType &functor) : + functor_(functor) + { + + #if (defined(_WIN32) && defined(_VARIADIC_MAX) && (_VARIADIC_MAX < 6)) + // Fail variadic expansion for dev11 + static_assert(0, "Visual Studio has a hard limit of argument count for a std::function expansion. Please define _VARIADIC_MAX to be 10. If you need more arguments than that VC12 and below cannot support it."); + #endif + + } + + //! \brief Return type of the functor + typedef Event result_type; + + //! \brief Function signature of kernel functor with no event dependency. + typedef Event type_( + const EnqueueArgs&, + T0, + T1, + T2, + T3, + T4, + T5); + + Event operator()( + const EnqueueArgs& enqueueArgs, + T0 arg0, + T1 arg1, + T2 arg2, + T3 arg3, + T4 arg4, + T5 arg5) + { + return functor_( + enqueueArgs, + arg0, + arg1, + arg2, + arg3, + arg4, + arg5); + } + + +}; + +template< + typename T0, + typename T1, + typename T2, + typename T3, + typename T4> +struct functionImplementation_ +< T0, + T1, + T2, + T3, + T4, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType> +{ + typedef detail::KernelFunctorGlobal< + T0, + T1, + T2, + T3, + T4, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType> FunctorType; + + FunctorType functor_; + + functionImplementation_(const FunctorType &functor) : + functor_(functor) + { + + #if (defined(_WIN32) && defined(_VARIADIC_MAX) && (_VARIADIC_MAX < 5)) + // Fail variadic expansion for dev11 + static_assert(0, "Visual Studio has a hard limit of argument count for a std::function expansion. Please define _VARIADIC_MAX to be 10. If you need more arguments than that VC12 and below cannot support it."); + #endif + + } + + //! \brief Return type of the functor + typedef Event result_type; + + //! \brief Function signature of kernel functor with no event dependency. + typedef Event type_( + const EnqueueArgs&, + T0, + T1, + T2, + T3, + T4); + + Event operator()( + const EnqueueArgs& enqueueArgs, + T0 arg0, + T1 arg1, + T2 arg2, + T3 arg3, + T4 arg4) + { + return functor_( + enqueueArgs, + arg0, + arg1, + arg2, + arg3, + arg4); + } + + +}; + +template< + typename T0, + typename T1, + typename T2, + typename T3> +struct functionImplementation_ +< T0, + T1, + T2, + T3, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType> +{ + typedef detail::KernelFunctorGlobal< + T0, + T1, + T2, + T3, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType> FunctorType; + + FunctorType functor_; + + functionImplementation_(const FunctorType &functor) : + functor_(functor) + { + + #if (defined(_WIN32) && defined(_VARIADIC_MAX) && (_VARIADIC_MAX < 4)) + // Fail variadic expansion for dev11 + static_assert(0, "Visual Studio has a hard limit of argument count for a std::function expansion. Please define _VARIADIC_MAX to be 10. If you need more arguments than that VC12 and below cannot support it."); + #endif + + } + + //! \brief Return type of the functor + typedef Event result_type; + + //! \brief Function signature of kernel functor with no event dependency. + typedef Event type_( + const EnqueueArgs&, + T0, + T1, + T2, + T3); + + Event operator()( + const EnqueueArgs& enqueueArgs, + T0 arg0, + T1 arg1, + T2 arg2, + T3 arg3) + { + return functor_( + enqueueArgs, + arg0, + arg1, + arg2, + arg3); + } + + +}; + +template< + typename T0, + typename T1, + typename T2> +struct functionImplementation_ +< T0, + T1, + T2, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType> +{ + typedef detail::KernelFunctorGlobal< + T0, + T1, + T2, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType> FunctorType; + + FunctorType functor_; + + functionImplementation_(const FunctorType &functor) : + functor_(functor) + { + + #if (defined(_WIN32) && defined(_VARIADIC_MAX) && (_VARIADIC_MAX < 3)) + // Fail variadic expansion for dev11 + static_assert(0, "Visual Studio has a hard limit of argument count for a std::function expansion. Please define _VARIADIC_MAX to be 10. If you need more arguments than that VC12 and below cannot support it."); + #endif + + } + + //! \brief Return type of the functor + typedef Event result_type; + + //! \brief Function signature of kernel functor with no event dependency. + typedef Event type_( + const EnqueueArgs&, + T0, + T1, + T2); + + Event operator()( + const EnqueueArgs& enqueueArgs, + T0 arg0, + T1 arg1, + T2 arg2) + { + return functor_( + enqueueArgs, + arg0, + arg1, + arg2); + } + + +}; + +template< + typename T0, + typename T1> +struct functionImplementation_ +< T0, + T1, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType> +{ + typedef detail::KernelFunctorGlobal< + T0, + T1, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType> FunctorType; + + FunctorType functor_; + + functionImplementation_(const FunctorType &functor) : + functor_(functor) + { + + #if (defined(_WIN32) && defined(_VARIADIC_MAX) && (_VARIADIC_MAX < 2)) + // Fail variadic expansion for dev11 + static_assert(0, "Visual Studio has a hard limit of argument count for a std::function expansion. Please define _VARIADIC_MAX to be 10. If you need more arguments than that VC12 and below cannot support it."); + #endif + + } + + //! \brief Return type of the functor + typedef Event result_type; + + //! \brief Function signature of kernel functor with no event dependency. + typedef Event type_( + const EnqueueArgs&, + T0, + T1); + + Event operator()( + const EnqueueArgs& enqueueArgs, + T0 arg0, + T1 arg1) + { + return functor_( + enqueueArgs, + arg0, + arg1); + } + + +}; + +template< + typename T0> +struct functionImplementation_ +< T0, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType> +{ + typedef detail::KernelFunctorGlobal< + T0, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType, + NullType> FunctorType; + + FunctorType functor_; + + functionImplementation_(const FunctorType &functor) : + functor_(functor) + { + + #if (defined(_WIN32) && defined(_VARIADIC_MAX) && (_VARIADIC_MAX < 1)) + // Fail variadic expansion for dev11 + static_assert(0, "Visual Studio has a hard limit of argument count for a std::function expansion. Please define _VARIADIC_MAX to be 10. If you need more arguments than that VC12 and below cannot support it."); + #endif + + } + + //! \brief Return type of the functor + typedef Event result_type; + + //! \brief Function signature of kernel functor with no event dependency. + typedef Event type_( + const EnqueueArgs&, + T0); + + Event operator()( + const EnqueueArgs& enqueueArgs, + T0 arg0) + { + return functor_( + enqueueArgs, + arg0); + } + + +}; + + + + + +} // namespace detail + +//---------------------------------------------------------------------------------------------- + +template < + typename T0, typename T1 = detail::NullType, typename T2 = detail::NullType, + typename T3 = detail::NullType, typename T4 = detail::NullType, + typename T5 = detail::NullType, typename T6 = detail::NullType, + typename T7 = detail::NullType, typename T8 = detail::NullType, + typename T9 = detail::NullType, typename T10 = detail::NullType, + typename T11 = detail::NullType, typename T12 = detail::NullType, + typename T13 = detail::NullType, typename T14 = detail::NullType, + typename T15 = detail::NullType, typename T16 = detail::NullType, + typename T17 = detail::NullType, typename T18 = detail::NullType, + typename T19 = detail::NullType, typename T20 = detail::NullType, + typename T21 = detail::NullType, typename T22 = detail::NullType, + typename T23 = detail::NullType, typename T24 = detail::NullType, + typename T25 = detail::NullType, typename T26 = detail::NullType, + typename T27 = detail::NullType, typename T28 = detail::NullType, + typename T29 = detail::NullType, typename T30 = detail::NullType, + typename T31 = detail::NullType + +> +struct make_kernel : + public detail::functionImplementation_< + T0, T1, T2, T3, + T4, T5, T6, T7, + T8, T9, T10, T11, + T12, T13, T14, T15, + T16, T17, T18, T19, + T20, T21, T22, T23, + T24, T25, T26, T27, + T28, T29, T30, T31 + + > +{ +public: + typedef detail::KernelFunctorGlobal< + T0, T1, T2, T3, + T4, T5, T6, T7, + T8, T9, T10, T11, + T12, T13, T14, T15, + T16, T17, T18, T19, + T20, T21, T22, T23, + T24, T25, T26, T27, + T28, T29, T30, T31 + + > FunctorType; + + make_kernel( + const Program& program, + const STRING_CLASS name, + cl_int * err = NULL) : + detail::functionImplementation_< + T0, T1, T2, T3, + T4, T5, T6, T7, + T8, T9, T10, T11, + T12, T13, T14, T15, + T16, T17, T18, T19, + T20, T21, T22, T23, + T24, T25, T26, T27, + T28, T29, T30, T31 + + >( + FunctorType(program, name, err)) + {} + + make_kernel( + const Kernel kernel) : + detail::functionImplementation_< + T0, T1, T2, T3, + T4, T5, T6, T7, + T8, T9, T10, T11, + T12, T13, T14, T15, + T16, T17, T18, T19, + T20, T21, T22, T23, + T24, T25, T26, T27, + T28, T29, T30, T31 + + >( + FunctorType(kernel)) + {} +}; + + +//---------------------------------------------------------------------------------------------------------------------- + +#undef __ERR_STR +#if !defined(__CL_USER_OVERRIDE_ERROR_STRINGS) +#undef __GET_DEVICE_INFO_ERR +#undef __GET_PLATFORM_INFO_ERR +#undef __GET_DEVICE_IDS_ERR +#undef __GET_CONTEXT_INFO_ERR +#undef __GET_EVENT_INFO_ERR +#undef __GET_EVENT_PROFILE_INFO_ERR +#undef __GET_MEM_OBJECT_INFO_ERR +#undef __GET_IMAGE_INFO_ERR +#undef __GET_SAMPLER_INFO_ERR +#undef __GET_KERNEL_INFO_ERR +#undef __GET_KERNEL_ARG_INFO_ERR +#undef __GET_KERNEL_WORK_GROUP_INFO_ERR +#undef __GET_PROGRAM_INFO_ERR +#undef __GET_PROGRAM_BUILD_INFO_ERR +#undef __GET_COMMAND_QUEUE_INFO_ERR + +#undef __CREATE_CONTEXT_ERR +#undef __CREATE_CONTEXT_FROM_TYPE_ERR +#undef __GET_SUPPORTED_IMAGE_FORMATS_ERR + +#undef __CREATE_BUFFER_ERR +#undef __CREATE_SUBBUFFER_ERR +#undef __CREATE_IMAGE2D_ERR +#undef __CREATE_IMAGE3D_ERR +#undef __CREATE_SAMPLER_ERR +#undef __SET_MEM_OBJECT_DESTRUCTOR_CALLBACK_ERR + +#undef __CREATE_USER_EVENT_ERR +#undef __SET_USER_EVENT_STATUS_ERR +#undef __SET_EVENT_CALLBACK_ERR +#undef __SET_PRINTF_CALLBACK_ERR + +#undef __WAIT_FOR_EVENTS_ERR + +#undef __CREATE_KERNEL_ERR +#undef __SET_KERNEL_ARGS_ERR +#undef __CREATE_PROGRAM_WITH_SOURCE_ERR +#undef __CREATE_PROGRAM_WITH_BINARY_ERR +#undef __CREATE_PROGRAM_WITH_BUILT_IN_KERNELS_ERR +#undef __BUILD_PROGRAM_ERR +#undef __CREATE_KERNELS_IN_PROGRAM_ERR + +#undef __CREATE_COMMAND_QUEUE_ERR +#undef __SET_COMMAND_QUEUE_PROPERTY_ERR +#undef __ENQUEUE_READ_BUFFER_ERR +#undef __ENQUEUE_WRITE_BUFFER_ERR +#undef __ENQUEUE_READ_BUFFER_RECT_ERR +#undef __ENQUEUE_WRITE_BUFFER_RECT_ERR +#undef __ENQEUE_COPY_BUFFER_ERR +#undef __ENQEUE_COPY_BUFFER_RECT_ERR +#undef __ENQUEUE_READ_IMAGE_ERR +#undef __ENQUEUE_WRITE_IMAGE_ERR +#undef __ENQUEUE_COPY_IMAGE_ERR +#undef __ENQUEUE_COPY_IMAGE_TO_BUFFER_ERR +#undef __ENQUEUE_COPY_BUFFER_TO_IMAGE_ERR +#undef __ENQUEUE_MAP_BUFFER_ERR +#undef __ENQUEUE_MAP_IMAGE_ERR +#undef __ENQUEUE_UNMAP_MEM_OBJECT_ERR +#undef __ENQUEUE_NDRANGE_KERNEL_ERR +#undef __ENQUEUE_TASK_ERR +#undef __ENQUEUE_NATIVE_KERNEL + +#undef __CL_EXPLICIT_CONSTRUCTORS + +#undef __UNLOAD_COMPILER_ERR +#endif //__CL_USER_OVERRIDE_ERROR_STRINGS + +#undef __CL_FUNCTION_TYPE + +// Extensions +/** + * Deprecated APIs for 1.2 + */ +#if defined(CL_VERSION_1_1) +#undef __INIT_CL_EXT_FCN_PTR +#endif // #if defined(CL_VERSION_1_1) +#undef __CREATE_SUB_DEVICES + +#if defined(USE_CL_DEVICE_FISSION) +#undef __PARAM_NAME_DEVICE_FISSION +#endif // USE_CL_DEVICE_FISSION + +#undef __DEFAULT_NOT_INITIALIZED +#undef __DEFAULT_BEING_INITIALIZED +#undef __DEFAULT_INITIALIZED + +#undef CL_HPP_RVALUE_REFERENCES_SUPPORTED +#undef CL_HPP_NOEXCEPT + +} // namespace cl + +#endif // CL_HPP_ diff --git a/GPU_version/svo/include/gpu_svo/cl_class.h b/GPU_version/svo/include/gpu_svo/cl_class.h index bffee33..915305e 100644 --- a/GPU_version/svo/include/gpu_svo/cl_class.h +++ b/GPU_version/svo/include/gpu_svo/cl_class.h @@ -4,7 +4,7 @@ #ifndef VIO_OPENCL_CL_CLASS_H #define VIO_OPENCL_CL_CLASS_H -#include +#include #include #include #include diff --git a/GPU_version/svo/include/gpu_svo/config.h b/GPU_version/svo/include/gpu_svo/config.h index e1c97b1..1001fb6 100644 --- a/GPU_version/svo/include/gpu_svo/config.h +++ b/GPU_version/svo/include/gpu_svo/config.h @@ -122,17 +122,17 @@ public: /// acc white noise in continuous. static double& ACC_Noise() { return getInstance().ACC_noise; } - /// acc white noise in continuous. + /// Gro white noise in continuous. static double& GYO_Noise() { return getInstance().GYO_noise; } /// integration uncertainty continuous static double& IUC() { return getInstance().iuc; } - // acc bias in continuous + /// acc bias in continuous static double& ABC() { return getInstance().abc; } - // gyro bias in continuous + /// gyro bias in continuous static double& GBC() { return getInstance().gbc; } - // error in the bias used for preintegration + /// error in the bias used for preintegration static double& EBP() { return getInstance().ebp; } - // the noise used for projection + /// the noise used for projection static double& NRP() { return getInstance().nrp; } diff --git a/GPU_version/svo/kernel/fast-gray.cl b/GPU_version/svo/kernel/fast-gray.cl index ec36066..ce6a927 100644 --- a/GPU_version/svo/kernel/fast-gray.cl +++ b/GPU_version/svo/kernel/fast-gray.cl @@ -1,6 +1,9 @@ // Copyright (C) 2021 Majid Geravand // Copyright (C) 2021 Gfuse +// Enable OpenCL 32-bit integer atomic functions. +#pragma OPENCL EXTENSION cl_khr_global_int32_base_atomics : enable + __kernel void fast_gray( __read_only image2d_t image, __global int2 * corners, diff --git a/GPU_version/svo/src/feature_detection.cpp b/GPU_version/svo/src/feature_detection.cpp index 3a98d20..b5823dd 100644 --- a/GPU_version/svo/src/feature_detection.cpp +++ b/GPU_version/svo/src/feature_detection.cpp @@ -80,7 +80,7 @@ void FastDetector::detect( int icorner[1]={0}; gpu_fast_->reload_buf(0,2,icorner); gpu_fast_->run(0,img_pyr[L].cols,img_pyr[L].rows); - cl_int2 fast_corners[1000000]; + cl_int2 fast_corners[350000]; gpu_fast_->read(0,1,fast_corners); int count[1]={0}; gpu_fast_->read(0,2,count); @@ -97,18 +97,15 @@ void FastDetector::detect( const float score = vk::shiTomasiScore(img_pyr[L], fast_corners[i].x, fast_corners[i].y); - if(score > corners.at(k).score) - corners.at(k) = Corner(fast_corners[i].x*scale, fast_corners[i].y*scale, score, L, 0.0f); + if(score > corners.at(k).score){ + corners.at(k) = Corner(fast_corners[i].x*scale, fast_corners[i].y*scale, score, L, 0.0f); + // Create feature for every corner that has high enough corner score + if(corners.at(k).score > detection_threshold) + fts.push_back(new Feature(frame, Vector2d(corners.at(k).x, corners.at(k).y), corners.at(k).level)); + } } } - - // Create feature for every corner that has high enough corner score - std::for_each(corners.begin(), corners.end(), [&](Corner& c) { - if(c.score > detection_threshold) - fts.push_back(new Feature(frame, Vector2d(c.x, c.y), c.level)); - }); - resetGrid(); } diff --git a/GPU_version/svo/src/frame_handler_mono.cpp b/GPU_version/svo/src/frame_handler_mono.cpp index 1e6a98e..cb4acf6 100644 --- a/GPU_version/svo/src/frame_handler_mono.cpp +++ b/GPU_version/svo/src/frame_handler_mono.cpp @@ -38,10 +38,10 @@ FrameHandlerMono::FrameHandlerMono(vk::AbstractCamera* cam,Sophus::SE3& SE_init) { gpu_fast_= new opencl(); gpu_fast_->make_kernel("fast_gray"); - cv::Mat img=cv::Mat(cv::Size(1000, 1000),CV_8UC1); + cv::Mat img=cv::Mat(cv::Size(700, 500),CV_8UC1); gpu_fast_->write_buf(0,0,img); - cl_int2 corners_[1000000]; - gpu_fast_->write_buf(0,1,1000000,corners_); + cl_int2 corners_[350000]; + gpu_fast_->write_buf(0,1,350000,corners_); int icorner[1]={0}; gpu_fast_->write_buf(0,2,1,icorner); gpu_fast_->write_buf(0,3,(1 << 18)); diff --git a/GPU_version/svo/src/imu_integration.cpp b/GPU_version/svo/src/imu_integration.cpp index b3f80ab..922ef66 100644 --- a/GPU_version/svo/src/imu_integration.cpp +++ b/GPU_version/svo/src/imu_integration.cpp @@ -111,6 +111,8 @@ bool Imu_Integration::predict(boost::shared_ptr& new_frame,std::size }else{ if(imu_n<1)return false; auto preint_imu_combined =dynamic_cast(*preintegratedPtr); + //preint_imu_combined.predict(*statePtr,*imu_biasPtr).print(); + //std::cerr<T_f_w_.matrix(); valuesPtr->insert(P(imu_factor_id), gtsam::Pose3(new_frame->T_f_w_.matrix())); valuesPtr->insert(V(imu_factor_id), statePtr->v()); valuesPtr->insert(B(imu_factor_id), *imu_biasPtr); diff --git a/GPU_version/vio/launch/Px30.launch b/GPU_version/vio/launch/Px30.launch index f57f8c0..914364e 100644 --- a/GPU_version/vio/launch/Px30.launch +++ b/GPU_version/vio/launch/Px30.launch @@ -10,9 +10,9 @@ - - - + + + From 58849a0b7f5839f2f6d05db469ef1af650ab16e7 Mon Sep 17 00:00:00 2001 From: gfuse Date: Sat, 15 May 2021 17:39:56 +0200 Subject: [PATCH 192/215] edit frames --- GPU_version/vio/launch/Px30.launch | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/GPU_version/vio/launch/Px30.launch b/GPU_version/vio/launch/Px30.launch index 914364e..c02d6a2 100644 --- a/GPU_version/vio/launch/Px30.launch +++ b/GPU_version/vio/launch/Px30.launch @@ -10,9 +10,9 @@ - - - + + + From e3cb176ae085c010dce6cbbe71cd5a498f9813ab Mon Sep 17 00:00:00 2001 From: Majid Geravand <44868211+Gfuse@users.noreply.github.com> Date: Tue, 25 May 2021 11:15:32 +0200 Subject: [PATCH 193/215] Update README.md --- CPU_version/README.md | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/CPU_version/README.md b/CPU_version/README.md index 00b6d87..e7c51db 100755 --- a/CPU_version/README.md +++ b/CPU_version/README.md @@ -37,6 +37,10 @@ The GTSAM documentation https://gtsam.org/tutorials/ #### Instructions +First install gtsam library => https://github.com/borglab/gtsam + +Then follow thw SVO instalation + See the Wiki for more instructions. https://github.com/uzh-rpg/rpg_svo/wiki and https://gtsam.org/get_started/ #### Contributing From 086037f5ed19acec8dbc941e90cb1ead781af32b Mon Sep 17 00:00:00 2001 From: Majid Geravand <44868211+Gfuse@users.noreply.github.com> Date: Tue, 25 May 2021 11:22:43 +0200 Subject: [PATCH 194/215] Update README.md --- CPU_version/README.md | 15 ++++++++++++++- 1 file changed, 14 insertions(+), 1 deletion(-) diff --git a/CPU_version/README.md b/CPU_version/README.md index e7c51db..f4296e1 100755 --- a/CPU_version/README.md +++ b/CPU_version/README.md @@ -39,7 +39,7 @@ The GTSAM documentation https://gtsam.org/tutorials/ First install gtsam library => https://github.com/borglab/gtsam -Then follow thw SVO instalation +Then follow the SVO instalation See the Wiki for more instructions. https://github.com/uzh-rpg/rpg_svo/wiki and https://gtsam.org/get_started/ @@ -47,3 +47,16 @@ See the Wiki for more instructions. https://github.com/uzh-rpg/rpg_svo/wiki and You are very welcome to contribute to SVO by opening a pull request via Github. I try to follow the ROS C++ style guide http://wiki.ros.org/CppStyleGuide + +## Setting + +You can edit the camera position in the launch file as (The IMU frame will rotate to align with camera frame based on the follwoing Eular angles): + + + + + +You can also edit the algorithm parameters in the follwoing file, please look at the config file to underestand the meaning of the parameters (CPU_version/svo/include/svo/config.h) + +CPU_version/vio_svo/param/vo_fast.yaml + From 3ce1beae0a78d0f7f2a174bf2288d9653ba13de2 Mon Sep 17 00:00:00 2001 From: Majid Geravand <44868211+Gfuse@users.noreply.github.com> Date: Tue, 25 May 2021 11:36:55 +0200 Subject: [PATCH 195/215] Update README.md --- CPU_version/README.md | 2 ++ 1 file changed, 2 insertions(+) diff --git a/CPU_version/README.md b/CPU_version/README.md index f4296e1..18904c2 100755 --- a/CPU_version/README.md +++ b/CPU_version/README.md @@ -51,6 +51,8 @@ I try to follow the ROS C++ style guide http://wiki.ros.org/CppStyleGuide ## Setting You can edit the camera position in the launch file as (The IMU frame will rotate to align with camera frame based on the follwoing Eular angles): +CPU_version/vio_svo/launch/Px30.launch + From 18b999dc6d348ede7e094cd18028c61165f4f107 Mon Sep 17 00:00:00 2001 From: Majid Geravand <44868211+Gfuse@users.noreply.github.com> Date: Tue, 25 May 2021 11:37:45 +0200 Subject: [PATCH 196/215] Update README.md --- CPU_version/README.md | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/CPU_version/README.md b/CPU_version/README.md index 18904c2..a4bf9c7 100755 --- a/CPU_version/README.md +++ b/CPU_version/README.md @@ -53,10 +53,10 @@ I try to follow the ROS C++ style guide http://wiki.ros.org/CppStyleGuide You can edit the camera position in the launch file as (The IMU frame will rotate to align with camera frame based on the follwoing Eular angles): CPU_version/vio_svo/launch/Px30.launch - - - - + + + + You can also edit the algorithm parameters in the follwoing file, please look at the config file to underestand the meaning of the parameters (CPU_version/svo/include/svo/config.h) From 568840e115b9591abfbbb1f7cf66047bf6ad8c0f Mon Sep 17 00:00:00 2001 From: Majid Geravand <44868211+Gfuse@users.noreply.github.com> Date: Tue, 25 May 2021 11:37:58 +0200 Subject: [PATCH 197/215] Update Px30.launch --- CPU_version/vio_svo/launch/Px30.launch | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/CPU_version/vio_svo/launch/Px30.launch b/CPU_version/vio_svo/launch/Px30.launch index f6cad34..7e3e73c 100644 --- a/CPU_version/vio_svo/launch/Px30.launch +++ b/CPU_version/vio_svo/launch/Px30.launch @@ -9,10 +9,10 @@ - - - - + + + + From 1fba26dfef35460aebe194219a7f429044625a08 Mon Sep 17 00:00:00 2001 From: Majid Geravand <44868211+Gfuse@users.noreply.github.com> Date: Tue, 25 May 2021 11:38:22 +0200 Subject: [PATCH 198/215] Update README.md --- CPU_version/README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/CPU_version/README.md b/CPU_version/README.md index a4bf9c7..8387b0e 100755 --- a/CPU_version/README.md +++ b/CPU_version/README.md @@ -55,7 +55,7 @@ CPU_version/vio_svo/launch/Px30.launch - + You can also edit the algorithm parameters in the follwoing file, please look at the config file to underestand the meaning of the parameters (CPU_version/svo/include/svo/config.h) From cd6f0c5b97f2322571806c689602a6de62eafc6e Mon Sep 17 00:00:00 2001 From: gfuse Date: Wed, 26 May 2021 10:50:20 +0200 Subject: [PATCH 199/215] debug GPU version --- GPU_version/svo/CMakeLists.txt | 18 +- .../svo/include/gpu_svo/abstract_camera.h | 77 ++++ GPU_version/svo/include/gpu_svo/aligned_mem.h | 127 ++++++ GPU_version/svo/include/gpu_svo/atan_camera.h | 91 ++++ GPU_version/svo/include/gpu_svo/config.h | 6 +- .../svo/include/gpu_svo/depth_filter.h | 6 +- GPU_version/svo/include/gpu_svo/for_it.hpp | 87 ++++ GPU_version/svo/include/gpu_svo/frame.h | 22 +- .../svo/include/gpu_svo/frame_handler_base.h | 16 +- .../svo/include/gpu_svo/frame_handler_mono.h | 5 +- GPU_version/svo/include/gpu_svo/global.h | 4 +- GPU_version/svo/include/gpu_svo/homography.h | 85 ++++ .../svo/include/gpu_svo/imu_integration.h | 84 +--- .../svo/include/gpu_svo/initialization.h | 1 + GPU_version/svo/include/gpu_svo/math_utils.h | 171 ++++++++ GPU_version/svo/include/gpu_svo/nlls_solver.h | 169 ++++++++ .../svo/include/gpu_svo/nlls_solver_impl.hpp | 323 ++++++++++++++ .../svo/include/gpu_svo/params_helper.h | 57 +++ GPU_version/svo/include/gpu_svo/patch_score.h | 225 ++++++++++ GPU_version/svo/include/gpu_svo/robust_cost.h | 156 +++++++ .../svo/include/gpu_svo/sparse_img_align.h | 7 +- .../svo/include/gpu_svo/svoVisionFactor.h | 27 +- .../include/gpu_svo/svoVisionFactorLandMark.h | 87 ++++ .../include/gpu_svo/svoVisionFactorSmall.h | 70 +++ GPU_version/svo/include/gpu_svo/timer.h | 81 ++++ GPU_version/svo/include/gpu_svo/vision.h | 77 ++++ GPU_version/svo/src/atan_camera.cpp | 82 ++++ GPU_version/svo/src/bundle_adjustment.cpp | 2 +- GPU_version/svo/src/config.cpp | 42 +- GPU_version/svo/src/depth_filter.cpp | 15 +- GPU_version/svo/src/feature_alignment.cpp | 4 +- GPU_version/svo/src/feature_detection.cpp | 2 +- GPU_version/svo/src/frame.cpp | 5 +- GPU_version/svo/src/frame_handler_base.cpp | 67 +-- GPU_version/svo/src/frame_handler_mono.cpp | 95 ++-- GPU_version/svo/src/homography.cpp | 285 ++++++++++++ GPU_version/svo/src/imu_integration.cpp | 118 +++-- GPU_version/svo/src/initialization.cpp | 72 +-- GPU_version/svo/src/matcher.cpp | 9 +- GPU_version/svo/src/math_utils.cpp | 202 +++++++++ GPU_version/svo/src/point.cpp | 2 +- GPU_version/svo/src/pose_optimizer.cpp | 4 +- GPU_version/svo/src/reprojector.cpp | 26 +- GPU_version/svo/src/robust_cost.cpp | 162 +++++++ GPU_version/svo/src/sparse_img_align.cpp | 12 +- GPU_version/svo/src/vision.cpp | 295 +++++++++++++ .../vio/include/vio_gpu/camera_loader.h | 46 ++ .../vio/include/vio_gpu/output_helper.h | 97 +++++ .../vio/include/vio_gpu/params_helper.h | 54 +++ GPU_version/vio/launch/Px30.launch | 8 +- GPU_version/vio/param/camera_atan.yaml | 8 - GPU_version/vio/param/camera_pinhole.yaml | 11 - GPU_version/vio/param/unity.yaml | 8 - GPU_version/vio/param/vo_accurate.yaml | 4 - GPU_version/vio/param/vo_fast.yaml | 13 +- GPU_version/vio/src/output_helper.cpp | 410 ++++++++++++++++++ GPU_version/vio/src/visualizer.cpp | 8 +- GPU_version/vio/src/vo_node.cpp | 6 +- 58 files changed, 3828 insertions(+), 425 deletions(-) create mode 100644 GPU_version/svo/include/gpu_svo/abstract_camera.h create mode 100644 GPU_version/svo/include/gpu_svo/aligned_mem.h create mode 100644 GPU_version/svo/include/gpu_svo/atan_camera.h create mode 100755 GPU_version/svo/include/gpu_svo/for_it.hpp create mode 100644 GPU_version/svo/include/gpu_svo/homography.h create mode 100644 GPU_version/svo/include/gpu_svo/math_utils.h create mode 100644 GPU_version/svo/include/gpu_svo/nlls_solver.h create mode 100644 GPU_version/svo/include/gpu_svo/nlls_solver_impl.hpp create mode 100644 GPU_version/svo/include/gpu_svo/params_helper.h create mode 100644 GPU_version/svo/include/gpu_svo/patch_score.h create mode 100644 GPU_version/svo/include/gpu_svo/robust_cost.h create mode 100644 GPU_version/svo/include/gpu_svo/svoVisionFactorLandMark.h create mode 100644 GPU_version/svo/include/gpu_svo/svoVisionFactorSmall.h create mode 100644 GPU_version/svo/include/gpu_svo/timer.h create mode 100644 GPU_version/svo/include/gpu_svo/vision.h create mode 100644 GPU_version/svo/src/atan_camera.cpp create mode 100644 GPU_version/svo/src/homography.cpp create mode 100644 GPU_version/svo/src/math_utils.cpp create mode 100644 GPU_version/svo/src/robust_cost.cpp create mode 100644 GPU_version/svo/src/vision.cpp create mode 100644 GPU_version/vio/include/vio_gpu/camera_loader.h create mode 100644 GPU_version/vio/include/vio_gpu/output_helper.h create mode 100644 GPU_version/vio/include/vio_gpu/params_helper.h delete mode 100644 GPU_version/vio/param/camera_atan.yaml delete mode 100644 GPU_version/vio/param/camera_pinhole.yaml delete mode 100644 GPU_version/vio/param/unity.yaml delete mode 100644 GPU_version/vio/param/vo_accurate.yaml create mode 100644 GPU_version/vio/src/output_helper.cpp diff --git a/GPU_version/svo/CMakeLists.txt b/GPU_version/svo/CMakeLists.txt index ed41132..ac021d6 100644 --- a/GPU_version/svo/CMakeLists.txt +++ b/GPU_version/svo/CMakeLists.txt @@ -5,8 +5,8 @@ CMAKE_MINIMUM_REQUIRED (VERSION 2.8.3) SET(CMAKE_BUILD_TYPE Release) # Release, RelWithDebInfo SET(CMAKE_VERBOSE_MAKEFILE OFF) SET(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${PROJECT_SOURCE_DIR}/CMakeModules/") -set(CMAKE_C_STANDARD 14) -set(CMAKE_CXX_STANDARD 14) +set(CMAKE_C_STANDARD 11) +set(CMAKE_CXX_STANDARD 11) # Set definitions ADD_DEFINITIONS(-DSVO_TRACE) @@ -21,11 +21,6 @@ IF(DEFINED ENV{ARM_ARCHITECTURE}) ELSE() SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -mmmx -msse -msse -msse2 -msse3 -mssse3") ENDIF() -IF(CMAKE_COMPILER_IS_GNUCC) - SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x") -ELSE() - SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11") -ENDIF() SET(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS} -O3 -fsee -fomit-frame-pointer -fno-signed-zeros -fno-math-errno -funroll-loops") # Add plain cmake packages @@ -88,12 +83,17 @@ LIST(APPEND SOURCEFILES src/config.cpp src/sparse_img_align.cpp src/imu_integration.cpp - src/cl_class.cpp) + src/cl_class.cpp + src/atan_camera.cpp + src/math_utils.cpp + src/robust_cost.cpp + src/vision.cpp + src/homography.cpp) # Create svo library ADD_LIBRARY(${PROJECT_NAME} SHARED ${SOURCEFILES}) TARGET_LINK_LIBRARIES(${PROJECT_NAME} ${LINK_LIBS} ) -set_property(TARGET ${PROJECT_NAME} PROPERTY CXX_STANDARD 14) +set_property(TARGET ${PROJECT_NAME} PROPERTY CXX_STANDARD 11) set_property(TARGET ${PROJECT_NAME} PROPERTY CXX_STANDARD_REQUIRED ON) target_compile_features(${PROJECT_NAME} PRIVATE cxx_range_for) ADD_DEFINITIONS(-DKERNEL_DIR=\"${PROJECT_SOURCE_DIR}/kernel\") diff --git a/GPU_version/svo/include/gpu_svo/abstract_camera.h b/GPU_version/svo/include/gpu_svo/abstract_camera.h new file mode 100644 index 0000000..5d643dc --- /dev/null +++ b/GPU_version/svo/include/gpu_svo/abstract_camera.h @@ -0,0 +1,77 @@ +/* + * abstract_camera.h + * + * Created on: Jul 23, 2012 + * Author: cforster + */ + +#ifndef ABSTRACT_CAMERA_H_ +#define ABSTRACT_CAMERA_H_ + +#include + +namespace vk +{ + +using namespace std; +using namespace Eigen; + +class AbstractCamera +{ +protected: + + int width_; // TODO cannot be const because of omni-camera model + int height_; + +public: + + AbstractCamera() {}; // need this constructor for omni camera + AbstractCamera(int width, int height) : width_(width), height_(height) {}; + + virtual ~AbstractCamera() {}; + + /// Project from pixels to world coordiantes. Returns a bearing vector of unit length. + virtual Vector3d + cam2world(const double& x, const double& y) const = 0; + + /// Project from pixels to world coordiantes. Returns a bearing vector of unit length. + virtual Vector3d + cam2world(const Vector2d& px) const = 0; + + virtual Vector2d + world2cam(const Vector3d& xyz_c) const = 0; + + /// projects unit plane coordinates to camera coordinates + virtual Vector2d + world2cam(const Vector2d& uv) const = 0; + + virtual double + errorMultiplier2() const = 0; + + virtual double + errorMultiplier() const = 0; + + inline int width() const { return width_; } + + inline int height() const { return height_; } + + inline bool isInFrame(const Vector2i & obs, int boundary=0) const + { + if(obs[0]>=boundary && obs[0]=boundary && obs[1]= boundary && obs[0] < width()/(1<= boundary && obs[1] // memset +#include // memset +#include +#include + +namespace vk { +namespace aligned_mem { + + /// Check if the pointer is aligned to the specified byte granularity + inline bool + is_aligned8(const void* ptr) + { + return ((reinterpret_cast(ptr)) & 0x7) == 0; + } + + inline bool + is_aligned16(const void* ptr) + { + return ((reinterpret_cast(ptr)) & 0xF) == 0; + } + + template struct placement_delete + { + enum { Size = (1<= Size) { + placement_delete::free(buf+Size,M-Size); + placement_delete::destruct(buf); + } else { + placement_delete::free(buf, M); + } + } + }; + + template struct placement_delete + { + static inline void free(T*, size_t ) {} + }; + + inline void * aligned_alloc(size_t count, size_t alignment){ + void * mem = NULL; + assert(posix_memalign(&mem, alignment, count) == 0); + return mem; + } + + inline void aligned_free(void * memory) { + free(memory); + } + + template + inline T * aligned_alloc(size_t count, size_t alignment){ + void * data = aligned_alloc(sizeof(T)* count, alignment); + return new (data) T[count]; + } + + template + inline void aligned_free(T * memory, size_t count){ + placement_delete::free(memory, count); + aligned_free(memory); + } + + template inline void memfill(T* data, int n, const T val) + { + T* de = data + n; + for(;data < de; data++) + *data=val; + } + + template<> inline void memfill(unsigned char* data, int n, const unsigned char val) + { + memset(data, val, n); + } + + template<> inline void memfill(signed char* data, int n, const signed char val) + { + memset(data, val, n); + } + + template<> inline void memfill(char* data, int n, const char val) + { + memset(data, val, n); + } + + template + struct AlignedMem { + T* mem; + size_t count; + AlignedMem(size_t c) : count(c) { + mem = aligned_alloc(count, N); + } + ~AlignedMem() { + aligned_free(mem, count); + } + T* data() { return mem; } + const T* data() const { return mem; } + }; + +} // namespace aligned_mem +} // namespace vikit + + +#endif // VIKIT_ALIGNED_MEM_H_ diff --git a/GPU_version/svo/include/gpu_svo/atan_camera.h b/GPU_version/svo/include/gpu_svo/atan_camera.h new file mode 100644 index 0000000..49550b2 --- /dev/null +++ b/GPU_version/svo/include/gpu_svo/atan_camera.h @@ -0,0 +1,91 @@ +/* + * atan_camera.h + * + * Created on: Aug 21, 2012 + * Author: cforster + * + * This class implements the FOV distortion model of Deverneay and Faugeras, + * Straight lines have to be straight, 2001. + * + * The code is an implementation of the ATAN class in PTAM by Georg Klein using Eigen. + */ + +#ifndef ATAN_CAMERA_H_ +#define ATAN_CAMERA_H_ + +#include +#include +#include +#include +#include + +namespace vk { + +using namespace std; +using namespace Eigen; + +class ATANCamera : public AbstractCamera { + +private: + double fx_, fy_; //!< focal length + double fx_inv_, fy_inv_; //!< inverse focal length + double cx_, cy_; //!< projection center + double s_, s_inv_; //!< distortion model coeff + double tans_; //!< distortion model coeff + double tans_inv_; //!< distortion model coeff + bool distortion_; //!< use distortion model? + + //! Radial distortion transformation factor: returns ration of distorted / undistorted radius. + inline double rtrans_factor(double r) const + { + if(r < 0.001 || s_ == 0.0) + return 1.0; + else + return (s_inv_* atan(r * tans_) / r); + }; + + //! Inverse radial distortion: returns un-distorted radius from distorted. + inline double invrtrans(double r) const + { + if(s_ == 0.0) + return r; + return (tan(r * s_) * tans_inv_); + }; + +public: + + ATANCamera(double width, double height, double fx, double fy, double dx, double dy, double s); + + ~ATANCamera(); + + virtual Vector3d + cam2world(const double& x, const double& y) const; + + virtual Vector3d + cam2world(const Vector2d& px) const; + + virtual Vector2d + world2cam(const Vector3d& xyz_c) const; + + virtual Vector2d + world2cam(const Vector2d& uv) const; + + const Vector2d focal_length() const + { + return Vector2d(fx_, fy_); + } + + virtual double errorMultiplier2() const + { + return fx_; + } + + virtual double errorMultiplier() const + { + return 4*fx_*fy_; + } +}; + +} // end namespace vk + +#endif /* ATAN_CAMERA_H_ */ diff --git a/GPU_version/svo/include/gpu_svo/config.h b/GPU_version/svo/include/gpu_svo/config.h index 1001fb6..9b3c26f 100644 --- a/GPU_version/svo/include/gpu_svo/config.h +++ b/GPU_version/svo/include/gpu_svo/config.h @@ -134,6 +134,10 @@ public: static double& EBP() { return getInstance().ebp; } /// the noise used for projection static double& NRP() { return getInstance().nrp; } + static double& Gravity() { return getInstance().gravity; } + static double& X_off() { return getInstance().acc_x_off; } + static double& Y_off() { return getInstance().acc_y_off; } + static double& Teta_off() { return getInstance().gyr_z_off; } private: @@ -169,7 +173,7 @@ private: size_t max_fts; size_t quality_min_fts; int quality_max_drop_fts; - double nrp,ebp,gbc,abc,iuc,ACC_noise,GYO_noise; + double nrp,ebp,gbc,abc,iuc,ACC_noise,GYO_noise,gravity,acc_x_off,acc_y_off,gyr_z_off; }; } // namespace svo diff --git a/GPU_version/svo/include/gpu_svo/depth_filter.h b/GPU_version/svo/include/gpu_svo/depth_filter.h index d56d256..07d71e5 100644 --- a/GPU_version/svo/include/gpu_svo/depth_filter.h +++ b/GPU_version/svo/include/gpu_svo/depth_filter.h @@ -20,7 +20,7 @@ #include #include #include -#include +//#include #include #include #include @@ -79,7 +79,7 @@ public: epi_search_1d(false), verbose(false), use_photometric_disparity_error(false), - max_n_kfs(3), + max_n_kfs(10), sigma_i_sq(5e-4), seed_convergence_sigma2_thresh(200.0) {} @@ -150,7 +150,7 @@ protected: bool new_keyframe_set_; //!< Do we have a new keyframe to process?. double new_keyframe_min_depth_; //!< Minimum depth in the new keyframe. Used for range in new seeds. double new_keyframe_mean_depth_; //!< Maximum depth in the new keyframe. Used for range in new seeds. - vk::PerformanceMonitor permon_; //!< Separate performance monitor since the DepthFilter runs in a parallel thread. + //vk::PerformanceMonitor permon_; //!< Separate performance monitor since the DepthFilter runs in a parallel thread. Matcher matcher_; /// Initialize new seeds from a frame. diff --git a/GPU_version/svo/include/gpu_svo/for_it.hpp b/GPU_version/svo/include/gpu_svo/for_it.hpp new file mode 100755 index 0000000..808f3cf --- /dev/null +++ b/GPU_version/svo/include/gpu_svo/for_it.hpp @@ -0,0 +1,87 @@ +// +// Created by root on 5/12/21. +// + +#ifndef GPU_SVO_FOR_IT_H +#define GPU_SVO_FOR_IT_H +#include +#include +#include + +//https://stackoverflow.com/questions/24881799/get-index-in-c11-foreach-loop +// Wrapper class +template +class for_impl +{ +public: + // The return value of the operator* of the iterator, this + // is what you will get inside of the for loop + struct item + { + size_t index; + typename T::value_type & item; + }; + typedef item value_type; + + // Custom iterator with minimal interface + struct iterator + { + iterator(typename T::iterator _it, size_t counter=0) : + it(_it), counter(counter) + {} + + iterator operator++() + { + return iterator(++it, ++counter); + } + + bool operator!=(iterator other) + { + return it != other.it; + } + + typename T::iterator::value_type item() + { + return *it; + } + + value_type operator*() + { + return value_type{counter, *it}; + } + + size_t index() + { + return counter; + } + + private: + typename T::iterator it; + size_t counter; + }; + + for_impl(T & t) : container(t) {} + + iterator begin() + { + return iterator(container.begin()); + } + + iterator end() + { + return iterator(container.end()); + } + +private: + T & container; +}; + + +// A templated free function allows you to create the wrapper class +// conveniently +template +for_impl _for(T & t) +{ + return for_impl(t); +} +#endif //GPU_SVO_FOR_IT_H diff --git a/GPU_version/svo/include/gpu_svo/frame.h b/GPU_version/svo/include/gpu_svo/frame.h index 43b344e..3a0fef6 100644 --- a/GPU_version/svo/include/gpu_svo/frame.h +++ b/GPU_version/svo/include/gpu_svo/frame.h @@ -18,8 +18,8 @@ #define SVO_FRAME_H_ #include -#include -#include +#include +#include #include #include @@ -92,6 +92,8 @@ public: /// Transforms point coordinates in world-frame (w) to camera pixel coordinates (c). inline Vector2d w2c(const Vector3d& xyz_w) const { return cam_->world2cam( T_f_w_ * 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 ); } /// Transforms pixel coordinates (c) to frame unit sphere coordinates (f). inline Vector3d c2f(const Vector2d& px) const { return cam_->cam2world(px[0], px[1]); } @@ -111,6 +113,7 @@ public: /// Return the pose of the frame in the (w)orld coordinate frame. inline Vector3d pos() const { return T_f_w_.inverse().translation(); } + /// Frame jacobian for projection of 3D point in (f)rame coordinate to /// unit plane coordinates uv (focal length = 1). inline static void jacobian_xyz2uv( @@ -129,13 +132,26 @@ public: J(0,4) = -(1.0 + x*J(0,2)); // -(1.0 + x^2/z^2) J(0,5) = y*z_inv; // y/z - J(1,0) = 0.0; // 0 + J(1,0) = 0.0; // 0 J(1,1) = -z_inv; // -1/z J(1,2) = y*z_inv_2; // y/z^2 J(1,3) = 1.0 + y*J(1,2); // 1.0 + y^2/z^2 J(1,4) = -J(0,3); // -x*y/z^2 J(1,5) = -x*z_inv; // x/z } + inline static void jacobian_l2uv( + const Matrix& p, + Matrix& J){ + double A = -1.0*sqrt(p.z()); + double z_inv = -1/p.z(); + J(0,0) = z_inv; + J(0,1) = 0.0; + J(0,2) = p.x()*A; + + J(1,0) = 0.0; + J(1,1) = z_inv; + J(1,2) =A*p.y(); + } }; diff --git a/GPU_version/svo/include/gpu_svo/frame_handler_base.h b/GPU_version/svo/include/gpu_svo/frame_handler_base.h index 9b207b3..c8d84e5 100644 --- a/GPU_version/svo/include/gpu_svo/frame_handler_base.h +++ b/GPU_version/svo/include/gpu_svo/frame_handler_base.h @@ -18,8 +18,8 @@ #define SVO_FRAME_HANDLER_BASE_H_ #include -#include -#include +//#include +//#include #include #include #include @@ -29,7 +29,7 @@ namespace vk { class AbstractCamera; -class PerformanceMonitor; +//class PerformanceMonitor; } namespace svo @@ -80,19 +80,19 @@ public: TrackingQuality trackingQuality() const { return tracking_quality_; } /// Get the processing time of the previous iteration. - double lastProcessingTime() const { return timer_.getTime(); } + //double lastProcessingTime() const { return timer_.getTime(); } /// Get the number of feature observations of the last frame. - size_t lastNumObservations() const { return num_obs_last_; } + // size_t lastNumObservations() const { return num_obs_last_; } protected: Stage stage_; //!< Current stage of the algorithm. bool set_reset_; //!< Flag that the user can set. Will reset the system before the next iteration. bool set_start_; //!< Flag the user can set to start the system when the next image is received. Map map_; //!< Map of keyframes created by the slam system. - vk::Timer timer_; //!< Stopwatch to measure time to process frame. - vk::RingBuffer acc_frame_timings_; //!< Total processing time of the last 10 frames, used to give some user feedback on the performance. - vk::RingBuffer acc_num_obs_; //!< Number of observed features of the last 10 frames, used to give some user feedback on the tracking performance. + //vk::Timer timer_; //!< Stopwatch to measure time to process frame. + //vk::RingBuffer acc_frame_timings_; //!< Total processing time of the last 10 frames, used to give some user feedback on the performance. + //vk::RingBuffer acc_num_obs_; //!< Number of observed features of the last 10 frames, used to give some user feedback on the tracking performance. size_t num_obs_last_; //!< Number of observations in the previous frame. TrackingQuality tracking_quality_; //!< An estimate of the tracking quality based on the number of tracked features. diff --git a/GPU_version/svo/include/gpu_svo/frame_handler_mono.h b/GPU_version/svo/include/gpu_svo/frame_handler_mono.h index 58b8b22..22180d8 100644 --- a/GPU_version/svo/include/gpu_svo/frame_handler_mono.h +++ b/GPU_version/svo/include/gpu_svo/frame_handler_mono.h @@ -18,7 +18,7 @@ #define SVO_FRAME_HANDLER_H_ #include -#include +#include #include #include #include @@ -61,7 +61,7 @@ public: const SE3& T_kf_f, const cv::Mat& img, const double timestamp); - std::unique_ptr imu_integPtr_; //Integration of IMU + std::shared_ptr imu_integPtr_; //Integration of IMU protected: vk::AbstractCamera* cam_; //!< Camera model, can be ATAN, Pinhole or Ocam (see vikit). @@ -73,6 +73,7 @@ protected: initialization::KltHomographyInit* klt_homography_init_; //!< Used to estimate pose of the first two keyframes by estimating a homography. DepthFilter* depth_filter_; //!< Depth estimation algorithm runs in a parallel thread and is used to initialize new 3D points. opencl* gpu_fast_; + uint image_count_=0; /// Initialize the visual odometry algorithm. virtual void initialize(); diff --git a/GPU_version/svo/include/gpu_svo/global.h b/GPU_version/svo/include/gpu_svo/global.h index 03aff4e..f10358d 100644 --- a/GPU_version/svo/include/gpu_svo/global.h +++ b/GPU_version/svo/include/gpu_svo/global.h @@ -27,7 +27,7 @@ #include #include #include -#include +//#include #include #include #ifndef RPG_SVO_VIKIT_IS_VECTOR_SPECIALIZED //Guard for rpg_vikit @@ -78,6 +78,7 @@ namespace svo const double PI = 3.14159265; #ifdef SVO_TRACE + /* extern vk::PerformanceMonitor* g_permon; #define SVO_LOG(value) g_permon->log(std::string((#value)),(value)) #define SVO_LOG2(value1, value2) SVO_LOG(value1); SVO_LOG(value2) @@ -85,6 +86,7 @@ namespace svo #define SVO_LOG4(value1, value2, value3, value4) SVO_LOG2(value1, value2); SVO_LOG2(value3, value4) #define SVO_START_TIMER(name) g_permon->startTimer((name)) #define SVO_STOP_TIMER(name) g_permon->stopTimer((name)) + */ #else #define SVO_LOG(v) #define SVO_LOG2(v1, v2) diff --git a/GPU_version/svo/include/gpu_svo/homography.h b/GPU_version/svo/include/gpu_svo/homography.h new file mode 100644 index 0000000..7f5a7b2 --- /dev/null +++ b/GPU_version/svo/include/gpu_svo/homography.h @@ -0,0 +1,85 @@ +/* + * homography.cpp + * Adaptation of PTAM-GPL HomographyInit class. + * https://github.com/Oxford-PTAM/PTAM-GPL + * Licence: GPLv3 + * Copyright 2008 Isis Innovation Limited + * + * Created on: Sep 2, 2012 + * by: cforster + * + * This class implements the homography decomposition of Faugeras and Lustman's + * 1988 tech report. Code converted to Eigen from PTAM. + * + */ + +#ifndef HOMOGRAPHY_H_ +#define HOMOGRAPHY_H_ + +#include +#include +#include +#include + +namespace vk { + +using namespace Eigen; +using namespace std; + +struct HomographyDecomposition +{ + Vector3d t; + Matrix3d R; + double d; + Vector3d n; + + // Resolved Composition + Sophus::SE3 T; //!< second from first + int score; +}; + +class Homography +{ +public: + EIGEN_MAKE_ALIGNED_OPERATOR_NEW + + Homography (const vector >& _fts1, + const vector >& _fts2, + double _error_multiplier2, + double _thresh_in_px); + + void + calcFromPlaneParams (const Vector3d & normal, + const Vector3d & point_on_plane); + + void + calcFromMatches (); + + size_t + computeMatchesInliers (); + + bool + computeSE3fromMatches (); + + bool + decompose (); + + void + findBestDecomposition (); + + double thresh; + double error_multiplier2; + const vector >& fts_c1; //!< Features on first image on unit plane + const vector >& fts_c2; //!< Features on second image on unit plane + vector inliers; + SE3 T_c2_from_c1; //!< Relative translation and rotation of two images + Matrix3d H_c2_from_c1; //!< Homography + vector decompositions; +}; + + + + +} /* end namespace vk */ + +#endif /* HOMOGRAPHY_H_ */ diff --git a/GPU_version/svo/include/gpu_svo/imu_integration.h b/GPU_version/svo/include/gpu_svo/imu_integration.h index 2692f71..738608f 100644 --- a/GPU_version/svo/include/gpu_svo/imu_integration.h +++ b/GPU_version/svo/include/gpu_svo/imu_integration.h @@ -18,83 +18,7 @@ using gtsam::symbol_shorthand::B; // Bias (ax,ay,az,gx,gy,gz) using gtsam::symbol_shorthand::V; // Vel (xdot,ydot,zdot) using gtsam::symbol_shorthand::P; // Pose3 (x,y,z,r,p,y) -using gtsam::symbol_shorthand::C; // Camera pose - -//https://stackoverflow.com/questions/24881799/get-index-in-c11-foreach-loop -// Wrapper class -template -class enumerate_impl -{ -public: - // The return value of the operator* of the iterator, this - // is what you will get inside of the for loop - struct item - { - size_t index; - typename T::value_type & item; - }; - typedef item value_type; - - // Custom iterator with minimal interface - struct iterator - { - iterator(typename T::iterator _it, size_t counter=0) : - it(_it), counter(counter) - {} - - iterator operator++() - { - return iterator(++it, ++counter); - } - - bool operator!=(iterator other) - { - return it != other.it; - } - - typename T::iterator::value_type item() - { - return *it; - } - - value_type operator*() - { - return value_type{counter, *it}; - } - - size_t index() - { - return counter; - } - - private: - typename T::iterator it; - size_t counter; - }; - - enumerate_impl(T & t) : container(t) {} - - iterator begin() - { - return iterator(container.begin()); - } - - iterator end() - { - return iterator(container.end()); - } - -private: - T & container; -}; - -// A templated free function allows you to create the wrapper class -// conveniently -template -enumerate_impl enumerate(T & t) -{ - return enumerate_impl(t); -} +using gtsam::symbol_shorthand::L; // Landmark class Imu_Integration{ public: @@ -103,7 +27,10 @@ public: bool reset(gtsam::ISAM2& optimizer,boost::shared_ptr& new_frame); bool reset(gtsam::LevenbergMarquardtOptimizer& optimizer,boost::shared_ptr& new_frame); bool update(double* imu= nullptr); - bool predict(boost::shared_ptr&,std::size_t&,const double reproj_thresh); + bool predict(boost::shared_ptr&, + boost::shared_ptr& last_frame ,std::size_t&,const double reproj_thresh); + bool init(boost::shared_ptr&); + Sophus::SE3 preintegrate_predict(); private: std::shared_ptr statePtr; std::shared_ptr imu_biasPtr; @@ -116,6 +43,7 @@ private: std::uint32_t imu_factor_id=0; uint imu_n=0; std::shared_ptr optimizerParamPtr; + gtsam::NavState Integ_predict; bool syn=false; }; #endif //SVO_IMU_INTEGRATION_H diff --git a/GPU_version/svo/include/gpu_svo/initialization.h b/GPU_version/svo/include/gpu_svo/initialization.h index 21f9350..6c3b3b5 100644 --- a/GPU_version/svo/include/gpu_svo/initialization.h +++ b/GPU_version/svo/include/gpu_svo/initialization.h @@ -19,6 +19,7 @@ #include #include +#include namespace svo { diff --git a/GPU_version/svo/include/gpu_svo/math_utils.h b/GPU_version/svo/include/gpu_svo/math_utils.h new file mode 100644 index 0000000..6fffc38 --- /dev/null +++ b/GPU_version/svo/include/gpu_svo/math_utils.h @@ -0,0 +1,171 @@ +/* + * math_utils.h + * + * Created on: Jul 20, 2012 + * Author: cforster + */ + +#ifndef MATH_UTILS_H_ +#define MATH_UTILS_H_ + + +#include +#include +#include + +namespace vk +{ + +using namespace Eigen; +using namespace std; +using namespace Sophus; + +Vector3d triangulateFeatureNonLin( + const Matrix3d& R, + const Vector3d& t, + const Vector3d& feature1, + const Vector3d& feature2); + +/// Assumes the bearing vectors f_c and f_r are on the epipolar plane, i.e. +/// perfect triangulation without noise! +bool depthFromTriangulationExact( + const Matrix3d& R_r_c, + const Vector3d& t_r_c, + const Vector3d& f_r, + const Vector3d& f_c, + double& depth_in_r, + double& depth_in_c); + +double reprojError( + const Vector3d& f1, + const Vector3d& f2, + double error_multiplier2); + +double computeInliers( + const vector& features1, + const vector& features2, + const Matrix3d& R, + const Vector3d& t, + const double reproj_thresh, + double error_multiplier2, + vector& xyz_vec, + vector& inliers, + vector& outliers); + +void computeInliersOneView( + const vector & feature_sphere_vec, + const vector & xyz_vec, + const Matrix3d &R, + const Vector3d &t, + const double reproj_thresh, + const double error_multiplier2, + vector& inliers, + vector& outliers); + +//! Direct Cosine Matrix to Roll Pitch Yaw +Vector3d dcm2rpy(const Matrix3d &R); + +//! Roll Pitch Yaw to Direct Cosine Matrix +Matrix3d rpy2dcm(const Vector3d &rpy); + +//! Angle Axis parametrization to Quaternion +Quaterniond angax2quat(const Vector3d& n, const double& angle); + +//! Angle Axis parametrization to Matrix representation +Matrix3d angax2dcm(const Vector3d& n, const double& angle); + +double sampsonusError( + const Vector2d &v2Dash, + const Matrix3d& m3Essential, + const Vector2d& v2); + +inline Matrix3d sqew(const Vector3d& v) +{ + Matrix3d v_sqew; + v_sqew << 0, -v[2], v[1], + v[2], 0, -v[0], + -v[1], v[0], 0; + return v_sqew; +} + +inline double norm_max(const Eigen::VectorXd & v) +{ + double max = -1; + for (int i=0; imax){ + max = abs; + } + } + return max; +} + +inline Vector2d project2d(const Vector3d& v) +{ + return v.head<2>()/v[2]; +} + +inline Vector3d unproject2d(const Vector2d& v) +{ + return Vector3d(v[0], v[1], 1.0); +} + +inline Vector3d project3d(const Vector4d& v) +{ + return v.head<3>()/v[3]; +} + +inline Vector4d unproject3d(const Vector3d& v) +{ + return Vector4d(v[0], v[1], v[2], 1.0); +} + +template +T getMedian(vector& data_vec) +{ + assert(!data_vec.empty()); + typename vector::iterator it = data_vec.begin()+floor(data_vec.size()/2); + nth_element(data_vec.begin(), it, data_vec.end()); + return *it; +} + +inline double pyrFromZero_d(double x_0, int level) +{ + return x_0/(1< & frame_jac) +{ + const double x = xyz[0]; + const double y = xyz[1]; + const double z = xyz[2]; + const double z_2 = z*z; + + frame_jac(0,0) = -1./z *focal_length; + frame_jac(0,1) = 0; + frame_jac(0,2) = x/z_2 *focal_length; + frame_jac(0,3) = x*y/z_2 * focal_length; + frame_jac(0,4) = -(1+(x*x/z_2)) *focal_length; + frame_jac(0,5) = y/z *focal_length; + + frame_jac(1,0) = 0; + frame_jac(1,1) = -1./z *focal_length; + frame_jac(1,2) = y/z_2 *focal_length; + frame_jac(1,3) = (1+y*y/z_2) *focal_length; + frame_jac(1,4) = -x*y/z_2 *focal_length; + frame_jac(1,5) = -x/z *focal_length; +} + +} // end namespace vk + +#endif /* MATH_UTILS_H_ */ diff --git a/GPU_version/svo/include/gpu_svo/nlls_solver.h b/GPU_version/svo/include/gpu_svo/nlls_solver.h new file mode 100644 index 0000000..cb6320b --- /dev/null +++ b/GPU_version/svo/include/gpu_svo/nlls_solver.h @@ -0,0 +1,169 @@ +/* + * Abstract Nonlinear Least-Squares Solver Class + * + * nlls_solver.h + * + * Created on: Nov 5, 2012 + * Author: cforster + */ + +#ifndef LM_SOLVER_H_ +#define LM_SOLVER_H_ + +#include +#include +#include +#include +#include +#include +#include +#include + +namespace vk { + +using namespace std; +using namespace Eigen; + +/** + * \brief Abstract Class for solving nonlinear least-squares (NLLS) problems. + * + * The function implements two algorithms: Levenberg Marquardt and Gauss Newton + * + * Example implementations of this function can be found in the rpl_examples + * package: img_align_2d.cpp, img_align_3d.cpp + * + * Template Parameters: + * D : dimension of the residual + * T : type of the model, e.g. SE2, SE3 + */ + +template +class NLLSSolver { + +public: + typedef T ModelType; + enum Method{GaussNewton, LevenbergMarquardt}; + enum ScaleEstimatorType{UnitScale, TDistScale, MADScale, NormalScale}; + enum WeightFunctionType{UnitWeight, TDistWeight, TukeyWeight, HuberWeight}; + +protected: + Matrix H_; //!< Hessian approximation + Matrix Jres_; //!< Jacobian x Residual + Matrix x_; //!< update step + bool have_prior_; + ModelType prior_; + Matrix I_prior_; //!< Prior information matrix (inverse covariance) + double chi2_; + double rho_; + Method method_; + + /// If the flag linearize_system is set, the function must also compute the + /// Jacobian and set the member variables H_, Jres_ + virtual double + computeResiduals (const ModelType& model, + bool linearize_system, + bool compute_weight_scale) = 0; + + /// Solve the linear system H*x = Jres. This function must set the update + /// step in the member variable x_. Must return true if the system could be + /// solved and false if it was singular. + virtual int + solve () = 0; + + virtual void + update (const ModelType& old_model, ModelType& new_model) = 0; + + virtual void + applyPrior (const ModelType& current_model) { } + + virtual void + startIteration () { } + + virtual void + finishIteration () { } + + virtual void + finishTrial () { } + +public: + + /// Damping parameter. If mu > 0, coefficient matrix is positive definite, this + /// ensures that x is a descent direction. If mu is large, x is a short step in + /// the steepest direction. This is good if the current iterate is far from the + /// solution. If mu is small, LM approximates gauss newton iteration and we + /// have (almost) quadratic convergence in the final stages. + double mu_init_, mu_; + double nu_init_, nu_; //!< Increase factor of mu after fail + size_t n_iter_init_, n_iter_; //!< Number of Iterations + size_t n_trials_; //!< Number of trials + size_t n_trials_max_; //!< Max number of trials + size_t n_meas_; //!< Number of measurements + bool stop_; //!< Stop flag + bool verbose_; //!< Output Statistics + double eps_; //!< Stop if update norm is smaller than eps + size_t iter_; //!< Current Iteration + + // robust least squares + bool use_weights_; + float scale_; + robust_cost::ScaleEstimatorPtr scale_estimator_; + robust_cost::WeightFunctionPtr weight_function_; + + NLLSSolver() : + have_prior_(false), + method_(LevenbergMarquardt), + mu_init_(0.01f), + mu_(mu_init_), + nu_init_(2.0), + nu_(nu_init_), + n_iter_init_(15), + n_iter_(n_iter_init_), + n_trials_(0), + n_trials_max_(5), + n_meas_(0), + stop_(false), + verbose_(true), + eps_(0.0000000001), + iter_(0), + use_weights_(false), + scale_(0.0), + scale_estimator_(NULL), + weight_function_(NULL) + { } + + virtual ~NLLSSolver() {} + + /// Calls the GaussNewton or LevenbergMarquardt optimization strategy + void optimize(ModelType& model); + + /// Gauss Newton optimization strategy + void optimizeGaussNewton(ModelType& model); + + /// Levenberg Marquardt optimization strategy + void optimizeLevenbergMarquardt(ModelType& model); + + /// Specify the robust cost that should be used and the appropriate scale estimator + void setRobustCostFunction( + ScaleEstimatorType scale_estimator, + WeightFunctionType weight_function); + + /// Add prior to optimization. + void setPrior( + const ModelType& prior, + const Matrix& Information); + + /// Reset all parameters to restart the optimization + void reset(); + + /// Get the squared error + const double& getChi2() const; + + /// The Information matrix is equal to the inverse covariance matrix. + const Matrix& getInformationMatrix() const; +}; + +} // end namespace vk + +#include "gpu_svo/nlls_solver_impl.hpp" + +#endif /* LM_SOLVER_H_ */ diff --git a/GPU_version/svo/include/gpu_svo/nlls_solver_impl.hpp b/GPU_version/svo/include/gpu_svo/nlls_solver_impl.hpp new file mode 100644 index 0000000..ec36be8 --- /dev/null +++ b/GPU_version/svo/include/gpu_svo/nlls_solver_impl.hpp @@ -0,0 +1,323 @@ +/* + * Abstract Nonlinear Least-Squares Solver Class + * + * nlls_solver.h + * + * Created on: Nov 5, 2012 + * Author: cforster + */ + +#ifndef LM_SOLVER_IMPL_HPP_ +#define LM_SOLVER_IMPL_HPP_ + +#include + +template +void vk::NLLSSolver::optimize(ModelType& model) +{ + if(method_ == GaussNewton) + optimizeGaussNewton(model); + else if(method_ == LevenbergMarquardt) + optimizeLevenbergMarquardt(model); +} + +template +void vk::NLLSSolver::optimizeGaussNewton(ModelType& model) +{ + // Compute weight scale + if(use_weights_) + computeResiduals(model, false, true); + + // Save the old model to rollback in case of unsuccessful update + ModelType old_model(model); + + // perform iterative estimation + for (iter_ = 0; iter_::Identity(D,D); + Jres_.setZero(); + + // compute initial error + n_meas_ = 0; + computeResiduals(model, true, false); + + // add damping term: + H_ += (H_.diagonal()*mu_).asDiagonal(); + + // add prior + if(have_prior_) + applyPrior(model); + + // solve the linear system + if(solve()) + { + // update the model + update(model, new_model); + + // compute error with new model and compare to old error + n_meas_ = 0; + new_chi2 = computeResiduals(new_model, false, false); + rho_ = chi2_-new_chi2; + } + else + { + // matrix was singular and could not be computed + cout << "Matrix is close to singular!" << endl; + cout << "H = " << H_ << endl; + cout << "Jres = " << Jres_ << endl; + rho_ = -1; + } + + if(rho_>0) + { + // update decrased the error -> success + model = new_model; + chi2_ = new_chi2; + stop_ = vk::norm_max(x_)<=eps_; + mu_ *= max(1./3., min(1.-pow(2*rho_-1,3), 2./3.)); + nu_ = 2.; + if(verbose_) + { + cout << "It. " << iter_ + << "\t Trial " << n_trials_ + << "\t Success" + << "\t n_meas = " << n_meas_ + << "\t new_chi2 = " << new_chi2 + << "\t mu = " << mu_ + << "\t nu = " << nu_ + << endl; + } + } + else + { + // update increased the error -> fail + mu_ *= nu_; + nu_ *= 2.; + ++n_trials_; + if (n_trials_ >= n_trials_max_) + stop_ = true; + + if(verbose_) + { + cout << "It. " << iter_ + << "\t Trial " << n_trials_ + << "\t Failure" + << "\t n_meas = " << n_meas_ + << "\t new_chi2 = " << new_chi2 + << "\t mu = " << mu_ + << "\t nu = " << nu_ + << endl; + } + } + + finishTrial(); + + } while(!(rho_>0 || stop_)); + if (stop_) + break; + + finishIteration(); + } +} + + +template +void vk::NLLSSolver::setRobustCostFunction( + ScaleEstimatorType scale_estimator, + WeightFunctionType weight_function) +{ + switch(scale_estimator) + { + case TDistScale: + if(verbose_) + printf("Using TDistribution Scale Estimator\n"); + scale_estimator_.reset(new robust_cost::TDistributionScaleEstimator()); + use_weights_=true; + break; + case MADScale: + if(verbose_) + printf("Using MAD Scale Estimator\n"); + scale_estimator_.reset(new robust_cost::MADScaleEstimator()); + use_weights_=true; + break; + case NormalScale: + if(verbose_) + printf("Using Normal Scale Estimator\n"); + scale_estimator_.reset(new robust_cost::NormalDistributionScaleEstimator()); + use_weights_=true; + break; + default: + if(verbose_) + printf("Using Unit Scale Estimator\n"); + scale_estimator_.reset(new robust_cost::UnitScaleEstimator()); + use_weights_=false; + } + + switch(weight_function) + { + case TDistWeight: + if(verbose_) + printf("Using TDistribution Weight Function\n"); + weight_function_.reset(new robust_cost::TDistributionWeightFunction()); + break; + case TukeyWeight: + if(verbose_) + printf("Using Tukey Weight Function\n"); + weight_function_.reset(new robust_cost::TukeyWeightFunction()); + break; + case HuberWeight: + if(verbose_) + printf("Using Huber Weight Function\n"); + weight_function_.reset(new robust_cost::HuberWeightFunction()); + break; + default: + if(verbose_) + printf("Using Unit Weight Function\n"); + weight_function_.reset(new robust_cost::UnitWeightFunction()); + } +} + +template +void vk::NLLSSolver::setPrior( + const T& prior, + const Matrix& Information) +{ + have_prior_ = true; + prior_ = prior; + I_prior_ = Information; +} + +template +void vk::NLLSSolver::reset() +{ + have_prior_ = false; + chi2_ = 1e10; + mu_ = mu_init_; + nu_ = nu_init_; + n_meas_ = 0; + n_iter_ = n_iter_init_; + iter_ = 0; + stop_ = false; +} + +template +inline const double& vk::NLLSSolver::getChi2() const +{ + return chi2_; +} + +template +inline const vk::Matrix& vk::NLLSSolver::getInformationMatrix() const +{ + return H_; +} + +#endif /* LM_SOLVER_IMPL_HPP_ */ diff --git a/GPU_version/svo/include/gpu_svo/params_helper.h b/GPU_version/svo/include/gpu_svo/params_helper.h new file mode 100644 index 0000000..f8a03dc --- /dev/null +++ b/GPU_version/svo/include/gpu_svo/params_helper.h @@ -0,0 +1,57 @@ +// +// Created by root on 5/24/21. +// + +#ifndef GPU_SVO_PARAMS_HELPER_H +#define GPU_SVO_PARAMS_HELPER_H +/* + * ros_params_helper.h + * + * Created on: Feb 22, 2013 + * Author: cforster + * + * from libpointmatcher_ros + */ + +#include +#include + +namespace vk { + + inline + bool hasParam(const std::string& name) + { + return ros::param::has(name); + } + + template + T getParam(const std::string& name, const T& defaultValue) + { + T v; + if(ros::param::get(name, v)) + { + ROS_INFO_STREAM("Found parameter: " << name << ", value: " << v); + return v; + } + else + ROS_WARN_STREAM("Cannot find value for parameter: " << name << ", assigning default: " << defaultValue); + return defaultValue; + } + + template + T getParam(const std::string& name) + { + T v; + if(ros::param::get(name, v)) + { + ROS_INFO_STREAM("Found parameter: " << name << ", value: " << v); + return v; + } + else + ROS_ERROR_STREAM("Cannot find value for parameter: " << name); + return T(); + } + +} // namespace vk + +#endif //GPU_SVO_PARAMS_HELPER_H diff --git a/GPU_version/svo/include/gpu_svo/patch_score.h b/GPU_version/svo/include/gpu_svo/patch_score.h new file mode 100644 index 0000000..8f0516c --- /dev/null +++ b/GPU_version/svo/include/gpu_svo/patch_score.h @@ -0,0 +1,225 @@ +/* + * patch_score.h + * + * Created on: Dec 5, 2013 + * Author: cforster + */ + +#ifndef VIKIT_PATCH_SCORE_H_ +#define VIKIT_PATCH_SCORE_H_ + +#include + +#if __SSE2__ +#include +#endif + +namespace vk { +namespace patch_score { + + +#if __SSE2__ +// Horizontal sum of uint16s stored in an XMM register +inline int SumXMM_16(__m128i &target) +{ + unsigned short int sums_store[8]; + _mm_storeu_si128((__m128i*)sums_store, target); + return sums_store[0] + sums_store[1] + sums_store[2] + sums_store[3] + + sums_store[4] + sums_store[5] + sums_store[6] + sums_store[7]; +} +// Horizontal sum of uint32s stored in an XMM register +inline int SumXMM_32(__m128i &target) +{ + unsigned int sums_store[4]; + _mm_storeu_si128((__m128i*)sums_store, target); + return sums_store[0] + sums_store[1] + sums_store[2] + sums_store[3]; +} +#endif + +/// Zero Mean Sum of Squared Differences Cost +template +class ZMSSD { +public: + + static const int patch_size_ = 2*HALF_PATCH_SIZE; + static const int patch_area_ = patch_size_*patch_size_; + static const int threshold_ = 2000*patch_area_; + uint8_t* ref_patch_; + int sumA_, sumAA_; + + ZMSSD(uint8_t* ref_patch) : + ref_patch_(ref_patch) + { + uint32_t sumA_uint=0, sumAA_uint=0; + for(int r = 0; r < patch_area_; r++) + { + uint8_t n = ref_patch_[r]; + sumA_uint += n; + sumAA_uint += n*n; + } + sumA_ = sumA_uint; + sumAA_ = sumAA_uint; + } + + static int threshold() { return threshold_; } + + int computeScore(uint8_t* cur_patch) const + { + uint32_t sumB_uint = 0; + uint32_t sumBB_uint = 0; + uint32_t sumAB_uint = 0; + for(int r = 0; r < patch_area_; r++) + { + const uint8_t cur_pixel = cur_patch[r]; + sumB_uint += cur_pixel; + sumBB_uint += cur_pixel*cur_pixel; + sumAB_uint += cur_pixel * ref_patch_[r]; + } + const int sumB = sumB_uint; + const int sumBB = sumBB_uint; + const int sumAB = sumAB_uint; + return sumAA_ - 2*sumAB + sumBB - (sumA_*sumA_ - 2*sumA_*sumB + sumB*sumB)/patch_area_; + } + + int computeScore(uint8_t* cur_patch, int stride) const + { + int sumB, sumBB, sumAB; +#if __SSE2__ + if(patch_size_ == 8) + { + // From PTAM-GPL, Copyright 2008 Isis Innovation Limited + __m128i xImageAsEightBytes; + __m128i xImageAsWords; + __m128i xTemplateAsEightBytes; + __m128i xTemplateAsWords; + __m128i xZero; + __m128i xImageSums; // These sums are 8xuint16 + __m128i xImageSqSums; // These sums are 4xint32 + __m128i xCrossSums; // These sums are 4xint32 + __m128i xProduct; + + xImageSums = _mm_setzero_si128(); + xImageSqSums = _mm_setzero_si128(); + xCrossSums = _mm_setzero_si128(); + xZero = _mm_setzero_si128(); + + uint8_t* imagepointer = cur_patch; + uint8_t* templatepointer = ref_patch_; + long unsigned int cur_stride = stride; + + xImageAsEightBytes=_mm_loadl_epi64((__m128i*) imagepointer); + imagepointer += cur_stride; + xImageAsWords = _mm_unpacklo_epi8(xImageAsEightBytes,xZero); + xImageSums = _mm_adds_epu16(xImageAsWords,xImageSums); + xProduct = _mm_madd_epi16(xImageAsWords, xImageAsWords); + xImageSqSums = _mm_add_epi32(xProduct, xImageSqSums); + xTemplateAsEightBytes=_mm_load_si128((__m128i*) templatepointer); + templatepointer += 16; + xTemplateAsWords = _mm_unpacklo_epi8(xTemplateAsEightBytes,xZero); + xProduct = _mm_madd_epi16(xImageAsWords, xTemplateAsWords); + xCrossSums = _mm_add_epi32(xProduct, xCrossSums); + xImageAsEightBytes=_mm_loadl_epi64((__m128i*) imagepointer); + imagepointer += cur_stride; + xImageAsWords = _mm_unpacklo_epi8(xImageAsEightBytes,xZero); + xImageSums = _mm_adds_epu16(xImageAsWords,xImageSums); + xProduct = _mm_madd_epi16(xImageAsWords, xImageAsWords); + xImageSqSums = _mm_add_epi32(xProduct, xImageSqSums); + xTemplateAsWords = _mm_unpackhi_epi8(xTemplateAsEightBytes,xZero); + xProduct = _mm_madd_epi16(xImageAsWords, xTemplateAsWords); + xCrossSums = _mm_add_epi32(xProduct, xCrossSums); + + xImageAsEightBytes=_mm_loadl_epi64((__m128i*) imagepointer); + imagepointer += cur_stride; + xImageAsWords = _mm_unpacklo_epi8(xImageAsEightBytes,xZero); + xImageSums = _mm_adds_epu16(xImageAsWords,xImageSums); + xProduct = _mm_madd_epi16(xImageAsWords, xImageAsWords); + xImageSqSums = _mm_add_epi32(xProduct, xImageSqSums); + xTemplateAsEightBytes=_mm_load_si128((__m128i*) templatepointer); + templatepointer += 16; + xTemplateAsWords = _mm_unpacklo_epi8(xTemplateAsEightBytes,xZero); + xProduct = _mm_madd_epi16(xImageAsWords, xTemplateAsWords); + xCrossSums = _mm_add_epi32(xProduct, xCrossSums); + xImageAsEightBytes=_mm_loadl_epi64((__m128i*) imagepointer); + imagepointer += cur_stride; + xImageAsWords = _mm_unpacklo_epi8(xImageAsEightBytes,xZero); + xImageSums = _mm_adds_epu16(xImageAsWords,xImageSums); + xProduct = _mm_madd_epi16(xImageAsWords, xImageAsWords); + xImageSqSums = _mm_add_epi32(xProduct, xImageSqSums); + xTemplateAsWords = _mm_unpackhi_epi8(xTemplateAsEightBytes,xZero); + xProduct = _mm_madd_epi16(xImageAsWords, xTemplateAsWords); + xCrossSums = _mm_add_epi32(xProduct, xCrossSums); + + xImageAsEightBytes=_mm_loadl_epi64((__m128i*) imagepointer); + imagepointer += cur_stride; + xImageAsWords = _mm_unpacklo_epi8(xImageAsEightBytes,xZero); + xImageSums = _mm_adds_epu16(xImageAsWords,xImageSums); + xProduct = _mm_madd_epi16(xImageAsWords, xImageAsWords); + xImageSqSums = _mm_add_epi32(xProduct, xImageSqSums); + xTemplateAsEightBytes=_mm_load_si128((__m128i*) templatepointer); + templatepointer += 16; + xTemplateAsWords = _mm_unpacklo_epi8(xTemplateAsEightBytes,xZero); + xProduct = _mm_madd_epi16(xImageAsWords, xTemplateAsWords); + xCrossSums = _mm_add_epi32(xProduct, xCrossSums); + xImageAsEightBytes=_mm_loadl_epi64((__m128i*) imagepointer); + imagepointer += cur_stride; + xImageAsWords = _mm_unpacklo_epi8(xImageAsEightBytes,xZero); + xImageSums = _mm_adds_epu16(xImageAsWords,xImageSums); + xProduct = _mm_madd_epi16(xImageAsWords, xImageAsWords); + xImageSqSums = _mm_add_epi32(xProduct, xImageSqSums); + xTemplateAsWords = _mm_unpackhi_epi8(xTemplateAsEightBytes,xZero); + xProduct = _mm_madd_epi16(xImageAsWords, xTemplateAsWords); + xCrossSums = _mm_add_epi32(xProduct, xCrossSums); + + xImageAsEightBytes=_mm_loadl_epi64((__m128i*) imagepointer); + imagepointer += cur_stride; + xImageAsWords = _mm_unpacklo_epi8(xImageAsEightBytes,xZero); + xImageSums = _mm_adds_epu16(xImageAsWords,xImageSums); + xProduct = _mm_madd_epi16(xImageAsWords, xImageAsWords); + xImageSqSums = _mm_add_epi32(xProduct, xImageSqSums); + xTemplateAsEightBytes=_mm_load_si128((__m128i*) templatepointer); + templatepointer += 16; + xTemplateAsWords = _mm_unpacklo_epi8(xTemplateAsEightBytes,xZero); + xProduct = _mm_madd_epi16(xImageAsWords, xTemplateAsWords); + xCrossSums = _mm_add_epi32(xProduct, xCrossSums); + xImageAsEightBytes=_mm_loadl_epi64((__m128i*) imagepointer); + xImageAsWords = _mm_unpacklo_epi8(xImageAsEightBytes,xZero); + xImageSums = _mm_adds_epu16(xImageAsWords,xImageSums); + xProduct = _mm_madd_epi16(xImageAsWords, xImageAsWords); + xImageSqSums = _mm_add_epi32(xProduct, xImageSqSums); + xTemplateAsWords = _mm_unpackhi_epi8(xTemplateAsEightBytes,xZero); + xProduct = _mm_madd_epi16(xImageAsWords, xTemplateAsWords); + xCrossSums = _mm_add_epi32(xProduct, xCrossSums); + + sumB = SumXMM_16(xImageSums); + sumAB = SumXMM_32(xCrossSums); + sumBB = SumXMM_32(xImageSqSums); + } + else +#endif + { + uint32_t sumB_uint = 0; + uint32_t sumBB_uint = 0; + uint32_t sumAB_uint = 0; + for(int y=0, r=0; y < patch_size_; ++y) + { + uint8_t* cur_patch_ptr = cur_patch + y*stride; + for(int x=0; x < patch_size_; ++x, ++r) + { + const uint8_t cur_px = cur_patch_ptr[x]; + sumB_uint += cur_px; + sumBB_uint += cur_px * cur_px; + sumAB_uint += cur_px * ref_patch_[r]; + } + } + sumB = sumB_uint; + sumBB = sumBB_uint; + sumAB = sumAB_uint; + } + return sumAA_ - 2*sumAB + sumBB - (sumA_*sumA_ - 2*sumA_*sumB + sumB*sumB)/patch_area_; + } +}; + +} // namespace patch_score +} // namespace vk + +#endif // VIKIT_PATCH_SCORE_H_ diff --git a/GPU_version/svo/include/gpu_svo/robust_cost.h b/GPU_version/svo/include/gpu_svo/robust_cost.h new file mode 100644 index 0000000..d03881a --- /dev/null +++ b/GPU_version/svo/include/gpu_svo/robust_cost.h @@ -0,0 +1,156 @@ +/** +* This file is part of dvo. +* +* Copyright 2012 Christian Kerl (Technical University of Munich) +* For more information see . +* +* dvo is free software: you can redistribute it and/or modify +* it under the terms of the GNU General Public License as published by +* the Free Software Foundation, either version 3 of the License, or +* (at your option) any later version. +* +* dvo is distributed in the hope that it will be useful, +* but WITHOUT ANY WARRANTY; without even the implied warranty of +* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +* GNU General Public License for more details. +* +* You should have received a copy of the GNU General Public License +* along with dvo. If not, see . +*/ + +#ifndef VIKIT_ROBUST_COST_H_ +#define VIKIT_ROBUST_COST_H_ + +#include +#include +#include +namespace vk { +namespace robust_cost { + +// interface for scale estimators +class ScaleEstimator +{ +public: + virtual ~ScaleEstimator() {}; + virtual float compute(std::vector& errors) const = 0; +}; +typedef std::shared_ptr ScaleEstimatorPtr; + +class UnitScaleEstimator : public ScaleEstimator +{ +public: + UnitScaleEstimator() {} + virtual ~UnitScaleEstimator() {} + virtual float compute(std::vector& errors) const { return 1.0f; }; +}; + +// estimates scale by fitting a t-distribution to the data with the given degrees of freedom +class TDistributionScaleEstimator : public ScaleEstimator +{ +public: + TDistributionScaleEstimator(const float dof = DEFAULT_DOF); + virtual ~TDistributionScaleEstimator() {}; + virtual float compute(std::vector& errors) const; + + static const float DEFAULT_DOF; + static const float INITIAL_SIGMA; +protected: + float dof_; + float initial_sigma_; +}; + +// estimates scale by computing the median absolute deviation +class MADScaleEstimator : public ScaleEstimator +{ +public: + MADScaleEstimator() {}; + virtual ~MADScaleEstimator() {}; + virtual float compute(std::vector& errors) const; + +private: + static const float NORMALIZER;; +}; + +// estimates scale by computing the standard deviation +class NormalDistributionScaleEstimator : public ScaleEstimator +{ +public: + NormalDistributionScaleEstimator() {}; + virtual ~NormalDistributionScaleEstimator() {}; + virtual float compute(std::vector& errors) const; +private: +}; + +/** + * Interface for weight functions. A weight function is the first derivative of a symmetric robust function p(sqrt(t)). + * The errors are assumed to be normalized to unit variance. + * + * See: + * "Lucas-Kanade 20 Years On: A Unifying Framework: Part 2" - Page 23, Equation (54) + */ +class WeightFunction +{ +public: + virtual ~WeightFunction() {}; + virtual float value(const float& x) const = 0; + virtual void configure(const float& param) {}; +}; +typedef std::shared_ptr WeightFunctionPtr; + +class UnitWeightFunction : public WeightFunction +{ +public: + UnitWeightFunction() {}; + virtual ~UnitWeightFunction() {}; + virtual float value(const float& x) const { return 1.0f; }; +}; + +/** + * Tukey's hard re-descending function. + * + * See: + * http://en.wikipedia.org/wiki/Redescending_M-estimator + */ +class TukeyWeightFunction : public WeightFunction +{ +public: + TukeyWeightFunction(const float b = DEFAULT_B); + virtual ~TukeyWeightFunction() {}; + virtual float value(const float& x) const; + virtual void configure(const float& param); + + static const float DEFAULT_B; +private: + float b_square; +}; + +class TDistributionWeightFunction : public WeightFunction +{ +public: + TDistributionWeightFunction(const float dof = DEFAULT_DOF); + virtual ~TDistributionWeightFunction() {}; + virtual float value(const float& x) const; + virtual void configure(const float& param); + + static const float DEFAULT_DOF; +private: + float dof_; + float normalizer_; +}; + +class HuberWeightFunction : public WeightFunction +{ +public: + HuberWeightFunction(const float k = DEFAULT_K); + virtual ~HuberWeightFunction() {}; + virtual float value(const float& x) const; + virtual void configure(const float& param); + + static const float DEFAULT_K; +private: + float k; +}; + +} // namespace robust_cost +} // namespace vk +#endif // VIKIT_ROBUST_COST_H_ diff --git a/GPU_version/svo/include/gpu_svo/sparse_img_align.h b/GPU_version/svo/include/gpu_svo/sparse_img_align.h index 58374be..6200066 100644 --- a/GPU_version/svo/include/gpu_svo/sparse_img_align.h +++ b/GPU_version/svo/include/gpu_svo/sparse_img_align.h @@ -17,8 +17,7 @@ #ifndef SVO_SPARSE_IMG_ALIGN_H_ #define SVO_SPARSE_IMG_ALIGN_H_ -#include -#include +#include #include namespace vk { @@ -32,8 +31,8 @@ class Feature; /// Optimize the pose of the frame by minimizing the photometric error of feature patches. class SparseImgAlign : public vk::NLLSSolver<6, SE3> { - static const int patch_halfsize_ = 2; - static const int patch_size_ = 2*patch_halfsize_; + static const int patch_halfsize_ = 6; + static const int patch_size_ = 6*patch_halfsize_; static const int patch_area_ = patch_size_*patch_size_; public: EIGEN_MAKE_ALIGNED_OPERATOR_NEW diff --git a/GPU_version/svo/include/gpu_svo/svoVisionFactor.h b/GPU_version/svo/include/gpu_svo/svoVisionFactor.h index 738bd95..417357c 100644 --- a/GPU_version/svo/include/gpu_svo/svoVisionFactor.h +++ b/GPU_version/svo/include/gpu_svo/svoVisionFactor.h @@ -16,13 +16,11 @@ namespace svo { - class VisionFactor: public gtsam::NoiseModelFactor1 { + class VisionFactor: public gtsam::NoiseModelFactor2 { private: // measurement information gtsam::Point3 feature; /// body_P_sensor_; ///< TODO The pose of the sensor in the body frame int level; ///< Image pyramid level where feature was extracted. public: @@ -39,22 +37,27 @@ namespace svo { * @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 body_P_sensor = boost::none) : - gtsam::NoiseModelFactor1(Hp, poseKey), feature(feature), landmark(landmark),body_P_sensor_(body_P_sensor),level(level){} + VisionFactor(const gtsam::Point3& feature,const int level, + const gtsam::SharedNoiseModel& H, + gtsam::Key poseKey,gtsam::Key landKey ) : + gtsam::NoiseModelFactor2(H, poseKey,landKey), feature(feature),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 Hp = boost::none) const { + gtsam::Vector evaluateError(const gtsam::Pose3& p,const gtsam::Point3& l, + boost::optional H1 = boost::none,boost::optional H2 = 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< +#include +#include +#include +#include +#include +#include + +namespace svo { + + class VisionFactorLandMark: public gtsam::NoiseModelFactor3 { + + private: + // measurement information + gtsam::Point3 feature_new; /// 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. + */ + VisionFactorLandMark(const gtsam::Point3& feature_new,const gtsam::Point3& feature_ref, int level, + const gtsam::SharedNoiseModel& H, + gtsam::Key poseKey_ref, gtsam::Key poseKey_new,gtsam::Key landmarkKey ) : + gtsam::NoiseModelFactor3(H, poseKey_ref,poseKey_new,landmarkKey), feature_new(feature_new), + feature_ref(feature_ref),level(level){} + virtual ~VisionFactorLandMark(){} + + /// error function + /// @param p_new the Estimated pose in Pose3 + /// @param P_ref the Estimated point of landmark + /// @param l the Estimated point of landmark + /// @param H the optional Jacobian matrix, which use boost optional and has default null pointer + gtsam::Vector evaluateError(const gtsam::Pose3& p_ref,const gtsam::Pose3& p_new, const gtsam::Point3& l, + boost::optional H1 = boost::none,boost::optional H2 = boost::none, + boost::optional H3 = boost::none) const { + // note that use boost optional like a pointer + // only calculate jacobian matrix when non-null pointer exists + gtsam::Matrix26 J,J1; + gtsam::Matrix23 J2,J3; + + gtsam::Point3 point(p_ref*l); + svo::Frame::jacobian_xyz2uv(point, J); + svo::Frame::jacobian_l2uv(point,J2); + + gtsam::Point3 point2(p_new*l); + svo::Frame::jacobian_xyz2uv(point2, J1); + svo::Frame::jacobian_l2uv(point2,J3); + Vector2d e1=vk::project2d(feature_ref) - vk::project2d(point)*1.0 / (1<( + gtsam::NonlinearFactor::shared_ptr(new VisionFactorLandMark(*this))); } + + }; + +} // namespace gtsamexamples +#endif //SVO_SVOVISIONFACTOR_H diff --git a/GPU_version/svo/include/gpu_svo/svoVisionFactorSmall.h b/GPU_version/svo/include/gpu_svo/svoVisionFactorSmall.h new file mode 100644 index 0000000..738bd95 --- /dev/null +++ b/GPU_version/svo/include/gpu_svo/svoVisionFactorSmall.h @@ -0,0 +1,70 @@ +// +// Created by root on 4/13/21. +// + +#ifndef SVO_SVOVISIONFACTOR_H +#define SVO_SVOVISIONFACTOR_H +#pragma once + +#include +#include +#include +#include +#include +#include +#include + +namespace svo { + + class VisionFactor: public gtsam::NoiseModelFactor1 { + + private: + // measurement information + gtsam::Point3 feature; /// 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 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 body_P_sensor = boost::none) : + gtsam::NoiseModelFactor1(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 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<( + gtsam::NonlinearFactor::shared_ptr(new VisionFactor(*this))); } + + }; + +} // namespace gtsamexamples +#endif //SVO_SVOVISIONFACTOR_H diff --git a/GPU_version/svo/include/gpu_svo/timer.h b/GPU_version/svo/include/gpu_svo/timer.h new file mode 100644 index 0000000..45bbc7f --- /dev/null +++ b/GPU_version/svo/include/gpu_svo/timer.h @@ -0,0 +1,81 @@ +#ifndef TIMER_H +#define TIMER_H + +#include +#include +#include + +namespace vk +{ + +class Timer +{ +private: + timeval start_time_; + double time_; + double accumulated_; +public: + + /// The constructor directly starts the timer. + Timer() : + time_(0.0), + accumulated_(0.0) + { + start(); + } + + ~Timer() + {} + + inline void start() + { + accumulated_ = 0.0; + gettimeofday(&start_time_, NULL); + } + + inline void resume() + { + gettimeofday(&start_time_, NULL); + } + + inline double stop() + { + timeval end_time; + gettimeofday(&end_time, NULL); + long seconds = end_time.tv_sec - start_time_.tv_sec; + long useconds = end_time.tv_usec - start_time_.tv_usec; + time_ = ((seconds) + useconds*0.000001) + accumulated_; + accumulated_ = time_; + return time_; + } + + inline double getTime() const + { + return time_; + } + + inline void reset() + { + time_ = 0.0; + accumulated_ = 0.0; + } + + static double getCurrentTime() + { + timeval time_now; + gettimeofday(&time_now, NULL); + return time_now.tv_sec + time_now.tv_usec*0.000001; + } + + static double getCurrentSecond() + { + timeval time_now; + gettimeofday(&time_now, NULL); + return time_now.tv_sec; + } + +}; + +} // end namespace vk + +#endif diff --git a/GPU_version/svo/include/gpu_svo/vision.h b/GPU_version/svo/include/gpu_svo/vision.h new file mode 100644 index 0000000..1533775 --- /dev/null +++ b/GPU_version/svo/include/gpu_svo/vision.h @@ -0,0 +1,77 @@ +/* + * vision.h + * + * Created on: May 14, 2013 + * Author: cforster + */ + +#ifndef VIKIT_VISION_H_ +#define VIKIT_VISION_H_ + +#include +#include +#include + +namespace vk +{ + +//! Return value between 0 and 1 +//! WARNING This function does not check whether the x/y is within the border +inline float +interpolateMat_32f(const cv::Mat& mat, float u, float v) +{ + assert(mat.type()==CV_32F); + float x = floor(u); + float y = floor(v); + float subpix_x = u-x; + float subpix_y = v-y; + float wx0 = 1.0-subpix_x; + float wx1 = subpix_x; + float wy0 = 1.0-subpix_y; + float wy1 = subpix_y; + + float val00 = mat.at(y,x); + float val10 = mat.at(y,x+1); + float val01 = mat.at(y+1,x); + float val11 = mat.at(y+1,x+1); + return (wx0*wy0)*val00 + (wx1*wy0)*val10 + (wx0*wy1)*val01 + (wx1*wy1)*val11; +} + +//! Return value between 0 and 255 +//! WARNING This function does not check whether the x/y is within the border +inline float +interpolateMat_8u(const cv::Mat& mat, float u, float v) +{ + assert(mat.type()==CV_8U); + int x = floor(u); + int y = floor(v); + float subpix_x = u-x; + float subpix_y = v-y; + + float w00 = (1.0f-subpix_x)*(1.0f-subpix_y); + float w01 = (1.0f-subpix_x)*subpix_y; + float w10 = subpix_x*(1.0f-subpix_y); + float w11 = 1.0f - w00 - w01 - w10; + + const int stride = mat.step.p[0]; + unsigned char* ptr = mat.data + y*stride + x; + return w00*ptr[0] + w01*ptr[stride] + w10*ptr[1] + w11*ptr[stride+1]; +} + +void halfSample(const cv::Mat& in, cv::Mat& out); + +float shiTomasiScore(const cv::Mat& img, int u, int v); + +void calcSharrDeriv(const cv::Mat& src, cv::Mat& dst); + +#ifdef __SSE2__ + +/// Used to convert a Kinect depthmap +/// Code by Christian Kerl DVO, GPL Licence +void convertRawDepthImageSse_16u_to_32f(cv::Mat& depth_16u, cv::Mat& depth_32f, float scale); + +#endif + +} // namespace vk + +#endif // VIKIT_VISION_H_ diff --git a/GPU_version/svo/src/atan_camera.cpp b/GPU_version/svo/src/atan_camera.cpp new file mode 100644 index 0000000..c86f027 --- /dev/null +++ b/GPU_version/svo/src/atan_camera.cpp @@ -0,0 +1,82 @@ +/* + * atan_camera.cpp + * + * Created on: Aug 21, 2012 + * Author: cforster + */ + + +#include +#include +#include + +namespace vk { + +ATANCamera:: +ATANCamera(double width, double height, + double fx, double fy, + double cx, double cy, + double s) : + AbstractCamera(width, height), + fx_(width*fx), fy_(height*fy), + fx_inv_(1.0/fx_), fy_inv_(1.0/fy_), + cx_(cx*width - 0.5), cy_(cy*height - 0.5), + s_(s), s_inv_(1.0/s_) +{ + if(s_ != 0.0) + { + tans_ = 2.0 * tan(s_ / 2.0); + tans_inv_ = 1.0 / tans_; + s_inv_ = 1.0 / s_; + distortion_ = true; + } + else + { + s_inv_ = 0.0; + tans_ = 0.0; + distortion_ = false; + } +} + +ATANCamera:: +~ATANCamera() +{} + +Vector3d ATANCamera:: +cam2world(const double& x, const double& y) const +{ + Vector2d dist_cam((x - cx_) * fx_inv_, + (y - cy_) * fy_inv_); + double dist_r = dist_cam.norm(); + double r = invrtrans(dist_r); + double d_factor; + if(dist_r > 0.01) + d_factor = r / dist_r; + else + d_factor = 1.0; + return unproject2d(d_factor * dist_cam).normalized(); +} + +Vector3d ATANCamera:: +cam2world (const Vector2d& px) const +{ + return cam2world(px[0], px[1]); +} + +Vector2d ATANCamera:: +world2cam(const Vector3d& xyz_c) const +{ + return world2cam(project2d(xyz_c)); +} + +Vector2d ATANCamera:: +world2cam(const Vector2d& uv) const +{ + double r = uv.norm(); + double factor = rtrans_factor(r); + Vector2d dist_cam = factor * uv; + return Vector2d(cx_ + fx_ * dist_cam[0], + cy_ + fy_ * dist_cam[1]); +} + +} /* end vk */ diff --git a/GPU_version/svo/src/bundle_adjustment.cpp b/GPU_version/svo/src/bundle_adjustment.cpp index 883116f..9bebb61 100644 --- a/GPU_version/svo/src/bundle_adjustment.cpp +++ b/GPU_version/svo/src/bundle_adjustment.cpp @@ -14,7 +14,7 @@ // You should have received a copy of the GNU General Public License // along with this program. If not, see . -#include +#include #include #include #include diff --git a/GPU_version/svo/src/config.cpp b/GPU_version/svo/src/config.cpp index 2f09b60..8801d19 100644 --- a/GPU_version/svo/src/config.cpp +++ b/GPU_version/svo/src/config.cpp @@ -14,15 +14,12 @@ // You should have received a copy of the GNU General Public License // along with this program. If not, see . -#ifdef SVO_USE_ROS -#include -#endif +#include #include namespace svo { Config::Config() : -#ifdef SVO_USE_ROS trace_name(vk::getParam("svo/trace_name", "svo")), trace_dir(vk::getParam("svo/trace_dir", "/tmp")), n_pyr_levels(vk::getParam("svo/n_pyr_levels", 3)), @@ -58,38 +55,11 @@ Config::Config() : abc(vk::getParam("svo/ABC", 1e-1)), gbc(vk::getParam("svo/GBC", 1e-1)), ebp(vk::getParam("svo/EBP", 1e-2)), - nrp(vk::getParam("svo/NRP", 1e-5)) -#else - trace_name("svo"), - trace_dir("/tmp"), - n_pyr_levels(3), - use_imu(false), - core_n_kfs(3), - map_scale(1.0), - grid_size(25), - init_min_disparity(50.0), - init_min_tracked(50), - init_min_inliers(40), - klt_max_level(4), - klt_min_level(2), - reproj_thresh(2.0), - poseoptim_thresh(2.0), - poseoptim_num_iter(10), - structureoptim_max_pts(20), - structureoptim_num_iter(5), - loba_thresh(2.0), - loba_robust_huber_width(1.0), - loba_num_iter(0), - kfselect_mindist(0.12), - triang_min_corner_score(20.0), - triang_half_patch_size(4), - subpix_n_iter(10), - max_n_kfs(0), - img_imu_delay(0.0), - max_fts(120), - quality_min_fts(50), - quality_max_drop_fts(40) -#endif + nrp(vk::getParam("svo/NRP", 1e-5)), + gravity(vk::getParam("svo/gravity", 9.8)), + acc_x_off(vk::getParam("svo/Acceleration_offset_x", 0.0)), + acc_y_off(vk::getParam("svo/Acceleration_offset_y", 0.0)), + gyr_z_off(vk::getParam("svo/Gyroscope_offset_z", 0.0)) {} Config& Config::getInstance() diff --git a/GPU_version/svo/src/depth_filter.cpp b/GPU_version/svo/src/depth_filter.cpp index f6fa977..da00ff0 100644 --- a/GPU_version/svo/src/depth_filter.cpp +++ b/GPU_version/svo/src/depth_filter.cpp @@ -15,9 +15,9 @@ // along with this program. If not, see . #include -#include -#include -#include +#include +#include +#include #include #include #include @@ -340,13 +340,8 @@ double DepthFilter::computeTau( Vector3d t(T_ref_cur.translation()); Vector3d a = f*z-t; double t_norm = t.norm(); - double a_norm = a.norm(); - double alpha = acos(f.dot(t)/t_norm); // dot product - double beta = acos(a.dot(-t)/(t_norm*a_norm)); // dot product - double beta_plus = beta + px_error_angle; - double gamma_plus = PI-alpha-beta_plus; // triangle angles sum to PI - double z_plus = t_norm*sin(beta_plus)/sin(gamma_plus); // law of sines - return (z_plus - z); // tau + double beta_plus = acos(a.dot(-t)/(t_norm*a.norm())) + px_error_angle; + return (t_norm*sin(beta_plus)/sin(PI-acos(f.dot(t)/t_norm)-beta_plus) - z); // ( triangle angles sum to PI and law of sines ) tau } } // namespace svo diff --git a/GPU_version/svo/src/feature_alignment.cpp b/GPU_version/svo/src/feature_alignment.cpp index 3605333..496ce33 100644 --- a/GPU_version/svo/src/feature_alignment.cpp +++ b/GPU_version/svo/src/feature_alignment.cpp @@ -25,7 +25,7 @@ namespace svo { namespace feature_alignment { -#define SUBPIX_VERBOSE 0 +#define SUBPIX_VERBOSE 1 bool align1D( const cv::Mat& cur_img, @@ -258,7 +258,7 @@ bool align2D( #if SUBPIX_VERBOSE cout << "Iter " << iter << ":" << "\t u=" << u << ", v=" << v - << "\t update = " << update[0] << ", " << update[1] + << "\t update = " << update[0] << ", " << update[1]<< endl; // << "\t new chi2 = " << new_chi2 << endl; #endif diff --git a/GPU_version/svo/src/feature_detection.cpp b/GPU_version/svo/src/feature_detection.cpp index b5823dd..333e602 100644 --- a/GPU_version/svo/src/feature_detection.cpp +++ b/GPU_version/svo/src/feature_detection.cpp @@ -16,7 +16,7 @@ #include #include -#include +#include namespace svo { namespace feature_detection { diff --git a/GPU_version/svo/src/frame.cpp b/GPU_version/svo/src/frame.cpp index 632e376..3aa9273 100644 --- a/GPU_version/svo/src/frame.cpp +++ b/GPU_version/svo/src/frame.cpp @@ -19,9 +19,8 @@ #include #include #include -#include -#include -#include +#include +#include namespace svo { diff --git a/GPU_version/svo/src/frame_handler_base.cpp b/GPU_version/svo/src/frame_handler_base.cpp index 6dcef82..2f22f65 100644 --- a/GPU_version/svo/src/frame_handler_base.cpp +++ b/GPU_version/svo/src/frame_handler_base.cpp @@ -14,7 +14,7 @@ // You should have received a copy of the GNU General Public License // along with this program. If not, see . -#include +#include #include #include #include @@ -30,48 +30,14 @@ namespace svo { // definition of global and static variables which were declared in the header -#ifdef SVO_TRACE -vk::PerformanceMonitor* g_permon = NULL; -#endif FrameHandlerBase::FrameHandlerBase() : stage_(STAGE_PAUSED), set_reset_(false), set_start_(false), - acc_frame_timings_(10), - acc_num_obs_(10), num_obs_last_(0), tracking_quality_(TRACKING_INSUFFICIENT) { -#ifdef SVO_TRACE - // Initialize Performance Monitor - g_permon = new vk::PerformanceMonitor(); - g_permon->addTimer("pyramid_creation"); - g_permon->addTimer("sparse_img_align"); - g_permon->addTimer("reproject"); - g_permon->addTimer("reproject_kfs"); - g_permon->addTimer("reproject_candidates"); - g_permon->addTimer("feature_align"); - g_permon->addTimer("pose_optimizer"); - g_permon->addTimer("point_optimizer"); - g_permon->addTimer("local_ba"); - g_permon->addTimer("tot_time"); - g_permon->addLog("timestamp"); - g_permon->addLog("img_align_n_tracked"); - g_permon->addLog("repr_n_mps"); - g_permon->addLog("repr_n_new_references"); - g_permon->addLog("sfba_thresh"); - g_permon->addLog("sfba_error_init"); - g_permon->addLog("sfba_error_final"); - g_permon->addLog("sfba_n_edges_final"); - g_permon->addLog("loba_n_erredges_init"); - g_permon->addLog("loba_n_erredges_fin"); - g_permon->addLog("loba_err_init"); - g_permon->addLog("loba_err_fin"); - g_permon->addLog("n_candidates"); - g_permon->addLog("dropout"); - g_permon->init(Config::traceName(), Config::traceDir()); -#endif SVO_INFO_STREAM("SVO initialized"); } @@ -79,9 +45,6 @@ FrameHandlerBase::FrameHandlerBase() : FrameHandlerBase::~FrameHandlerBase() { SVO_INFO_STREAM("SVO destructor invoked"); -#ifdef SVO_TRACE - delete g_permon; -#endif } bool FrameHandlerBase::startFrameProcessingCommon(const double timestamp) @@ -95,10 +58,7 @@ bool FrameHandlerBase::startFrameProcessingCommon(const double timestamp) if(stage_ == STAGE_PAUSED) return false; - SVO_LOG(timestamp); SVO_DEBUG_STREAM("New Frame"); - SVO_START_TIMER("tot_time"); - timer_.start(); // some cleanup from last iteration, can't do before because of visualization map_.emptyTrash(); @@ -110,24 +70,15 @@ int FrameHandlerBase::finishFrameProcessingCommon( const UpdateResult dropout, const size_t num_observations) { - SVO_DEBUG_STREAM("Frame: "<writeToFile(); - { - boost::unique_lock lock(map_.point_candidates_.mut_); - size_t n_candidates = map_.point_candidates_.candidates_.size(); - SVO_LOG(n_candidates); - } -#endif + // SVO_STOP_TIMER("tot_time"); if(dropout == RESULT_FAILURE && (stage_ == STAGE_DEFAULT_FRAME || stage_ == STAGE_RELOCALIZING )) @@ -181,10 +132,8 @@ void FrameHandlerBase::optimizeStructure( int max_iter) { deque pts; - for(Features::iterator it=frame->fts_.begin(); it!=frame->fts_.end(); ++it) - { - if((*it)->point != NULL) - pts.push_back((*it)->point); + for(auto&& it:frame->fts_){ + if(it->point!=NULL)pts.push_back(it->point); } max_n_pts = min(max_n_pts, pts.size()); nth_element(pts.begin(), pts.begin() + max_n_pts, pts.end(), ptLastOptimComparator); diff --git a/GPU_version/svo/src/frame_handler_mono.cpp b/GPU_version/svo/src/frame_handler_mono.cpp index cb4acf6..278c95b 100644 --- a/GPU_version/svo/src/frame_handler_mono.cpp +++ b/GPU_version/svo/src/frame_handler_mono.cpp @@ -22,8 +22,8 @@ #include #include #include -#include #include +#include #ifdef USE_BUNDLE_ADJUSTMENT #include #endif @@ -47,7 +47,7 @@ FrameHandlerMono::FrameHandlerMono(vk::AbstractCamera* cam,Sophus::SE3& SE_init) gpu_fast_->write_buf(0,3,(1 << 18)); klt_homography_init_=new initialization::KltHomographyInit(gpu_fast_); initialize(); - imu_integPtr_=std::make_unique(SE_init); + imu_integPtr_=std::make_shared(SE_init); } void FrameHandlerMono::initialize() @@ -111,21 +111,19 @@ FrameHandlerMono::UpdateResult FrameHandlerMono::processFirstFrame() FrameHandlerBase::UpdateResult FrameHandlerMono::processSecondFrame() { + new_frame_->T_f_w_ = last_frame_->T_f_w_; initialization::InitResult res = klt_homography_init_->addSecondFrame(new_frame_); - if(res == initialization::FAILURE) - return RESULT_FAILURE; - else if(res == initialization::NO_KEYFRAME) + if(res == initialization::NO_KEYFRAME) return RESULT_NO_KEYFRAME; - // two-frame bundle adjustment -#ifdef USE_BUNDLE_ADJUSTMENT - ba::twoViewBA(new_frame_.get(), map_.lastKeyframe().get(), Config::lobaThresh(), &map_); -#endif - new_frame_->setKeyframe(); double depth_mean, depth_min; frame_utils::getSceneDepth(*new_frame_, depth_mean, depth_min); + depth_filter_->addKeyframe(new_frame_, depth_mean, 0.5*depth_min); + if(!imu_integPtr_->init(new_frame_)){ + return RESULT_FAILURE; + } // add frame to map map_.addKeyframe(new_frame_); @@ -135,37 +133,49 @@ FrameHandlerBase::UpdateResult FrameHandlerMono::processSecondFrame() return RESULT_IS_KEYFRAME; } + FrameHandlerBase::UpdateResult FrameHandlerMono::processFrame() { - // Set initial pose TODO use prior - new_frame_->T_f_w_ = last_frame_->T_f_w_; - + SE3 tem=imu_integPtr_->preintegrate_predict(); + Eigen::Quaternion q(tem.rotation_matrix()); + q.vec() *= 1/q.norm(); + q.w() *= 1/q.norm(); + q.x()=0.0; + q.z()=0.0; + tem.translation().y()=0.0; + new_frame_->T_f_w_ = SE3(q,tem.translation()); // sparse image align SparseImgAlign img_align(Config::kltMaxLevel(), Config::kltMinLevel(), - 30, SparseImgAlign::GaussNewton, false, false); + 30, SparseImgAlign::LevenbergMarquardt, false, true); img_align.run(last_frame_, new_frame_); // map reprojection & feature alignment reprojector_.reprojectMap(new_frame_, overlap_kfs_); - std::cerr<<"Reprojection Map:\t nPoints = "<T_f_w_ = last_frame_->T_f_w_; // reset to avoid crazy pose jumps - tracking_quality_ = TRACKING_INSUFFICIENT; - return RESULT_FAILURE; + std::cerr<<"Reprojection Map: "<<"\t nPoint:"<predict(new_frame_,last_frame_,sfba_n_edges_final,Config::poseOptimThresh())){ + std::cerr<<"imu failed\n"; + return RESULT_FAILURE; } + //usleep(5000); + 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); // pose optimization subject to change for adding IMU - size_t sfba_n_edges_final; - if(!imu_integPtr_->predict(new_frame_,sfba_n_edges_final,Config::poseOptimThresh())) + /* + if(!imu_integPtr_->predict(new_frame_,last_frame_,sfba_n_edges_final,Config::poseOptimThresh())){ + std::cerr<<"imu failed\n"; return RESULT_FAILURE; - + }*/ std::cerr<<"Reprojected points after opmization: "<T_f_w_ = last_frame_->T_f_w_; // reset to avoid crazy pose jumps return RESULT_FAILURE; } double depth_mean, depth_min; @@ -187,28 +196,10 @@ FrameHandlerBase::UpdateResult FrameHandlerMono::processFrame() new_frame_->setKeyframe(); // new keyframe selected - for(Features::iterator it=new_frame_->fts_.begin(); it!=new_frame_->fts_.end(); ++it) - if((*it)->point != NULL) - (*it)->point->addFrameRef(*it); - map_.point_candidates_.addCandidatePointToFrame(new_frame_); - - // optional bundle adjustment -#ifdef USE_BUNDLE_ADJUSTMENT - if(Config::lobaNumIter() > 0) - { - SVO_START_TIMER("local_ba"); - setCoreKfs(Config::coreNKfs()); - size_t loba_n_erredges_init, loba_n_erredges_fin; - double loba_err_init, loba_err_fin; - ba::localBA(new_frame_.get(), &core_kfs_, &map_, - loba_n_erredges_init, loba_n_erredges_fin, - loba_err_init, loba_err_fin); - SVO_STOP_TIMER("local_ba"); - SVO_LOG4(loba_n_erredges_init, loba_n_erredges_fin, loba_err_init, loba_err_fin); - SVO_DEBUG_STREAM("Local BA:\t RemovedEdges {"<fts_){ + if(it->point != NULL)it->point->addFrameRef(it); } -#endif + map_.point_candidates_.addCandidatePointToFrame(new_frame_); // init new depth-filters depth_filter_->addKeyframe(new_frame_, depth_mean, 0.5*depth_min); @@ -294,12 +285,12 @@ void FrameHandlerMono::setFirstFrame(const FramePtr& first_frame) bool FrameHandlerMono::needNewKf(double scene_depth_mean) { - for(auto it=overlap_kfs_.begin(), ite=overlap_kfs_.end(); it!=ite; ++it) + for(auto&& it:overlap_kfs_) { - Vector3d relpos = new_frame_->w2f(it->first->pos()); + Vector3d relpos = new_frame_->w2f(it.first->pos()); if(fabs(relpos.x())/scene_depth_mean < Config::kfSelectMinDist() && - fabs(relpos.y())/scene_depth_mean < Config::kfSelectMinDist()*0.8 && - fabs(relpos.z())/scene_depth_mean < Config::kfSelectMinDist()*1.3) + fabs(relpos.y())/scene_depth_mean < Config::kfSelectMinDist() && + fabs(relpos.z())/scene_depth_mean < Config::kfSelectMinDist()) return false; } return true; diff --git a/GPU_version/svo/src/homography.cpp b/GPU_version/svo/src/homography.cpp new file mode 100644 index 0000000..c73617d --- /dev/null +++ b/GPU_version/svo/src/homography.cpp @@ -0,0 +1,285 @@ +// +// Created by root on 5/24/21. +// +/* + * homography.cpp + * Adaptation of PTAM-GPL HomographyInit class. + * https://github.com/Oxford-PTAM/PTAM-GPL + * Licence: GPLv3 + * Copyright 2008 Isis Innovation Limited + * + * Created on: Sep 2, 2012 + * by: cforster + */ + +#include +#include +#include + +namespace vk { + + Homography:: + Homography(const vector >& _fts1, + const vector >& _fts2, + double _error_multiplier2, + double _thresh_in_px) : + thresh(_thresh_in_px), + error_multiplier2(_error_multiplier2), + fts_c1(_fts1), + fts_c2(_fts2) + { + } + + void Homography:: + calcFromPlaneParams(const Vector3d& n_c1, const Vector3d& xyz_c1) + { + double d = n_c1.dot(xyz_c1); // normal distance from plane to KF + H_c2_from_c1 = T_c2_from_c1.rotation_matrix() + (T_c2_from_c1.translation()*n_c1.transpose())/d; + } + + void Homography:: + calcFromMatches() + { + vector src_pts(fts_c1.size()), dst_pts(fts_c1.size()); + for(size_t i=0; i(0,0); + H_c2_from_c1(0,1) = cvH.at(0,1); + H_c2_from_c1(0,2) = cvH.at(0,2); + H_c2_from_c1(1,0) = cvH.at(1,0); + H_c2_from_c1(1,1) = cvH.at(1,1); + H_c2_from_c1(1,2) = cvH.at(1,2); + H_c2_from_c1(2,0) = cvH.at(2,0); + H_c2_from_c1(2,1) = cvH.at(2,1); + H_c2_from_c1(2,2) = cvH.at(2,2); + } + + size_t Homography:: + computeMatchesInliers() + { + inliers.clear(); inliers.resize(fts_c1.size()); + size_t n_inliers = 0; + for(size_t i=0; i q(decompositions.front().T.rotation_matrix()); + q.vec() *= 1/q.norm(); + q.w() *= 1/q.norm(); + q.x()=0.0; + q.z()=0.0; + T_c2_from_c1=Sophus::SE3(q.toRotationMatrix(),Eigen::Vector3d(decompositions.front().T.translation().x(),0.0,decompositions.front().T.translation().z())); + return true; + } + + bool Homography:: + decompose() + { + decompositions.clear(); + JacobiSVD svd(H_c2_from_c1, ComputeThinU | ComputeThinV); + + Vector3d singular_values = svd.singularValues(); + + double d1 = fabs(singular_values[0]); // The paper suggests the square of these (e.g. the evalues of AAT) + double d2 = fabs(singular_values[1]); // should be used, but this is wrong. c.f. Faugeras' book. + double d3 = fabs(singular_values[2]); + + Matrix3d U = svd.matrixU(); + Matrix3d V = svd.matrixV(); // VT^T + double s = U.determinant() * V.determinant(); + + if(!(d1 != d2 && d2 != d3)) + { + printf("FATAL Homography Initialization: This motion case is not implemented or is degenerate. Try again. "); + return false; + } + + double x1_PM; + double x3_PM; + + // All below deals with the case = 1 case. + // Case 1 implies (d1 != d3) + { // Eq. 12 + x1_PM = sqrt((d1*d1 - d2*d2) / (d1*d1 - d3*d3)); + x3_PM = sqrt((d2*d2 - d3*d3) / (d1*d1 - d3*d3)); + }; + + double e1[4] = {1.0,-1.0, 1.0,-1.0}; + double e3[4] = {1.0, 1.0,-1.0,-1.0}; + + Vector3d np; + HomographyDecomposition decomp; + + // Case 1, d' > 0: + decomp.d = s * d2; + for(size_t signs=0; signs<4; signs++) + { + // Eq 13 + decomp.R = Matrix3d::Identity(); + double dSinTheta = (d1 - d3) * x1_PM * x3_PM * e1[signs] * e3[signs] / d2; + double dCosTheta = (d1 * x3_PM * x3_PM + d3 * x1_PM * x1_PM) / d2; + /* + * correct the rotation matrix by Majid + */ + decomp.R(0,0) = dCosTheta; //1 + decomp.R(0,2) = -dSinTheta; //0 + decomp.R(2,0) = dSinTheta; + decomp.R(2,2) = dCosTheta; + + // Eq 14 + decomp.t[0] = (d1 - d3) * x1_PM * e1[signs]; + decomp.t[1] = 0.0; + decomp.t[2] = (d1 - d3) * -x3_PM * e3[signs]; + + np[0] = x1_PM * e1[signs]; + np[1] = 0.0; + np[2] = x3_PM * e3[signs]; + decomp.n = V * np; + + decompositions.push_back(decomp); + } + + // Case 1, d' < 0: + decomp.d = s * -d2; + for(size_t signs=0; signs<4; signs++) + { + // Eq 15 + decomp.R = -1 * Matrix3d::Identity(); + double dSinPhi = (d1 + d3) * x1_PM * x3_PM * e1[signs] * e3[signs] / d2; + double dCosPhi = (d3 * x1_PM * x1_PM - d1 * x3_PM * x3_PM) / d2; + /* + * correct the rotation matrix by Majid + */ + decomp.R(0,0) = dCosPhi; + decomp.R(0,2) = dSinPhi; + decomp.R(2,0) = dSinPhi; + decomp.R(2,2) = -dCosPhi; + + // Eq 16 + decomp.t[0] = (d1 + d3) * x1_PM * e1[signs]; + decomp.t[1] = 0.0; + decomp.t[2] = (d1 + d3) * x3_PM * e3[signs]; + + np[0] = x1_PM * e1[signs]; + np[1] = 0.0; + np[2] = x3_PM * e3[signs]; + decomp.n = V * np; + + decompositions.push_back(decomp); + } + + // Save rotation and translation of the decomposition + for(unsigned int i=0; i 0.0) + nPositive++; + } + decom.score = -nPositive; + } + + sort(decompositions.begin(), decompositions.end()); + decompositions.resize(4); + + for(size_t i=0; i 0.0) + nPositive++; + }; + decom.score = -nPositive; + } + + sort(decompositions.begin(), decompositions.end()); + decompositions.resize(2); + + // According to Faugeras and Lustman, ambiguity exists if the two scores are equal + // but in practive, better to look at the ratio! + double dRatio = (double) decompositions[1].score / (double) decompositions[0].score; + + if(dRatio < 0.9) // no ambiguity! + decompositions.erase(decompositions.begin() + 1); + else // two-way ambiguity. Resolve by sampsonus score of all points. + { + double dErrorSquaredLimit = thresh * thresh * 4; + double adSampsonusScores[2]; + for(size_t i=0; i<2; i++) + { + Sophus::SE3 T = decompositions[i].T; + Matrix3d Essential = T.rotation_matrix() * sqew(T.translation()); + double dSumError = 0; + for(size_t m=0; m < fts_c1.size(); m++ ) + { + double d = sampsonusError(fts_c1[m], Essential, fts_c2[m]); + if(d > dErrorSquaredLimit) + d = dErrorSquaredLimit; + dSumError += d; + } + adSampsonusScores[i] = dSumError; + } + + if(adSampsonusScores[0] <= adSampsonusScores[1]) + decompositions.erase(decompositions.begin() + 1); + else + decompositions.erase(decompositions.begin()); + } + } + + +} /* end namespace vk */ + diff --git a/GPU_version/svo/src/imu_integration.cpp b/GPU_version/svo/src/imu_integration.cpp index 922ef66..3b371d7 100644 --- a/GPU_version/svo/src/imu_integration.cpp +++ b/GPU_version/svo/src/imu_integration.cpp @@ -7,11 +7,14 @@ #include #include "gpu_svo/feature.h" #include "gpu_svo/point.h" -#include "gpu_svo/svoVisionFactor.h" +#include "gpu_svo/svoVisionFactorSmall.h" +//#include "gpu_svo/svoVisionFactor.h" +//#include "gpu_svo/svoVisionFactorLandMark.h" #include #include #include #include +#include Imu_Integration::Imu_Integration(Sophus::SE3& SE_init){ graphPtr=std::make_shared(); @@ -19,7 +22,7 @@ Imu_Integration::Imu_Integration(Sophus::SE3& SE_init){ // Example: pitch and roll of aircraft in an ENU Cartesian frame. // If pitch and roll are zero for an aerospace frame, // that means Z is pointing down, i.e., direction of Z = (0,0,-1) - gtsam::Vector4 g=SE_init.matrix()*gtsam::Vector4(0, 0, 9.8,1.0); + gtsam::Vector4 g=SE_init.matrix()*gtsam::Vector4(0, 0, svo::Config::Gravity(),1.0); parameterPtr = boost::shared_ptr(new gtsam::PreintegrationCombinedParams(gtsam::Vector3(g.x(),g.y(),g.z()))); parameterPtr->setBodyPSensor(gtsam::Pose3(SE_init.matrix()));// The pose of the sensor in the body frame parameterPtr->accelerometerCovariance=gtsam::I_3x3 * svo::Config::ACC_Noise(); // acc white noise in continuous @@ -34,7 +37,8 @@ Imu_Integration::Imu_Integration(Sophus::SE3& SE_init){ optimizerParamPtr=std::make_shared(); optimizerParamPtr->relinearizeThreshold = 0.1; optimizerParamPtr->relinearizeSkip = 1; - //optimizerParamPtr->evaluateNonlinearError=true; + optimizerParamPtr->evaluateNonlinearError=true; + optimizerParamPtr->enableDetailedResults=true; assert(preintegratedPtr); } Imu_Integration::~Imu_Integration(){ @@ -46,9 +50,9 @@ bool Imu_Integration::update(double* imu){ auto in=std::chrono::steady_clock::now(); if(std::chrono::duration(in-t_1).count()>20.0){ t_1=in; - preintegratedPtr->integrateMeasurement(Eigen::Vector3d(imu[0],imu[1],imu[2]),Eigen::Vector3d(imu[3],imu[4],imu[5]),0.005); + preintegratedPtr->integrateMeasurement(Eigen::Vector3d(imu[0]-svo::Config::X_off(),imu[1]-svo::Config::Y_off(),imu[2]),Eigen::Vector3d(imu[3],imu[4],imu[5]-svo::Config::Teta_off()),0.005); }else{ - preintegratedPtr->integrateMeasurement(Eigen::Vector3d(imu[0],imu[1],imu[2]),Eigen::Vector3d(imu[3],imu[4],imu[5]),std::chrono::duration(in-t_1).count()); + preintegratedPtr->integrateMeasurement(Eigen::Vector3d(imu[0]-svo::Config::X_off(),imu[1]-svo::Config::Y_off(),imu[2]),Eigen::Vector3d(imu[3],imu[4],imu[5]-svo::Config::Teta_off()),std::chrono::duration(in-t_1).count()); t_1=in; ++imu_n; } @@ -73,10 +77,18 @@ bool Imu_Integration::reset(gtsam::ISAM2& optimizer,boost::shared_ptraddPrior(P(imu_factor_id-1),statePtr->pose(),optimizer.marginalCovariance(P(imu_factor_id-1))); graphPtr->addPrior(V(imu_factor_id-1),statePtr->v(),optimizer.marginalCovariance(V(imu_factor_id-1))); graphPtr->addPrior(B(imu_factor_id-1),*imu_biasPtr,optimizer.marginalCovariance(B(imu_factor_id-1))); + for(auto&& f_n:_for(new_frame->fts_)){ + if(f_n.item->point == NULL)continue; + if(!result.exists(L(f_n.index)))continue; + f_n.item->point->pos_=result.at(L(f_n.index)); + // valuesPtr->insert(L(f_n.index),f_n.item->point->pos_); +// graphPtr->emplace_shared(f_n.item->f,f_n.item->level,ProjectNoisePtr,P(imu_factor_id),L(f_n.index)); + } return true; } bool Imu_Integration::reset(gtsam::LevenbergMarquardtOptimizer& optimizer,boost::shared_ptr& new_frame){ gtsam::Values result = optimizer.optimize(); + optimizer.print(); // Overwrite the beginning of the preintegration for the next step. statePtr=std::make_shared(result.at(P(imu_factor_id)), result.at(V(imu_factor_id))); imu_biasPtr=std::make_shared(result.at(B(imu_factor_id))); @@ -84,6 +96,7 @@ bool Imu_Integration::reset(gtsam::LevenbergMarquardtOptimizer& optimizer,boost: ++imu_factor_id; syn=false; gtsam::Marginals marginals(*graphPtr,result); + marginals.print(); new_frame->T_f_w_=Sophus::SE3(statePtr->R(),statePtr->t()); new_frame->Cov_=marginals.marginalCovariance(P(imu_factor_id-1)); graphPtr->resize(0); @@ -94,50 +107,66 @@ bool Imu_Integration::reset(gtsam::LevenbergMarquardtOptimizer& optimizer,boost: graphPtr->addPrior(P(imu_factor_id-1),statePtr->pose(),marginals.marginalCovariance(P(imu_factor_id-1))); graphPtr->addPrior(V(imu_factor_id-1),statePtr->v(),marginals.marginalCovariance(V(imu_factor_id-1))); graphPtr->addPrior(B(imu_factor_id-1),*imu_biasPtr,marginals.marginalCovariance(B(imu_factor_id-1))); + /* + for(auto&& f_n:_for(new_frame->fts_)){ + if(f_n.item->point == NULL)continue; + if(!result.exists(L(f_n.index)))continue; + f_n.item->point->pos_=result.at(L(f_n.index)); + //valuesPtr->insert(L(f_n.index),f_n.item->point->pos_); + //graphPtr->emplace_shared(f_n.item->f,f_n.item->level,ProjectNoisePtr,P(imu_factor_id),L(f_n.index)); + } + //graphPtr->addPrior(L(0),new_frame->fts_.front()->point->pos_,gtsam::noiseModel::Isotropic::Sigma(3, 1e-4)); + */ return true; } -bool Imu_Integration::predict(boost::shared_ptr& new_frame,std::size_t& num_obs,const double reproj_thresh){ - usleep(5000); - syn=true; - if(imu_factor_id<1){ - statePtr=std::make_shared(gtsam::Pose3(new_frame->T_f_w_.matrix()), - gtsam::Vector3(1e-12,1e-12,1e-12)); - valuesPtr->insert(P(0),statePtr->pose()); - valuesPtr->insert(V(0),statePtr->v()); - valuesPtr->insert(B(0),*imu_biasPtr); - graphPtr->addPrior(P(0),statePtr->pose(),gtsam::noiseModel::Diagonal::Sigmas((gtsam::Vector(6) << 1e-9, 1e-9, 1e-9, 1e-9, 1e-9, 1e-9).finished())); - graphPtr->addPrior(V(0),statePtr->v(),gtsam::noiseModel::Isotropic::Sigma(3, 1e-4)); - graphPtr->addPrior(B(0),*imu_biasPtr,gtsam::noiseModel::Isotropic::Sigma(6, 1e-2)); +Sophus::SE3 Imu_Integration::preintegrate_predict() { + if(imu_n<1){ + syn= false; + usleep(10000); + syn=true; }else{ - if(imu_n<1)return false; - auto preint_imu_combined =dynamic_cast(*preintegratedPtr); - //preint_imu_combined.predict(*statePtr,*imu_biasPtr).print(); - //std::cerr<T_f_w_.matrix(); - valuesPtr->insert(P(imu_factor_id), gtsam::Pose3(new_frame->T_f_w_.matrix())); - valuesPtr->insert(V(imu_factor_id), statePtr->v()); - valuesPtr->insert(B(imu_factor_id), *imu_biasPtr); - gtsam::CombinedImuFactor imu_factor(P(imu_factor_id - 1), V(imu_factor_id - 1), P(imu_factor_id), V(imu_factor_id), B(imu_factor_id - 1), B(imu_factor_id), - preint_imu_combined); - graphPtr->emplace_shared(imu_factor); - imu_n=0; + syn=true; } + auto preint_imu_combined =dynamic_cast(*preintegratedPtr); + Integ_predict=preint_imu_combined.predict(*statePtr,*imu_biasPtr); + return Sophus::SE3(Integ_predict.R(),Integ_predict.t()); +} +bool Imu_Integration::predict(boost::shared_ptr& new_frame, + boost::shared_ptr& last_frame, + std::size_t& num_obs,const double reproj_thresh){ + + auto preint_imu_combined =dynamic_cast(*preintegratedPtr); + valuesPtr->insert(P(imu_factor_id), gtsam::Pose3(new_frame->T_f_w_.matrix())); + valuesPtr->insert(V(imu_factor_id), Integ_predict.v()); + valuesPtr->insert(B(imu_factor_id), *imu_biasPtr); + gtsam::CombinedImuFactor imu_factor(P(imu_factor_id - 1), V(imu_factor_id - 1), P(imu_factor_id), V(imu_factor_id), B(imu_factor_id - 1), B(imu_factor_id), + preint_imu_combined); + graphPtr->emplace_shared(imu_factor); + imu_n=0; - num_obs=0; for(auto&& f:new_frame->fts_){ - if(f->point==NULL)continue; + if(f->point==NULL)continue; graphPtr->emplace_shared(f->f, f->point->pos_,f->level, ProjectNoisePtr,P(imu_factor_id)); ++num_obs; } - // Now optimize. - gtsam::LevenbergMarquardtOptimizer optimizer(*graphPtr, *valuesPtr); + std::cout<<"------------------------------------------------------------------------------\n"; + std::cout<<"------------------------------------------------------------------------------\n"; + std::cout<<"------------------------------------------------------------------------------\n"; + graphPtr->print(); + gtsam::LevenbergMarquardtParams params0; + //params0.verbosity=gtsam::LevenbergMarquardtParams::LINEAR; + params0.verbosityLM = gtsam::LevenbergMarquardtParams::SUMMARY; + params0.setlambdaFactor(10.0); + gtsam::LevenbergMarquardtOptimizer optimizer(*graphPtr, *valuesPtr,params0); reset(optimizer,new_frame); + std::cout<<"------------------------------------------------------------------------------\n"; // Remove Measurements with too large reprojection error + /* double reproj_thresh_scaled = reproj_thresh / new_frame->cam_->errorMultiplier2(); for(auto&& f:new_frame->fts_) { - if(f->point == NULL) - continue; + if(f->point == NULL)continue; Eigen::Vector2d e = (vk::project2d(f->f) - vk::project2d(new_frame->T_f_w_ * f->point->pos_))*1.0 / (1<level); if(e.norm() > reproj_thresh_scaled) { @@ -146,5 +175,26 @@ bool Imu_Integration::predict(boost::shared_ptr& new_frame,std::size --num_obs; } } + */ + return true; +} +bool Imu_Integration::init(boost::shared_ptr& new_frame){ + statePtr=std::make_shared(gtsam::Pose3(new_frame->T_f_w_.matrix()), + gtsam::Vector3(1e-9,1e-9,1e-9)); + valuesPtr->insert(P(0),statePtr->pose()); + valuesPtr->insert(V(0),statePtr->v()); + valuesPtr->insert(B(0),*imu_biasPtr); + graphPtr->addPrior(P(0),statePtr->pose(),gtsam::noiseModel::Diagonal::Sigmas((gtsam::Vector(6) << 1e-5, 1e-15, 1e-5, 1e-15, 1e-8, 1e-15).finished())); + graphPtr->addPrior(V(0),statePtr->v(),gtsam::noiseModel::Isotropic::Sigma(3, 1e-4)); + graphPtr->addPrior(B(0),*imu_biasPtr,gtsam::noiseModel::Isotropic::Sigma(6, 1e-2)); + /* + for(auto&& f_n:_for(new_frame->fts_)){ + if(f_n.item->point == NULL)continue; + valuesPtr->insert(L(f_n.index),f_n.item->point->pos_); + graphPtr->emplace_shared(f_n.item->f,f_n.item->level,ProjectNoisePtr,P(imu_factor_id),L(f_n.index)); + } + graphPtr->addPrior(L(0),new_frame->fts_.front()->point->pos_,gtsam::noiseModel::Isotropic::Sigma(3, 1e-4)); + */ + ++imu_factor_id; return true; } \ No newline at end of file diff --git a/GPU_version/svo/src/initialization.cpp b/GPU_version/svo/src/initialization.cpp index ce04d24..88f1cb8 100644 --- a/GPU_version/svo/src/initialization.cpp +++ b/GPU_version/svo/src/initialization.cpp @@ -20,8 +20,8 @@ #include #include #include -#include -#include +#include +#include namespace svo { namespace initialization { @@ -43,26 +43,24 @@ InitResult KltHomographyInit::addFirstFrame(FramePtr frame_ref) InitResult KltHomographyInit::addSecondFrame(FramePtr frame_cur) { trackKlt(frame_ref_, frame_cur, px_ref_, px_cur_, f_ref_, f_cur_, disparities_); - SVO_INFO_STREAM("Init: KLT tracked "<< disparities_.size() <<" features"); - if(disparities_.size() < Config::initMinTracked()) - return FAILURE; - + return NO_KEYFRAME; double disparity = vk::getMedian(disparities_); - SVO_INFO_STREAM("Init: KLT "<cam_->errorMultiplier2(), Config::poseOptimThresh(), inliers_, xyz_in_cur_, T_cur_from_ref_); - SVO_INFO_STREAM("Init: Homography RANSAC "<T_f_w_ = T_cur_from_ref_ * frame_ref_->T_f_w_; - frame_cur->T_f_w_.translation() = - -frame_cur->T_f_w_.rotation_matrix()*(frame_ref_->pos() + scale*(frame_cur->pos() - frame_ref_->pos())); + frame_cur->T_f_w_.translation() = -frame_cur->T_f_w_.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->T_f_w_.inverse(); - for(vector::iterator it=inliers_.begin(); it!=inliers_.end(); ++it) - { - Vector2d px_cur(px_cur_[*it].x, px_cur_[*it].y); - Vector2d px_ref(px_ref_[*it].x, px_ref_[*it].y); - if(frame_ref_->cam_->isInFrame(px_cur.cast(), 10) && frame_ref_->cam_->isInFrame(px_ref.cast(), 10) && xyz_in_cur_[*it].z() > 0) + for(vector::iterator it=inliers_.begin(); it!=inliers_.end(); ++it) { - Vector3d pos = T_world_cur * (xyz_in_cur_[*it]*scale); - Point* new_point = new Point(pos); + Vector2d px_cur(px_cur_[*it].x, px_cur_[*it].y); + Vector2d px_ref(px_ref_[*it].x, px_ref_[*it].y); + if(frame_ref_->cam_->isInFrame(px_cur.cast(), 10) && frame_ref_->cam_->isInFrame(px_ref.cast(), 10) && xyz_in_cur_[*it].z() > 0) + { + Vector3d pos = T_world_cur * (xyz_in_cur_[*it]*scale); + Point* new_point = new Point(pos); - Feature* ftr_cur(new Feature(frame_cur.get(), new_point, px_cur, f_cur_[*it], 0)); - frame_cur->addFeature(ftr_cur); - new_point->addFrameRef(ftr_cur); + Feature* ftr_cur(new Feature(frame_cur.get(), new_point, px_cur, f_cur_[*it], 0)); + frame_cur->addFeature(ftr_cur); + new_point->addFrameRef(ftr_cur); - Feature* ftr_ref(new Feature(frame_ref_.get(), new_point, px_ref, f_ref_[*it], 0)); - frame_ref_->addFeature(ftr_ref); - new_point->addFrameRef(ftr_ref); + Feature* ftr_ref(new Feature(frame_ref_.get(), new_point, px_ref, f_ref_[*it], 0)); + frame_ref_->addFeature(ftr_ref); + new_point->addFrameRef(ftr_ref); + } } - } + SVO_INFO_STREAM("Init Homography RANSAC (inlier) is: "<fts_.size()); return SUCCESS; } @@ -118,11 +118,11 @@ void detectFeatures( // now for all maximum corners, initialize a new seed px_vec.clear(); px_vec.reserve(new_features.size()); f_vec.clear(); f_vec.reserve(new_features.size()); - std::for_each(new_features.begin(), new_features.end(), [&](Feature* ftr){ - px_vec.push_back(cv::Point2f(ftr->px[0], ftr->px[1])); - f_vec.push_back(ftr->f); - delete ftr; - }); + for(auto&& ftr:new_features){ + px_vec.push_back(cv::Point2f(ftr->px[0], ftr->px[1])); + f_vec.push_back(ftr->f); + delete ftr; + } } void trackKlt( @@ -134,8 +134,8 @@ void trackKlt( vector& f_cur, vector& disparities) { - const double klt_win_size = 30.0; - const int klt_max_iter = 30; + const double klt_win_size = 45.0;//30.0 + const int klt_max_iter = 30;//30 const double klt_eps = 0.001; vector status; vector error; diff --git a/GPU_version/svo/src/matcher.cpp b/GPU_version/svo/src/matcher.cpp index 9f44701..26e9dfc 100644 --- a/GPU_version/svo/src/matcher.cpp +++ b/GPU_version/svo/src/matcher.cpp @@ -15,10 +15,10 @@ // along with this program. If not, see . #include -#include -#include -#include -#include +#include +#include +#include +#include #include #include #include @@ -139,7 +139,6 @@ bool Matcher::findMatchDirect( { if(!pt.getCloseViewObs(cur_frame.pos(), ref_ftr_)) return false; - if(!ref_ftr_->frame->cam_->isInFrame( ref_ftr_->px.cast()/(1<level), halfpatch_size_+2, ref_ftr_->level)) return false; diff --git a/GPU_version/svo/src/math_utils.cpp b/GPU_version/svo/src/math_utils.cpp new file mode 100644 index 0000000..9c265ec --- /dev/null +++ b/GPU_version/svo/src/math_utils.cpp @@ -0,0 +1,202 @@ +/* + * math_utils.cpp + * + * Created on: Jul 20, 2012 + * Author: cforster + */ + +#include + +namespace vk { + +using namespace Eigen; + +Vector3d +triangulateFeatureNonLin(const Matrix3d& R, const Vector3d& t, + const Vector3d& feature1, const Vector3d& feature2 ) +{ + Vector3d f2 = R * feature2; + Vector2d b; + b[0] = t.dot(feature1); + b[1] = t.dot(f2); + Matrix2d A; + A(0,0) = feature1.dot(feature1); + A(1,0) = feature1.dot(f2); + A(0,1) = -A(1,0); + A(1,1) = -f2.dot(f2); + Vector2d lambda = A.inverse() * b; + Vector3d xm = lambda[0] * feature1; + Vector3d xn = t + lambda[1] * f2; + return ( xm + xn )/2; +} + +bool +depthFromTriangulationExact( + const Matrix3d& R_r_c, + const Vector3d& t_r_c, + const Vector3d& f_r, + const Vector3d& f_c, + double& depth_in_r, + double& depth_in_c) +{ + // bearing vectors (f_r, f_c) do not need to be unit length + const Vector3d f_c_in_r(R_r_c*f_c); + const double a = f_c_in_r.dot(f_r) / t_r_c.dot(f_r); + const double b = f_c_in_r.dot(t_r_c); + const double denom = (a*b - f_c_in_r.dot(f_c_in_r)); + + if(abs(denom) < 0.000001) + return false; + + depth_in_c = (b-a*t_r_c.dot(t_r_c)) / denom; + depth_in_r = (t_r_c + f_c_in_r*depth_in_c).norm(); + return true; +} + +double +reprojError(const Vector3d& f1, + const Vector3d& f2, + double error_multiplier2) +{ + Vector2d e = project2d(f1) - project2d(f2); + return error_multiplier2 * e.norm(); +} + +double +computeInliers(const vector& features1, // c1 + const vector& features2, // c2 + const Matrix3d& R, // R_c1_c2 + const Vector3d& t, // c1_t + const double reproj_thresh, + double error_multiplier2, + vector& xyz_vec, // in frame c1 + vector& inliers, + vector& outliers) +{ + inliers.clear(); inliers.reserve(features1.size()); + outliers.clear(); outliers.reserve(features1.size()); + xyz_vec.clear(); xyz_vec.reserve(features1.size()); + double tot_error = 0; + //triangulate all features and compute reprojection errors and inliers + for(size_t j=0; j reproj_thresh || e2 > reproj_thresh) + outliers.push_back(j); + else + { + inliers.push_back(j); + tot_error += e1+e2; + } + } + return tot_error; +} + +void +computeInliersOneView(const vector & feature_sphere_vec, + const vector & xyz_vec, + const Matrix3d &R, + const Vector3d &t, + const double reproj_thresh, + const double error_multiplier2, + vector& inliers, + vector& outliers) +{ + inliers.clear(); inliers.reserve(xyz_vec.size()); + outliers.clear(); outliers.reserve(xyz_vec.size()); + for(size_t j = 0; j < xyz_vec.size(); j++ ) + { + double e = reprojError(feature_sphere_vec[j], + R.transpose() * ( xyz_vec[j] - t ), + error_multiplier2); + if(e < reproj_thresh) + inliers.push_back(j); + else + outliers.push_back(j); + } +} + +Vector3d +dcm2rpy(const Matrix3d &R) +{ + Vector3d rpy; + rpy[1] = atan2( -R(2,0), sqrt( pow( R(0,0), 2 ) + pow( R(1,0), 2 ) ) ); + if( fabs( rpy[1] - M_PI/2 ) < 0.00001 ) + { + rpy[2] = 0; + rpy[0] = -atan2( R(0,1), R(1,1) ); + } + else + { + if( fabs( rpy[1] + M_PI/2 ) < 0.00001 ) + { + rpy[2] = 0; + rpy[0] = -atan2( R(0,1), R(1,1) ); + } + else + { + rpy[2] = atan2( R(1,0)/cos(rpy[1]), R(0,0)/cos(rpy[1]) ); + rpy[0] = atan2( R(2,1)/cos(rpy[1]), R(2,2)/cos(rpy[1]) ); + } + } + return rpy; +} + +Matrix3d +rpy2dcm(const Vector3d &rpy) +{ + Matrix3d R1; + R1(0,0) = 1.0; R1(0,1) = 0.0; R1(0,2) = 0.0; + R1(1,0) = 0.0; R1(1,1) = cos(rpy[0]); R1(1,2) = -sin(rpy[0]); + R1(2,0) = 0.0; R1(2,1) = -R1(1,2); R1(2,2) = R1(1,1); + + Matrix3d R2; + R2(0,0) = cos(rpy[1]); R2(0,1) = 0.0; R2(0,2) = sin(rpy[1]); + R2(1,0) = 0.0; R2(1,1) = 1.0; R2(1,2) = 0.0; + R2(2,0) = -R2(0,2); R2(2,1) = 0.0; R2(2,2) = R2(0,0); + + Matrix3d R3; + R3(0,0) = cos(rpy[2]); R3(0,1) = -sin(rpy[2]); R3(0,2) = 0.0; + R3(1,0) = -R3(0,1); R3(1,1) = R3(0,0); R3(1,2) = 0.0; + R3(2,0) = 0.0; R3(2,1) = 0.0; R3(2,2) = 1.0; + + return R3 * R2 * R1; +} + +Quaterniond +angax2quat(const Vector3d& n, const double& angle) +{ + // n must be normalized! + double s(sin(angle/2)); + return Quaterniond( cos(angle/2), n[0]*s, n[1]*s, n[2]*s ); +} + + +Matrix3d +angax2dcm(const Vector3d& n, const double& angle) +{ + // n must be normalized + Matrix3d sqewn(sqew(n)); + return Matrix3d(Matrix3d::Identity() + sqewn*sin(angle) + sqewn*sqewn*(1-cos(angle))); +} + +double +sampsonusError(const Vector2d &v2Dash, const Matrix3d& Essential, const Vector2d& v2) +{ + Vector3d v3Dash = unproject2d(v2Dash); + Vector3d v3 = unproject2d(v2); + + double dError = v3Dash.transpose() * Essential * v3; + + Vector3d fv3 = Essential * v3; + Vector3d fTv3Dash = Essential.transpose() * v3Dash; + + Vector2d fv3Slice = fv3.head<2>(); + Vector2d fTv3DashSlice = fTv3Dash.head<2>(); + + return (dError * dError / (fv3Slice.dot(fv3Slice) + fTv3DashSlice.dot(fTv3DashSlice))); +} + +} // end namespace vk diff --git a/GPU_version/svo/src/point.cpp b/GPU_version/svo/src/point.cpp index 533bed4..24423eb 100644 --- a/GPU_version/svo/src/point.cpp +++ b/GPU_version/svo/src/point.cpp @@ -15,7 +15,7 @@ // along with this program. If not, see . #include -#include +#include #include #include #include diff --git a/GPU_version/svo/src/pose_optimizer.cpp b/GPU_version/svo/src/pose_optimizer.cpp index 8af359f..3d89d1e 100644 --- a/GPU_version/svo/src/pose_optimizer.cpp +++ b/GPU_version/svo/src/pose_optimizer.cpp @@ -19,8 +19,8 @@ #include #include #include -#include -#include +#include +#include namespace svo { namespace pose_optimizer { diff --git a/GPU_version/svo/src/reprojector.cpp b/GPU_version/svo/src/reprojector.cpp index 888d3d2..0305797 100644 --- a/GPU_version/svo/src/reprojector.cpp +++ b/GPU_version/svo/src/reprojector.cpp @@ -24,9 +24,9 @@ #include #include #include -#include -#include -#include +#include +#include +#include namespace svo { @@ -68,10 +68,11 @@ void Reprojector::reprojectMap( resetGrid(); // Identify those Keyframes which share a common field of view. - SVO_START_TIMER("reproject_kfs"); +// SVO_START_TIMER("reproject_kfs"); list< pair > close_kfs; map_.getCloseKeyframes(frame, close_kfs); + std::cout<<"The number of closed frames: "<::second, _1) < boost::bind(&std::pair::second, _2)); @@ -98,14 +99,16 @@ void Reprojector::reprojectMap( if((*it_ftr)->point->last_projected_kf_id_ == frame->id_) continue; (*it_ftr)->point->last_projected_kf_id_ = frame->id_; - if(reprojectPoint(frame, (*it_ftr)->point)) - overlap_kfs.back().second++; + if(reprojectPoint(frame, (*it_ftr)->point)){ + overlap_kfs.back().second++; + } + } } - SVO_STOP_TIMER("reproject_kfs"); + //SVO_STOP_TIMER("reproject_kfs"); // Now project all point candidates - SVO_START_TIMER("reproject_candidates"); + // SVO_START_TIMER("reproject_candidates"); { boost::unique_lock lock(map_.point_candidates_.mut_); auto it=map_.point_candidates_.candidates_.begin(); @@ -124,11 +127,11 @@ void Reprojector::reprojectMap( ++it; } } // unlock the mutex when out of scope - SVO_STOP_TIMER("reproject_candidates"); + //SVO_STOP_TIMER("reproject_candidates"); // Now we go through each grid cell and select one point to match. // At the end, we should have at maximum one reprojected point per cell. - SVO_START_TIMER("feature_align"); + //SVO_START_TIMER("feature_align"); for(size_t i=0; i (size_t) Config::maxFts()) break; } - SVO_STOP_TIMER("feature_align"); +// SVO_STOP_TIMER("feature_align"); } bool Reprojector::pointQualityComparator(Candidate& lhs, Candidate& rhs) @@ -161,7 +164,6 @@ bool Reprojector::reprojectCell(Cell& cell, FramePtr frame) it = cell.erase(it); continue; } - bool found_match = true; if(options_.find_match_direct) found_match = matcher_.findMatchDirect(*it->pt, *frame, it->px); diff --git a/GPU_version/svo/src/robust_cost.cpp b/GPU_version/svo/src/robust_cost.cpp new file mode 100644 index 0000000..ec771ae --- /dev/null +++ b/GPU_version/svo/src/robust_cost.cpp @@ -0,0 +1,162 @@ +/** +* This file is part of dvo. +* +* Copyright 2012 Christian Kerl (Technical University of Munich) +* For more information see . +* +* dvo is free software: you can redistribute it and/or modify +* it under the terms of the GNU General Public License as published by +* the Free Software Foundation, either version 3 of the License, or +* (at your option) any later version. +* +* dvo is distributed in the hope that it will be useful, +* but WITHOUT ANY WARRANTY; without even the implied warranty of +* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +* GNU General Public License for more details. +* +* You should have received a copy of the GNU General Public License +* along with dvo. If not, see . +*/ + +#include +#include +#include +#include + +namespace vk { +namespace robust_cost { + +const float TDistributionScaleEstimator::INITIAL_SIGMA = 5.0f; +const float TDistributionScaleEstimator::DEFAULT_DOF = 5.0f; + +TDistributionScaleEstimator:: +TDistributionScaleEstimator(const float dof) : + dof_(dof), + initial_sigma_(INITIAL_SIGMA) +{} + +float TDistributionScaleEstimator:: +compute(std::vector& errors) const +{ + float initial_lamda = 1.0f / (initial_sigma_ * initial_sigma_); + int num = 0; + float lambda = initial_lamda; + int iterations = 0; + do + { + ++iterations; + initial_lamda = lambda; + num = 0; + lambda = 0.0f; + + for(std::vector::iterator it=errors.begin(); it!=errors.end(); ++it) + { + if(std::isfinite(*it)) + { + ++num; + const float error2 = (*it)*(*it); + lambda += error2 * ( (dof_ + 1.0f) / (dof_ + initial_lamda * error2) ); + } + } + lambda = float(num) / lambda; + } while(std::abs(lambda - initial_lamda) > 1e-3); + + return std::sqrt(1.0f / lambda); +} + +const float MADScaleEstimator::NORMALIZER = 1.48f; // 1 / 0.6745 + +float MADScaleEstimator:: +compute(std::vector& errors) const +{ + // error must be in absolute values! + return NORMALIZER * vk::getMedian(errors); +} + +float NormalDistributionScaleEstimator:: +compute(std::vector& errors) const +{ + const float mean = std::accumulate(errors.begin(), errors.end(), 0)/errors.size(); + float var = 0.0; + std::for_each(errors.begin(), errors.end(), [&](const float d) { + var += (d - mean) * (d - mean); + }); + return std::sqrt(var); // return standard deviation +} + +const float TukeyWeightFunction::DEFAULT_B = 4.6851f; + +TukeyWeightFunction::TukeyWeightFunction(const float b) +{ + configure(b); +} + +float TukeyWeightFunction::value(const float& x) const +{ + const float x_square = x * x; + if(x_square <= b_square) + { + const float tmp = 1.0f - x_square / b_square; + return tmp * tmp; + } + else + { + return 0.0f; + } +} + +void TukeyWeightFunction:: +configure(const float& param) +{ + b_square = param * param; +} + +const float TDistributionWeightFunction::DEFAULT_DOF = 5.0f; + +TDistributionWeightFunction:: +TDistributionWeightFunction(const float dof) +{ + configure(dof); +} + +float TDistributionWeightFunction:: +value(const float & x) const +{ + return ((dof_ + 1.0f) / (dof_ + (x * x))); +} + +void TDistributionWeightFunction:: +configure(const float& param) +{ + dof_ = param; + normalizer_ = dof_ / (dof_ + 1.0f); +} + +const float HuberWeightFunction::DEFAULT_K = 1.345f; + +HuberWeightFunction:: +HuberWeightFunction(const float k) +{ + configure(k); +} + +void HuberWeightFunction:: +configure(const float& param) +{ + k = param; +} + +float HuberWeightFunction:: +value(const float& t) const +{ + const float t_abs = std::abs(t); + if(t_abs < k) + return 1.0f; + else + return k / t_abs; +} + +} // namespace robust_cost +} // namespace vk + + diff --git a/GPU_version/svo/src/sparse_img_align.cpp b/GPU_version/svo/src/sparse_img_align.cpp index 21432c6..13ae449 100644 --- a/GPU_version/svo/src/sparse_img_align.cpp +++ b/GPU_version/svo/src/sparse_img_align.cpp @@ -20,9 +20,9 @@ #include #include #include -#include -#include -#include +#include +#include +#include namespace svo { @@ -54,12 +54,12 @@ 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? - + //visible_fts_.resize(ref_patch_cache_.rows, false); // TODO: should it be reset at each level? SE3 T_cur_from_ref(cur_frame_->T_f_w_ * 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? mu_ = 0.1; jacobian_cache_.setZero(); have_ref_patch_cache_ = false; @@ -69,8 +69,6 @@ size_t SparseImgAlign::run(FramePtr ref_frame, FramePtr cur_frame) } cur_frame_->T_f_w_ = T_cur_from_ref * ref_frame_->T_f_w_; - - return n_meas_/patch_area_; } diff --git a/GPU_version/svo/src/vision.cpp b/GPU_version/svo/src/vision.cpp new file mode 100644 index 0000000..b6d5f58 --- /dev/null +++ b/GPU_version/svo/src/vision.cpp @@ -0,0 +1,295 @@ +/* + * vision.cpp + * + * Created on: May 14, 2013 + * Author: cforster + */ + +#include + +#if __SSE2__ +# include +#elif __ARM_NEON__ +# include +#endif + +namespace vk { + +#ifdef __SSE2__ +void halfSampleSSE2(const unsigned char* in, unsigned char* out, int w, int h) +{ + const unsigned long long mask[2] = {0x00FF00FF00FF00FFull, 0x00FF00FF00FF00FFull}; + const unsigned char* nextRow = in + w; + __m128i m = _mm_loadu_si128((const __m128i*)mask); + int sw = w >> 4; + int sh = h >> 1; + for (int i=0; i> 1)*out.cols; + for( int x = in.cols; x > 0 ; x-=16, in_top += 16, in_bottom += 16, out_data += 8) + { + uint8x8x2_t top = vld2_u8( (const uint8_t *)in_top ); + uint8x8x2_t bottom = vld2_u8( (const uint8_t *)in_bottom ); + uint16x8_t sum = vaddl_u8( top.val[0], top.val[1] ); + sum = vaddw_u8( sum, bottom.val[0] ); + sum = vaddw_u8( sum, bottom.val[1] ); + uint8x8_t final_sum = vshrn_n_u16(sum, 2); + vst1_u8(out_data, final_sum); + } + } +} +#endif + + +void +halfSample(const cv::Mat& in, cv::Mat& out) +{ + assert( in.rows/2==out.rows && in.cols/2==out.cols); + assert( in.type()==CV_8U && out.type()==CV_8U); + +#ifdef __SSE2__ + if(aligned_mem::is_aligned16(in.data) && aligned_mem::is_aligned16(out.data) && ((in.cols % 16) == 0)) + { + halfSampleSSE2(in.data, out.data, in.cols, in.rows); + return; + } +#endif +#ifdef __ARM_NEON__ + if( (in.cols % 16) == 0 ) + { + halfSampleNEON(in, out); + return; + } +#endif + + const int stride = in.step.p[0]; + uint8_t* top = (uint8_t*) in.data; + uint8_t* bottom = top + stride; + uint8_t* end = top + stride*in.rows; + const int out_width = out.cols; + uint8_t* p = (uint8_t*) out.data; + while (bottom < end) + { + for (int j=0; j( (uint16_t (top[0]) + top[1] + bottom[0] + bottom[1])/4 ); + p++; + top += 2; + bottom += 2; + } + top += stride; + bottom += stride; + } +} + + +float +shiTomasiScore(const cv::Mat& img, int u, int v) +{ + assert(img.type() == CV_8UC1); + + float dXX = 0.0; + float dYY = 0.0; + float dXY = 0.0; + const int halfbox_size = 4; + const int box_size = 2*halfbox_size; + const int box_area = box_size*box_size; + const int x_min = u-halfbox_size; + const int x_max = u+halfbox_size; + const int y_min = v-halfbox_size; + const int y_max = v+halfbox_size; + + if(x_min < 1 || x_max >= img.cols-1 || y_min < 1 || y_max >= img.rows-1) + return 0.0; // patch is too close to the boundary + + const int stride = img.step.p[0]; + for( int y=y_min; y::depth, cn*2)); + + int x, y, delta = (int)alignSize((cols + 2)*cn, 16); + AutoBuffer _tempBuf(delta*2 + 64); + deriv_type *trow0 = alignPtr(_tempBuf + cn, 16), *trow1 = alignPtr(trow0 + delta, 16); + +#ifdef __SSE2__ + __m128i z = _mm_setzero_si128(), c3 = _mm_set1_epi16(3), c10 = _mm_set1_epi16(10); +#endif + + for( y = 0; y < rows; y++ ) + { + const uchar* srow0 = src.ptr(y > 0 ? y-1 : rows > 1 ? 1 : 0); + const uchar* srow1 = src.ptr(y); + const uchar* srow2 = src.ptr(y < rows-1 ? y+1 : rows > 1 ? rows-2 : 0); + deriv_type* drow = dst.ptr(y); + + // do vertical convolution + x = 0; +#ifdef __SSE2__ + for( ; x <= colsn - 8; x += 8 ) + { + __m128i s0 = _mm_unpacklo_epi8(_mm_loadl_epi64((const __m128i*)(srow0 + x)), z); + __m128i s1 = _mm_unpacklo_epi8(_mm_loadl_epi64((const __m128i*)(srow1 + x)), z); + __m128i s2 = _mm_unpacklo_epi8(_mm_loadl_epi64((const __m128i*)(srow2 + x)), z); + __m128i t0 = _mm_add_epi16(_mm_mullo_epi16(_mm_add_epi16(s0, s2), c3), _mm_mullo_epi16(s1, c10)); + __m128i t1 = _mm_sub_epi16(s2, s0); + _mm_store_si128((__m128i*)(trow0 + x), t0); + _mm_store_si128((__m128i*)(trow1 + x), t1); + } +#endif + for( ; x < colsn; x++ ) + { + int t0 = (srow0[x] + srow2[x])*3 + srow1[x]*10; + int t1 = srow2[x] - srow0[x]; + trow0[x] = (deriv_type)t0; + trow1[x] = (deriv_type)t1; + } + + // make border + int x0 = (cols > 1 ? 1 : 0)*cn, x1 = (cols > 1 ? cols-2 : 0)*cn; + for( int k = 0; k < cn; k++ ) + { + trow0[-cn + k] = trow0[x0 + k]; trow0[colsn + k] = trow0[x1 + k]; + trow1[-cn + k] = trow1[x0 + k]; trow1[colsn + k] = trow1[x1 + k]; + } + + // do horizontal convolution, interleave the results and store them to dst + x = 0; +#ifdef __SSE2__ + for( ; x <= colsn - 8; x += 8 ) + { + __m128i s0 = _mm_loadu_si128((const __m128i*)(trow0 + x - cn)); + __m128i s1 = _mm_loadu_si128((const __m128i*)(trow0 + x + cn)); + __m128i s2 = _mm_loadu_si128((const __m128i*)(trow1 + x - cn)); + __m128i s3 = _mm_load_si128((const __m128i*)(trow1 + x)); + __m128i s4 = _mm_loadu_si128((const __m128i*)(trow1 + x + cn)); + + __m128i t0 = _mm_sub_epi16(s1, s0); + __m128i t1 = _mm_add_epi16(_mm_mullo_epi16(_mm_add_epi16(s2, s4), c3), _mm_mullo_epi16(s3, c10)); + __m128i t2 = _mm_unpacklo_epi16(t0, t1); + t0 = _mm_unpackhi_epi16(t0, t1); + // this can probably be replaced with aligned stores if we aligned dst properly. + _mm_storeu_si128((__m128i*)(drow + x*2), t2); + _mm_storeu_si128((__m128i*)(drow + x*2 + 8), t0); + } +#endif + for( ; x < colsn; x++ ) + { + deriv_type t0 = (deriv_type)(trow0[x+cn] - trow0[x-cn]); + deriv_type t1 = (deriv_type)((trow1[x+cn] + trow1[x-cn])*3 + trow1[x]*10); + drow[x*2] = t0; drow[x*2+1] = t1; + } + } + +// vector vec_mat; +// cv::split(dst, vec_mat); +// cv::namedWindow("deriv"); +// cv::imshow("deriv", vec_mat[0]); +// cv::namedWindow("derivy"); +// cv::imshow("derivy", vec_mat[1]); +// cv::waitKey(0); +} + +#ifdef __SSE2__ +void convertRawDepthImageSse_16u_to_32f(cv::Mat& depth_16u, cv::Mat& depth_32f, float scale) +{ + depth_32f.create(depth_16u.rows, depth_16u.cols, CV_32FC1); + + const unsigned short* input_ptr = depth_16u.ptr(); + float* output_ptr = depth_32f.ptr(); + + __m128 _scale = _mm_set1_ps(scale); + __m128 _zero = _mm_setzero_ps(); + __m128 _nan = _mm_set1_ps(std::numeric_limits::quiet_NaN()); + + for(int idx = 0; idx < depth_16u.size().area(); idx += 8, input_ptr += 8, output_ptr += 8) + { + __m128 _input, mask; + __m128i _inputi = _mm_load_si128((__m128i*) input_ptr); + + // load low shorts and convert to float + _input = _mm_cvtepi32_ps(_mm_unpacklo_epi16(_inputi, _mm_setzero_si128())); + + mask = _mm_cmpeq_ps(_input, _zero); + + // zero to nan + _input = _mm_or_ps(_input, _mm_and_ps(mask, _nan)); + // scale + _input = _mm_mul_ps(_input, _scale); + // save + _mm_store_ps(output_ptr + 0, _input); + + // load high shorts and convert to float + _input = _mm_cvtepi32_ps(_mm_unpackhi_epi16(_inputi, _mm_setzero_si128())); + + mask = _mm_cmpeq_ps(_input, _zero); + + // zero to nan + _input = _mm_or_ps(_input, _mm_and_ps(mask, _nan)); + // scale + _input = _mm_mul_ps(_input, _scale); + // save + _mm_store_ps(output_ptr + 4, _input); + } +} +#endif + +} + + diff --git a/GPU_version/vio/include/vio_gpu/camera_loader.h b/GPU_version/vio/include/vio_gpu/camera_loader.h new file mode 100644 index 0000000..e9d5a94 --- /dev/null +++ b/GPU_version/vio/include/vio_gpu/camera_loader.h @@ -0,0 +1,46 @@ +/* + * camera_loader.h + * + * Created on: Feb 11, 2014 + * Author: cforster + */ + +#ifndef VIKIT_CAMERA_LOADER_H_ +#define VIKIT_CAMERA_LOADER_H_ + +#include +#include +#include +#include + +namespace vk { +namespace camera_loader { + +/// Load from ROS Namespace +bool loadFromRosNs(const std::string& ns, vk::AbstractCamera*& cam) +{ + bool res = true; + std::string cam_model(getParam(ns+"/cam_model")); + if(cam_model == "ATAN") + { + cam = new vk::ATANCamera( + getParam(ns+"/cam_width"), + getParam(ns+"/cam_height"), + getParam(ns+"/cam_fx"), + getParam(ns+"/cam_fy"), + getParam(ns+"/cam_cx"), + getParam(ns+"/cam_cy"), + getParam(ns+"/cam_d0")); + } + else + { + cam = NULL; + res = false; + } + return res; +} + +} // namespace camera_loader +} // namespace vk + +#endif // VIKIT_CAMERA_LOADER_H_ diff --git a/GPU_version/vio/include/vio_gpu/output_helper.h b/GPU_version/vio/include/vio_gpu/output_helper.h new file mode 100644 index 0000000..a835def --- /dev/null +++ b/GPU_version/vio/include/vio_gpu/output_helper.h @@ -0,0 +1,97 @@ +/* + * output_helper.h + * + * Created on: Jan 20, 2013 + * Author: cforster + */ + +#ifndef VIKIT_OUTPUT_HELPER_H_ +#define VIKIT_OUTPUT_HELPER_H_ + +#include +#include +#include +#include +#include + +namespace vk { +namespace output_helper { + +using namespace std; +using namespace Eigen; + +void +publishTfTransform (const Sophus::SE3& T, const ros::Time& stamp, + const string& frame_id, const string& child_frame_id, + tf::TransformBroadcaster& br); + +void +publishPointMarker (ros::Publisher pub, + const Vector3d& pos, + const string& ns, + const ros::Time& timestamp, + int id, + int action, + double marker_scale, + const Vector3d& color, + ros::Duration lifetime = ros::Duration(0.0)); + +void +publishLineMarker (ros::Publisher pub, + const Vector3d& start, + const Vector3d& end, + const string& ns, + const ros::Time& timestamp, + int id, + int action, + double marker_scale, + const Vector3d& color, + ros::Duration lifetime = ros::Duration(0.0)); + +void +publishArrowMarker (ros::Publisher pub, + const Vector3d& pos, + const Vector3d& dir, + double scale, + const string& ns, + const ros::Time& timestamp, + int id, + int action, + double marker_scale, + const Vector3d& color); + +void +publishHexacopterMarker (ros::Publisher pub, + const string& frame_id, + const string& ns, + const ros::Time& timestamp, + int id, + int action, + double marker_scale, + const Vector3d& color); + +void +publishCameraMarker(ros::Publisher pub, + const string& frame_id, + const string& ns, + const ros::Time& timestamp, + int id, + double marker_scale, + const Vector3d& color); +void +publishFrameMarker (ros::Publisher pub, + const Matrix3d& rot, + const Vector3d& pos, + const string& ns, + const ros::Time& timestamp, + int id, + int action, + double marker_scale, + ros::Duration lifetime = ros::Duration(0.0)); + + +} // namespace output_helper +} // namespace vk + + +#endif /* VIKIT_OUTPUT_HELPER_H_ */ diff --git a/GPU_version/vio/include/vio_gpu/params_helper.h b/GPU_version/vio/include/vio_gpu/params_helper.h new file mode 100644 index 0000000..1c8967f --- /dev/null +++ b/GPU_version/vio/include/vio_gpu/params_helper.h @@ -0,0 +1,54 @@ +/* + * ros_params_helper.h + * + * Created on: Feb 22, 2013 + * Author: cforster + * + * from libpointmatcher_ros + */ + +#ifndef ROS_PARAMS_HELPER_H_ +#define ROS_PARAMS_HELPER_H_ + +#include +#include + +namespace vk { + +inline +bool hasParam(const std::string& name) +{ + return ros::param::has(name); +} + +template +T getParam(const std::string& name, const T& defaultValue) +{ + T v; + if(ros::param::get(name, v)) + { + ROS_INFO_STREAM("Found parameter: " << name << ", value: " << v); + return v; + } + else + ROS_WARN_STREAM("Cannot find value for parameter: " << name << ", assigning default: " << defaultValue); + return defaultValue; +} + +template +T getParam(const std::string& name) +{ + T v; + if(ros::param::get(name, v)) + { + ROS_INFO_STREAM("Found parameter: " << name << ", value: " << v); + return v; + } + else + ROS_ERROR_STREAM("Cannot find value for parameter: " << name); + return T(); +} + +} // namespace vk + +#endif // ROS_PARAMS_HELPER_H_ diff --git a/GPU_version/vio/launch/Px30.launch b/GPU_version/vio/launch/Px30.launch index c02d6a2..67019b8 100644 --- a/GPU_version/vio/launch/Px30.launch +++ b/GPU_version/vio/launch/Px30.launch @@ -9,10 +9,10 @@ - - - - + + + + diff --git a/GPU_version/vio/param/camera_atan.yaml b/GPU_version/vio/param/camera_atan.yaml deleted file mode 100644 index e3c625c..0000000 --- a/GPU_version/vio/param/camera_atan.yaml +++ /dev/null @@ -1,8 +0,0 @@ -cam_model: ATAN -cam_width: 752 -cam_height: 480 -cam_fx: 0.509326 -cam_fy: 0.796651 -cam_cx: 0.45905 -cam_cy: 0.510056 -cam_d0: 0.9320 \ No newline at end of file diff --git a/GPU_version/vio/param/camera_pinhole.yaml b/GPU_version/vio/param/camera_pinhole.yaml deleted file mode 100644 index 506a856..0000000 --- a/GPU_version/vio/param/camera_pinhole.yaml +++ /dev/null @@ -1,11 +0,0 @@ -cam_model: Pinhole -cam_width: 640 -cam_height: 480 -cam_fx: 789.860721 -cam_fy: 790.097440 -cam_cx: 305.323524 -cam_cy: 260.464072 -cam_d0: 0.027470 -cam_d1: -0.051518 -cam_d2: 0.004375 -cam_d3: -0.004028 \ No newline at end of file diff --git a/GPU_version/vio/param/unity.yaml b/GPU_version/vio/param/unity.yaml deleted file mode 100644 index 023f378..0000000 --- a/GPU_version/vio/param/unity.yaml +++ /dev/null @@ -1,8 +0,0 @@ -cam_model: ATAN -cam_width: 1024 -cam_height: 720 -cam_fx: 1.98248 -cam_fy: 2.68212 -cam_cx: 0.502524 -cam_cy: 0.497744 -cam_d0: -0.000499999 \ No newline at end of file diff --git a/GPU_version/vio/param/vo_accurate.yaml b/GPU_version/vio/param/vo_accurate.yaml deleted file mode 100644 index 8446875..0000000 --- a/GPU_version/vio/param/vo_accurate.yaml +++ /dev/null @@ -1,4 +0,0 @@ -grid_size: 20 -max_n_kfs: 50 -loba_num_iter: 10 -max_fts: 200 \ No newline at end of file diff --git a/GPU_version/vio/param/vo_fast.yaml b/GPU_version/vio/param/vo_fast.yaml index e33b18a..a5f9cec 100644 --- a/GPU_version/vio/param/vo_fast.yaml +++ b/GPU_version/vio/param/vo_fast.yaml @@ -4,10 +4,19 @@ svo: loba_num_iter: 0 #Number of iterations in the local bundle adjustment. quality_min_fts: 10 #If the number of tracked features drops below this threshold. Tracking quality is bad. quality_max_drop_fts: 60 #If within one frame, this amount of features are dropped. Tracking quality is bad. - ACC_noise: 0.00001 #acc white noise in continuous - GYO_noise: 0.00001 #gyro white noise in continuous + init_min_tracked: 100 + init_min_disparity: 25 + structureoptim_max_pts: 50 + kfselect_mindist: 0.12 + poseoptim_thresh: 4.0 + ACC_noise: 0.0001 #acc white noise in continuous + GYO_noise: 0.0001 #gyro white noise in continuous IUC: 0.1 #integration uncertainty continuous ABC: 0.1 #acc bias in continuous GBC: 0.1 #gyro bias in continuous EBP: 0.1 #error in the bias used for preintegration NRP: 0.0000001 #noise used for projection in preintegration + gravity: 9.65 + Acceleration_offset_x: -0.05 + Acceleration_offset_y: -0.04 + Gyroscope_offset_z: 0.001 diff --git a/GPU_version/vio/src/output_helper.cpp b/GPU_version/vio/src/output_helper.cpp new file mode 100644 index 0000000..63b1a78 --- /dev/null +++ b/GPU_version/vio/src/output_helper.cpp @@ -0,0 +1,410 @@ +/* + * output_helper.cpp + * + * Created on: Jan 20, 2013 + * Author: chrigi + */ + +#include +#include + +namespace vk { +namespace output_helper { + +void +publishTfTransform(const Sophus::SE3& T, const ros::Time& stamp, + const string& frame_id, const string& child_frame_id, + tf::TransformBroadcaster& br) +{ + tf::Transform transform_msg; + Eigen::Quaterniond q(T.rotation_matrix()); + transform_msg.setOrigin(tf::Vector3(T.translation().x(), T.translation().y(), T.translation().z())); + tf::Quaternion tf_q; tf_q.setX(q.x()); tf_q.setY(q.y()); tf_q.setZ(q.z()); tf_q.setW(q.w()); + transform_msg.setRotation(tf_q); + br.sendTransform(tf::StampedTransform(transform_msg, stamp, frame_id, child_frame_id)); +} + +void +publishPointMarker(ros::Publisher pub, + const Vector3d& pos, + const string& ns, + const ros::Time& timestamp, + int id, + int action, + double marker_scale, + const Vector3d& color, + ros::Duration lifetime) +{ + visualization_msgs::Marker msg; + msg.header.frame_id = "/world"; + msg.header.stamp = timestamp; + msg.ns = ns; + msg.id = id; + msg.type = visualization_msgs::Marker::CUBE; + msg.action = action; // 0 = add/modify + msg.scale.x = marker_scale; + msg.scale.y = marker_scale; + msg.scale.z = marker_scale; + msg.color.a = 1.0; + msg.color.r = color[0]; + msg.color.g = color[1]; + msg.color.b = color[2]; + msg.lifetime = lifetime; + msg.pose.position.x = pos[0]; + msg.pose.position.y = pos[1]; + msg.pose.position.z = pos[2]; + pub.publish(msg); +} + +void +publishLineMarker(ros::Publisher pub, + const Vector3d& start, + const Vector3d& end, + const string& ns, + const ros::Time& timestamp, + int id, + int action, + double marker_scale, + const Vector3d& color, + ros::Duration lifetime) +{ + visualization_msgs::Marker msg; + msg.header.frame_id = "/world"; + msg.header.stamp = timestamp; + msg.ns = ns; + msg.id = id; + msg.type = visualization_msgs::Marker::LINE_STRIP; + msg.action = action; // 0 = add/modify + msg.scale.x = marker_scale; + msg.color.a = 1.0; + msg.color.r = color[0]; + msg.color.g = color[1]; + msg.color.b = color[2]; + msg.points.resize(2); + msg.lifetime = lifetime; + msg.points[0].x = start[0]; + msg.points[0].y = start[1]; + msg.points[0].z = start[2]; + msg.points[1].x = end[0]; + msg.points[1].y = end[1]; + msg.points[1].z = end[2]; + pub.publish(msg); +} + + +void +publishArrowMarker(ros::Publisher pub, + const Vector3d& pos, + const Vector3d& dir, + double scale, + const string& ns, + const ros::Time& timestamp, + int id, + int action, + double marker_scale, + const Vector3d& color) +{ + visualization_msgs::Marker msg; + msg.header.frame_id = "/world"; + msg.header.stamp = timestamp; + msg.ns = ns; + msg.id = id; + msg.type = visualization_msgs::Marker::ARROW; + msg.action = action; // 0 = add/modify + msg.scale.x = marker_scale; + msg.scale.y = marker_scale*0.35; + msg.scale.z = 0.0; + msg.color.a = 1.0; + msg.color.r = color[0]; + msg.color.g = color[1]; + msg.color.b = color[2]; + msg.points.resize(2); + msg.points[0].x = pos[0]; + msg.points[0].y = pos[1]; + msg.points[0].z = pos[2]; + msg.points[1].x = pos[0] + scale*dir[0]; + msg.points[1].y = pos[1] + scale*dir[1]; + msg.points[1].z = pos[2] + scale*dir[2]; + pub.publish(msg); +} + +void +publishHexacopterMarker(ros::Publisher pub, + const string& frame_id, + const string& ns, + const ros::Time& timestamp, + int id, + int action, + double marker_scale, + const Vector3d& color) +{ + /* + * Function by Markus Achtelik from libsfly_viz. + * Thank you. + */ + const double sqrt2_2 = sqrt(2) / 2; + + visualization_msgs::Marker marker; + + // the marker will be displayed in frame_id + marker.header.frame_id = frame_id; + marker.header.stamp = timestamp; + marker.ns = ns; + marker.action = 0; + marker.id = id; + + // make rotors + marker.type = visualization_msgs::Marker::CYLINDER; + marker.scale.x = 0.2*marker_scale; + marker.scale.y = 0.2*marker_scale; + marker.scale.z = 0.01*marker_scale; + marker.color.r = 0.4; + marker.color.g = 0.4; + marker.color.b = 0.4; + marker.color.a = 0.8; + marker.pose.position.z = 0; + + // front left/right + marker.pose.position.x = 0.19*marker_scale; + marker.pose.position.y = 0.11*marker_scale; + marker.id--; + pub.publish(marker); + + marker.pose.position.x = 0.19*marker_scale; + marker.pose.position.y = -0.11*marker_scale; + marker.id--; + pub.publish(marker); + + // left/right + marker.pose.position.x = 0; + marker.pose.position.y = 0.22*marker_scale; + marker.id--; + pub.publish(marker); + + marker.pose.position.x = 0; + marker.pose.position.y = -0.22*marker_scale; + marker.id--; + pub.publish(marker); + + // back left/right + marker.pose.position.x = -0.19*marker_scale; + marker.pose.position.y = 0.11*marker_scale; + marker.id--; + pub.publish(marker); + + marker.pose.position.x = -0.19*marker_scale; + marker.pose.position.y = -0.11*marker_scale; + marker.id--; + pub.publish(marker); + + // make arms + marker.type = visualization_msgs::Marker::CUBE; + marker.scale.x = 0.44*marker_scale; + marker.scale.y = 0.02*marker_scale; + marker.scale.z = 0.01*marker_scale; + marker.color.r = color[0]; + marker.color.g = color[1]; + marker.color.b = color[2]; + marker.color.a = 1; + + marker.pose.position.x = 0; + marker.pose.position.y = 0; + marker.pose.position.z = -0.015*marker_scale; + marker.pose.orientation.x = 0; + marker.pose.orientation.y = 0; + + marker.pose.orientation.w = sqrt2_2; + marker.pose.orientation.z = sqrt2_2; + marker.id--; + pub.publish(marker); + + // 30 deg rotation 0.9659 0 0 0.2588 + marker.pose.orientation.w = 0.9659; + marker.pose.orientation.z = 0.2588; + marker.id--; + pub.publish(marker); + + marker.pose.orientation.w = 0.9659; + marker.pose.orientation.z = -0.2588; + marker.id--; + pub.publish(marker); +} + +void +publishCameraMarker(ros::Publisher pub, + const string& frame_id, + const string& ns, + const ros::Time& timestamp, + int id, + double marker_scale, + const Vector3d& color) +{ + /* + * draw a pyramid as the camera marker + */ + const double sqrt2_2 = sqrt(2) / 2; + + visualization_msgs::Marker marker; + + // the marker will be displayed in frame_id + marker.header.frame_id = frame_id; + marker.header.stamp = timestamp; + marker.ns = ns; + marker.action = 0; + marker.id = id; + + // make rectangles as frame + double r_w = 1.0; + double z_plane = (r_w / 2.0)*marker_scale; + marker.pose.position.x = 0; + marker.pose.position.y = (r_w / 4.0) *marker_scale; + marker.pose.position.z = z_plane; + + marker.type = visualization_msgs::Marker::CUBE; + marker.scale.x = r_w*marker_scale; + marker.scale.y = 0.04*marker_scale; + marker.scale.z = 0.04*marker_scale; + marker.color.r = color[0]; + marker.color.g = color[1]; + marker.color.b = color[2]; + marker.color.a = 1; + + marker.pose.orientation.x = 0; + marker.pose.orientation.y = 0; + marker.pose.orientation.z = 0; + marker.pose.orientation.w = 1; + marker.id--; + pub.publish(marker); + marker.pose.position.y = -(r_w/ 4.0)*marker_scale; + marker.id--; + pub.publish(marker); + + marker.scale.x = (r_w/2.0)*marker_scale; + marker.pose.position.x = (r_w / 2.0) *marker_scale; + marker.pose.position.y = 0; + marker.pose.orientation.w = sqrt2_2; + marker.pose.orientation.z = sqrt2_2; + marker.id--; + pub.publish(marker); + marker.pose.position.x = -(r_w / 2.0) *marker_scale; + marker.id--; + pub.publish(marker); + + // make pyramid edges + marker.scale.x = (3.0*r_w/4.0)*marker_scale; + marker.pose.position.z = 0.5*z_plane; + + marker.pose.position.x = (r_w / 4.0) *marker_scale; + marker.pose.position.y = (r_w / 8.0) *marker_scale; + // 0.08198092, -0.34727674, 0.21462883, 0.9091823 + marker.pose.orientation.x = 0.08198092; + marker.pose.orientation.y = -0.34727674; + marker.pose.orientation.z = 0.21462883; + marker.pose.orientation.w = 0.9091823; + marker.id--; + pub.publish(marker); + + marker.pose.position.x = -(r_w / 4.0) *marker_scale; + marker.pose.position.y = (r_w / 8.0) *marker_scale; + // -0.27395078, -0.22863284, 0.9091823 , 0.21462883 + marker.pose.orientation.x = 0.08198092; + marker.pose.orientation.y = 0.34727674; + marker.pose.orientation.z = -0.21462883; + marker.pose.orientation.w = 0.9091823; + marker.id--; + pub.publish(marker); + + marker.pose.position.x = -(r_w / 4.0) *marker_scale; + marker.pose.position.y = -(r_w / 8.0) *marker_scale; + // -0.08198092, 0.34727674, 0.21462883, 0.9091823 + marker.pose.orientation.x = -0.08198092; + marker.pose.orientation.y = 0.34727674; + marker.pose.orientation.z = 0.21462883; + marker.pose.orientation.w = 0.9091823; + marker.id--; + pub.publish(marker); + + marker.pose.position.x = (r_w / 4.0) *marker_scale; + marker.pose.position.y = -(r_w / 8.0) *marker_scale; + // -0.08198092, -0.34727674, -0.21462883, 0.9091823 + marker.pose.orientation.x = -0.08198092; + marker.pose.orientation.y = -0.34727674; + marker.pose.orientation.z = -0.21462883; + marker.pose.orientation.w = 0.9091823; + marker.id--; + pub.publish(marker); +} + +void publishFrameMarker(ros::Publisher pub, + const Matrix3d& rot, + const Vector3d& pos, + const string& ns, + const ros::Time& timestamp, + int id, + int action, + double marker_scale, + ros::Duration lifetime) +{ + visualization_msgs::Marker marker; + marker.header.frame_id = "/world"; + marker.header.stamp = timestamp; + marker.ns = ns; + marker.id = id++; + marker.type = visualization_msgs::Marker::ARROW; + marker.action = action; // 0 = add/modify + marker.points.reserve(2); + geometry_msgs::Point point; + point.x = static_cast(pos.x()); + point.y = static_cast(pos.y()); + point.z = static_cast(pos.z()); + marker.points.push_back(point); + point.x = static_cast(pos.x() + marker_scale*rot(0, 2)); // Draw arrow in z-direction + point.y = static_cast(pos.y() + marker_scale*rot(1, 2)); // Draw arrow in z-direction + point.z = static_cast(pos.z() + marker_scale*rot(2, 2)); // Draw arrow in z-direction + marker.points.push_back(point); + marker.scale.x = 0.5*marker_scale; + marker.scale.y = 0.5*marker_scale; + marker.color.a = 1.0; + marker.color.r = 0.0; + marker.color.g = 0.0; + marker.color.b = 1.0; + marker.lifetime = lifetime; + pub.publish(marker); + + marker.id = id++; + marker.points.clear(); + point.x = static_cast(pos.x()); + point.y = static_cast(pos.y()); + point.z = static_cast(pos.z()); + marker.points.push_back(point); + point.x = static_cast(pos.x() + marker_scale*rot(0, 0)); // Draw arrow in x-direction + point.y = static_cast(pos.y() + marker_scale*rot(1, 0)); // Draw arrow in x-direction + point.z = static_cast(pos.z() + marker_scale*rot(2, 0)); // Draw arrow in x-direction + marker.points.push_back(point); + marker.color.r = 1.0; + marker.color.g = 0.0; + marker.color.b = 0.0; + marker.lifetime = lifetime; + pub.publish(marker); + + marker.id = id++; + marker.points.clear(); + point.x = static_cast(pos.x()); + point.y = static_cast(pos.y()); + point.z = static_cast(pos.z()); + marker.points.push_back(point); + point.x = static_cast(pos.x() + marker_scale*rot(0, 1)); // Draw arrow in y-direction + point.y = static_cast(pos.y() + marker_scale*rot(1, 1)); // Draw arrow in y-direction + point.z = static_cast(pos.z() + marker_scale*rot(2, 1)); // Draw arrow in y-direction + marker.points.push_back(point); + marker.color.r = 0.0; + marker.color.g = 1.0; + marker.color.b = 0.0; + marker.lifetime = lifetime; + pub.publish(marker); +} + +} // namespace output_helper +} // namespace vk + + diff --git a/GPU_version/vio/src/visualizer.cpp b/GPU_version/vio/src/visualizer.cpp index d2327f4..90ad7ab 100644 --- a/GPU_version/vio/src/visualizer.cpp +++ b/GPU_version/vio/src/visualizer.cpp @@ -21,8 +21,8 @@ #include #include #include -#include -#include +#include +#include #include namespace svo { @@ -57,16 +57,18 @@ void Visualizer::publishMinimal( { vio_gpu::Info msg_info; msg_info.header = header_msg; - msg_info.processing_time = slam.lastProcessingTime(); + //msg_info.processing_time = slam.lastProcessingTime(); msg_info.keyframes.reserve(slam.map().keyframes_.size()); for(list::const_iterator it=slam.map().keyframes_.begin(); it!=slam.map().keyframes_.end(); ++it) msg_info.keyframes.push_back((*it)->id_); msg_info.stage = static_cast(slam.stage()); msg_info.tracking_quality = static_cast(slam.trackingQuality()); + /* if(frame != NULL) msg_info.num_matches = slam.lastNumObservations(); else msg_info.num_matches = 0; + */ pub_info_.publish(msg_info); } if(pub_pose_.getNumSubscribers() > 0 && slam.stage() == FrameHandlerBase::STAGE_DEFAULT_FRAME) diff --git a/GPU_version/vio/src/vo_node.cpp b/GPU_version/vio/src/vo_node.cpp index c11c6a0..b167282 100644 --- a/GPU_version/vio/src/vo_node.cpp +++ b/GPU_version/vio/src/vo_node.cpp @@ -17,15 +17,15 @@ #include #include #include -#include +#include #include #include #include #include #include #include -#include -#include +#include +#include #include From faf00a6aadd923b9c6f73111c03f2ce9768553c5 Mon Sep 17 00:00:00 2001 From: gfuse Date: Sat, 29 May 2021 16:53:00 +0200 Subject: [PATCH 200/215] track the trajectory with noise --- GPU_version/svo/include/gpu_svo/frame.h | 21 +++-- GPU_version/svo/include/gpu_svo/global.h | 73 +++++---------- .../svo/include/gpu_svo/imu_integration.h | 1 + .../svo/include/gpu_svo/svoVisionFactor.h | 37 +++----- GPU_version/svo/src/depth_filter.cpp | 4 +- GPU_version/svo/src/feature_alignment.cpp | 78 +++++++++------- GPU_version/svo/src/frame.cpp | 7 +- GPU_version/svo/src/frame_handler_base.cpp | 2 + GPU_version/svo/src/frame_handler_mono.cpp | 39 +++----- GPU_version/svo/src/imu_integration.cpp | 89 ++++++++----------- GPU_version/svo/src/initialization.cpp | 9 +- GPU_version/svo/src/map.cpp | 8 +- GPU_version/svo/src/matcher.cpp | 4 +- GPU_version/svo/src/point.cpp | 8 +- GPU_version/svo/src/pose_optimizer.cpp | 19 ++-- GPU_version/svo/src/sparse_img_align.cpp | 6 +- GPU_version/vio/launch/Px30.launch | 2 +- GPU_version/vio/param/vo_fast.yaml | 4 +- GPU_version/vio/src/visualizer.cpp | 35 ++------ GPU_version/vio/src/vo_node.cpp | 2 - 20 files changed, 201 insertions(+), 247 deletions(-) diff --git a/GPU_version/svo/include/gpu_svo/frame.h b/GPU_version/svo/include/gpu_svo/frame.h index 3a0fef6..4580be2 100644 --- a/GPU_version/svo/include/gpu_svo/frame.h +++ b/GPU_version/svo/include/gpu_svo/frame.h @@ -36,6 +36,7 @@ struct Feature; typedef list Features; typedef vector ImgPyr; + /// A frame saves the image, the associated features and the estimated pose. class Frame : boost::noncopyable { @@ -46,7 +47,7 @@ public: int id_; //!< Unique id of the frame. double timestamp_; //!< Timestamp of when the image was recorded. vk::AbstractCamera* cam_; //!< Camera model. - Sophus::SE3 T_f_w_; //!< Transform (f)rame from (w)orld. + SE2_5 T_f_w_; //!< Transform (f)rame from (w)orld. Matrix Cov_; //!< Covariance. ImgPyr img_pyr_; //!< Image Pyramid. Features fts_; //!< List of features in the image. @@ -91,7 +92,11 @@ public: inline bool isKeyframe() const { return is_keyframe_; } /// Transforms point coordinates in world-frame (w) to camera pixel coordinates (c). - inline Vector2d w2c(const Vector3d& xyz_w) const { return cam_->world2cam( T_f_w_ * xyz_w ); } + inline Vector2d w2c(const Vector3d& xyz_w) const { + return cam_->world2cam( Vector3d(xyz_w.x()*T_f_w_.cos_theta_+xyz_w.z()*T_f_w_.sin_theta_+T_f_w_.X_, + xyz_w.y(), + -xyz_w.x()*T_f_w_.sin_theta_+xyz_w.z()*T_f_w_.cos_theta_+T_f_w_.Z_) ); + } /// 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 ); } @@ -102,16 +107,22 @@ public: inline Vector3d c2f(const double x, const double y) const { return cam_->cam2world(x, y); } /// Transforms point coordinates in world-frame (w) to camera-frams (f). - inline Vector3d w2f(const Vector3d& xyz_w) const { return T_f_w_ * xyz_w; } + inline Vector3d w2f(const Vector3d& xyz_w) const { + return Vector3d(xyz_w.x()*T_f_w_.cos_theta_+xyz_w.z()*T_f_w_.sin_theta_+T_f_w_.X_, + xyz_w.y(), + -xyz_w.x()*T_f_w_.sin_theta_+xyz_w.z()*T_f_w_.cos_theta_+T_f_w_.Z_); + } /// Transforms point from frame unit sphere (f) frame to world coordinate frame (w). - inline Vector3d f2w(const Vector3d& f) const { return T_f_w_.inverse() * f; } + inline Vector3d f2w(const Vector3d& f) const { + return T_f_w_.T->inverse() * 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 Vector3d pos() const { return T_f_w_.inverse().translation(); } + inline Vector3d pos() const { return T_f_w_.T->inverse().translation(); } /// Frame jacobian for projection of 3D point in (f)rame coordinate to diff --git a/GPU_version/svo/include/gpu_svo/global.h b/GPU_version/svo/include/gpu_svo/global.h index f10358d..f5292c4 100644 --- a/GPU_version/svo/include/gpu_svo/global.h +++ b/GPU_version/svo/include/gpu_svo/global.h @@ -27,7 +27,6 @@ #include #include #include -//#include #include #include #ifndef RPG_SVO_VIKIT_IS_VECTOR_SPECIALIZED //Guard for rpg_vikit @@ -35,39 +34,13 @@ EIGEN_DEFINE_STL_VECTOR_SPECIALIZATION(Eigen::Vector3d) EIGEN_DEFINE_STL_VECTOR_SPECIALIZATION(Eigen::Vector2d) #endif +#include +#define SVO_DEBUG_STREAM(x) ROS_DEBUG_STREAM(x) +#define SVO_INFO_STREAM(x) ROS_INFO_STREAM(x) +#define SVO_WARN_STREAM(x) ROS_WARN_STREAM(x) +#define SVO_WARN_STREAM_THROTTLE(rate, x) ROS_WARN_STREAM_THROTTLE(rate, x) +#define SVO_ERROR_STREAM(x) ROS_ERROR_STREAM(x) -#ifdef SVO_USE_ROS - #include - #define SVO_DEBUG_STREAM(x) ROS_DEBUG_STREAM(x) - #define SVO_INFO_STREAM(x) ROS_INFO_STREAM(x) - #define SVO_WARN_STREAM(x) ROS_WARN_STREAM(x) - #define SVO_WARN_STREAM_THROTTLE(rate, x) ROS_WARN_STREAM_THROTTLE(rate, x) - #define SVO_ERROR_STREAM(x) ROS_ERROR_STREAM(x) -#else - #define SVO_INFO_STREAM(x) std::cerr<<"\033[0;0m[INFO] "< // Adapted from rosconsole. Copyright (c) 2008, Willow Garage, Inc. - #define SVO_WARN_STREAM_THROTTLE(rate, x) \ - do { \ - static double __log_stream_throttle__last_hit__ = 0.0; \ - std::chrono::time_point __log_stream_throttle__now__ = \ - std::chrono::system_clock::now(); \ - if (__log_stream_throttle__last_hit__ + rate <= \ - std::chrono::duration_cast( \ - __log_stream_throttle__now__.time_since_epoch()).count()) { \ - __log_stream_throttle__last_hit__ = \ - std::chrono::duration_cast( \ - __log_stream_throttle__now__.time_since_epoch()).count(); \ - SVO_WARN_STREAM(x); \ - } \ - } while(0) -#endif namespace svo { @@ -76,25 +49,21 @@ namespace svo const double EPS = 0.0000000001; const double PI = 3.14159265; - -#ifdef SVO_TRACE - /* - extern vk::PerformanceMonitor* g_permon; - #define SVO_LOG(value) g_permon->log(std::string((#value)),(value)) - #define SVO_LOG2(value1, value2) SVO_LOG(value1); SVO_LOG(value2) - #define SVO_LOG3(value1, value2, value3) SVO_LOG2(value1, value2); SVO_LOG(value3) - #define SVO_LOG4(value1, value2, value3, value4) SVO_LOG2(value1, value2); SVO_LOG2(value3, value4) - #define SVO_START_TIMER(name) g_permon->startTimer((name)) - #define SVO_STOP_TIMER(name) g_permon->stopTimer((name)) - */ -#else - #define SVO_LOG(v) - #define SVO_LOG2(v1, v2) - #define SVO_LOG3(v1, v2, v3) - #define SVO_LOG4(v1, v2, v3, v4) - #define SVO_START_TIMER(name) - #define SVO_STOP_TIMER(name) -#endif + class SE2_5{ + public: + double X_,Z_,tetha_,cos_theta_,sin_theta_; + SE3* T; + SE2_5(double x,double z,double tetha):X_(x),Z_(z),tetha_(tetha){ + cos_theta_=cos(tetha_); + sin_theta_=sin(tetha_); + Eigen::Matrix R; + R< FramePtr; diff --git a/GPU_version/svo/include/gpu_svo/imu_integration.h b/GPU_version/svo/include/gpu_svo/imu_integration.h index 738608f..2ff4a89 100644 --- a/GPU_version/svo/include/gpu_svo/imu_integration.h +++ b/GPU_version/svo/include/gpu_svo/imu_integration.h @@ -32,6 +32,7 @@ public: bool init(boost::shared_ptr&); Sophus::SE3 preintegrate_predict(); private: + FILE* logtime; std::shared_ptr statePtr; std::shared_ptr imu_biasPtr; std::shared_ptr valuesPtr; diff --git a/GPU_version/svo/include/gpu_svo/svoVisionFactor.h b/GPU_version/svo/include/gpu_svo/svoVisionFactor.h index 417357c..c81bdd5 100644 --- a/GPU_version/svo/include/gpu_svo/svoVisionFactor.h +++ b/GPU_version/svo/include/gpu_svo/svoVisionFactor.h @@ -16,12 +16,11 @@ namespace svo { - class VisionFactor: public gtsam::NoiseModelFactor2 { + class VisionFactor: public gtsam::NoiseModelFactor1 { private: // measurement information - gtsam::Point3 feature; ///(H, poseKey,landKey), feature(feature),level(level){} + gtsam::Key poseKey) : + gtsam::NoiseModelFactor1(H, poseKey), pose(pose){} 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,const gtsam::Point3& l, - boost::optional H1 = boost::none,boost::optional H2 = boost::none) const { + gtsam::Vector evaluateError(const gtsam::Pose3& p + ,boost::optional H1 = boost::none) const { // note that use boost optional like a pointer // only calculate jacobian matrix when non-null pointer exists - gtsam::Matrix26 J1; - gtsam::Matrix23 J2; - gtsam::Point3 point(p*l); - svo::Frame::jacobian_xyz2uv(point, J1); - svo::Frame::jacobian_l2uv(point, J2); - Vector2d e=(vk::project2d(feature) - vk::project2d(point))*1.0 / (1< E_r=0.5*(p.rotation().matrix().transpose()*pose.rotation().matrix()-pose.rotation().matrix().transpose()*p.rotation().matrix()); + Vector3d e_t=p.translation()-pose.translation(); + if(H1)(*H1) = (gtsam::Matrix(3,6)<< 1,0,0,0,0,0, + 0,0,1,0,0,0, + 0,0,0,0,1,0).finished(); + return (gtsam::Matrix(3,1)<ftr->frame->T_f_w_ * frame->T_f_w_.inverse(); + SE3 T_ref_cur = *it->ftr->frame->T_f_w_.T * frame->T_f_w_.T->inverse(); const Vector3d xyz_f(T_ref_cur.inverse()*(1.0/it->mu * it->ftr->f) ); if(xyz_f.z() < 0.0) { ++it; // behind the camera @@ -261,7 +261,7 @@ void DepthFilter::updateSeeds(FramePtr frame) if(sqrt(it->sigma2) < it->z_range/options_.seed_convergence_sigma2_thresh) { assert(it->ftr->point == NULL); // TODO this should not happen anymore - Vector3d xyz_world(it->ftr->frame->T_f_w_.inverse() * (it->ftr->f * (1.0/it->mu))); + Vector3d xyz_world(it->ftr->frame->T_f_w_.T->inverse() * (it->ftr->f * (1.0/it->mu))); Point* point = new Point(xyz_world, it->ftr); it->ftr->point = point; /* FIXME it is not threadsafe to add a feature to the frame here. diff --git a/GPU_version/svo/src/feature_alignment.cpp b/GPU_version/svo/src/feature_alignment.cpp index 496ce33..a68f121 100644 --- a/GPU_version/svo/src/feature_alignment.cpp +++ b/GPU_version/svo/src/feature_alignment.cpp @@ -25,7 +25,7 @@ namespace svo { namespace feature_alignment { -#define SUBPIX_VERBOSE 1 +#define SUBPIX_VERBOSE 0 bool align1D( const cv::Mat& cur_img, @@ -77,11 +77,16 @@ 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_) - break; + 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; + } - if(isnan(u) || isnan(v)) // TODO very rarely this can happen, maybe H is singular? should not be at corner.. check - return false; + if(isnan(u) || isnan(v)){ + // TODO very rarely this can happen, maybe H is singular? should not be at corner.. check + std::cout<<"H singularity\n"; + return false; + } // compute interpolation weights float subpix_x = u-u_r; @@ -193,9 +198,12 @@ bool align2D( // Compute pixel location in new image: float u = cur_px_estimate.x(); float v = cur_px_estimate.y(); + double error=1000.0; + double scale=1.0; + bool sign=true;// + // termination condition - const float min_update_squared = 0.03*0.03; + const float min_update_squared = 0.05; const int cur_step = cur_img.step.p[0]; // float chi2 = 0; Vector3f update; update.setZero(); @@ -203,11 +211,14 @@ bool align2D( { 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_) - break; + if(u_r < halfpatch_size_ || v_r < halfpatch_size_ || u_r >= cur_img.cols-halfpatch_size_ || v_r >= cur_img.rows-halfpatch_size_){ + break; + } - if(isnan(u) || isnan(v)) // TODO very rarely this can happen, maybe H is singular? should not be at corner.. check + if(isnan(u) || isnan(v)) { + // TODO very rarely this can happen, maybe H is singular? should not be at corner.. check return false; + } // compute interpolation weights float subpix_x = u-u_r; @@ -233,36 +244,39 @@ bool align2D( Jres[0] -= res*(*it_ref_dx); Jres[1] -= res*(*it_ref_dy); Jres[2] -= res; -// new_chi2 += res*res; } } - - -/* - if(iter > 0 && new_chi2 > chi2) - { -#if SUBPIX_VERBOSE - cout << "error increased." << endl; -#endif - u -= update[0]; - v -= update[1]; - break; - } - chi2 = new_chi2; -*/ update = Hinv * Jres; - u += update[0]; - v += update[1]; - mean_diff += update[2]; + double error_t=update[0]*update[0]+update[1]*update[1]; + double dt=error_t-error; + if(!signbit(dt))if(sign){ + sign=false; + scale*=0.5; + }else{ + sign=true; + scale*=0.5; + } + if(sign){ + u += scale*update[0]; + v += scale*update[1]; + mean_diff += scale*update[2]; + }else{ + u -= scale*update[0]; + v -= scale*update[1]; + mean_diff -= scale*update[2]; + } + error=error_t; + #if SUBPIX_VERBOSE cout << "Iter " << iter << ":" << "\t u=" << u << ", v=" << v - << "\t update = " << update[0] << ", " << update[1]<< endl; -// << "\t new chi2 = " << new_chi2 << endl; + << "\t error = " << error + << "\t delta error = " << dt + << "\t sign = " << sign << endl; #endif - if(update[0]*update[0]+update[1]*update[1] < min_update_squared) + if(error_t < min_update_squared) { #if SUBPIX_VERBOSE cout << "converged." << endl; @@ -271,7 +285,9 @@ bool align2D( break; } } - +#if SUBPIX_VERBOSE + if(!converged)cout << "not converged." << endl; +#endif cur_px_estimate << u, v; return converged; } diff --git a/GPU_version/svo/src/frame.cpp b/GPU_version/svo/src/frame.cpp index 3aa9273..b425646 100644 --- a/GPU_version/svo/src/frame.cpp +++ b/GPU_version/svo/src/frame.cpp @@ -32,7 +32,8 @@ Frame::Frame(vk::AbstractCamera* cam, const cv::Mat& img, double timestamp) : cam_(cam), key_pts_(5), is_keyframe_(false), - v_kf_(NULL) + v_kf_(NULL), + T_f_w_(SE2_5(0.0,0.0,0.0)) { initFrame(img); } @@ -137,7 +138,9 @@ void Frame::removeKeyPoint(Feature* ftr) bool Frame::isVisible(const Vector3d& xyz_w) const { - Vector3d xyz_f = T_f_w_*xyz_w; + Vector3d xyz_f = Vector3d(xyz_w.x()*T_f_w_.cos_theta_+xyz_w.z()*T_f_w_.sin_theta_+T_f_w_.X_, + xyz_w.y(), + -xyz_w.x()*T_f_w_.sin_theta_+xyz_w.z()*T_f_w_.cos_theta_+T_f_w_.Z_); if(xyz_f.z() < 0.0) return false; // point is behind the camera Vector2d px = f2c(xyz_f); diff --git a/GPU_version/svo/src/frame_handler_base.cpp b/GPU_version/svo/src/frame_handler_base.cpp index 2f22f65..3c77fca 100644 --- a/GPU_version/svo/src/frame_handler_base.cpp +++ b/GPU_version/svo/src/frame_handler_base.cpp @@ -86,8 +86,10 @@ int FrameHandlerBase::finishFrameProcessingCommon( stage_ = STAGE_RELOCALIZING; tracking_quality_ = TRACKING_INSUFFICIENT; } + /* else if (dropout == RESULT_FAILURE) resetAll(); + */ if(set_reset_) resetAll(); diff --git a/GPU_version/svo/src/frame_handler_mono.cpp b/GPU_version/svo/src/frame_handler_mono.cpp index 278c95b..92a6607 100644 --- a/GPU_version/svo/src/frame_handler_mono.cpp +++ b/GPU_version/svo/src/frame_handler_mono.cpp @@ -99,7 +99,7 @@ void FrameHandlerMono::addImage(const cv::Mat& img, const double timestamp) FrameHandlerMono::UpdateResult FrameHandlerMono::processFirstFrame() { - new_frame_->T_f_w_ = SE3(Matrix3d::Identity(), Vector3d::Zero()); + new_frame_->T_f_w_ = SE2_5(0.0,0.0,0.0); if(klt_homography_init_->addFirstFrame(new_frame_) == initialization::FAILURE) return RESULT_NO_KEYFRAME; new_frame_->setKeyframe(); @@ -137,41 +137,30 @@ FrameHandlerBase::UpdateResult FrameHandlerMono::processSecondFrame() FrameHandlerBase::UpdateResult FrameHandlerMono::processFrame() { SE3 tem=imu_integPtr_->preintegrate_predict(); - Eigen::Quaternion q(tem.rotation_matrix()); - q.vec() *= 1/q.norm(); - q.w() *= 1/q.norm(); - q.x()=0.0; - q.z()=0.0; - tem.translation().y()=0.0; - new_frame_->T_f_w_ = SE3(q,tem.translation()); + new_frame_->T_f_w_ = SE2_5(tem.translation().x(),tem.translation().z(),atan(tem.rotation_matrix()(0,2)/tem.rotation_matrix()(0,0))); + //new_frame_->T_f_w_ = last_frame_->T_f_w_; // sparse image align SparseImgAlign img_align(Config::kltMaxLevel(), Config::kltMinLevel(), - 30, SparseImgAlign::LevenbergMarquardt, false, true); + 30, SparseImgAlign::LevenbergMarquardt, false, false); img_align.run(last_frame_, new_frame_); // map reprojection & feature alignment reprojector_.reprojectMap(new_frame_, overlap_kfs_); - std::cerr<<"Reprojection Map: "<<"\t nPoint:"<predict(new_frame_,last_frame_,sfba_n_edges_final,Config::poseOptimThresh())){ - std::cerr<<"imu failed\n"; + + double sfba_thresh, sfba_error_init, sfba_error_final; + if(!imu_integPtr_->predict(new_frame_,last_frame_,sfba_n_edges_final,reprojector_.n_matches_)){ return RESULT_FAILURE; } - - //usleep(5000); - double sfba_thresh, sfba_error_init, sfba_error_final; pose_optimizer::optimizeGaussNewton( - Config::poseOptimThresh(), Config::poseOptimNumIter(), false, + Config::poseOptimThresh(), Config::poseOptimNumIter(), true, new_frame_, sfba_thresh, sfba_error_init, sfba_error_final, sfba_n_edges_final); - // pose optimization subject to change for adding IMU - /* - if(!imu_integPtr_->predict(new_frame_,last_frame_,sfba_n_edges_final,Config::poseOptimThresh())){ - std::cerr<<"imu failed\n"; - return RESULT_FAILURE; - }*/ - std::cerr<<"Reprojected points after opmization: "< Config::qualityMinFts()) { - SE3 T_f_w_last = last_frame_->T_f_w_; + SE2_5 T_f_w_last = last_frame_->T_f_w_; last_frame_ = ref_keyframe; FrameHandlerMono::UpdateResult res = processFrame(); if(res != RESULT_FAILURE) diff --git a/GPU_version/svo/src/imu_integration.cpp b/GPU_version/svo/src/imu_integration.cpp index 3b371d7..571ea4e 100644 --- a/GPU_version/svo/src/imu_integration.cpp +++ b/GPU_version/svo/src/imu_integration.cpp @@ -7,24 +7,25 @@ #include #include "gpu_svo/feature.h" #include "gpu_svo/point.h" -#include "gpu_svo/svoVisionFactorSmall.h" -//#include "gpu_svo/svoVisionFactor.h" +//#include "gpu_svo/svoVisionFactorSmall.h" +#include "gpu_svo/svoVisionFactor.h" //#include "gpu_svo/svoVisionFactorLandMark.h" #include #include #include #include #include - +#define debug 1 Imu_Integration::Imu_Integration(Sophus::SE3& SE_init){ graphPtr=std::make_shared(); valuesPtr=std::make_shared(); // Example: pitch and roll of aircraft in an ENU Cartesian frame. // If pitch and roll are zero for an aerospace frame, // that means Z is pointing down, i.e., direction of Z = (0,0,-1) - gtsam::Vector4 g=SE_init.matrix()*gtsam::Vector4(0, 0, svo::Config::Gravity(),1.0); - parameterPtr = boost::shared_ptr(new gtsam::PreintegrationCombinedParams(gtsam::Vector3(g.x(),g.y(),g.z()))); - parameterPtr->setBodyPSensor(gtsam::Pose3(SE_init.matrix()));// The pose of the sensor in the body frame + //gtsam::Vector4 g=SE_init.matrix()*gtsam::Vector4(0, 0, svo::Config::Gravity(),1.0); + //parameterPtr = boost::shared_ptr(new gtsam::PreintegrationCombinedParams(gtsam::Vector3(g.x(),g.y(),g.z()))); + parameterPtr = boost::shared_ptr(new gtsam::PreintegrationCombinedParams(gtsam::Vector3(0.0,0.0,0.0))); + //parameterPtr->setBodyPSensor(gtsam::Pose3(SE_init.matrix()));// The pose of the sensor in the body frame parameterPtr->accelerometerCovariance=gtsam::I_3x3 * svo::Config::ACC_Noise(); // acc white noise in continuous parameterPtr->gyroscopeCovariance=gtsam::I_3x3 * svo::Config::GYO_Noise();// gyro white noise in continuous parameterPtr->integrationCovariance=gtsam::I_3x3 * svo::Config::IUC(); // integration uncertainty continuous @@ -39,6 +40,7 @@ Imu_Integration::Imu_Integration(Sophus::SE3& SE_init){ optimizerParamPtr->relinearizeSkip = 1; optimizerParamPtr->evaluateNonlinearError=true; optimizerParamPtr->enableDetailedResults=true; + if(debug)logtime = fopen((std::string(getenv("HOME"))+"/imu_preIntegrate.txt").c_str(), "w+"); assert(preintegratedPtr); } Imu_Integration::~Imu_Integration(){ @@ -50,9 +52,9 @@ bool Imu_Integration::update(double* imu){ auto in=std::chrono::steady_clock::now(); if(std::chrono::duration(in-t_1).count()>20.0){ t_1=in; - preintegratedPtr->integrateMeasurement(Eigen::Vector3d(imu[0]-svo::Config::X_off(),imu[1]-svo::Config::Y_off(),imu[2]),Eigen::Vector3d(imu[3],imu[4],imu[5]-svo::Config::Teta_off()),0.005); + preintegratedPtr->integrateMeasurement(Eigen::Vector3d(imu[0]-svo::Config::X_off(),0.0,-1.0*imu[1]-svo::Config::Y_off()),Eigen::Vector3d(0.0,imu[5]-svo::Config::Teta_off(),0.0),0.005); }else{ - preintegratedPtr->integrateMeasurement(Eigen::Vector3d(imu[0]-svo::Config::X_off(),imu[1]-svo::Config::Y_off(),imu[2]),Eigen::Vector3d(imu[3],imu[4],imu[5]-svo::Config::Teta_off()),std::chrono::duration(in-t_1).count()); + preintegratedPtr->integrateMeasurement(Eigen::Vector3d(imu[0]-svo::Config::X_off(),0.0,-1.0*imu[1]-svo::Config::Y_off()),Eigen::Vector3d(0.0,imu[5]-svo::Config::Teta_off(),0.0),std::chrono::duration(in-t_1).count()); t_1=in; ++imu_n; } @@ -67,7 +69,7 @@ bool Imu_Integration::reset(gtsam::ISAM2& optimizer,boost::shared_ptrresetIntegrationAndSetBias(*imu_biasPtr); ++imu_factor_id; syn=false; - new_frame->T_f_w_=Sophus::SE3(statePtr->R(),statePtr->t()); + new_frame->T_f_w_=svo::SE2_5(statePtr->t().x(),statePtr->t().z(),atan(statePtr->R()(0,2)/statePtr->R()(0,0))); new_frame->Cov_=optimizer.marginalCovariance(P(imu_factor_id-1)); graphPtr->resize(0); valuesPtr->clear(); @@ -88,7 +90,7 @@ bool Imu_Integration::reset(gtsam::ISAM2& optimizer,boost::shared_ptr& new_frame){ gtsam::Values result = optimizer.optimize(); - optimizer.print(); + if(debug)optimizer.print(); // Overwrite the beginning of the preintegration for the next step. statePtr=std::make_shared(result.at(P(imu_factor_id)), result.at(V(imu_factor_id))); imu_biasPtr=std::make_shared(result.at(B(imu_factor_id))); @@ -96,8 +98,14 @@ bool Imu_Integration::reset(gtsam::LevenbergMarquardtOptimizer& optimizer,boost: ++imu_factor_id; syn=false; gtsam::Marginals marginals(*graphPtr,result); - marginals.print(); - new_frame->T_f_w_=Sophus::SE3(statePtr->R(),statePtr->t()); + if(debug)fprintf(logtime, "%f,%f,%f,%f,%f,%f,\n", + new_frame->T_f_w_.T->translation().x(), + new_frame->T_f_w_.T->translation().y(), + new_frame->T_f_w_.T->translation().z(), + statePtr->pose().x(), + statePtr->pose().y(), + statePtr->pose().z()); + new_frame->T_f_w_=svo::SE2_5(statePtr->t().x(),statePtr->t().z(),atan(statePtr->R()(0,2)/statePtr->R()(0,0))); new_frame->Cov_=marginals.marginalCovariance(P(imu_factor_id-1)); graphPtr->resize(0); valuesPtr->clear(); @@ -107,16 +115,6 @@ bool Imu_Integration::reset(gtsam::LevenbergMarquardtOptimizer& optimizer,boost: graphPtr->addPrior(P(imu_factor_id-1),statePtr->pose(),marginals.marginalCovariance(P(imu_factor_id-1))); graphPtr->addPrior(V(imu_factor_id-1),statePtr->v(),marginals.marginalCovariance(V(imu_factor_id-1))); graphPtr->addPrior(B(imu_factor_id-1),*imu_biasPtr,marginals.marginalCovariance(B(imu_factor_id-1))); - /* - for(auto&& f_n:_for(new_frame->fts_)){ - if(f_n.item->point == NULL)continue; - if(!result.exists(L(f_n.index)))continue; - f_n.item->point->pos_=result.at(L(f_n.index)); - //valuesPtr->insert(L(f_n.index),f_n.item->point->pos_); - //graphPtr->emplace_shared(f_n.item->f,f_n.item->level,ProjectNoisePtr,P(imu_factor_id),L(f_n.index)); - } - //graphPtr->addPrior(L(0),new_frame->fts_.front()->point->pos_,gtsam::noiseModel::Isotropic::Sigma(3, 1e-4)); - */ return true; } Sophus::SE3 Imu_Integration::preintegrate_predict() { @@ -133,54 +131,39 @@ Sophus::SE3 Imu_Integration::preintegrate_predict() { } bool Imu_Integration::predict(boost::shared_ptr& new_frame, boost::shared_ptr& last_frame, - std::size_t& num_obs,const double reproj_thresh){ - + std::size_t& num_obs,const double cell_match){ + if(debug)std::cout<<"----------------------------IMU infuse---------------------------------------\n"; + //if(debug)preintegratedPtr->print(); auto preint_imu_combined =dynamic_cast(*preintegratedPtr); - valuesPtr->insert(P(imu_factor_id), gtsam::Pose3(new_frame->T_f_w_.matrix())); + valuesPtr->insert(P(imu_factor_id), Integ_predict.pose()); valuesPtr->insert(V(imu_factor_id), Integ_predict.v()); valuesPtr->insert(B(imu_factor_id), *imu_biasPtr); gtsam::CombinedImuFactor imu_factor(P(imu_factor_id - 1), V(imu_factor_id - 1), P(imu_factor_id), V(imu_factor_id), B(imu_factor_id - 1), B(imu_factor_id), preint_imu_combined); graphPtr->emplace_shared(imu_factor); imu_n=0; - - for(auto&& f:new_frame->fts_){ - if(f->point==NULL)continue; - graphPtr->emplace_shared(f->f, f->point->pos_,f->level, ProjectNoisePtr,P(imu_factor_id)); - ++num_obs; - } - - std::cout<<"------------------------------------------------------------------------------\n"; - std::cout<<"------------------------------------------------------------------------------\n"; - std::cout<<"------------------------------------------------------------------------------\n"; - graphPtr->print(); + graphPtr->emplace_shared(gtsam::Pose3(new_frame->T_f_w_.T->matrix()), + gtsam::noiseModel::Diagonal::Sigmas((gtsam::Vector(3) << 1.0, 1.0, 1.0).finished()/(cell_match+1)), + P(imu_factor_id)); gtsam::LevenbergMarquardtParams params0; //params0.verbosity=gtsam::LevenbergMarquardtParams::LINEAR; params0.verbosityLM = gtsam::LevenbergMarquardtParams::SUMMARY; params0.setlambdaFactor(10.0); + params0.setlambdaInitial(100); + params0.setlambdaUpperBound(1e10); gtsam::LevenbergMarquardtOptimizer optimizer(*graphPtr, *valuesPtr,params0); reset(optimizer,new_frame); - std::cout<<"------------------------------------------------------------------------------\n"; - // Remove Measurements with too large reprojection error - /* - double reproj_thresh_scaled = reproj_thresh / new_frame->cam_->errorMultiplier2(); - for(auto&& f:new_frame->fts_) - { - if(f->point == NULL)continue; - Eigen::Vector2d e = (vk::project2d(f->f) - vk::project2d(new_frame->T_f_w_ * f->point->pos_))*1.0 / (1<level); - if(e.norm() > reproj_thresh_scaled) - { - // we don't need to delete a reference in the point since it was not created yet - f->point = NULL; - --num_obs; - } - } - */ + + if(debug)std::cout<<"------------------------------------------------------------------------------\n"; return true; } bool Imu_Integration::init(boost::shared_ptr& new_frame){ - statePtr=std::make_shared(gtsam::Pose3(new_frame->T_f_w_.matrix()), + statePtr=std::make_shared(gtsam::Pose3(new_frame->T_f_w_.T->matrix()), gtsam::Vector3(1e-9,1e-9,1e-9)); + /* + statePtr=std::make_shared(gtsam::Pose3(gtsam::Rot3::RzRyRx(0.0,0.0,0.0),gtsam::Point3(0.0,0.0,0.0)), + gtsam::Vector3(1e-9,1e-9,1e-9)); + */ valuesPtr->insert(P(0),statePtr->pose()); valuesPtr->insert(V(0),statePtr->v()); valuesPtr->insert(B(0),*imu_biasPtr); diff --git a/GPU_version/svo/src/initialization.cpp b/GPU_version/svo/src/initialization.cpp index 88f1cb8..1681a9e 100644 --- a/GPU_version/svo/src/initialization.cpp +++ b/GPU_version/svo/src/initialization.cpp @@ -69,11 +69,14 @@ 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_ = T_cur_from_ref_ * frame_ref_->T_f_w_; - frame_cur->T_f_w_.translation() = -frame_cur->T_f_w_.rotation_matrix()*(frame_ref_->pos() + scale*(frame_cur->pos() - frame_ref_->pos())); + SE3 tem=T_cur_from_ref_ * (*frame_ref_->T_f_w_.T); + frame_cur->T_f_w_ = SE2_5(tem.translation().x(),tem.translation().z(),atan(tem.rotation_matrix()(0,2)/tem.rotation_matrix()(0,0))); + tem.translation() = -frame_cur->T_f_w_.T->rotation_matrix()*(frame_ref_->pos() + scale*(frame_cur->pos() - frame_ref_->pos())); + frame_cur->T_f_w_.X_ = tem.translation().x(); + frame_cur->T_f_w_.Z_ = tem.translation().z(); // For each inlier create 3D point and add feature in both frames - SE3 T_world_cur = frame_cur->T_f_w_.inverse(); + SE3 T_world_cur = frame_cur->T_f_w_.T->inverse(); for(vector::iterator it=inliers_.begin(); it!=inliers_.end(); ++it) { Vector2d px_cur(px_cur_[*it].x, px_cur_[*it].y); diff --git a/GPU_version/svo/src/map.cpp b/GPU_version/svo/src/map.cpp index 90c7416..e46f9b0 100644 --- a/GPU_version/svo/src/map.cpp +++ b/GPU_version/svo/src/map.cpp @@ -114,12 +114,11 @@ void Map::getCloseKeyframes( { if(keypoint == nullptr) continue; - if(frame->isVisible(keypoint->point->pos_)) { close_kfs.push_back( std::make_pair( - kf, (frame->T_f_w_.translation()-kf->T_f_w_.translation()).norm())); + kf, (frame->T_f_w_.T->translation()-kf->T_f_w_.T->translation()).norm())); break; // this keyframe has an overlapping field of view -> add to close_kfs } } @@ -178,8 +177,9 @@ void Map::transform(const Matrix3d& R, const Vector3d& t, const double& s) for(auto it=keyframes_.begin(), ite=keyframes_.end(); it!=ite; ++it) { Vector3d pos = s*R*(*it)->pos() + t; - Matrix3d rot = R*(*it)->T_f_w_.rotation_matrix().inverse(); - (*it)->T_f_w_ = SE3(rot, pos).inverse(); + Matrix3d rot = R*(*it)->T_f_w_.T->rotation_matrix().inverse(); + SE3 inv=SE3(rot, pos).inverse(); + (*it)->T_f_w_ = SE2_5(inv.translation().x(),inv.translation().z(),atan(inv.rotation_matrix()(0,2)/inv.rotation_matrix()(0,0))); for(auto ftr=(*it)->fts_.begin(); ftr!=(*it)->fts_.end(); ++ftr) { if((*ftr)->point == NULL) diff --git a/GPU_version/svo/src/matcher.cpp b/GPU_version/svo/src/matcher.cpp index 26e9dfc..e4a236a 100644 --- a/GPU_version/svo/src/matcher.cpp +++ b/GPU_version/svo/src/matcher.cpp @@ -147,7 +147,7 @@ bool Matcher::findMatchDirect( warp::getWarpMatrixAffine( *ref_ftr_->frame->cam_, *cur_frame.cam_, ref_ftr_->px, ref_ftr_->f, (ref_ftr_->frame->pos() - pt.pos_).norm(), - cur_frame.T_f_w_ * ref_ftr_->frame->T_f_w_.inverse(), ref_ftr_->level, A_cur_ref_); + (*cur_frame.T_f_w_.T) * ref_ftr_->frame->T_f_w_.T->inverse(), 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_); @@ -184,7 +184,7 @@ bool Matcher::findEpipolarMatchDirect( const double d_max, double& depth) { - SE3 T_cur_ref = cur_frame.T_f_w_ * ref_frame.T_f_w_.inverse(); + SE3 T_cur_ref = (*cur_frame.T_f_w_.T) * ref_frame.T_f_w_.T->inverse(); int zmssd_best = PatchScore::threshold(); Vector2d uv_best; diff --git a/GPU_version/svo/src/point.cpp b/GPU_version/svo/src/point.cpp index 24423eb..e7f1f21 100644 --- a/GPU_version/svo/src/point.cpp +++ b/GPU_version/svo/src/point.cpp @@ -89,7 +89,7 @@ void Point::initNormal() assert(!obs_.empty()); const Feature* ftr = obs_.back(); assert(ftr->frame != NULL); - normal_ = ftr->frame->T_f_w_.rotation_matrix().transpose()*(-ftr->f); + normal_ = ftr->frame->T_f_w_.T->rotation_matrix().transpose()*(-ftr->f); normal_information_ = DiagonalMatrix(pow(20/(pos_-ftr->frame->pos()).norm(),2), 1.0, 1.0); normal_set_ = true; } @@ -133,8 +133,10 @@ void Point::optimize(const size_t n_iter) for(auto it=obs_.begin(); it!=obs_.end(); ++it) { Matrix23d J; - const Vector3d p_in_f((*it)->frame->T_f_w_ * pos_); - Point::jacobian_xyz2uv(p_in_f, (*it)->frame->T_f_w_.rotation_matrix(), J); + const Vector3d p_in_f(pos_.x()*(*it)->frame->T_f_w_.cos_theta_+pos_.z()*(*it)->frame->T_f_w_.sin_theta_+(*it)->frame->T_f_w_.X_, + pos_.y(), + -pos_.x()*(*it)->frame->T_f_w_.sin_theta_+pos_.z()*(*it)->frame->T_f_w_.cos_theta_+(*it)->frame->T_f_w_.Z_); + Point::jacobian_xyz2uv(p_in_f, (*it)->frame->T_f_w_.T->rotation_matrix(), J); const Vector2d e(vk::project2d((*it)->f) - vk::project2d(p_in_f)); new_chi2 += e.squaredNorm(); A.noalias() += J.transpose() * J; diff --git a/GPU_version/svo/src/pose_optimizer.cpp b/GPU_version/svo/src/pose_optimizer.cpp index 3d89d1e..8e8e47c 100644 --- a/GPU_version/svo/src/pose_optimizer.cpp +++ b/GPU_version/svo/src/pose_optimizer.cpp @@ -39,7 +39,7 @@ void optimizeGaussNewton( double chi2(0.0); vector chi2_vec_init, chi2_vec_final; vk::robust_cost::TukeyWeightFunction weight_function; - SE3 T_old(frame->T_f_w_); + SE2_5 T_old(frame->T_f_w_.X_,frame->T_f_w_.Z_,frame->T_f_w_.tetha_); Matrix6d A; Vector6d b; @@ -51,7 +51,10 @@ void optimizeGaussNewton( continue; //Reprojection error Vector2d e = vk::project2d((*it)->f) - - vk::project2d(frame->T_f_w_ * (*it)->point->pos_); + - vk::project2d(Vector3d((*it)->point->pos_.x()*frame->T_f_w_.cos_theta_+(*it)->point->pos_.z()*frame->T_f_w_.sin_theta_+frame->T_f_w_.X_, + (*it)->point->pos_.y(), + -(*it)->point->pos_.x()*frame->T_f_w_.sin_theta_+(*it)->point->pos_.z()*frame->T_f_w_.cos_theta_+frame->T_f_w_.Z_)); + e *= 1.0 / (1<<(*it)->level); errors.push_back(e.norm()); } @@ -80,7 +83,9 @@ void optimizeGaussNewton( if((*it)->point == NULL) continue; Matrix26d J; - Vector3d xyz_f(frame->T_f_w_ * (*it)->point->pos_); + Vector3d xyz_f(Vector3d((*it)->point->pos_.x()*frame->T_f_w_.cos_theta_+(*it)->point->pos_.z()*frame->T_f_w_.sin_theta_+frame->T_f_w_.X_, + (*it)->point->pos_.y(), + -(*it)->point->pos_.x()*frame->T_f_w_.sin_theta_+(*it)->point->pos_.z()*frame->T_f_w_.cos_theta_+frame->T_f_w_.Z_)); Frame::jacobian_xyz2uv(xyz_f, J); Vector2d e = vk::project2d((*it)->f) - vk::project2d(xyz_f); double sqrt_inv_cov = 1.0 / (1<<(*it)->level); @@ -108,9 +113,9 @@ void optimizeGaussNewton( } // update the model - SE3 T_new = SE3::exp(dT)*frame->T_f_w_; + SE3 T_new = SE3::exp(dT)*(*frame->T_f_w_.T); T_old = frame->T_f_w_; - frame->T_f_w_ = T_new; + frame->T_f_w_ = SE2_5(T_new.translation().x(),T_new.translation().z(),atan(T_new.rotation_matrix()(0,2)/T_new.rotation_matrix()(0,0))); chi2 = new_chi2; if(verbose) std::cout << "it " << iter @@ -133,7 +138,9 @@ void optimizeGaussNewton( { if((*it)->point == NULL) continue; - Vector2d e = vk::project2d((*it)->f) - vk::project2d(frame->T_f_w_ * (*it)->point->pos_); + Vector2d e = vk::project2d((*it)->f) - vk::project2d(Vector3d((*it)->point->pos_.x()*frame->T_f_w_.cos_theta_+(*it)->point->pos_.z()*frame->T_f_w_.sin_theta_+frame->T_f_w_.X_, + (*it)->point->pos_.y(), + -(*it)->point->pos_.x()*frame->T_f_w_.sin_theta_+(*it)->point->pos_.z()*frame->T_f_w_.cos_theta_+frame->T_f_w_.Z_)); double sqrt_inv_cov = 1.0 / (1<<(*it)->level); e *= sqrt_inv_cov; chi2_vec_final.push_back(e.squaredNorm()); diff --git a/GPU_version/svo/src/sparse_img_align.cpp b/GPU_version/svo/src/sparse_img_align.cpp index 13ae449..b197181 100644 --- a/GPU_version/svo/src/sparse_img_align.cpp +++ b/GPU_version/svo/src/sparse_img_align.cpp @@ -55,8 +55,7 @@ size_t SparseImgAlign::run(FramePtr ref_frame, FramePtr 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? - SE3 T_cur_from_ref(cur_frame_->T_f_w_ * ref_frame_->T_f_w_.inverse()); - + SE3 T_cur_from_ref(*cur_frame_->T_f_w_.T * ref_frame_->T_f_w_.T->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? @@ -67,7 +66,8 @@ 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_ = T_cur_from_ref * ref_frame_->T_f_w_; + SE3 tem=T_cur_from_ref * (*ref_frame_->T_f_w_.T); + cur_frame_->T_f_w_ = SE2_5(tem.translation().x(),tem.translation().z(),atan(tem.rotation_matrix()(0,2)/tem.rotation_matrix()(0,0))); return n_meas_/patch_area_; } diff --git a/GPU_version/vio/launch/Px30.launch b/GPU_version/vio/launch/Px30.launch index 67019b8..032feaf 100644 --- a/GPU_version/vio/launch/Px30.launch +++ b/GPU_version/vio/launch/Px30.launch @@ -10,7 +10,7 @@ - + diff --git a/GPU_version/vio/param/vo_fast.yaml b/GPU_version/vio/param/vo_fast.yaml index a5f9cec..13ada7a 100644 --- a/GPU_version/vio/param/vo_fast.yaml +++ b/GPU_version/vio/param/vo_fast.yaml @@ -15,8 +15,8 @@ svo: ABC: 0.1 #acc bias in continuous GBC: 0.1 #gyro bias in continuous EBP: 0.1 #error in the bias used for preintegration - NRP: 0.0000001 #noise used for projection in preintegration - gravity: 9.65 + NRP: 0.001 #noise used for projection in preintegration + gravity: -9.65 Acceleration_offset_x: -0.05 Acceleration_offset_y: -0.04 Gyroscope_offset_z: 0.001 diff --git a/GPU_version/vio/src/visualizer.cpp b/GPU_version/vio/src/visualizer.cpp index 90ad7ab..0264b03 100644 --- a/GPU_version/vio/src/visualizer.cpp +++ b/GPU_version/vio/src/visualizer.cpp @@ -34,10 +34,9 @@ Visualizer() : T_world_from_vision_(Matrix3d::Identity(), Vector3d::Zero()) { // Init ROS Marker Publishers - pub_frames_ = pnh_.advertise("keyframes", 10); - pub_points_ = pnh_.advertise("points", 1000); + //pub_frames_ = pnh_.advertise("keyframes", 10); + // pub_points_ = pnh_.advertise("points", 1000); pub_pose_ = pnh_.advertise("pose",10); - pub_info_ = pnh_.advertise("info", 10); } void Visualizer::publishMinimal( @@ -48,38 +47,18 @@ void Visualizer::publishMinimal( { ++trace_id_; std_msgs::Header header_msg; - header_msg.frame_id = "/cam"; + header_msg.frame_id = "/world"; header_msg.seq = trace_id_; header_msg.stamp = ros::Time(timestamp); - - // publish info msg. - if(pub_info_.getNumSubscribers() > 0) - { - vio_gpu::Info msg_info; - msg_info.header = header_msg; - //msg_info.processing_time = slam.lastProcessingTime(); - msg_info.keyframes.reserve(slam.map().keyframes_.size()); - for(list::const_iterator it=slam.map().keyframes_.begin(); it!=slam.map().keyframes_.end(); ++it) - msg_info.keyframes.push_back((*it)->id_); - msg_info.stage = static_cast(slam.stage()); - msg_info.tracking_quality = static_cast(slam.trackingQuality()); - /* - if(frame != NULL) - msg_info.num_matches = slam.lastNumObservations(); - else - msg_info.num_matches = 0; - */ - pub_info_.publish(msg_info); - } if(pub_pose_.getNumSubscribers() > 0 && slam.stage() == FrameHandlerBase::STAGE_DEFAULT_FRAME) { Quaterniond q; Vector3d p; Matrix Cov; // publish cam in world frame (Estimated odometry in the worls frame) - SE3 T_world_from_cam(T_world_from_vision_*frame->T_f_w_.inverse());// do not confused with inverse. the T_f_w_ is the from camera to initial position with reference of camera - q = Quaterniond(T_world_from_cam.rotation_matrix()*T_world_from_vision_.rotation_matrix().transpose()); - p = T_world_from_cam.translation(); + SE3 T_world_from_cam(T_world_from_vision_*frame->T_f_w_.T->inverse());// do not confused with inverse. the T_f_w_ is the from camera to initial position with reference of camera + //q = Quaterniond(T_world_from_cam.rotation_matrix()*T_world_from_vision_.rotation_matrix().transpose()); + //p = T_world_from_cam.translation(); Cov = T_world_from_cam.Adj()*frame->Cov_*T_world_from_cam.inverse().Adj(); geometry_msgs::PoseWithCovarianceStampedPtr msg_pose(new geometry_msgs::PoseWithCovarianceStamped); msg_pose->header = header_msg; @@ -105,7 +84,7 @@ void Visualizer::visualizeMarkers( return; vk::output_helper::publishTfTransform( - frame->T_f_w_*T_world_from_vision_.inverse(), + *frame->T_f_w_.T*T_world_from_vision_.inverse(), ros::Time(frame->timestamp_), "cam_pos", "world", br_); if(pub_frames_.getNumSubscribers() > 0 || pub_points_.getNumSubscribers() > 0) diff --git a/GPU_version/vio/src/vo_node.cpp b/GPU_version/vio/src/vo_node.cpp index b167282..0550d5a 100644 --- a/GPU_version/vio/src/vo_node.cpp +++ b/GPU_version/vio/src/vo_node.cpp @@ -95,8 +95,6 @@ void VoNode::imgCb(const sensor_msgs::ImageConstPtr& msg) cv::Mat img=cv_bridge::toCvShare(msg, "mono8")->image; vo_->addImage(img, msg->header.stamp.toSec()); visualizer_.publishMinimal(img, vo_->lastFrame(), *vo_, msg->header.stamp.toSec()); - if(publish_markers_ && vo_->stage() != FrameHandlerBase::STAGE_PAUSED) - visualizer_.visualizeMarkers(vo_->lastFrame(), vo_->coreKeyframes(), vo_->map()); if(vo_->stage() == FrameHandlerMono::STAGE_PAUSED) usleep(100000); fprintf(logtime, "%s\n",std::to_string(std::chrono::duration(std::chrono::steady_clock::now()-start).count()).c_str()); From 982217598aecaf22e38dbee94f6390e80ccc44da Mon Sep 17 00:00:00 2001 From: gfuse Date: Tue, 1 Jun 2021 19:26:34 +0200 Subject: [PATCH 201/215] remove logs, trying to add more key frames by setting some situation for depth mean --- GPU_version/svo/include/gpu_svo/global.h | 7 ++++++ GPU_version/svo/src/frame_handler_mono.cpp | 25 ++++++++++++++++++---- GPU_version/svo/src/imu_integration.cpp | 15 +++++++------ GPU_version/svo/src/pose_optimizer.cpp | 1 - GPU_version/svo/src/reprojector.cpp | 2 +- GPU_version/vio/param/vo_fast.yaml | 6 +++--- GPU_version/vio/src/visualizer.cpp | 8 +++---- GPU_version/vio/src/vo_node.cpp | 12 +++++------ 8 files changed, 51 insertions(+), 25 deletions(-) diff --git a/GPU_version/svo/include/gpu_svo/global.h b/GPU_version/svo/include/gpu_svo/global.h index f5292c4..a307503 100644 --- a/GPU_version/svo/include/gpu_svo/global.h +++ b/GPU_version/svo/include/gpu_svo/global.h @@ -62,6 +62,13 @@ namespace svo -sin_theta_,0.0,cos_theta_; T=new SE3(R,Vector3d(X_,0.0,Z_)); }; + void set(){ + X_=T->translation().x(); + Z_=T->translation().z(); + tetha_=atan(T->matrix()(0,2)/T->matrix()(0,0)); + cos_theta_=cos(tetha_); + sin_theta_=sin(tetha_); + } ~SE2_5(){} }; diff --git a/GPU_version/svo/src/frame_handler_mono.cpp b/GPU_version/svo/src/frame_handler_mono.cpp index 92a6607..7dcaffc 100644 --- a/GPU_version/svo/src/frame_handler_mono.cpp +++ b/GPU_version/svo/src/frame_handler_mono.cpp @@ -137,24 +137,32 @@ FrameHandlerBase::UpdateResult FrameHandlerMono::processSecondFrame() FrameHandlerBase::UpdateResult FrameHandlerMono::processFrame() { SE3 tem=imu_integPtr_->preintegrate_predict(); - new_frame_->T_f_w_ = SE2_5(tem.translation().x(),tem.translation().z(),atan(tem.rotation_matrix()(0,2)/tem.rotation_matrix()(0,0))); + if((new_frame_->T_f_w_.T->translation()-tem.translation()).norm()>0.5){ + new_frame_->T_f_w_ = SE2_5(tem.translation().x(),tem.translation().z(),atan(tem.rotation_matrix()(0,2)/tem.rotation_matrix()(0,0))); + }else{ + new_frame_->T_f_w_ = last_frame_->T_f_w_; + } + new_frame_->T_f_w_.set(); //new_frame_->T_f_w_ = last_frame_->T_f_w_; // sparse image align SparseImgAlign img_align(Config::kltMaxLevel(), Config::kltMinLevel(), 30, SparseImgAlign::LevenbergMarquardt, false, false); img_align.run(last_frame_, new_frame_); + new_frame_->T_f_w_.set(); // map reprojection & feature alignment reprojector_.reprojectMap(new_frame_, overlap_kfs_); size_t sfba_n_edges_final=0; - + new_frame_->T_f_w_.set(); double sfba_thresh, sfba_error_init, sfba_error_final; if(!imu_integPtr_->predict(new_frame_,last_frame_,sfba_n_edges_final,reprojector_.n_matches_)){ return RESULT_FAILURE; } + new_frame_->T_f_w_.set(); pose_optimizer::optimizeGaussNewton( - Config::poseOptimThresh(), Config::poseOptimNumIter(), true, + Config::poseOptimThresh(), Config::poseOptimNumIter(), false, new_frame_, sfba_thresh, sfba_error_init, sfba_error_final, sfba_n_edges_final); + new_frame_->T_f_w_.set(); std::cerr<<"Reprojection Map: "<<"\t nPoint:"<T_f_w_.set(); // select keyframe core_kfs_.insert(new_frame_); setTrackingQuality(sfba_n_edges_final); @@ -176,20 +185,26 @@ FrameHandlerBase::UpdateResult FrameHandlerMono::processFrame() return RESULT_FAILURE; } double depth_mean, depth_min; + + new_frame_->T_f_w_.set(); frame_utils::getSceneDepth(*new_frame_, depth_mean, depth_min); - if(!needNewKf(depth_mean) || tracking_quality_ == TRACKING_BAD) + + new_frame_->T_f_w_.set(); + if(!needNewKf(depth_mean) || tracking_quality_ == TRACKING_BAD)//edited { depth_filter_->addFrame(new_frame_); return RESULT_NO_KEYFRAME; } new_frame_->setKeyframe(); + new_frame_->T_f_w_.set(); // new keyframe selected for(auto&& it:new_frame_->fts_){ if(it->point != NULL)it->point->addFrameRef(it); } map_.point_candidates_.addCandidatePointToFrame(new_frame_); + new_frame_->T_f_w_.set(); // init new depth-filters depth_filter_->addKeyframe(new_frame_, depth_mean, 0.5*depth_min); @@ -201,6 +216,7 @@ FrameHandlerBase::UpdateResult FrameHandlerMono::processFrame() map_.safeDeleteFrame(furthest_frame); } + new_frame_->T_f_w_.set(); // add keyframe to map map_.addKeyframe(new_frame_); std::cerr<<"Svo pipline was finished\n"; @@ -274,6 +290,7 @@ void FrameHandlerMono::setFirstFrame(const FramePtr& first_frame) bool FrameHandlerMono::needNewKf(double scene_depth_mean) { + if(scene_depth_mean >10.0)return true; for(auto&& it:overlap_kfs_) { Vector3d relpos = new_frame_->w2f(it.first->pos()); diff --git a/GPU_version/svo/src/imu_integration.cpp b/GPU_version/svo/src/imu_integration.cpp index 571ea4e..4346c0d 100644 --- a/GPU_version/svo/src/imu_integration.cpp +++ b/GPU_version/svo/src/imu_integration.cpp @@ -15,7 +15,7 @@ #include #include #include -#define debug 1 +#define debug 0 Imu_Integration::Imu_Integration(Sophus::SE3& SE_init){ graphPtr=std::make_shared(); valuesPtr=std::make_shared(); @@ -52,9 +52,9 @@ bool Imu_Integration::update(double* imu){ auto in=std::chrono::steady_clock::now(); if(std::chrono::duration(in-t_1).count()>20.0){ t_1=in; - preintegratedPtr->integrateMeasurement(Eigen::Vector3d(imu[0]-svo::Config::X_off(),0.0,-1.0*imu[1]-svo::Config::Y_off()),Eigen::Vector3d(0.0,imu[5]-svo::Config::Teta_off(),0.0),0.005); + preintegratedPtr->integrateMeasurement(Eigen::Vector3d(-1.0*(imu[0]-svo::Config::X_off()),0.0,-1.0*(imu[1]-svo::Config::Y_off())),Eigen::Vector3d(0.0,imu[5]-svo::Config::Teta_off(),0.0),0.005); }else{ - preintegratedPtr->integrateMeasurement(Eigen::Vector3d(imu[0]-svo::Config::X_off(),0.0,-1.0*imu[1]-svo::Config::Y_off()),Eigen::Vector3d(0.0,imu[5]-svo::Config::Teta_off(),0.0),std::chrono::duration(in-t_1).count()); + preintegratedPtr->integrateMeasurement(Eigen::Vector3d(-1.0*(imu[0]-svo::Config::X_off()),0.0,-1.0*(imu[1]-svo::Config::Y_off())),Eigen::Vector3d(0.0,imu[5]-svo::Config::Teta_off(),0.0),std::chrono::duration(in-t_1).count()); t_1=in; ++imu_n; } @@ -98,13 +98,16 @@ bool Imu_Integration::reset(gtsam::LevenbergMarquardtOptimizer& optimizer,boost: ++imu_factor_id; syn=false; gtsam::Marginals marginals(*graphPtr,result); - if(debug)fprintf(logtime, "%f,%f,%f,%f,%f,%f,\n", + if(debug)fprintf(logtime, "%f,%f,%f,%f,%f,%f,%f,%f,\n", new_frame->T_f_w_.T->translation().x(), new_frame->T_f_w_.T->translation().y(), new_frame->T_f_w_.T->translation().z(), + atan(new_frame->T_f_w_.T->rotation_matrix()(0,2)/new_frame->T_f_w_.T->rotation_matrix()(0,0)), statePtr->pose().x(), statePtr->pose().y(), - statePtr->pose().z()); + statePtr->pose().z(), + atan(statePtr->R()(0,2)/statePtr->R()(0,0))); + if((statePtr->t()-new_frame->T_f_w_.T->translation()).norm()>2.0)return false; new_frame->T_f_w_=svo::SE2_5(statePtr->t().x(),statePtr->t().z(),atan(statePtr->R()(0,2)/statePtr->R()(0,0))); new_frame->Cov_=marginals.marginalCovariance(P(imu_factor_id-1)); graphPtr->resize(0); @@ -147,7 +150,7 @@ bool Imu_Integration::predict(boost::shared_ptr& new_frame, P(imu_factor_id)); gtsam::LevenbergMarquardtParams params0; //params0.verbosity=gtsam::LevenbergMarquardtParams::LINEAR; - params0.verbosityLM = gtsam::LevenbergMarquardtParams::SUMMARY; + params0.verbosityLM = gtsam::LevenbergMarquardtParams::SILENT; params0.setlambdaFactor(10.0); params0.setlambdaInitial(100); params0.setlambdaUpperBound(1e10); diff --git a/GPU_version/svo/src/pose_optimizer.cpp b/GPU_version/svo/src/pose_optimizer.cpp index 8e8e47c..5dcbee3 100644 --- a/GPU_version/svo/src/pose_optimizer.cpp +++ b/GPU_version/svo/src/pose_optimizer.cpp @@ -98,7 +98,6 @@ void optimizeGaussNewton( b.noalias() -= J.transpose()*e*weight; new_chi2 += e.squaredNorm()*weight; } - // solve linear system const Vector6d dT(A.ldlt().solve(b)); diff --git a/GPU_version/svo/src/reprojector.cpp b/GPU_version/svo/src/reprojector.cpp index 0305797..b7f9022 100644 --- a/GPU_version/svo/src/reprojector.cpp +++ b/GPU_version/svo/src/reprojector.cpp @@ -72,7 +72,7 @@ void Reprojector::reprojectMap( list< pair > close_kfs; map_.getCloseKeyframes(frame, close_kfs); - std::cout<<"The number of closed frames: "<::second, _1) < boost::bind(&std::pair::second, _2)); diff --git a/GPU_version/vio/param/vo_fast.yaml b/GPU_version/vio/param/vo_fast.yaml index 13ada7a..c2189bd 100644 --- a/GPU_version/vio/param/vo_fast.yaml +++ b/GPU_version/vio/param/vo_fast.yaml @@ -17,6 +17,6 @@ svo: EBP: 0.1 #error in the bias used for preintegration NRP: 0.001 #noise used for projection in preintegration gravity: -9.65 - Acceleration_offset_x: -0.05 - Acceleration_offset_y: -0.04 - Gyroscope_offset_z: 0.001 + Acceleration_offset_x: 0.0 #-0.05 + Acceleration_offset_y: 0.0 #-0.04 + Gyroscope_offset_z: 0.0 #0.001 diff --git a/GPU_version/vio/src/visualizer.cpp b/GPU_version/vio/src/visualizer.cpp index 0264b03..3d58393 100644 --- a/GPU_version/vio/src/visualizer.cpp +++ b/GPU_version/vio/src/visualizer.cpp @@ -65,10 +65,10 @@ void Visualizer::publishMinimal( msg_pose->pose.pose.position.x = p[0]; msg_pose->pose.pose.position.y = p[1]; msg_pose->pose.pose.position.z = p[2]; - msg_pose->pose.pose.orientation.x = q.x(); - msg_pose->pose.pose.orientation.y = q.y(); - msg_pose->pose.pose.orientation.z = q.z(); - msg_pose->pose.pose.orientation.w = q.w(); + msg_pose->pose.pose.orientation.x = q.x()/q.norm(); + msg_pose->pose.pose.orientation.y = q.y()/q.norm(); + msg_pose->pose.pose.orientation.z = q.z()/q.norm(); + msg_pose->pose.pose.orientation.w = q.w()/q.norm(); for(size_t i=0; i<36; ++i) msg_pose->pose.covariance[i] = Cov(i%6, i/6); pub_pose_.publish(msg_pose); diff --git a/GPU_version/vio/src/vo_node.cpp b/GPU_version/vio/src/vo_node.cpp index 0550d5a..0087b0c 100644 --- a/GPU_version/vio/src/vo_node.cpp +++ b/GPU_version/vio/src/vo_node.cpp @@ -105,12 +105,12 @@ void VoNode::imgCb(const sensor_msgs::ImageConstPtr& msg) } void VoNode::imuCb(const sensor_msgs::ImuPtr &imu) { double imu_in[6]; - imu_in[0] = 0.1*imu_[0]+0.9*imu->linear_acceleration.x; - imu_in[1] = 0.1*imu_[1]+0.9*imu->linear_acceleration.y; - imu_in[2] = 0.1*imu_[2]+0.9*imu->linear_acceleration.z; - imu_in[3] = 0.1*imu_[3]+0.9*imu->angular_velocity.x; - imu_in[4] = 0.1*imu_[4]+0.9*imu->angular_velocity.y; - imu_in[5] = 0.1*imu_[5]+0.9*imu->angular_velocity.z; + imu_in[0] = 0.4*imu_[0]+0.6*imu->linear_acceleration.x; + imu_in[1] = 0.4*imu_[1]+0.6*imu->linear_acceleration.y; + imu_in[2] = 0.4*imu_[2]+0.6*imu->linear_acceleration.z; + imu_in[3] = 0.4*imu_[3]+0.6*imu->angular_velocity.x; + imu_in[4] = 0.4*imu_[4]+0.6*imu->angular_velocity.y; + imu_in[5] = 0.4*imu_[5]+0.6*imu->angular_velocity.z; memcpy(imu_, imu_in, static_cast(6*sizeof(double))); vo_->imu_integPtr_->update(imu_in); } From 27f92bc7e7cb9f96803f6d1fc452423d88573edb Mon Sep 17 00:00:00 2001 From: gfuse Date: Fri, 4 Jun 2021 14:59:02 +0200 Subject: [PATCH 202/215] calibrate imu --- .../svo/include/gpu_svo/depth_filter.h | 3 +- .../svo/include/gpu_svo/imu_integration.h | 6 +- GPU_version/svo/src/depth_filter.cpp | 43 ++++----- GPU_version/svo/src/feature_alignment.cpp | 2 +- GPU_version/svo/src/frame_handler_mono.cpp | 47 +++++----- GPU_version/svo/src/imu_integration.cpp | 89 +++++-------------- GPU_version/svo/src/matcher.cpp | 2 + GPU_version/svo/src/sparse_img_align.cpp | 4 +- GPU_version/vio/include/vio_gpu/visualizer.h | 2 +- GPU_version/vio/param/vo_fast.yaml | 12 +-- GPU_version/vio/src/visualizer.cpp | 38 ++++---- 11 files changed, 108 insertions(+), 140 deletions(-) diff --git a/GPU_version/svo/include/gpu_svo/depth_filter.h b/GPU_version/svo/include/gpu_svo/depth_filter.h index 07d71e5..9e82df4 100644 --- a/GPU_version/svo/include/gpu_svo/depth_filter.h +++ b/GPU_version/svo/include/gpu_svo/depth_filter.h @@ -138,7 +138,6 @@ public: protected: feature_detection::DetectorPtr feature_detector_; callback_t seed_converged_cb_; - //std::list seeds_; std::list> seeds_; boost::mutex seeds_mut_; bool seeds_updating_halt_; //!< Set this value to true when seeds updating should be interrupted. @@ -150,8 +149,8 @@ protected: bool new_keyframe_set_; //!< Do we have a new keyframe to process?. double new_keyframe_min_depth_; //!< Minimum depth in the new keyframe. Used for range in new seeds. double new_keyframe_mean_depth_; //!< Maximum depth in the new keyframe. Used for range in new seeds. - //vk::PerformanceMonitor permon_; //!< Separate performance monitor since the DepthFilter runs in a parallel thread. Matcher matcher_; + uint seeds_cont_=0; /// Initialize new seeds from a frame. void initializeSeeds(FramePtr frame); diff --git a/GPU_version/svo/include/gpu_svo/imu_integration.h b/GPU_version/svo/include/gpu_svo/imu_integration.h index 2ff4a89..11eb514 100644 --- a/GPU_version/svo/include/gpu_svo/imu_integration.h +++ b/GPU_version/svo/include/gpu_svo/imu_integration.h @@ -24,13 +24,13 @@ class Imu_Integration{ public: Imu_Integration(Sophus::SE3& SE_init); ~Imu_Integration(); - bool reset(gtsam::ISAM2& optimizer,boost::shared_ptr& new_frame); + void reset(); bool reset(gtsam::LevenbergMarquardtOptimizer& optimizer,boost::shared_ptr& new_frame); bool update(double* imu= nullptr); bool predict(boost::shared_ptr&, - boost::shared_ptr& last_frame ,std::size_t&,const double reproj_thresh); + boost::shared_ptr& last_frame ,const double match); bool init(boost::shared_ptr&); - Sophus::SE3 preintegrate_predict(); + bool preintegrate_predict(svo::SE2_5& frame); private: FILE* logtime; std::shared_ptr statePtr; diff --git a/GPU_version/svo/src/depth_filter.cpp b/GPU_version/svo/src/depth_filter.cpp index a2132db..4e04b5f 100644 --- a/GPU_version/svo/src/depth_filter.cpp +++ b/GPU_version/svo/src/depth_filter.cpp @@ -92,14 +92,17 @@ void DepthFilter::addFrame(FramePtr frame) seeds_updating_halt_ = false; frame_queue_cond_.notify_one(); } - else - updateSeeds(frame); + else{ + updateSeeds(frame); + } + } void DepthFilter::addKeyframe(FramePtr frame, double depth_mean, double depth_min) { new_keyframe_min_depth_ = depth_min; new_keyframe_mean_depth_ = depth_mean; + ++seeds_cont_; if(thread_ != NULL) { new_keyframe_ = frame; @@ -108,7 +111,10 @@ void DepthFilter::addKeyframe(FramePtr frame, double depth_mean, double depth_mi frame_queue_cond_.notify_one(); } else - initializeSeeds(frame); + if(seeds_cont_>5){ + initializeSeeds(frame); + seeds_cont_=0; + } } void DepthFilter::initializeSeeds(FramePtr frame) @@ -178,7 +184,9 @@ void DepthFilter::updateSeedsLoop() if(new_keyframe_set_) { new_keyframe_set_ = false; - seeds_updating_halt_ = false; + if(seeds_cont_>5){ + seeds_updating_halt_ = false; + } clearFrameQueue(); frame = new_keyframe_; } @@ -189,8 +197,12 @@ void DepthFilter::updateSeedsLoop() } } updateSeeds(frame); - if(frame->isKeyframe()) - initializeSeeds(frame); + + if(frame->isKeyframe() && seeds_cont_>5){ + initializeSeeds(frame); + seeds_cont_=0; + } + } } @@ -233,6 +245,10 @@ void DepthFilter::updateSeeds(FramePtr frame) // we are using inverse depth coordinates float z_inv_min = it->mu + sqrt(it->sigma2); float z_inv_max = max(it->mu - sqrt(it->sigma2), 0.00000001f); + if(z_inv_min <0){ + ++it; + continue; + } double z; if(!matcher_.findEpipolarMatchDirect( *it->ftr->frame, *frame, *it->ftr, 1.0/it->mu, 1.0/z_inv_min, 1.0/z_inv_max, z)) @@ -264,20 +280,7 @@ void DepthFilter::updateSeeds(FramePtr frame) Vector3d xyz_world(it->ftr->frame->T_f_w_.T->inverse() * (it->ftr->f * (1.0/it->mu))); Point* point = new Point(xyz_world, it->ftr); it->ftr->point = point; - /* FIXME it is not threadsafe to add a feature to the frame here. - if(frame->isKeyframe()) - { - Feature* ftr = new Feature(frame.get(), matcher_.px_cur_, matcher_.search_level_); - ftr->point = point; - point->addFrameRef(ftr); - frame->addFeature(ftr); - it->ftr->frame->addFeature(it->ftr); - } - else - */ - { - seed_converged_cb_(point, it->sigma2); // put in candidate list - } + seed_converged_cb_(point, it->sigma2); // put in candidate list it = seeds_.erase(it); } else if(isnan(z_inv_min)) diff --git a/GPU_version/svo/src/feature_alignment.cpp b/GPU_version/svo/src/feature_alignment.cpp index a68f121..6232e00 100644 --- a/GPU_version/svo/src/feature_alignment.cpp +++ b/GPU_version/svo/src/feature_alignment.cpp @@ -203,7 +203,7 @@ bool align2D( bool sign=true;// + // termination condition - const float min_update_squared = 0.05; + const float min_update_squared = 0.3; const int cur_step = cur_img.step.p[0]; // float chi2 = 0; Vector3f update; update.setZero(); diff --git a/GPU_version/svo/src/frame_handler_mono.cpp b/GPU_version/svo/src/frame_handler_mono.cpp index 7dcaffc..a96ad9e 100644 --- a/GPU_version/svo/src/frame_handler_mono.cpp +++ b/GPU_version/svo/src/frame_handler_mono.cpp @@ -136,14 +136,15 @@ FrameHandlerBase::UpdateResult FrameHandlerMono::processSecondFrame() FrameHandlerBase::UpdateResult FrameHandlerMono::processFrame() { - SE3 tem=imu_integPtr_->preintegrate_predict(); - if((new_frame_->T_f_w_.T->translation()-tem.translation()).norm()>0.5){ - new_frame_->T_f_w_ = SE2_5(tem.translation().x(),tem.translation().z(),atan(tem.rotation_matrix()(0,2)/tem.rotation_matrix()(0,0))); + bool IMU=false; + SE2_5 tem(0.0,0.0,0.0); + if(imu_integPtr_->preintegrate_predict(tem))if((last_frame_->T_f_w_.T->translation()-tem.T->translation()).norm()>0.5){ + new_frame_->T_f_w_ = tem; + IMU=true; }else{ + imu_integPtr_->reset(); new_frame_->T_f_w_ = last_frame_->T_f_w_; } - new_frame_->T_f_w_.set(); - //new_frame_->T_f_w_ = last_frame_->T_f_w_; // sparse image align SparseImgAlign img_align(Config::kltMaxLevel(), Config::kltMinLevel(), 30, SparseImgAlign::LevenbergMarquardt, false, false); @@ -151,30 +152,32 @@ FrameHandlerBase::UpdateResult FrameHandlerMono::processFrame() new_frame_->T_f_w_.set(); // map reprojection & feature alignment reprojector_.reprojectMap(new_frame_, overlap_kfs_); - size_t sfba_n_edges_final=0; new_frame_->T_f_w_.set(); - double sfba_thresh, sfba_error_init, sfba_error_final; - if(!imu_integPtr_->predict(new_frame_,last_frame_,sfba_n_edges_final,reprojector_.n_matches_)){ - return RESULT_FAILURE; + if(IMU)if(!imu_integPtr_->predict(new_frame_,last_frame_,reprojector_.n_matches_)){ + return RESULT_FAILURE; } + size_t sfba_n_edges_final=0; + double sfba_thresh, sfba_error_init, sfba_error_final; new_frame_->T_f_w_.set(); pose_optimizer::optimizeGaussNewton( Config::poseOptimThresh(), Config::poseOptimNumIter(), false, new_frame_, sfba_thresh, sfba_error_init, sfba_error_final, sfba_n_edges_final); new_frame_->T_f_w_.set(); - std::cerr<<"Reprojection Map: "<<"\t nPoint:"<T_f_w_.T->translation()-new_frame_->T_f_w_.T->translation()).norm()>1.0){ + new_frame_->T_f_w_ = last_frame_->T_f_w_; + return RESULT_NO_KEYFRAME; + } if(sfba_n_edges_final < Config::qualityMinFts() || reprojector_.n_matches_ < Config::qualityMinFts()){ return RESULT_NO_KEYFRAME; } - // structure optimization -// SVO_START_TIMER("point_optimizer"); optimizeStructure(new_frame_, Config::structureOptimMaxPts(), Config::structureOptimNumIter()); - //SVO_STOP_TIMER("point_optimizer"); new_frame_->T_f_w_.set(); // select keyframe @@ -188,8 +191,11 @@ FrameHandlerBase::UpdateResult FrameHandlerMono::processFrame() new_frame_->T_f_w_.set(); frame_utils::getSceneDepth(*new_frame_, depth_mean, depth_min); + if(depth_mean > 50 || depth_mean < 0.0) + { + return RESULT_NO_KEYFRAME; + } - new_frame_->T_f_w_.set(); if(!needNewKf(depth_mean) || tracking_quality_ == TRACKING_BAD)//edited { depth_filter_->addFrame(new_frame_); @@ -197,14 +203,13 @@ FrameHandlerBase::UpdateResult FrameHandlerMono::processFrame() } new_frame_->setKeyframe(); - new_frame_->T_f_w_.set(); + new_frame_->T_f_w_.set(); // new keyframe selected for(auto&& it:new_frame_->fts_){ if(it->point != NULL)it->point->addFrameRef(it); } map_.point_candidates_.addCandidatePointToFrame(new_frame_); - new_frame_->T_f_w_.set(); // init new depth-filters depth_filter_->addKeyframe(new_frame_, depth_mean, 0.5*depth_min); @@ -219,7 +224,7 @@ FrameHandlerBase::UpdateResult FrameHandlerMono::processFrame() new_frame_->T_f_w_.set(); // add keyframe to map map_.addKeyframe(new_frame_); - std::cerr<<"Svo pipline was finished\n"; + std::cout<<"Svo pipline was finished\n"; return RESULT_IS_KEYFRAME; } @@ -294,10 +299,10 @@ bool FrameHandlerMono::needNewKf(double scene_depth_mean) for(auto&& it:overlap_kfs_) { Vector3d relpos = new_frame_->w2f(it.first->pos()); - if(fabs(relpos.x())/scene_depth_mean < Config::kfSelectMinDist() && - fabs(relpos.y())/scene_depth_mean < Config::kfSelectMinDist() && - fabs(relpos.z())/scene_depth_mean < Config::kfSelectMinDist()) - return false; + if(fabs(relpos.norm())/scene_depth_mean < Config::kfSelectMinDist()){ + return false; + } + } return true; } diff --git a/GPU_version/svo/src/imu_integration.cpp b/GPU_version/svo/src/imu_integration.cpp index 4346c0d..20d06f0 100644 --- a/GPU_version/svo/src/imu_integration.cpp +++ b/GPU_version/svo/src/imu_integration.cpp @@ -15,7 +15,7 @@ #include #include #include -#define debug 0 +#define debug 1 Imu_Integration::Imu_Integration(Sophus::SE3& SE_init){ graphPtr=std::make_shared(); valuesPtr=std::make_shared(); @@ -49,10 +49,12 @@ Imu_Integration::~Imu_Integration(){ bool Imu_Integration::update(double* imu){ if(syn)return false; if(imu_factor_id<1)return false; + if(abs(imu[0])<1.0)imu[0]=pow(imu[0],3); + if(abs(imu[1])<1.0)imu[0]=pow(imu[1],3); auto in=std::chrono::steady_clock::now(); if(std::chrono::duration(in-t_1).count()>20.0){ t_1=in; - preintegratedPtr->integrateMeasurement(Eigen::Vector3d(-1.0*(imu[0]-svo::Config::X_off()),0.0,-1.0*(imu[1]-svo::Config::Y_off())),Eigen::Vector3d(0.0,imu[5]-svo::Config::Teta_off(),0.0),0.005); + preintegratedPtr->integrateMeasurement(Eigen::Vector3d(-1.0*(imu[0]-svo::Config::X_off()),0.0,-1.0*(imu[1]-svo::Config::Y_off())),Eigen::Vector3d(0.0,imu[5]-svo::Config::Teta_off(),0.0),0.0005); }else{ preintegratedPtr->integrateMeasurement(Eigen::Vector3d(-1.0*(imu[0]-svo::Config::X_off()),0.0,-1.0*(imu[1]-svo::Config::Y_off())),Eigen::Vector3d(0.0,imu[5]-svo::Config::Teta_off(),0.0),std::chrono::duration(in-t_1).count()); t_1=in; @@ -61,126 +63,79 @@ bool Imu_Integration::update(double* imu){ return true; } -bool Imu_Integration::reset(gtsam::ISAM2& optimizer,boost::shared_ptr& new_frame){ - gtsam::Values result = optimizer.calculateEstimate(); - // Overwrite the beginning of the preintegration for the next step. - statePtr=std::make_shared(result.at(P(imu_factor_id)), result.at(V(imu_factor_id))); - imu_biasPtr=std::make_shared(result.at(B(imu_factor_id))); - preintegratedPtr->resetIntegrationAndSetBias(*imu_biasPtr); - ++imu_factor_id; - syn=false; - new_frame->T_f_w_=svo::SE2_5(statePtr->t().x(),statePtr->t().z(),atan(statePtr->R()(0,2)/statePtr->R()(0,0))); - new_frame->Cov_=optimizer.marginalCovariance(P(imu_factor_id-1)); - graphPtr->resize(0); - valuesPtr->clear(); - valuesPtr->insert(P(imu_factor_id-1),statePtr->pose()); - valuesPtr->insert(V(imu_factor_id-1),statePtr->v()); - valuesPtr->insert(B(imu_factor_id-1),*imu_biasPtr); - graphPtr->addPrior(P(imu_factor_id-1),statePtr->pose(),optimizer.marginalCovariance(P(imu_factor_id-1))); - graphPtr->addPrior(V(imu_factor_id-1),statePtr->v(),optimizer.marginalCovariance(V(imu_factor_id-1))); - graphPtr->addPrior(B(imu_factor_id-1),*imu_biasPtr,optimizer.marginalCovariance(B(imu_factor_id-1))); - for(auto&& f_n:_for(new_frame->fts_)){ - if(f_n.item->point == NULL)continue; - if(!result.exists(L(f_n.index)))continue; - f_n.item->point->pos_=result.at(L(f_n.index)); - // valuesPtr->insert(L(f_n.index),f_n.item->point->pos_); -// graphPtr->emplace_shared(f_n.item->f,f_n.item->level,ProjectNoisePtr,P(imu_factor_id),L(f_n.index)); - } - return true; -} bool Imu_Integration::reset(gtsam::LevenbergMarquardtOptimizer& optimizer,boost::shared_ptr& new_frame){ gtsam::Values result = optimizer.optimize(); - if(debug)optimizer.print(); - // Overwrite the beginning of the preintegration for the next step. statePtr=std::make_shared(result.at(P(imu_factor_id)), result.at(V(imu_factor_id))); imu_biasPtr=std::make_shared(result.at(B(imu_factor_id))); preintegratedPtr->resetIntegrationAndSetBias(*imu_biasPtr); ++imu_factor_id; syn=false; gtsam::Marginals marginals(*graphPtr,result); - if(debug)fprintf(logtime, "%f,%f,%f,%f,%f,%f,%f,%f,\n", - new_frame->T_f_w_.T->translation().x(), - new_frame->T_f_w_.T->translation().y(), - new_frame->T_f_w_.T->translation().z(), - atan(new_frame->T_f_w_.T->rotation_matrix()(0,2)/new_frame->T_f_w_.T->rotation_matrix()(0,0)), + if(debug)fprintf(logtime, "%d,%f,%f,%f,%f,\n", + imu_factor_id-1, statePtr->pose().x(), statePtr->pose().y(), statePtr->pose().z(), - atan(statePtr->R()(0,2)/statePtr->R()(0,0))); - if((statePtr->t()-new_frame->T_f_w_.T->translation()).norm()>2.0)return false; - new_frame->T_f_w_=svo::SE2_5(statePtr->t().x(),statePtr->t().z(),atan(statePtr->R()(0,2)/statePtr->R()(0,0))); + statePtr->pose().rotation().pitch()); + new_frame->T_f_w_=svo::SE2_5(statePtr->pose().x(),statePtr->pose().z(),statePtr->pose().rotation().pitch()); new_frame->Cov_=marginals.marginalCovariance(P(imu_factor_id-1)); graphPtr->resize(0); valuesPtr->clear(); - valuesPtr->insert(P(imu_factor_id-1),statePtr->pose()); + valuesPtr->insert(P(imu_factor_id-1),gtsam::Pose3(new_frame->T_f_w_.T->matrix())); valuesPtr->insert(V(imu_factor_id-1),statePtr->v()); valuesPtr->insert(B(imu_factor_id-1),*imu_biasPtr); - graphPtr->addPrior(P(imu_factor_id-1),statePtr->pose(),marginals.marginalCovariance(P(imu_factor_id-1))); + graphPtr->addPrior(P(imu_factor_id-1),gtsam::Pose3(new_frame->T_f_w_.T->matrix()),marginals.marginalCovariance(P(imu_factor_id-1))); graphPtr->addPrior(V(imu_factor_id-1),statePtr->v(),marginals.marginalCovariance(V(imu_factor_id-1))); graphPtr->addPrior(B(imu_factor_id-1),*imu_biasPtr,marginals.marginalCovariance(B(imu_factor_id-1))); return true; } -Sophus::SE3 Imu_Integration::preintegrate_predict() { +bool Imu_Integration::preintegrate_predict(svo::SE2_5& frame) { if(imu_n<1){ syn= false; - usleep(10000); - syn=true; + return false; }else{ syn=true; } - auto preint_imu_combined =dynamic_cast(*preintegratedPtr); - Integ_predict=preint_imu_combined.predict(*statePtr,*imu_biasPtr); - return Sophus::SE3(Integ_predict.R(),Integ_predict.t()); + Integ_predict=preintegratedPtr->predict(*statePtr,*imu_biasPtr); + frame =svo::SE2_5(Integ_predict.pose().x(),Integ_predict.pose().z(),Integ_predict.pose().rotation().pitch()); + return true; +} +void Imu_Integration::reset() { + preintegratedPtr->resetIntegrationAndSetBias(*imu_biasPtr); + imu_n=0; + syn=false; } bool Imu_Integration::predict(boost::shared_ptr& new_frame, boost::shared_ptr& last_frame, - std::size_t& num_obs,const double cell_match){ - if(debug)std::cout<<"----------------------------IMU infuse---------------------------------------\n"; - //if(debug)preintegratedPtr->print(); - auto preint_imu_combined =dynamic_cast(*preintegratedPtr); + const double cell_match){ valuesPtr->insert(P(imu_factor_id), Integ_predict.pose()); valuesPtr->insert(V(imu_factor_id), Integ_predict.v()); valuesPtr->insert(B(imu_factor_id), *imu_biasPtr); gtsam::CombinedImuFactor imu_factor(P(imu_factor_id - 1), V(imu_factor_id - 1), P(imu_factor_id), V(imu_factor_id), B(imu_factor_id - 1), B(imu_factor_id), - preint_imu_combined); + *preintegratedPtr); graphPtr->emplace_shared(imu_factor); imu_n=0; graphPtr->emplace_shared(gtsam::Pose3(new_frame->T_f_w_.T->matrix()), gtsam::noiseModel::Diagonal::Sigmas((gtsam::Vector(3) << 1.0, 1.0, 1.0).finished()/(cell_match+1)), P(imu_factor_id)); gtsam::LevenbergMarquardtParams params0; - //params0.verbosity=gtsam::LevenbergMarquardtParams::LINEAR; params0.verbosityLM = gtsam::LevenbergMarquardtParams::SILENT; params0.setlambdaFactor(10.0); params0.setlambdaInitial(100); params0.setlambdaUpperBound(1e10); gtsam::LevenbergMarquardtOptimizer optimizer(*graphPtr, *valuesPtr,params0); reset(optimizer,new_frame); - - if(debug)std::cout<<"------------------------------------------------------------------------------\n"; return true; } bool Imu_Integration::init(boost::shared_ptr& new_frame){ statePtr=std::make_shared(gtsam::Pose3(new_frame->T_f_w_.T->matrix()), gtsam::Vector3(1e-9,1e-9,1e-9)); - /* - statePtr=std::make_shared(gtsam::Pose3(gtsam::Rot3::RzRyRx(0.0,0.0,0.0),gtsam::Point3(0.0,0.0,0.0)), - gtsam::Vector3(1e-9,1e-9,1e-9)); - */ valuesPtr->insert(P(0),statePtr->pose()); valuesPtr->insert(V(0),statePtr->v()); valuesPtr->insert(B(0),*imu_biasPtr); graphPtr->addPrior(P(0),statePtr->pose(),gtsam::noiseModel::Diagonal::Sigmas((gtsam::Vector(6) << 1e-5, 1e-15, 1e-5, 1e-15, 1e-8, 1e-15).finished())); graphPtr->addPrior(V(0),statePtr->v(),gtsam::noiseModel::Isotropic::Sigma(3, 1e-4)); graphPtr->addPrior(B(0),*imu_biasPtr,gtsam::noiseModel::Isotropic::Sigma(6, 1e-2)); - /* - for(auto&& f_n:_for(new_frame->fts_)){ - if(f_n.item->point == NULL)continue; - valuesPtr->insert(L(f_n.index),f_n.item->point->pos_); - graphPtr->emplace_shared(f_n.item->f,f_n.item->level,ProjectNoisePtr,P(imu_factor_id),L(f_n.index)); - } - graphPtr->addPrior(L(0),new_frame->fts_.front()->point->pos_,gtsam::noiseModel::Isotropic::Sigma(3, 1e-4)); - */ ++imu_factor_id; return true; } \ No newline at end of file diff --git a/GPU_version/svo/src/matcher.cpp b/GPU_version/svo/src/matcher.cpp index e4a236a..b8b9d2d 100644 --- a/GPU_version/svo/src/matcher.cpp +++ b/GPU_version/svo/src/matcher.cpp @@ -184,6 +184,7 @@ bool Matcher::findEpipolarMatchDirect( const double d_max, double& depth) { + if(isnan(d_min) || isnan(d_max))return false; SE3 T_cur_ref = (*cur_frame.T_f_w_.T) * ref_frame.T_f_w_.T->inverse(); int zmssd_best = PatchScore::threshold(); Vector2d uv_best; @@ -217,6 +218,7 @@ bool Matcher::findEpipolarMatchDirect( Vector2d px_B(cur_frame.cam_->world2cam(B)); epi_length_ = (px_A-px_B).norm() / (1<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? + visible_fts_.resize(ref_patch_cache_.rows, false); // TODO: should it be reset at each level? SE3 T_cur_from_ref(*cur_frame_->T_f_w_.T * ref_frame_->T_f_w_.T->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? + //visible_fts_.resize(ref_patch_cache_.rows, false); // TODO: should it be reset at each level? mu_ = 0.1; jacobian_cache_.setZero(); have_ref_patch_cache_ = false; diff --git a/GPU_version/vio/include/vio_gpu/visualizer.h b/GPU_version/vio/include/vio_gpu/visualizer.h index 0ff8834..7c09cd1 100644 --- a/GPU_version/vio/include/vio_gpu/visualizer.h +++ b/GPU_version/vio/include/vio_gpu/visualizer.h @@ -44,7 +44,7 @@ public: size_t trace_id_; ros::Publisher pub_frames_; ros::Publisher pub_points_; - ros::Publisher pub_pose_; + ros::Publisher pub_pose_with_cov_; ros::Publisher pub_info_; tf::TransformBroadcaster br_; SE3 T_world_from_vision_; diff --git a/GPU_version/vio/param/vo_fast.yaml b/GPU_version/vio/param/vo_fast.yaml index c2189bd..0aa2c15 100644 --- a/GPU_version/vio/param/vo_fast.yaml +++ b/GPU_version/vio/param/vo_fast.yaml @@ -1,13 +1,13 @@ svo: grid_size: 30 #Feature grid size of a cell in [px]. - max_n_kfs: 10 #Limit the number of keyframes in the map. This makes nslam essentially. a Visual Odometry. Set to 0 if unlimited number of keyframes are allowed. Minimum number of keyframes is 3. + max_n_kfs: 20 #Limit the number of keyframes in the map. This makes nslam essentially. a Visual Odometry. Set to 0 if unlimited number of keyframes are allowed. Minimum number of keyframes is 3. loba_num_iter: 0 #Number of iterations in the local bundle adjustment. quality_min_fts: 10 #If the number of tracked features drops below this threshold. Tracking quality is bad. quality_max_drop_fts: 60 #If within one frame, this amount of features are dropped. Tracking quality is bad. init_min_tracked: 100 - init_min_disparity: 25 + init_min_disparity: 20 structureoptim_max_pts: 50 - kfselect_mindist: 0.12 + kfselect_mindist: 0.05 poseoptim_thresh: 4.0 ACC_noise: 0.0001 #acc white noise in continuous GYO_noise: 0.0001 #gyro white noise in continuous @@ -17,6 +17,6 @@ svo: EBP: 0.1 #error in the bias used for preintegration NRP: 0.001 #noise used for projection in preintegration gravity: -9.65 - Acceleration_offset_x: 0.0 #-0.05 - Acceleration_offset_y: 0.0 #-0.04 - Gyroscope_offset_z: 0.0 #0.001 + Acceleration_offset_x: 0.0 + Acceleration_offset_y: 0.0 + Gyroscope_offset_z: 0.0 diff --git a/GPU_version/vio/src/visualizer.cpp b/GPU_version/vio/src/visualizer.cpp index 3d58393..75047cc 100644 --- a/GPU_version/vio/src/visualizer.cpp +++ b/GPU_version/vio/src/visualizer.cpp @@ -21,6 +21,7 @@ #include #include #include +#include #include #include #include @@ -35,8 +36,8 @@ Visualizer() : { // Init ROS Marker Publishers //pub_frames_ = pnh_.advertise("keyframes", 10); - // pub_points_ = pnh_.advertise("points", 1000); - pub_pose_ = pnh_.advertise("pose",10); + pub_points_ = pnh_.advertise("points", 1000); + pub_pose_with_cov_ = pnh_.advertise("pose_cov",10); } void Visualizer::publishMinimal( @@ -50,28 +51,31 @@ void Visualizer::publishMinimal( header_msg.frame_id = "/world"; header_msg.seq = trace_id_; header_msg.stamp = ros::Time(timestamp); - if(pub_pose_.getNumSubscribers() > 0 && slam.stage() == FrameHandlerBase::STAGE_DEFAULT_FRAME) + if(pub_pose_with_cov_.getNumSubscribers() > 0 && slam.stage() == FrameHandlerBase::STAGE_DEFAULT_FRAME) { - Quaterniond q; - Vector3d p; + //Quaterniond q; Matrix Cov; // publish cam in world frame (Estimated odometry in the worls frame) SE3 T_world_from_cam(T_world_from_vision_*frame->T_f_w_.T->inverse());// do not confused with inverse. the T_f_w_ is the from camera to initial position with reference of camera //q = Quaterniond(T_world_from_cam.rotation_matrix()*T_world_from_vision_.rotation_matrix().transpose()); - //p = T_world_from_cam.translation(); Cov = T_world_from_cam.Adj()*frame->Cov_*T_world_from_cam.inverse().Adj(); - geometry_msgs::PoseWithCovarianceStampedPtr msg_pose(new geometry_msgs::PoseWithCovarianceStamped); - msg_pose->header = header_msg; - msg_pose->pose.pose.position.x = p[0]; - msg_pose->pose.pose.position.y = p[1]; - msg_pose->pose.pose.position.z = p[2]; - msg_pose->pose.pose.orientation.x = q.x()/q.norm(); - msg_pose->pose.pose.orientation.y = q.y()/q.norm(); - msg_pose->pose.pose.orientation.z = q.z()/q.norm(); - msg_pose->pose.pose.orientation.w = q.w()/q.norm(); + 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 = T_world_from_cam.translation().x(); + msg_pose_with_cov->pose.pose.position.y = T_world_from_cam.translation().y(); + msg_pose_with_cov->pose.pose.position.z = T_world_from_cam.translation().z(); + msg_pose_with_cov->pose.pose.orientation.x = frame->T_f_w_.T->unit_quaternion().x()/frame->T_f_w_.T->unit_quaternion().norm(); + msg_pose_with_cov->pose.pose.orientation.y = frame->T_f_w_.T->unit_quaternion().y()/frame->T_f_w_.T->unit_quaternion().norm(); + msg_pose_with_cov->pose.pose.orientation.z = frame->T_f_w_.T->unit_quaternion().z()/frame->T_f_w_.T->unit_quaternion().norm(); + msg_pose_with_cov->pose.pose.orientation.w = frame->T_f_w_.T->unit_quaternion().w()/frame->T_f_w_.T->unit_quaternion().norm(); for(size_t i=0; i<36; ++i) - msg_pose->pose.covariance[i] = Cov(i%6, i/6); - pub_pose_.publish(msg_pose); + msg_pose_with_cov->pose.covariance[i] = Cov(i%6, i/6); + pub_pose_with_cov_.publish(msg_pose_with_cov); + } + if(pub_frames_.getNumSubscribers() > 0 || pub_points_.getNumSubscribers() > 0){ + vk::output_helper::publishPointMarker( + pub_points_, T_world_from_vision_*frame->pos(), "trajectory", + ros::Time::now(), trace_id_, 0, 0.01, Vector3d(0.,0.,0.5)); } } From 5fdc0c19d5e4f9831aa6d3cc567e0f49b57f4569 Mon Sep 17 00:00:00 2001 From: Majid Geravand <44868211+Gfuse@users.noreply.github.com> Date: Mon, 7 Jun 2021 08:32:49 +0200 Subject: [PATCH 203/215] Update README.md --- GPU_version/README.md | 16 +++++++++++----- 1 file changed, 11 insertions(+), 5 deletions(-) diff --git a/GPU_version/README.md b/GPU_version/README.md index 00b6d87..0db9f73 100755 --- a/GPU_version/README.md +++ b/GPU_version/README.md @@ -1,7 +1,7 @@ SVO === -This code implements a semi-direct monocular visual odometry pipeline which has been integrated with GTSAM to infused IMU as well. +This code implements a semi-direct monocular visual odometry pipeline which has been integrated with GTSAM to infused IMU as well. The feature extraction part is implemented in OpenCL to take advantage of GPU. Paper svo: http://rpg.ifi.uzh.ch/docs/ICRA14_Forster.pdf @@ -31,15 +31,21 @@ If you use SVO in an academic context, please cite the following publication: #### Documentation - +OpenCL documentation The API is documented here: http://uzh-rpg.github.io/rpg_svo/doc/ The GTSAM documentation https://gtsam.org/tutorials/ #### Instructions +Please be sure that you have the OpenCL driver installed +First install gtsam library => https://github.com/borglab/gtsam + +Then follow the SVO instalation See the Wiki for more instructions. https://github.com/uzh-rpg/rpg_svo/wiki and https://gtsam.org/get_started/ -#### Contributing -You are very welcome to contribute to SVO by opening a pull request via Github. -I try to follow the ROS C++ style guide http://wiki.ros.org/CppStyleGuide +## Setting + +You can edit the algorithm parameters in the follwoing file, please look at the config file to underestand the meaning of the parameters (CPU_version/svo/include/svo/config.h) + +CPU_version/vio_svo/param/vo_fast.yaml From 8cce4040736599e0d08f1021b053d732e68bbb85 Mon Sep 17 00:00:00 2001 From: gfuse Date: Mon, 7 Jun 2021 09:48:47 +0200 Subject: [PATCH 204/215] Edit visual --- GPU_version/svo/include/gpu_svo/global.h | 3 +- GPU_version/svo/src/imu_integration.cpp | 12 ++------ GPU_version/svo/src/initialization.cpp | 3 +- GPU_version/svo/src/map.cpp | 3 +- GPU_version/vio/src/visualizer.cpp | 35 ++++++++++++++---------- 5 files changed, 29 insertions(+), 27 deletions(-) diff --git a/GPU_version/svo/include/gpu_svo/global.h b/GPU_version/svo/include/gpu_svo/global.h index a307503..2cfd63b 100644 --- a/GPU_version/svo/include/gpu_svo/global.h +++ b/GPU_version/svo/include/gpu_svo/global.h @@ -65,7 +65,8 @@ namespace svo void set(){ X_=T->translation().x(); Z_=T->translation().z(); - tetha_=atan(T->matrix()(0,2)/T->matrix()(0,0)); + tetha_=asin(2*(T->unit_quaternion().w()*T->unit_quaternion().y()- + T->unit_quaternion().z()*T->unit_quaternion().x())); cos_theta_=cos(tetha_); sin_theta_=sin(tetha_); } diff --git a/GPU_version/svo/src/imu_integration.cpp b/GPU_version/svo/src/imu_integration.cpp index 20d06f0..f7d47a2 100644 --- a/GPU_version/svo/src/imu_integration.cpp +++ b/GPU_version/svo/src/imu_integration.cpp @@ -15,17 +15,11 @@ #include #include #include -#define debug 1 +#define debug 0 Imu_Integration::Imu_Integration(Sophus::SE3& SE_init){ graphPtr=std::make_shared(); valuesPtr=std::make_shared(); - // Example: pitch and roll of aircraft in an ENU Cartesian frame. - // If pitch and roll are zero for an aerospace frame, - // that means Z is pointing down, i.e., direction of Z = (0,0,-1) - //gtsam::Vector4 g=SE_init.matrix()*gtsam::Vector4(0, 0, svo::Config::Gravity(),1.0); - //parameterPtr = boost::shared_ptr(new gtsam::PreintegrationCombinedParams(gtsam::Vector3(g.x(),g.y(),g.z()))); parameterPtr = boost::shared_ptr(new gtsam::PreintegrationCombinedParams(gtsam::Vector3(0.0,0.0,0.0))); - //parameterPtr->setBodyPSensor(gtsam::Pose3(SE_init.matrix()));// The pose of the sensor in the body frame parameterPtr->accelerometerCovariance=gtsam::I_3x3 * svo::Config::ACC_Noise(); // acc white noise in continuous parameterPtr->gyroscopeCovariance=gtsam::I_3x3 * svo::Config::GYO_Noise();// gyro white noise in continuous parameterPtr->integrationCovariance=gtsam::I_3x3 * svo::Config::IUC(); // integration uncertainty continuous @@ -49,8 +43,8 @@ Imu_Integration::~Imu_Integration(){ bool Imu_Integration::update(double* imu){ if(syn)return false; if(imu_factor_id<1)return false; - if(abs(imu[0])<1.0)imu[0]=pow(imu[0],3); - if(abs(imu[1])<1.0)imu[0]=pow(imu[1],3); + if(abs(imu[0])<1.0)imu[0]=pow(imu[0],3);//picked up from your code + if(abs(imu[1])<1.0)imu[0]=pow(imu[1],3);//picked up from your code auto in=std::chrono::steady_clock::now(); if(std::chrono::duration(in-t_1).count()>20.0){ t_1=in; diff --git a/GPU_version/svo/src/initialization.cpp b/GPU_version/svo/src/initialization.cpp index 1681a9e..6d54a36 100644 --- a/GPU_version/svo/src/initialization.cpp +++ b/GPU_version/svo/src/initialization.cpp @@ -70,7 +70,8 @@ InitResult KltHomographyInit::addSecondFrame(FramePtr frame_cur) double scene_depth_median = vk::getMedian(depth_vec); double scale = Config::mapScale()/scene_depth_median; SE3 tem=T_cur_from_ref_ * (*frame_ref_->T_f_w_.T); - frame_cur->T_f_w_ = SE2_5(tem.translation().x(),tem.translation().z(),atan(tem.rotation_matrix()(0,2)/tem.rotation_matrix()(0,0))); + frame_cur->T_f_w_ = SE2_5(tem.translation().x(),tem.translation().z(),asin(2*(tem.unit_quaternion().w()*tem.unit_quaternion().y()- + tem.unit_quaternion().z()*tem.unit_quaternion().x()))); tem.translation() = -frame_cur->T_f_w_.T->rotation_matrix()*(frame_ref_->pos() + scale*(frame_cur->pos() - frame_ref_->pos())); frame_cur->T_f_w_.X_ = tem.translation().x(); frame_cur->T_f_w_.Z_ = tem.translation().z(); diff --git a/GPU_version/svo/src/map.cpp b/GPU_version/svo/src/map.cpp index e46f9b0..6b27b1c 100644 --- a/GPU_version/svo/src/map.cpp +++ b/GPU_version/svo/src/map.cpp @@ -179,7 +179,8 @@ void Map::transform(const Matrix3d& R, const Vector3d& t, const double& s) Vector3d pos = s*R*(*it)->pos() + t; Matrix3d rot = R*(*it)->T_f_w_.T->rotation_matrix().inverse(); SE3 inv=SE3(rot, pos).inverse(); - (*it)->T_f_w_ = SE2_5(inv.translation().x(),inv.translation().z(),atan(inv.rotation_matrix()(0,2)/inv.rotation_matrix()(0,0))); + (*it)->T_f_w_ = SE2_5(inv.translation().x(),inv.translation().z(),asin(2*(inv.unit_quaternion().w()*inv.unit_quaternion().y()- + inv.unit_quaternion().z()*inv.unit_quaternion().x()))); for(auto ftr=(*it)->fts_.begin(); ftr!=(*it)->fts_.end(); ++ftr) { if((*ftr)->point == NULL) diff --git a/GPU_version/vio/src/visualizer.cpp b/GPU_version/vio/src/visualizer.cpp index 75047cc..b7f860f 100644 --- a/GPU_version/vio/src/visualizer.cpp +++ b/GPU_version/vio/src/visualizer.cpp @@ -53,30 +53,35 @@ void Visualizer::publishMinimal( header_msg.stamp = ros::Time(timestamp); if(pub_pose_with_cov_.getNumSubscribers() > 0 && slam.stage() == FrameHandlerBase::STAGE_DEFAULT_FRAME) { - //Quaterniond q; Matrix Cov; // publish cam in world frame (Estimated odometry in the worls frame) - SE3 T_world_from_cam(T_world_from_vision_*frame->T_f_w_.T->inverse());// do not confused with inverse. the T_f_w_ is the from camera to initial position with reference of camera - //q = Quaterniond(T_world_from_cam.rotation_matrix()*T_world_from_vision_.rotation_matrix().transpose()); + SE3 T_world_from_cam(frame->T_f_w_.T->inverse());// do not confused with inverse. the T_f_w_ is the from camera to initial position with reference of camera + double yaw=asin(2*(frame->T_f_w_.T->unit_quaternion().w()*frame->T_f_w_.T->unit_quaternion().y()- + frame->T_f_w_.T->unit_quaternion().z()*frame->T_f_w_.T->unit_quaternion().x())); + Quaterniond q; + q = AngleAxisd(0.0, Vector3d::UnitX()) + * AngleAxisd(0.0, Vector3d::UnitY()) + * AngleAxisd(yaw-1.5708, Vector3d::UnitZ()); Cov = T_world_from_cam.Adj()*frame->Cov_*T_world_from_cam.inverse().Adj(); 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 = T_world_from_cam.translation().x(); - msg_pose_with_cov->pose.pose.position.y = T_world_from_cam.translation().y(); - msg_pose_with_cov->pose.pose.position.z = T_world_from_cam.translation().z(); - msg_pose_with_cov->pose.pose.orientation.x = frame->T_f_w_.T->unit_quaternion().x()/frame->T_f_w_.T->unit_quaternion().norm(); - msg_pose_with_cov->pose.pose.orientation.y = frame->T_f_w_.T->unit_quaternion().y()/frame->T_f_w_.T->unit_quaternion().norm(); - msg_pose_with_cov->pose.pose.orientation.z = frame->T_f_w_.T->unit_quaternion().z()/frame->T_f_w_.T->unit_quaternion().norm(); - msg_pose_with_cov->pose.pose.orientation.w = frame->T_f_w_.T->unit_quaternion().w()/frame->T_f_w_.T->unit_quaternion().norm(); + msg_pose_with_cov->pose.pose.position.x = -1.0*T_world_from_cam.translation().x(); + msg_pose_with_cov->pose.pose.position.y = -1.0*T_world_from_cam.translation().z(); + msg_pose_with_cov->pose.pose.position.z = 0.0; + msg_pose_with_cov->pose.pose.orientation.x = q.x()/q.norm(); + msg_pose_with_cov->pose.pose.orientation.y = q.y()/q.norm(); + msg_pose_with_cov->pose.pose.orientation.z = q.z()/q.norm(); + msg_pose_with_cov->pose.pose.orientation.w = q.w()/q.norm(); for(size_t i=0; i<36; ++i) msg_pose_with_cov->pose.covariance[i] = Cov(i%6, i/6); pub_pose_with_cov_.publish(msg_pose_with_cov); + if(pub_frames_.getNumSubscribers() > 0 || pub_points_.getNumSubscribers() > 0){ + vk::output_helper::publishPointMarker( + pub_points_, Eigen::Vector3d(-1.0*T_world_from_cam.translation().x(),-1.0*T_world_from_cam.translation().z(),0.0), "trajectory", + ros::Time::now(), trace_id_, 0, 0.01, Vector3d(0.,0.,0.5)); + } } - if(pub_frames_.getNumSubscribers() > 0 || pub_points_.getNumSubscribers() > 0){ - vk::output_helper::publishPointMarker( - pub_points_, T_world_from_vision_*frame->pos(), "trajectory", - ros::Time::now(), trace_id_, 0, 0.01, Vector3d(0.,0.,0.5)); - } + } void Visualizer::visualizeMarkers( From 30d06fd72762b4e09d7762dd04dc4e76a45b0e61 Mon Sep 17 00:00:00 2001 From: Majid Geravand <44868211+Gfuse@users.noreply.github.com> Date: Mon, 7 Jun 2021 09:56:36 +0200 Subject: [PATCH 205/215] Update README.md --- GPU_version/README.md | 3 +++ 1 file changed, 3 insertions(+) diff --git a/GPU_version/README.md b/GPU_version/README.md index 0db9f73..53d8c38 100755 --- a/GPU_version/README.md +++ b/GPU_version/README.md @@ -32,11 +32,14 @@ If you use SVO in an academic context, please cite the following publication: #### Documentation OpenCL documentation + The API is documented here: http://uzh-rpg.github.io/rpg_svo/doc/ + The GTSAM documentation https://gtsam.org/tutorials/ #### Instructions Please be sure that you have the OpenCL driver installed + First install gtsam library => https://github.com/borglab/gtsam Then follow the SVO instalation From 901fbb14e88850b4d5ae1ef4e001c9c68ada6dd7 Mon Sep 17 00:00:00 2001 From: gfuse Date: Tue, 29 Jun 2021 07:51:42 +0200 Subject: [PATCH 206/215] new version under progress --- GPU_version/README.md | 15 + GPU_version/svo/.idea/.gitignore | 8 - GPU_version/svo/.idea/.name | 1 - GPU_version/svo/.idea/misc.xml | 4 - GPU_version/svo/.idea/modules.xml | 8 - GPU_version/svo/.idea/vcs.xml | 7 - GPU_version/svo/CMakeLists.txt | 99 - GPU_version/svo/package.xml | 27 - GPU_version/svo/src/bundle_adjustment.cpp | 435 - GPU_version/vio/.idea/.name | 2 +- GPU_version/vio/.idea/modules.xml | 2 +- GPU_version/{svo => vio}/.idea/svo.iml | 0 GPU_version/vio/.idea/svo_ros.iml | 2 - GPU_version/vio/CMakeLists.txt | 100 +- .../{svo => vio}/CMakeModules/FindEigen.cmake | 0 .../{svo => vio}/CMakeModules/FindG2O.cmake | 0 GPU_version/{svo => vio}/Doxyfile 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GPU_version/{svo => vio}/src/atan_camera.cpp | 0 GPU_version/{svo => vio}/src/cl_class.cpp | 0 GPU_version/{svo => vio}/src/config.cpp | 5 +- GPU_version/{svo => vio}/src/depth_filter.cpp | 52 +- .../{svo => vio}/src/feature_alignment.cpp | 4 +- .../{svo => vio}/src/feature_detection.cpp | 0 GPU_version/{svo => vio}/src/frame.cpp | 4 +- .../{svo => vio}/src/frame_handler_base.cpp | 0 .../{svo => vio}/src/frame_handler_mono.cpp | 84 +- GPU_version/{svo => vio}/src/homography.cpp | 0 .../{svo => vio}/src/initialization.cpp | 18 +- GPU_version/{svo => vio}/src/map.cpp | 24 +- GPU_version/{svo => vio}/src/matcher.cpp | 11 +- GPU_version/{svo => vio}/src/math_utils.cpp | 0 GPU_version/vio/src/output_helper.cpp | 7 +- GPU_version/{svo => vio}/src/point.cpp | 17 +- .../{svo => vio}/src/pose_optimizer.cpp | 49 +- GPU_version/{svo => vio}/src/reprojector.cpp | 3 +- GPU_version/{svo => vio}/src/robust_cost.cpp | 0 .../{svo => vio}/src/sparse_img_align.cpp | 37 +- GPU_version/{svo => 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GPU_version/vio/cmake-build-debug/devel/local_setup.zsh create mode 100644 GPU_version/vio/cmake-build-debug/devel/setup.bash create mode 100644 GPU_version/vio/cmake-build-debug/devel/setup.sh create mode 100644 GPU_version/vio/cmake-build-debug/devel/setup.zsh rename GPU_version/{svo => vio}/doc/.gitignore (100%) rename GPU_version/{svo => vio}/doc/notation.ipe (100%) rename GPU_version/{svo => vio}/doc/notation.pdf (100%) rename GPU_version/{svo => vio}/doc/notation.png (100%) rename GPU_version/{svo/src => vio/gtsam}/imu_integration.cpp (94%) mode change 100644 => 100755 rename GPU_version/{svo/include/gpu_svo => vio/gtsam}/imu_integration.h (100%) rename GPU_version/{svo/include/gpu_svo => vio/gtsam}/svoVisionFactor.h (97%) rename GPU_version/{svo/include/gpu_svo => vio/gtsam}/svoVisionFactorLandMark.h (100%) rename GPU_version/{svo/include/gpu_svo => vio/gtsam}/svoVisionFactorSmall.h (100%) rename GPU_version/{svo => vio}/include/gpu_svo/abstract_camera.h (100%) rename GPU_version/{svo => vio}/include/gpu_svo/aligned_mem.h (100%) rename GPU_version/{svo => vio}/include/gpu_svo/atan_camera.h (100%) rename GPU_version/{svo => vio}/include/gpu_svo/bundle_adjustment.h (100%) rename GPU_version/vio/include/{vio_gpu => gpu_svo}/camera_loader.h (100%) rename GPU_version/{svo => vio}/include/gpu_svo/cl.hpp (100%) rename GPU_version/{svo => vio}/include/gpu_svo/cl_class.h (100%) rename GPU_version/{svo => vio}/include/gpu_svo/config.h (94%) rename GPU_version/{svo => vio}/include/gpu_svo/depth_filter.h (100%) rename GPU_version/{svo => vio}/include/gpu_svo/feature.h (100%) rename GPU_version/{svo => vio}/include/gpu_svo/feature_alignment.h (100%) rename GPU_version/{svo => vio}/include/gpu_svo/feature_detection.h (100%) rename GPU_version/{svo => vio}/include/gpu_svo/for_it.hpp (100%) rename GPU_version/{svo => vio}/include/gpu_svo/frame.h (72%) rename GPU_version/{svo => vio}/include/gpu_svo/frame_handler_base.h (100%) rename GPU_version/{svo => vio}/include/gpu_svo/frame_handler_mono.h (91%) rename GPU_version/{svo => vio}/include/gpu_svo/global.h (51%) rename GPU_version/{svo => vio}/include/gpu_svo/homography.h (100%) rename GPU_version/{svo => vio}/include/gpu_svo/initialization.h (91%) rename GPU_version/{svo => vio}/include/gpu_svo/map.h (97%) rename GPU_version/{svo => vio}/include/gpu_svo/matcher.h (100%) rename GPU_version/{svo => vio}/include/gpu_svo/math_utils.h (100%) rename GPU_version/{svo => vio}/include/gpu_svo/nlls_solver.h (100%) rename GPU_version/{svo => vio}/include/gpu_svo/nlls_solver_impl.hpp (79%) rename GPU_version/vio/include/{vio_gpu => gpu_svo}/output_helper.h (97%) rename GPU_version/{svo => vio}/include/gpu_svo/params_helper.h (100%) rename GPU_version/{svo => vio}/include/gpu_svo/patch_score.h (100%) rename GPU_version/{svo => vio}/include/gpu_svo/point.h (98%) rename GPU_version/{svo => vio}/include/gpu_svo/pose_optimizer.h (100%) rename GPU_version/{svo => vio}/include/gpu_svo/reprojector.h (100%) rename GPU_version/{svo => vio}/include/gpu_svo/robust_cost.h (100%) rename GPU_version/{svo => vio}/include/gpu_svo/sparse_img_align.h (88%) rename GPU_version/{svo => vio}/include/gpu_svo/timer.h (100%) create mode 100644 GPU_version/vio/include/gpu_svo/ukf.h rename GPU_version/{svo => vio}/include/gpu_svo/vision.h (100%) rename GPU_version/vio/include/{vio_gpu => gpu_svo}/visualizer.h (100%) delete mode 100644 GPU_version/vio/include/vio_gpu/params_helper.h rename GPU_version/{svo => vio}/kernel/fast-gray.cl (100%) create mode 100644 GPU_version/vio/out.txt mode change 100644 => 100755 GPU_version/vio/package.xml delete mode 100644 GPU_version/vio/rqt.perspective delete mode 100644 GPU_version/vio/rviz_config.rviz rename GPU_version/{svo => vio}/src/atan_camera.cpp (100%) rename GPU_version/{svo => vio}/src/cl_class.cpp (100%) rename GPU_version/{svo => vio}/src/config.cpp (96%) rename GPU_version/{svo => vio}/src/depth_filter.cpp (90%) rename GPU_version/{svo => vio}/src/feature_alignment.cpp (99%) rename GPU_version/{svo => vio}/src/feature_detection.cpp (100%) rename GPU_version/{svo => vio}/src/frame.cpp (95%) rename GPU_version/{svo => vio}/src/frame_handler_base.cpp (100%) rename GPU_version/{svo => vio}/src/frame_handler_mono.cpp (81%) rename GPU_version/{svo => vio}/src/homography.cpp (100%) rename GPU_version/{svo => vio}/src/initialization.cpp (91%) rename GPU_version/{svo => vio}/src/map.cpp (92%) rename GPU_version/{svo => vio}/src/matcher.cpp (95%) rename GPU_version/{svo => vio}/src/math_utils.cpp (100%) rename GPU_version/{svo => vio}/src/point.cpp (84%) rename GPU_version/{svo => vio}/src/pose_optimizer.cpp (74%) rename GPU_version/{svo => vio}/src/reprojector.cpp (98%) rename GPU_version/{svo => vio}/src/robust_cost.cpp (100%) rename GPU_version/{svo => vio}/src/sparse_img_align.cpp (88%) rename GPU_version/{svo => vio}/src/vision.cpp (99%) rename GPU_version/{svo => vio}/test/README.md (100%) rename GPU_version/{svo => vio}/test/benchmark.csv (100%) rename GPU_version/{svo => vio}/test/data/.gitignore (100%) rename GPU_version/{svo => vio}/test/results/.gitignore (100%) rename GPU_version/{svo => vio}/test/test_depth_filter.cpp (100%) rename GPU_version/{svo => vio}/test/test_feature_alignment.cpp (100%) rename GPU_version/{svo => vio}/test/test_feature_detection.cpp (100%) rename GPU_version/{svo => vio}/test/test_matcher.cpp (100%) rename GPU_version/{svo => vio}/test/test_pipeline.cpp (100%) rename GPU_version/{svo => vio}/test/test_pose_optimizer.cpp (100%) rename GPU_version/{svo => vio}/test/test_sparse_img_align.cpp (100%) rename GPU_version/{svo => vio}/test/test_utils.h (100%) diff --git a/GPU_version/README.md b/GPU_version/README.md index 0db9f73..d429f6c 100755 --- a/GPU_version/README.md +++ b/GPU_version/README.md @@ -49,3 +49,18 @@ See the Wiki for more instructions. https://github.com/uzh-rpg/rpg_svo/wiki and You can edit the algorithm parameters in the follwoing file, please look at the config file to underestand the meaning of the parameters (CPU_version/svo/include/svo/config.h) CPU_version/vio_svo/param/vo_fast.yaml + +# the GPU_version + +Dose not have dependency with GTSAM, the dependencies are: +1. OpenCV 3 +2. Eigen +3. Sophus https://github.com/strasdat/Sophus.git +4. Boost +5. OpenCL + +if make fails in the build of Sophus with the error lvalue required as left operand of assignment in so2.cpp, see this issue: https://github.com/uzh-rpg/rpg_svo/issues/237 + + + + diff --git a/GPU_version/svo/.idea/.gitignore b/GPU_version/svo/.idea/.gitignore deleted file mode 100644 index 73f69e0..0000000 --- a/GPU_version/svo/.idea/.gitignore +++ /dev/null @@ -1,8 +0,0 @@ -# Default ignored files -/shelf/ -/workspace.xml -# Datasource local storage ignored files -/dataSources/ -/dataSources.local.xml -# Editor-based HTTP Client requests -/httpRequests/ diff --git a/GPU_version/svo/.idea/.name b/GPU_version/svo/.idea/.name deleted file mode 100644 index 4b0f94b..0000000 --- a/GPU_version/svo/.idea/.name +++ /dev/null @@ -1 +0,0 @@ -gpu_svo \ No newline at end of file diff --git a/GPU_version/svo/.idea/misc.xml b/GPU_version/svo/.idea/misc.xml deleted file mode 100644 index 79b3c94..0000000 --- a/GPU_version/svo/.idea/misc.xml +++ /dev/null @@ -1,4 +0,0 @@ - - - - \ No newline at end of file diff --git a/GPU_version/svo/.idea/modules.xml b/GPU_version/svo/.idea/modules.xml deleted file mode 100644 index 4c8cf2b..0000000 --- a/GPU_version/svo/.idea/modules.xml +++ /dev/null @@ -1,8 +0,0 @@ - - - - - - - - \ No newline at end of file diff --git a/GPU_version/svo/.idea/vcs.xml b/GPU_version/svo/.idea/vcs.xml deleted file mode 100644 index 64713b8..0000000 --- a/GPU_version/svo/.idea/vcs.xml +++ /dev/null @@ -1,7 +0,0 @@ - - - - - - - \ No newline at end of file diff --git a/GPU_version/svo/CMakeLists.txt b/GPU_version/svo/CMakeLists.txt deleted file mode 100644 index ac021d6..0000000 --- a/GPU_version/svo/CMakeLists.txt +++ /dev/null @@ -1,99 +0,0 @@ -SET(PROJECT_NAME gpu_svo) -PROJECT(${PROJECT_NAME}) -CMAKE_MINIMUM_REQUIRED (VERSION 2.8.3) - -SET(CMAKE_BUILD_TYPE Release) # Release, RelWithDebInfo -SET(CMAKE_VERBOSE_MAKEFILE OFF) -SET(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${PROJECT_SOURCE_DIR}/CMakeModules/") -set(CMAKE_C_STANDARD 11) -set(CMAKE_CXX_STANDARD 11) - -# Set definitions -ADD_DEFINITIONS(-DSVO_TRACE) -ADD_DEFINITIONS(-DSVO_USE_ROS) - - -# Set build flags, set ARM_ARCHITECTURE environment variable on Odroid -# Set build flags. Set IS_ARM on odroid board as environment variable -SET(CMAKE_CXX_FLAGS "-Wall -D_LINUX -D_REENTRANT -march=native -Wno-unused-variable -Wno-unused-but-set-variable -Wno-unknown-pragmas") -IF(DEFINED ENV{ARM_ARCHITECTURE}) - SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ") -ELSE() - SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -mmmx -msse -msse -msse2 -msse3 -mssse3") -ENDIF() -SET(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS} -O3 -fsee -fomit-frame-pointer -fno-signed-zeros -fno-math-errno -funroll-loops") - -# Add plain cmake packages -FIND_PACKAGE(OpenCV REQUIRED) -FIND_PACKAGE(Eigen REQUIRED) -FIND_PACKAGE(Sophus REQUIRED) -FIND_PACKAGE(Boost REQUIRED COMPONENTS thread system) -FIND_PACKAGE(GTSAM REQUIRED) -FIND_PACKAGE(OpenCL REQUIRED) -FIND_PACKAGE(vikit_common REQUIRED) - -set(GTSAM_INCLUDE_DIRS "${GTSAM_INCLUDE_DIR}") -FIND_PACKAGE(catkin REQUIRED COMPONENTS roscpp roslib cmake_modules vikit_common vikit_ros) -catkin_package( - DEPENDS Eigen OpenCV Sophus Boost fast GTSAM - CATKIN_DEPENDS roscpp roslib vikit_common vikit_ros - INCLUDE_DIRS include - LIBRARIES ${PROJECT_NAME} -) - - -# Include dirs -INCLUDE_DIRECTORIES( - include - kernel - ${Eigen_INCLUDE_DIRS} - ${OpenCV_INCLUDE_DIRS} - ${Sophus_INCLUDE_DIRS} - ${Boost_INCLUDE_DIRS} - ${OpenCL_INCLUDE_DIRS} - ${GTSAM_INCLUDE_DIR} - ${catkin_INCLUDE_DIRS} -) - -# Set link libraries -LIST(APPEND LINK_LIBS - gtsam - ${OpenCV_LIBS} - ${Sophus_LIBRARIES} - ${Boost_LIBRARIES} - ${OpenCL_LIBRARIES} - ${catkin_LIBRARIES} -) - - -# Set sourcefiles -LIST(APPEND SOURCEFILES - src/frame_handler_mono.cpp - src/frame_handler_base.cpp - src/frame.cpp - src/point.cpp - src/map.cpp - src/pose_optimizer.cpp - src/initialization.cpp - src/matcher.cpp - src/reprojector.cpp - src/feature_alignment.cpp - src/feature_detection.cpp - src/depth_filter.cpp - src/config.cpp - src/sparse_img_align.cpp - src/imu_integration.cpp - src/cl_class.cpp - src/atan_camera.cpp - src/math_utils.cpp - src/robust_cost.cpp - src/vision.cpp - src/homography.cpp) - -# Create svo library -ADD_LIBRARY(${PROJECT_NAME} SHARED ${SOURCEFILES}) -TARGET_LINK_LIBRARIES(${PROJECT_NAME} ${LINK_LIBS} ) -set_property(TARGET ${PROJECT_NAME} PROPERTY CXX_STANDARD 11) -set_property(TARGET ${PROJECT_NAME} PROPERTY CXX_STANDARD_REQUIRED ON) -target_compile_features(${PROJECT_NAME} PRIVATE cxx_range_for) -ADD_DEFINITIONS(-DKERNEL_DIR=\"${PROJECT_SOURCE_DIR}/kernel\") diff --git a/GPU_version/svo/package.xml b/GPU_version/svo/package.xml deleted file mode 100644 index 8aea0a7..0000000 --- a/GPU_version/svo/package.xml +++ /dev/null @@ -1,27 +0,0 @@ - - - gpu_svo - 0.1.0 - - Monocular Visual Odometry - - Christian Forster - Christian Forster - GPLv3 - - - catkin - - - cmake_modules - roscpp - roslib - vikit_common - vikit_ros - - - roscpp - roslib - vikit_common - vikit_ros - \ No newline at end of file diff --git a/GPU_version/svo/src/bundle_adjustment.cpp b/GPU_version/svo/src/bundle_adjustment.cpp deleted file mode 100644 index 9bebb61..0000000 --- a/GPU_version/svo/src/bundle_adjustment.cpp +++ /dev/null @@ -1,435 +0,0 @@ -// This file is part of SVO - Semi-direct Visual Odometry. -// -// Copyright (C) 2014 Christian Forster -// (Robotics and Perception Group, University of Zurich, Switzerland). -// -// SVO is free software: you can redistribute it and/or modify it under the -// terms of the GNU General Public License as published by the Free Software -// Foundation, either version 3 of the License, or any later version. -// -// SVO is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. -// -// You should have received a copy of the GNU General Public License -// along with this program. If not, see . - -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include - -#define SCHUR_TRICK 1 - -namespace svo { -namespace ba { - -void twoViewBA( - Frame* frame1, - Frame* frame2, - double reproj_thresh, - Map* map) -{ - // scale reprojection threshold in pixels to unit plane - reproj_thresh /= frame1->cam_->errorMultiplier2(); - - // init g2o - g2o::SparseOptimizer optimizer; - setupG2o(&optimizer); - - list edges; - size_t v_id = 0; - - // New Keyframe Vertex 1: This Keyframe is set to fixed! - g2oFrameSE3* v_frame1 = createG2oFrameSE3(frame1, v_id++, true); - optimizer.addVertex(v_frame1); - - // New Keyframe Vertex 2 - g2oFrameSE3* v_frame2 = createG2oFrameSE3(frame2, v_id++, false); - optimizer.addVertex(v_frame2); - - // Create Point Vertices - for(Features::iterator it_ftr=frame1->fts_.begin(); it_ftr!=frame1->fts_.end(); ++it_ftr) - { - Point* pt = (*it_ftr)->point; - if(pt == NULL) - continue; - g2oPoint* v_pt = createG2oPoint(pt->pos_, v_id++, false); - optimizer.addVertex(v_pt); - pt->v_pt_ = v_pt; - g2oEdgeSE3* e = createG2oEdgeSE3(v_frame1, v_pt, vk::project2d((*it_ftr)->f), true, reproj_thresh*Config::lobaRobustHuberWidth()); - optimizer.addEdge(e); - edges.push_back(EdgeContainerSE3(e, frame1, *it_ftr)); // TODO feature now links to frame, so we can simplify edge container! - - // find at which index the second frame observes the point - Feature* ftr_frame2 = pt->findFrameRef(frame2); - e = createG2oEdgeSE3(v_frame2, v_pt, vk::project2d(ftr_frame2->f), true, reproj_thresh*Config::lobaRobustHuberWidth()); - optimizer.addEdge(e); - edges.push_back(EdgeContainerSE3(e, frame2, ftr_frame2)); - } - - // Optimization - double init_error, final_error; - runSparseBAOptimizer(&optimizer, Config::lobaNumIter(), init_error, final_error); - printf("2-View BA: Error before/after = %f / %f\n", init_error, final_error); - - // Update Keyframe Positions - frame1->T_f_w_.rotation_matrix() = v_frame1->estimate().rotation().toRotationMatrix(); - frame1->T_f_w_.translation() = v_frame1->estimate().translation(); - frame2->T_f_w_.rotation_matrix() = v_frame2->estimate().rotation().toRotationMatrix(); - frame2->T_f_w_.translation() = v_frame2->estimate().translation(); - - // Update Mappoint Positions - for(Features::iterator it=frame1->fts_.begin(); it!=frame1->fts_.end(); ++it) - { - if((*it)->point == NULL) - continue; - (*it)->point->pos_ = (*it)->point->v_pt_->estimate(); - (*it)->point->v_pt_ = NULL; - } - - // Find Mappoints with too large reprojection error - const double reproj_thresh_squared = reproj_thresh*reproj_thresh; - size_t n_incorrect_edges = 0; - for(list::iterator it_e = edges.begin(); it_e != edges.end(); ++it_e) - if(it_e->edge->chi2() > reproj_thresh_squared) - { - if(it_e->feature->point != NULL) - { - map->safeDeletePoint(it_e->feature->point); - it_e->feature->point = NULL; - } - ++n_incorrect_edges; - } - - printf("2-View BA: Wrong edges = %zu\n", n_incorrect_edges); -} - -void localBA( - Frame* center_kf, - set* core_kfs, - Map* map, - size_t& n_incorrect_edges_1, - size_t& n_incorrect_edges_2, - double& init_error, - double& final_error) -{ - - // init g2o - g2o::SparseOptimizer optimizer; - setupG2o(&optimizer); - - list edges; - set mps; - list neib_kfs; - size_t v_id = 0; - size_t n_mps = 0; - size_t n_fix_kfs = 0; - size_t n_var_kfs = 1; - size_t n_edges = 0; - n_incorrect_edges_1 = 0; - n_incorrect_edges_2 = 0; - - // Add all core keyframes - for(set::iterator it_kf = core_kfs->begin(); it_kf != core_kfs->end(); ++it_kf) - { - g2oFrameSE3* v_kf = createG2oFrameSE3(it_kf->get(), v_id++, false); - (*it_kf)->v_kf_ = v_kf; - ++n_var_kfs; - assert(optimizer.addVertex(v_kf)); - - // all points that the core keyframes observe are also optimized: - for(Features::iterator it_pt=(*it_kf)->fts_.begin(); it_pt!=(*it_kf)->fts_.end(); ++it_pt) - if((*it_pt)->point != NULL) - mps.insert((*it_pt)->point); - } - - // Now go throug all the points and add a measurement. Add a fixed neighbour - // Keyframe if it is not in the set of core kfs - double reproj_thresh_2 = Config::lobaThresh() / center_kf->cam_->errorMultiplier2(); - double reproj_thresh_1 = Config::poseOptimThresh() / center_kf->cam_->errorMultiplier2(); - double reproj_thresh_1_squared = reproj_thresh_1*reproj_thresh_1; - for(set::iterator it_pt = mps.begin(); it_pt!=mps.end(); ++it_pt) - { - // Create point vertex - g2oPoint* v_pt = createG2oPoint((*it_pt)->pos_, v_id++, false); - (*it_pt)->v_pt_ = v_pt; - assert(optimizer.addVertex(v_pt)); - ++n_mps; - - // Add edges - list::iterator it_obs=(*it_pt)->obs_.begin(); - while(it_obs!=(*it_pt)->obs_.end()) - { - Vector2d error = vk::project2d((*it_obs)->f) - vk::project2d((*it_obs)->frame->w2f((*it_pt)->pos_)); - - if((*it_obs)->frame->v_kf_ == NULL) - { - // frame does not have a vertex yet -> it belongs to the neib kfs and - // is fixed. create one: - g2oFrameSE3* v_kf = createG2oFrameSE3((*it_obs)->frame, v_id++, true); - (*it_obs)->frame->v_kf_ = v_kf; - ++n_fix_kfs; - assert(optimizer.addVertex(v_kf)); - neib_kfs.push_back((*it_obs)->frame); - } - - // create edge - g2oEdgeSE3* e = createG2oEdgeSE3((*it_obs)->frame->v_kf_, v_pt, - vk::project2d((*it_obs)->f), - true, - reproj_thresh_2*Config::lobaRobustHuberWidth(), - 1.0 / (1<<(*it_obs)->level)); - assert(optimizer.addEdge(e)); - edges.push_back(EdgeContainerSE3(e, (*it_obs)->frame, *it_obs)); - ++n_edges; - ++it_obs; - } - } - - // structure only - g2o::StructureOnlySolver<3> structure_only_ba; - g2o::OptimizableGraph::VertexContainer points; - for (g2o::OptimizableGraph::VertexIDMap::const_iterator it = optimizer.vertices().begin(); it != optimizer.vertices().end(); ++it) - { - g2o::OptimizableGraph::Vertex* v = static_cast(it->second); - if (v->dimension() == 3 && v->edges().size() >= 2) - points.push_back(v); - } - structure_only_ba.calc(points, 10); - - // Optimization - if(Config::lobaNumIter() > 0) - runSparseBAOptimizer(&optimizer, Config::lobaNumIter(), init_error, final_error); - - // Update Keyframes - for(set::iterator it = core_kfs->begin(); it != core_kfs->end(); ++it) - { - (*it)->T_f_w_ = SE3( (*it)->v_kf_->estimate().rotation(), - (*it)->v_kf_->estimate().translation()); - (*it)->v_kf_ = NULL; - } - - for(list::iterator it = neib_kfs.begin(); it != neib_kfs.end(); ++it) - (*it)->v_kf_ = NULL; - - // Update Mappoints - for(set::iterator it = mps.begin(); it != mps.end(); ++it) - { - (*it)->pos_ = (*it)->v_pt_->estimate(); - (*it)->v_pt_ = NULL; - } - - // Remove Measurements with too large reprojection error - double reproj_thresh_2_squared = reproj_thresh_2*reproj_thresh_2; - for(list::iterator it = edges.begin(); it != edges.end(); ++it) - { - if(it->edge->chi2() > reproj_thresh_2_squared) //*(1<feature_->level)) - { - map->removePtFrameRef(it->frame, it->feature); - ++n_incorrect_edges_2; - } - } - - // TODO: delete points and edges! - init_error = sqrt(init_error)*center_kf->cam_->errorMultiplier2(); - final_error = sqrt(final_error)*center_kf->cam_->errorMultiplier2(); -} - -void globalBA(Map* map) -{ - // init g2o - g2o::SparseOptimizer optimizer; - setupG2o(&optimizer); - - list edges; - list< pair > incorrect_edges; - - // Go through all Keyframes - size_t v_id = 0; - double reproj_thresh_2 = Config::lobaThresh() / map->lastKeyframe()->cam_->errorMultiplier2(); - double reproj_thresh_1_squared = Config::poseOptimThresh() / map->lastKeyframe()->cam_->errorMultiplier2(); - reproj_thresh_1_squared *= reproj_thresh_1_squared; - for(list::iterator it_kf = map->keyframes_.begin(); - it_kf != map->keyframes_.end(); ++it_kf) - { - // New Keyframe Vertex - g2oFrameSE3* v_kf = createG2oFrameSE3(it_kf->get(), v_id++, false); - (*it_kf)->v_kf_ = v_kf; - optimizer.addVertex(v_kf); - for(Features::iterator it_ftr=(*it_kf)->fts_.begin(); it_ftr!=(*it_kf)->fts_.end(); ++it_ftr) - { - // for each keyframe add edges to all observed mapoints - Point* mp = (*it_ftr)->point; - if(mp == NULL) - continue; - g2oPoint* v_mp = mp->v_pt_; - if(v_mp == NULL) - { - // mappoint-vertex doesn't exist yet. create a new one: - v_mp = createG2oPoint(mp->pos_, v_id++, false); - mp->v_pt_ = v_mp; - optimizer.addVertex(v_mp); - } - - // Due to merging of mappoints it is possible that references in kfs suddenly - // have a very large reprojection error which may result in distorted results. - Vector2d error = vk::project2d((*it_ftr)->f) - vk::project2d((*it_kf)->w2f(mp->pos_)); - if(error.squaredNorm() > reproj_thresh_1_squared) - incorrect_edges.push_back(pair(*it_kf, *it_ftr)); - else - { - g2oEdgeSE3* e = createG2oEdgeSE3(v_kf, v_mp, vk::project2d((*it_ftr)->f), - true, - reproj_thresh_2*Config::lobaRobustHuberWidth()); - - edges.push_back(EdgeContainerSE3(e, it_kf->get(), *it_ftr)); - optimizer.addEdge(e); - } - } - } - - // Optimization - double init_error=0.0, final_error=0.0; - if(Config::lobaNumIter() > 0) - runSparseBAOptimizer(&optimizer, Config::lobaNumIter(), init_error, final_error); - - // Update Keyframe and MapPoint Positions - for(list::iterator it_kf = map->keyframes_.begin(); - it_kf != map->keyframes_.end(); ++it_kf) - { - (*it_kf)->T_f_w_ = SE3( (*it_kf)->v_kf_->estimate().rotation(), - (*it_kf)->v_kf_->estimate().translation()); - (*it_kf)->v_kf_ = NULL; - for(Features::iterator it_ftr=(*it_kf)->fts_.begin(); it_ftr!=(*it_kf)->fts_.end(); ++it_ftr) - { - Point* mp = (*it_ftr)->point; - if(mp == NULL) - continue; - if(mp->v_pt_ == NULL) - continue; // mp was updated before - mp->pos_ = mp->v_pt_->estimate(); - mp->v_pt_ = NULL; - } - } - - // Remove Measurements with too large reprojection error - for(list< pair >::iterator it=incorrect_edges.begin(); - it!=incorrect_edges.end(); ++it) - map->removePtFrameRef(it->first.get(), it->second); - - double reproj_thresh_2_squared = reproj_thresh_2*reproj_thresh_2; - for(list::iterator it = edges.begin(); it != edges.end(); ++it) - { - if(it->edge->chi2() > reproj_thresh_2_squared) - { - map->removePtFrameRef(it->frame, it->feature); - } - } -} - -void setupG2o(g2o::SparseOptimizer * optimizer) -{ - // TODO: What's happening with all this HEAP stuff? Memory Leak? - optimizer->setVerbose(false); - -#if SCHUR_TRICK - // solver - g2o::BlockSolver_6_3::LinearSolverType* linearSolver; - linearSolver = new g2o::LinearSolverCholmod(); - //linearSolver = new g2o::LinearSolverCSparse(); - - g2o::BlockSolver_6_3 * solver_ptr = new g2o::BlockSolver_6_3(linearSolver); - g2o::OptimizationAlgorithmLevenberg * solver = new g2o::OptimizationAlgorithmLevenberg(solver_ptr); -#else - g2o::BlockSolverX::LinearSolverType * linearSolver; - linearSolver = new g2o::LinearSolverCholmod(); - //linearSolver = new g2o::LinearSolverCSparse(); - g2o::BlockSolverX * solver_ptr = new g2o::BlockSolverX(linearSolver); - g2o::OptimizationAlgorithmLevenberg* solver = new g2o::OptimizationAlgorithmLevenberg(solver_ptr); -#endif - - solver->setMaxTrialsAfterFailure(5); - optimizer->setAlgorithm(solver); - - // setup camera - g2o::CameraParameters * cam_params = new g2o::CameraParameters(1.0, Vector2d(0.,0.), 0.); - cam_params->setId(0); - if (!optimizer->addParameter(cam_params)) { - assert(false); - } -} - -void -runSparseBAOptimizer(g2o::SparseOptimizer* optimizer, - unsigned int num_iter, - double& init_error, double& final_error) -{ - optimizer->initializeOptimization(); - optimizer->computeActiveErrors(); - init_error = optimizer->activeChi2(); - optimizer->optimize(num_iter); - final_error = optimizer->activeChi2(); -} - -g2oFrameSE3* -createG2oFrameSE3(Frame* frame, size_t id, bool fixed) -{ - g2oFrameSE3* v = new g2oFrameSE3(); - v->setId(id); - v->setFixed(fixed); - v->setEstimate(g2o::SE3Quat(frame->T_f_w_.unit_quaternion(), frame->T_f_w_.translation())); - return v; -} - -g2oPoint* -createG2oPoint(Vector3d pos, - size_t id, - bool fixed) -{ - g2oPoint* v = new g2oPoint(); - v->setId(id); -#if SCHUR_TRICK - v->setMarginalized(true); -#endif - v->setFixed(fixed); - v->setEstimate(pos); - return v; -} - -g2oEdgeSE3* -createG2oEdgeSE3( g2oFrameSE3* v_frame, - g2oPoint* v_point, - const Vector2d& f_up, - bool robust_kernel, - double huber_width, - double weight) -{ - g2oEdgeSE3* e = new g2oEdgeSE3(); - e->setVertex(0, dynamic_cast(v_point)); - e->setVertex(1, dynamic_cast(v_frame)); - e->setMeasurement(f_up); - e->information() = weight * Eigen::Matrix2d::Identity(2,2); - g2o::RobustKernelHuber* rk = new g2o::RobustKernelHuber(); // TODO: memory leak - rk->setDelta(huber_width); - e->setRobustKernel(rk); - e->setParameterId(0, 0); //old: e->setId(v_point->id()); - return e; -} - -} // namespace ba -} // namespace svo diff --git a/GPU_version/vio/.idea/.name b/GPU_version/vio/.idea/.name index 06a578d..19d75c0 100644 --- a/GPU_version/vio/.idea/.name +++ b/GPU_version/vio/.idea/.name @@ -1 +1 @@ -vio_gpu \ No newline at end of file +vio \ No newline at end of file diff --git a/GPU_version/vio/.idea/modules.xml b/GPU_version/vio/.idea/modules.xml index eb3cacf..4c8cf2b 100644 --- a/GPU_version/vio/.idea/modules.xml +++ b/GPU_version/vio/.idea/modules.xml @@ -2,7 +2,7 @@ - + \ No newline at end of file diff --git a/GPU_version/svo/.idea/svo.iml b/GPU_version/vio/.idea/svo.iml similarity index 100% rename from GPU_version/svo/.idea/svo.iml rename to GPU_version/vio/.idea/svo.iml diff --git a/GPU_version/vio/.idea/svo_ros.iml b/GPU_version/vio/.idea/svo_ros.iml deleted file mode 100644 index f08604b..0000000 --- a/GPU_version/vio/.idea/svo_ros.iml +++ /dev/null @@ -1,2 +0,0 @@ - - \ No newline at end of file diff --git a/GPU_version/vio/CMakeLists.txt b/GPU_version/vio/CMakeLists.txt old mode 100644 new mode 100755 index a9872a4..938c850 --- a/GPU_version/vio/CMakeLists.txt +++ b/GPU_version/vio/CMakeLists.txt @@ -1,92 +1,76 @@ -SET(PROJECT_NAME vio_gpu) +SET(PROJECT_NAME vio) PROJECT(${PROJECT_NAME}) CMAKE_MINIMUM_REQUIRED (VERSION 2.8.3) + SET(CMAKE_BUILD_TYPE Release) # Release, RelWithDebInfo SET(CMAKE_VERBOSE_MAKEFILE OFF) SET(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${PROJECT_SOURCE_DIR}/CMakeModules/") +set(CMAKE_C_STANDARD 17) +set(CMAKE_CXX_STANDARD 17) +# Set definitions +ADD_DEFINITIONS(-DSVO_TRACE) +ADD_DEFINITIONS(-DSVO_USE_ROS) + + +# Set build flags, set ARM_ARCHITECTURE environment variable on Odroid # Set build flags. Set IS_ARM on odroid board as environment variable SET(CMAKE_CXX_FLAGS "-Wall -D_LINUX -D_REENTRANT -march=native -Wno-unused-variable -Wno-unused-but-set-variable -Wno-unknown-pragmas") IF(DEFINED ENV{ARM_ARCHITECTURE}) - SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS}") + SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ") ELSE() SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -mmmx -msse -msse -msse2 -msse3 -mssse3") ENDIF() -IF(CMAKE_COMPILER_IS_GNUCC) - SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x") -ELSE() - SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11") -ENDIF() SET(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS} -O3 -fsee -fomit-frame-pointer -fno-signed-zeros -fno-math-errno -funroll-loops") -# Add catkin and required ROS packages -FIND_PACKAGE(catkin REQUIRED COMPONENTS - geometry_msgs - roscpp - cmake_modules - nav_msgs - std_msgs - visualization_msgs - sensor_msgs - image_transport - cv_bridge - tf - gpu_svo - vikit_common - vikit_ros -) - # Add plain cmake packages -FIND_PACKAGE(OpenCV REQUIRED) +FIND_PACKAGE(OpenCV 3 REQUIRED) FIND_PACKAGE(Eigen REQUIRED) FIND_PACKAGE(Sophus REQUIRED) -FIND_PACKAGE(Boost REQUIRED COMPONENTS thread) -FIND_PACKAGE(GTSAM REQUIRED) +FIND_PACKAGE(Boost REQUIRED COMPONENTS thread system) FIND_PACKAGE(OpenCL REQUIRED) -# notify catkin to look at the previously found msg files -add_message_files( - FILES - Info.msg +set(GTSAM_INCLUDE_DIRS "${GTSAM_INCLUDE_DIR}") +FIND_PACKAGE(catkin REQUIRED COMPONENTS roscpp roslib cmake_modules image_transport cv_bridge tf geometry_msgs) +catkin_package( + DEPENDS Eigen OpenCV Sophus Boost + CATKIN_DEPENDS roscpp roslib image_transport cv_bridge tf geometry_msgs + INCLUDE_DIRS include ) -# build the header files from the msg files, and notify catkin about the dependencies -generate_messages( - DEPENDENCIES - geometry_msgs - sensor_msgs -) -# Describe catkin Project -catkin_package( - DEPENDS Eigen OpenCV Sophus Boost - CATKIN_DEPENDS roscpp nav_msgs std_msgs visualization_msgs sensor_msgs image_transport cv_bridge tf gpu_svo vikit_common vikit_ros geometry_msgs - INCLUDE_DIRS include - LIBRARIES ${PROJECT_NAME}_visualizer -) # Include dirs INCLUDE_DIRECTORIES( include - ${Eigen_INCLUDE_DIRS} - ${OpenCV_INCLUDE_DIRS} - ${Sophus_INCLUDE_DIRS} - ${Boost_INCLUDE_DIRS} - ${catkin_INCLUDE_DIRS} + kernel + ${Eigen_INCLUDE_DIRS} + ${OpenCV_INCLUDE_DIRS} + ${Sophus_INCLUDE_DIRS} + ${Boost_INCLUDE_DIRS} + ${OpenCL_INCLUDE_DIRS} + ${catkin_INCLUDE_DIRS} ) # Set link libraries -LIST(APPEND LINK_LIBS +LIST(APPEND LINK_LIBS + #gtsam ${OpenCV_LIBS} ${Sophus_LIBRARIES} ${Boost_LIBRARIES} - ${catkin_LIBRARIES} ${OpenCL_LIBRARIES} + ${catkin_LIBRARIES} ) -# Create visualizer library -ADD_LIBRARY(${PROJECT_NAME}_visualizer src/visualizer.cpp) -TARGET_LINK_LIBRARIES(${PROJECT_NAME}_visualizer ${LINK_LIBS} gtsam) - -# Create Executables -ADD_EXECUTABLE(${PROJECT_NAME} src/vo_node.cpp) -TARGET_LINK_LIBRARIES(${PROJECT_NAME} ${PROJECT_NAME}_visualizer ${LINK_LIBS}) +file(GLOB SRC CONFIGURE_DEPENDS "src/*.cpp") + + + +# Create svo library +ADD_EXECUTABLE(${PROJECT_NAME} ${SRC}) +TARGET_LINK_LIBRARIES(${PROJECT_NAME} ${LINK_LIBS}) +set_property(TARGET ${PROJECT_NAME} PROPERTY CXX_STANDARD 17) +set_property(TARGET ${PROJECT_NAME} PROPERTY CXX_STANDARD_REQUIRED ON) +target_compile_features(${PROJECT_NAME} PRIVATE cxx_range_for) +ADD_DEFINITIONS(-DKERNEL_DIR=\"${PROJECT_SOURCE_DIR}/kernel\") + + diff --git a/GPU_version/svo/CMakeModules/FindEigen.cmake b/GPU_version/vio/CMakeModules/FindEigen.cmake similarity index 100% rename from GPU_version/svo/CMakeModules/FindEigen.cmake rename to GPU_version/vio/CMakeModules/FindEigen.cmake diff --git a/GPU_version/svo/CMakeModules/FindG2O.cmake b/GPU_version/vio/CMakeModules/FindG2O.cmake similarity index 100% rename from GPU_version/svo/CMakeModules/FindG2O.cmake rename to GPU_version/vio/CMakeModules/FindG2O.cmake diff --git a/GPU_version/svo/Doxyfile b/GPU_version/vio/Doxyfile old mode 100644 new mode 100755 similarity index 100% rename from GPU_version/svo/Doxyfile rename to GPU_version/vio/Doxyfile diff --git a/GPU_version/vio/cmake-build-debug/CATKIN_IGNORE b/GPU_version/vio/cmake-build-debug/CATKIN_IGNORE new file mode 100644 index 0000000..e69de29 diff --git a/GPU_version/vio/cmake-build-debug/CMakeCache.txt b/GPU_version/vio/cmake-build-debug/CMakeCache.txt new file mode 100644 index 0000000..d820937 --- /dev/null +++ b/GPU_version/vio/cmake-build-debug/CMakeCache.txt @@ -0,0 +1,785 @@ +# This is the CMakeCache file. +# For build in directory: /root/Project/ROS/src/vio_svo/GPU_version/svo/cmake-build-debug +# It was generated by CMake: /opt/clion-2020.3.2/bin/cmake/linux/bin/cmake +# You can edit this file to change values found and used by cmake. +# If you do not want to change any of the values, simply exit the editor. +# If you do want to change a value, simply edit, save, and exit the editor. +# The syntax for the file is as follows: +# KEY:TYPE=VALUE +# KEY is the name of a variable in the cache. +# TYPE is a hint to GUIs for the type of VALUE, DO NOT EDIT TYPE!. +# VALUE is the current value for the KEY. + +######################## +# EXTERNAL cache entries +######################## + +//Builds the googlemock subproject +BUILD_GMOCK:BOOL=ON + +//Builds the googletest subproject +BUILD_GTEST:BOOL=OFF + +//Build shared libraries (DLLs). +BUILD_SHARED_LIBS:BOOL=ON + +//Boost atomic library (debug) +Boost_ATOMIC_LIBRARY_DEBUG:FILEPATH=/usr/lib/x86_64-linux-gnu/libboost_atomic.so + +//Boost atomic library (release) +Boost_ATOMIC_LIBRARY_RELEASE:FILEPATH=/usr/lib/x86_64-linux-gnu/libboost_atomic.so + +//Boost chrono library (debug) +Boost_CHRONO_LIBRARY_DEBUG:FILEPATH=/usr/lib/x86_64-linux-gnu/libboost_chrono.so + +//Boost chrono library (release) +Boost_CHRONO_LIBRARY_RELEASE:FILEPATH=/usr/lib/x86_64-linux-gnu/libboost_chrono.so + +//Boost date_time library (debug) +Boost_DATE_TIME_LIBRARY_DEBUG:FILEPATH=/usr/lib/x86_64-linux-gnu/libboost_date_time.so + +//Boost date_time library (release) +Boost_DATE_TIME_LIBRARY_RELEASE:FILEPATH=/usr/lib/x86_64-linux-gnu/libboost_date_time.so + +//The directory containing a CMake configuration file for Boost. +Boost_DIR:PATH=Boost_DIR-NOTFOUND + +//Path to a file. +Boost_INCLUDE_DIR:PATH=/usr/include + +//Boost library directory DEBUG +Boost_LIBRARY_DIR_DEBUG:PATH=/usr/lib/x86_64-linux-gnu + +//Boost library directory RELEASE +Boost_LIBRARY_DIR_RELEASE:PATH=/usr/lib/x86_64-linux-gnu + +//Boost system library (debug) +Boost_SYSTEM_LIBRARY_DEBUG:FILEPATH=/usr/lib/x86_64-linux-gnu/libboost_system.so + +//Boost system library (release) +Boost_SYSTEM_LIBRARY_RELEASE:FILEPATH=/usr/lib/x86_64-linux-gnu/libboost_system.so + +//Boost thread library (debug) +Boost_THREAD_LIBRARY_DEBUG:FILEPATH=/usr/lib/x86_64-linux-gnu/libboost_thread.so + +//Boost thread library (release) +Boost_THREAD_LIBRARY_RELEASE:FILEPATH=/usr/lib/x86_64-linux-gnu/libboost_thread.so + +//Catkin enable testing +CATKIN_ENABLE_TESTING:BOOL=ON + +//Prefix to apply to package generated via gendebian +CATKIN_PACKAGE_PREFIX:STRING= + +//Catkin skip testing +CATKIN_SKIP_TESTING:BOOL=OFF + +//Replace the CMake install command with a custom implementation +// using symlinks instead of copying resources +CATKIN_SYMLINK_INSTALL:BOOL=OFF + +//Path to a program. +CMAKE_ADDR2LINE:FILEPATH=/usr/bin/addr2line + +//Path to a program. +CMAKE_AR:FILEPATH=/usr/bin/ar + +//Choose the type of build, options are: None Debug Release RelWithDebInfo +// MinSizeRel ... +CMAKE_BUILD_TYPE:STRING=Debug + +//Id string of the compiler for the CodeBlocks IDE. Automatically +// detected when left empty +CMAKE_CODEBLOCKS_COMPILER_ID:STRING= + +//The CodeBlocks executable +CMAKE_CODEBLOCKS_EXECUTABLE:FILEPATH=/usr/bin/codeblocks + +//Additional command line arguments when CodeBlocks invokes make. +// Enter e.g. -j to get parallel builds +CMAKE_CODEBLOCKS_MAKE_ARGUMENTS:STRING=-j8 + +//Enable/Disable color output during build. +CMAKE_COLOR_MAKEFILE:BOOL=ON + +//CXX compiler +CMAKE_CXX_COMPILER:FILEPATH=/usr/bin/c++ + +//A wrapper around 'ar' adding the appropriate '--plugin' option +// for the GCC compiler +CMAKE_CXX_COMPILER_AR:FILEPATH=/usr/bin/gcc-ar-7 + +//A wrapper around 'ranlib' adding the appropriate '--plugin' option +// for the GCC compiler +CMAKE_CXX_COMPILER_RANLIB:FILEPATH=/usr/bin/gcc-ranlib-7 + +//Flags used by the CXX compiler during all build types. +CMAKE_CXX_FLAGS:STRING= + +//Flags used by the CXX compiler during DEBUG builds. +CMAKE_CXX_FLAGS_DEBUG:STRING=-g + +//Flags used by the CXX compiler during MINSIZEREL builds. 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+//Flags used by the C compiler during RELWITHDEBINFO builds. +CMAKE_C_FLAGS_RELWITHDEBINFO:STRING=-O2 -g -DNDEBUG + +//Path to a program. +CMAKE_DLLTOOL:FILEPATH=CMAKE_DLLTOOL-NOTFOUND + +//Flags used by the linker during all build types. +CMAKE_EXE_LINKER_FLAGS:STRING= + +//Flags used by the linker during DEBUG builds. +CMAKE_EXE_LINKER_FLAGS_DEBUG:STRING= + +//Flags used by the linker during MINSIZEREL builds. +CMAKE_EXE_LINKER_FLAGS_MINSIZEREL:STRING= + +//Flags used by the linker during RELEASE builds. +CMAKE_EXE_LINKER_FLAGS_RELEASE:STRING= + +//Flags used by the linker during RELWITHDEBINFO builds. +CMAKE_EXE_LINKER_FLAGS_RELWITHDEBINFO:STRING= + +//Enable/Disable output of compile commands during generation. +CMAKE_EXPORT_COMPILE_COMMANDS:BOOL= + +//Install path prefix, prepended onto install directories. +CMAKE_INSTALL_PREFIX:PATH=/usr/local + +//Path to a program. +CMAKE_LINKER:FILEPATH=/usr/bin/ld + +//Path to a program. +CMAKE_MAKE_PROGRAM:FILEPATH=/usr/bin/make + +//Flags used by the linker during the creation of modules during +// all build types. +CMAKE_MODULE_LINKER_FLAGS:STRING= + +//Flags used by the linker during the creation of modules during +// DEBUG builds. +CMAKE_MODULE_LINKER_FLAGS_DEBUG:STRING= + +//Flags used by the linker during the creation of modules during +// MINSIZEREL builds. +CMAKE_MODULE_LINKER_FLAGS_MINSIZEREL:STRING= + +//Flags used by the linker during the creation of modules during +// RELEASE builds. +CMAKE_MODULE_LINKER_FLAGS_RELEASE:STRING= + +//Flags used by the linker during the creation of modules during +// RELWITHDEBINFO builds. +CMAKE_MODULE_LINKER_FLAGS_RELWITHDEBINFO:STRING= + +//Path to a program. +CMAKE_NM:FILEPATH=/usr/bin/nm + +//Path to a program. +CMAKE_OBJCOPY:FILEPATH=/usr/bin/objcopy + +//Path to a program. +CMAKE_OBJDUMP:FILEPATH=/usr/bin/objdump + +//Value Computed by CMake +CMAKE_PROJECT_DESCRIPTION:STATIC= + +//Value Computed by CMake +CMAKE_PROJECT_HOMEPAGE_URL:STATIC= + +//Value Computed by CMake +CMAKE_PROJECT_NAME:STATIC=vio + +//Path to a program. +CMAKE_RANLIB:FILEPATH=/usr/bin/ranlib + +//Path to a program. +CMAKE_READELF:FILEPATH=/usr/bin/readelf + +//Flags used by the linker during the creation of shared libraries +// during all build types. +CMAKE_SHARED_LINKER_FLAGS:STRING= + +//Flags used by the linker during the creation of shared libraries +// during DEBUG builds. +CMAKE_SHARED_LINKER_FLAGS_DEBUG:STRING= + +//Flags used by the linker during the creation of shared libraries +// during MINSIZEREL builds. +CMAKE_SHARED_LINKER_FLAGS_MINSIZEREL:STRING= + +//Flags used by the linker during the creation of shared libraries +// during RELEASE builds. +CMAKE_SHARED_LINKER_FLAGS_RELEASE:STRING= + +//Flags used by the linker during the creation of shared libraries +// during RELWITHDEBINFO builds. +CMAKE_SHARED_LINKER_FLAGS_RELWITHDEBINFO:STRING= + +//If set, runtime paths are not added when installing shared libraries, +// but are added when building. +CMAKE_SKIP_INSTALL_RPATH:BOOL=NO + +//If set, runtime paths are not added when using shared libraries. +CMAKE_SKIP_RPATH:BOOL=NO + +//Flags used by the linker during the creation of static libraries +// during all build types. +CMAKE_STATIC_LINKER_FLAGS:STRING= + +//Flags used by the linker during the creation of static libraries +// during DEBUG builds. +CMAKE_STATIC_LINKER_FLAGS_DEBUG:STRING= + +//Flags used by the linker during the creation of static libraries +// during MINSIZEREL builds. +CMAKE_STATIC_LINKER_FLAGS_MINSIZEREL:STRING= + +//Flags used by the linker during the creation of static libraries +// during RELEASE builds. +CMAKE_STATIC_LINKER_FLAGS_RELEASE:STRING= + +//Flags used by the linker during the creation of static libraries +// during RELWITHDEBINFO builds. +CMAKE_STATIC_LINKER_FLAGS_RELWITHDEBINFO:STRING= + +//Path to a program. +CMAKE_STRIP:FILEPATH=/usr/bin/strip + +//If this value is on, makefiles will be generated without the +// .SILENT directive, and all commands will be echoed to the console +// during the make. This is useful for debugging only. With Visual +// Studio IDE projects all commands are done without /nologo. +CMAKE_VERBOSE_MAKEFILE:BOOL=FALSE + +//Path to a program. +DOXYGEN_EXECUTABLE:FILEPATH=/usr/bin/doxygen + +//Doxygen found +DOXYGEN_FOUND:BOOL=TRUE + +//Path to a file. +EIGEN_INCLUDE_DIR:PATH=/usr/include/eigen3 + +//Path to a program. +EMPY_EXECUTABLE:FILEPATH=/usr/bin/empy + +//Empy script +EMPY_SCRIPT:STRING=/usr/bin/empy + +//The directory containing a CMake configuration file for GMock. +GMock_DIR:PATH=GMock_DIR-NOTFOUND + +//Path to a file. +GTEST_INCLUDE_DIR:PATH=/usr/include + +//Path to a library. +GTEST_LIBRARY:FILEPATH=GTEST_LIBRARY-NOTFOUND + +//Path to a library. +GTEST_LIBRARY_DEBUG:FILEPATH=GTEST_LIBRARY_DEBUG-NOTFOUND + +//Path to a library. +GTEST_MAIN_LIBRARY:FILEPATH=GTEST_MAIN_LIBRARY-NOTFOUND + +//Path to a library. +GTEST_MAIN_LIBRARY_DEBUG:FILEPATH=GTEST_MAIN_LIBRARY_DEBUG-NOTFOUND + +//lsb_release executable was found +LSB_FOUND:BOOL=TRUE + +//Path to a program. +LSB_RELEASE_EXECUTABLE:FILEPATH=/usr/bin/lsb_release + +//Path to a program. +NOSETESTS:FILEPATH=/usr/bin/nosetests-2.7 + +//Path to a file. +OpenCL_INCLUDE_DIR:PATH=/usr/include + +//Path to a library. +OpenCL_LIBRARY:FILEPATH=/usr/lib/x86_64-linux-gnu/libOpenCL.so + +//The directory containing a CMake configuration file for OpenCV. +OpenCV_DIR:PATH=/usr/share/OpenCV + +//pkg-config executable +PKG_CONFIG_EXECUTABLE:FILEPATH=/usr/bin/pkg-config + +//Path to a program. +PYTHON_EXECUTABLE:FILEPATH=/usr/bin/python2 + +//Specify specific Python version to use ('major.minor' or 'major') +PYTHON_VERSION:STRING=2 + +//Path to a program. +ProcessorCount_cmd_nproc:FILEPATH=/usr/bin/nproc + +//Path to a program. +ProcessorCount_cmd_sysctl:FILEPATH=/sbin/sysctl + +//Path to a library. +RT_LIBRARY:FILEPATH=/usr/lib/x86_64-linux-gnu/librt.so + +//Enable debian style python package layout +SETUPTOOLS_DEB_LAYOUT:BOOL=ON + +//Name of the computer/site where compile is being run +SITE:STRING=gfuse + +//The directory containing a CMake configuration file for Sophus. +Sophus_DIR:PATH=/root/workstation/Sophus/build + +//LSB Distrib tag +UBUNTU:BOOL=TRUE + +//LSB Distrib - codename tag +UBUNTU_BIONIC:BOOL=TRUE + +//Path to a file. +_gmock_INCLUDES:FILEPATH=/usr/include/gmock/gmock.h + +//Path to a file. +_gmock_SOURCES:FILEPATH=/usr/src/gmock/src/gmock.cc + +//Path to a file. +_gtest_INCLUDES:FILEPATH=/usr/include/gtest/gtest.h + +//Path to a file. +_gtest_SOURCES:FILEPATH=/usr/src/gtest/src/gtest.cc + +//The directory containing a CMake configuration file for catkin. +catkin_DIR:PATH=/opt/ros/melodic/share/catkin/cmake + +//The directory containing a CMake configuration file for cmake_modules. +cmake_modules_DIR:PATH=/opt/ros/melodic/share/cmake_modules/cmake + +//The directory containing a CMake configuration file for cpp_common. +cpp_common_DIR:PATH=/opt/ros/melodic/share/cpp_common/cmake + +//Value Computed by CMake +gmock_BINARY_DIR:STATIC=/root/Project/ROS/src/vio_svo/GPU_version/svo/cmake-build-debug/gtest/googlemock + +//Dependencies for the target +gmock_LIB_DEPENDS:STATIC=general;-lpthread; + +//Value Computed by CMake +gmock_SOURCE_DIR:STATIC=/usr/src/googletest/googlemock + +//Build all of Google Mock's own tests. +gmock_build_tests:BOOL=OFF + +//Dependencies for the target +gmock_main_LIB_DEPENDS:STATIC=general;-lpthread; + +//Value Computed by CMake +googletest-distribution_BINARY_DIR:STATIC=/root/Project/ROS/src/vio_svo/GPU_version/svo/cmake-build-debug/gtest + +//Value Computed by CMake +googletest-distribution_SOURCE_DIR:STATIC=/usr/src/googletest + +//Value Computed by CMake +gtest_BINARY_DIR:STATIC=/root/Project/ROS/src/vio_svo/GPU_version/svo/cmake-build-debug/gtest/googlemock/gtest + +//Dependencies for the target +gtest_LIB_DEPENDS:STATIC=general;-lpthread; + +//Value Computed by CMake +gtest_SOURCE_DIR:STATIC=/usr/src/googletest/googletest + +//Build gtest's sample programs. +gtest_build_samples:BOOL=OFF + +//Build all of gtest's own tests. +gtest_build_tests:BOOL=OFF + +//Disable uses of pthreads in gtest. +gtest_disable_pthreads:BOOL=OFF + +//Use shared (DLL) run-time lib even when Google Test is built +// as static lib. +gtest_force_shared_crt:BOOL=OFF + +//Build gtest with internal symbols hidden in shared libraries. +gtest_hide_internal_symbols:BOOL=OFF + +//Dependencies for the target +gtest_main_LIB_DEPENDS:STATIC=general;-lpthread;general;gtest; + +//Path to a library. +lib:FILEPATH=/opt/ros/melodic/lib/librospack.so + +//The directory containing a CMake configuration file for message_runtime. +message_runtime_DIR:PATH=/opt/ros/melodic/share/message_runtime/cmake + +//The directory containing a CMake configuration file for robot_localization. +robot_localization_DIR:PATH=robot_localization_DIR-NOTFOUND + +//The directory containing a CMake configuration file for rosconsole. +rosconsole_DIR:PATH=/opt/ros/melodic/share/rosconsole/cmake + +//The directory containing a CMake configuration file for roscpp. +roscpp_DIR:PATH=/opt/ros/melodic/share/roscpp/cmake + +//The directory containing a CMake configuration file for roscpp_serialization. +roscpp_serialization_DIR:PATH=/opt/ros/melodic/share/roscpp_serialization/cmake + +//The directory containing a CMake configuration file for roscpp_traits. +roscpp_traits_DIR:PATH=/opt/ros/melodic/share/roscpp_traits/cmake + +//The directory containing a CMake configuration file for rosgraph_msgs. +rosgraph_msgs_DIR:PATH=/opt/ros/melodic/share/rosgraph_msgs/cmake + +//The directory containing a CMake configuration file for roslib. +roslib_DIR:PATH=/opt/ros/melodic/share/roslib/cmake + +//The directory containing a CMake configuration file for rospack. +rospack_DIR:PATH=/opt/ros/melodic/share/rospack/cmake + +//The directory containing a CMake configuration file for rostime. +rostime_DIR:PATH=/opt/ros/melodic/share/rostime/cmake + +//The directory containing a CMake configuration file for std_msgs. +std_msgs_DIR:PATH=/opt/ros/melodic/share/std_msgs/cmake + +//Value Computed by CMake +vio_BINARY_DIR:STATIC=/root/Project/ROS/src/vio_svo/GPU_version/svo/cmake-build-debug + +//Value Computed by CMake +vio_SOURCE_DIR:STATIC=/root/Project/ROS/src/vio_svo/GPU_version/svo + +//The directory containing a CMake configuration file for xmlrpcpp. +xmlrpcpp_DIR:PATH=/opt/ros/melodic/share/xmlrpcpp/cmake + + +######################## +# INTERNAL cache entries +######################## + +//ADVANCED property for variable: Boost_ATOMIC_LIBRARY_DEBUG +Boost_ATOMIC_LIBRARY_DEBUG-ADVANCED:INTERNAL=1 +//ADVANCED property for variable: Boost_ATOMIC_LIBRARY_RELEASE +Boost_ATOMIC_LIBRARY_RELEASE-ADVANCED:INTERNAL=1 +//ADVANCED property for variable: Boost_CHRONO_LIBRARY_DEBUG +Boost_CHRONO_LIBRARY_DEBUG-ADVANCED:INTERNAL=1 +//ADVANCED property for variable: Boost_CHRONO_LIBRARY_RELEASE +Boost_CHRONO_LIBRARY_RELEASE-ADVANCED:INTERNAL=1 +//ADVANCED property for variable: Boost_DATE_TIME_LIBRARY_DEBUG +Boost_DATE_TIME_LIBRARY_DEBUG-ADVANCED:INTERNAL=1 +//ADVANCED property for variable: Boost_DATE_TIME_LIBRARY_RELEASE +Boost_DATE_TIME_LIBRARY_RELEASE-ADVANCED:INTERNAL=1 +//ADVANCED property for variable: Boost_DIR +Boost_DIR-ADVANCED:INTERNAL=1 +//ADVANCED property for variable: Boost_INCLUDE_DIR +Boost_INCLUDE_DIR-ADVANCED:INTERNAL=1 +//ADVANCED property for variable: Boost_LIBRARY_DIR_DEBUG +Boost_LIBRARY_DIR_DEBUG-ADVANCED:INTERNAL=1 +//ADVANCED property for variable: Boost_LIBRARY_DIR_RELEASE +Boost_LIBRARY_DIR_RELEASE-ADVANCED:INTERNAL=1 +//ADVANCED property for variable: Boost_SYSTEM_LIBRARY_DEBUG +Boost_SYSTEM_LIBRARY_DEBUG-ADVANCED:INTERNAL=1 +//ADVANCED property for variable: Boost_SYSTEM_LIBRARY_RELEASE +Boost_SYSTEM_LIBRARY_RELEASE-ADVANCED:INTERNAL=1 +//ADVANCED property for variable: Boost_THREAD_LIBRARY_DEBUG +Boost_THREAD_LIBRARY_DEBUG-ADVANCED:INTERNAL=1 +//ADVANCED property for variable: Boost_THREAD_LIBRARY_RELEASE 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+ /* __WATCOMC__ = VVRP + 1100 */ +# define COMPILER_VERSION_MAJOR DEC((__WATCOMC__ - 1100) / 100) +# define COMPILER_VERSION_MINOR DEC((__WATCOMC__ / 10) % 10) +# if (__WATCOMC__ % 10) > 0 +# define COMPILER_VERSION_PATCH DEC(__WATCOMC__ % 10) +# endif + +#elif defined(__SUNPRO_C) +# define COMPILER_ID "SunPro" +# if __SUNPRO_C >= 0x5100 + /* __SUNPRO_C = 0xVRRP */ +# define COMPILER_VERSION_MAJOR HEX(__SUNPRO_C>>12) +# define COMPILER_VERSION_MINOR HEX(__SUNPRO_C>>4 & 0xFF) +# define COMPILER_VERSION_PATCH HEX(__SUNPRO_C & 0xF) +# else + /* __SUNPRO_CC = 0xVRP */ +# define COMPILER_VERSION_MAJOR HEX(__SUNPRO_C>>8) +# define COMPILER_VERSION_MINOR HEX(__SUNPRO_C>>4 & 0xF) +# define COMPILER_VERSION_PATCH HEX(__SUNPRO_C & 0xF) +# endif + +#elif defined(__HP_cc) +# define COMPILER_ID "HP" + /* __HP_cc = VVRRPP */ +# define COMPILER_VERSION_MAJOR DEC(__HP_cc/10000) +# define COMPILER_VERSION_MINOR DEC(__HP_cc/100 % 100) +# define COMPILER_VERSION_PATCH DEC(__HP_cc % 100) + +#elif defined(__DECC) +# define COMPILER_ID "Compaq" + /* __DECC_VER = VVRRTPPPP */ +# define COMPILER_VERSION_MAJOR DEC(__DECC_VER/10000000) +# define COMPILER_VERSION_MINOR DEC(__DECC_VER/100000 % 100) +# define COMPILER_VERSION_PATCH DEC(__DECC_VER % 10000) + +#elif defined(__IBMC__) && defined(__COMPILER_VER__) +# define COMPILER_ID "zOS" + /* __IBMC__ = VRP */ +# define COMPILER_VERSION_MAJOR DEC(__IBMC__/100) +# define COMPILER_VERSION_MINOR DEC(__IBMC__/10 % 10) +# define COMPILER_VERSION_PATCH DEC(__IBMC__ % 10) + +#elif defined(__ibmxl__) && defined(__clang__) +# define COMPILER_ID "XLClang" +# define COMPILER_VERSION_MAJOR DEC(__ibmxl_version__) +# define COMPILER_VERSION_MINOR DEC(__ibmxl_release__) +# define COMPILER_VERSION_PATCH DEC(__ibmxl_modification__) +# define COMPILER_VERSION_TWEAK DEC(__ibmxl_ptf_fix_level__) + + +#elif defined(__IBMC__) && !defined(__COMPILER_VER__) && __IBMC__ >= 800 +# define COMPILER_ID "XL" + /* __IBMC__ = VRP */ +# define COMPILER_VERSION_MAJOR DEC(__IBMC__/100) +# define COMPILER_VERSION_MINOR DEC(__IBMC__/10 % 10) +# define COMPILER_VERSION_PATCH DEC(__IBMC__ % 10) + +#elif defined(__IBMC__) && !defined(__COMPILER_VER__) && __IBMC__ < 800 +# define COMPILER_ID "VisualAge" + /* __IBMC__ = VRP */ +# define COMPILER_VERSION_MAJOR DEC(__IBMC__/100) +# define COMPILER_VERSION_MINOR DEC(__IBMC__/10 % 10) +# define COMPILER_VERSION_PATCH DEC(__IBMC__ % 10) + +#elif defined(__PGI) +# define COMPILER_ID "PGI" +# define COMPILER_VERSION_MAJOR DEC(__PGIC__) +# define COMPILER_VERSION_MINOR DEC(__PGIC_MINOR__) +# if defined(__PGIC_PATCHLEVEL__) +# define COMPILER_VERSION_PATCH DEC(__PGIC_PATCHLEVEL__) +# endif + +#elif defined(_CRAYC) +# define COMPILER_ID "Cray" +# define COMPILER_VERSION_MAJOR DEC(_RELEASE_MAJOR) +# define COMPILER_VERSION_MINOR DEC(_RELEASE_MINOR) + +#elif defined(__TI_COMPILER_VERSION__) +# define COMPILER_ID "TI" + /* __TI_COMPILER_VERSION__ = VVVRRRPPP */ +# define COMPILER_VERSION_MAJOR DEC(__TI_COMPILER_VERSION__/1000000) +# define COMPILER_VERSION_MINOR DEC(__TI_COMPILER_VERSION__/1000 % 1000) +# define COMPILER_VERSION_PATCH DEC(__TI_COMPILER_VERSION__ % 1000) + +#elif defined(__FUJITSU) || defined(__FCC_VERSION) || defined(__fcc_version) +# define COMPILER_ID "Fujitsu" + +#elif defined(__ghs__) +# define COMPILER_ID "GHS" +/* __GHS_VERSION_NUMBER = VVVVRP */ +# ifdef __GHS_VERSION_NUMBER +# define COMPILER_VERSION_MAJOR DEC(__GHS_VERSION_NUMBER / 100) +# define COMPILER_VERSION_MINOR DEC(__GHS_VERSION_NUMBER / 10 % 10) +# define COMPILER_VERSION_PATCH DEC(__GHS_VERSION_NUMBER % 10) +# endif + +#elif defined(__TINYC__) +# define COMPILER_ID "TinyCC" + +#elif defined(__BCC__) +# define COMPILER_ID "Bruce" + +#elif defined(__SCO_VERSION__) +# define COMPILER_ID "SCO" + +#elif defined(__ARMCC_VERSION) && !defined(__clang__) +# define COMPILER_ID "ARMCC" +#if __ARMCC_VERSION >= 1000000 + /* __ARMCC_VERSION = VRRPPPP */ + # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/1000000) + # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 100) + # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION % 10000) +#else + /* __ARMCC_VERSION = VRPPPP */ + # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/100000) + # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 10) + # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION % 10000) +#endif + + +#elif defined(__clang__) && defined(__apple_build_version__) +# define COMPILER_ID "AppleClang" +# if defined(_MSC_VER) +# define SIMULATE_ID "MSVC" +# endif +# define COMPILER_VERSION_MAJOR DEC(__clang_major__) +# define COMPILER_VERSION_MINOR DEC(__clang_minor__) +# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__) +# if defined(_MSC_VER) + /* _MSC_VER = VVRR */ +# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100) +# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100) +# endif +# define COMPILER_VERSION_TWEAK DEC(__apple_build_version__) + +#elif defined(__clang__) && defined(__ARMCOMPILER_VERSION) +# define COMPILER_ID "ARMClang" + # define COMPILER_VERSION_MAJOR DEC(__ARMCOMPILER_VERSION/1000000) + # define COMPILER_VERSION_MINOR DEC(__ARMCOMPILER_VERSION/10000 % 100) + # define COMPILER_VERSION_PATCH DEC(__ARMCOMPILER_VERSION % 10000) +# define COMPILER_VERSION_INTERNAL DEC(__ARMCOMPILER_VERSION) + +#elif defined(__clang__) +# define COMPILER_ID "Clang" +# if defined(_MSC_VER) +# define SIMULATE_ID "MSVC" +# endif +# define COMPILER_VERSION_MAJOR DEC(__clang_major__) +# define COMPILER_VERSION_MINOR DEC(__clang_minor__) +# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__) +# if defined(_MSC_VER) + /* _MSC_VER = VVRR */ +# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100) +# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100) +# endif + +#elif defined(__GNUC__) +# define COMPILER_ID "GNU" +# define COMPILER_VERSION_MAJOR DEC(__GNUC__) +# if defined(__GNUC_MINOR__) +# define COMPILER_VERSION_MINOR DEC(__GNUC_MINOR__) +# endif +# if defined(__GNUC_PATCHLEVEL__) +# define COMPILER_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__) +# endif + +#elif defined(_MSC_VER) +# define COMPILER_ID "MSVC" + /* _MSC_VER = VVRR */ +# define COMPILER_VERSION_MAJOR DEC(_MSC_VER / 100) +# define COMPILER_VERSION_MINOR DEC(_MSC_VER % 100) +# if defined(_MSC_FULL_VER) +# if _MSC_VER >= 1400 + /* _MSC_FULL_VER = VVRRPPPPP */ +# define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 100000) +# else + /* _MSC_FULL_VER = VVRRPPPP */ +# define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 10000) +# endif +# endif +# if defined(_MSC_BUILD) +# define COMPILER_VERSION_TWEAK DEC(_MSC_BUILD) +# endif + +#elif defined(__VISUALDSPVERSION__) || defined(__ADSPBLACKFIN__) || defined(__ADSPTS__) || defined(__ADSP21000__) +# define COMPILER_ID "ADSP" +#if defined(__VISUALDSPVERSION__) + /* __VISUALDSPVERSION__ = 0xVVRRPP00 */ +# define COMPILER_VERSION_MAJOR HEX(__VISUALDSPVERSION__>>24) +# define COMPILER_VERSION_MINOR HEX(__VISUALDSPVERSION__>>16 & 0xFF) +# define COMPILER_VERSION_PATCH HEX(__VISUALDSPVERSION__>>8 & 0xFF) +#endif + +#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC) +# define COMPILER_ID "IAR" +# if defined(__VER__) && defined(__ICCARM__) +# define COMPILER_VERSION_MAJOR DEC((__VER__) / 1000000) +# define COMPILER_VERSION_MINOR DEC(((__VER__) / 1000) % 1000) +# define COMPILER_VERSION_PATCH DEC((__VER__) % 1000) +# define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__) +# elif defined(__VER__) && (defined(__ICCAVR__) || defined(__ICCRX__) || defined(__ICCRH850__) || defined(__ICCRL78__) || defined(__ICC430__) || defined(__ICCRISCV__) || defined(__ICCV850__) || defined(__ICC8051__)) +# define COMPILER_VERSION_MAJOR DEC((__VER__) / 100) +# define COMPILER_VERSION_MINOR DEC((__VER__) - (((__VER__) / 100)*100)) +# define COMPILER_VERSION_PATCH DEC(__SUBVERSION__) +# define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__) +# endif + +#elif defined(__SDCC_VERSION_MAJOR) || defined(SDCC) +# define COMPILER_ID "SDCC" +# if defined(__SDCC_VERSION_MAJOR) +# define COMPILER_VERSION_MAJOR DEC(__SDCC_VERSION_MAJOR) +# define COMPILER_VERSION_MINOR DEC(__SDCC_VERSION_MINOR) +# define COMPILER_VERSION_PATCH DEC(__SDCC_VERSION_PATCH) +# else + /* SDCC = VRP */ +# define COMPILER_VERSION_MAJOR DEC(SDCC/100) +# define COMPILER_VERSION_MINOR DEC(SDCC/10 % 10) +# define COMPILER_VERSION_PATCH DEC(SDCC % 10) +# endif + + +/* These compilers are either not known or too old to define an + identification macro. Try to identify the platform and guess that + it is the native compiler. */ +#elif defined(__hpux) || defined(__hpua) +# define COMPILER_ID "HP" + +#else /* unknown compiler */ +# define COMPILER_ID "" +#endif + +/* Construct the string literal in pieces to prevent the source from + getting matched. Store it in a pointer rather than an array + because some compilers will just produce instructions to fill the + array rather than assigning a pointer to a static array. */ +char const* info_compiler = "INFO" ":" "compiler[" COMPILER_ID "]"; +#ifdef SIMULATE_ID +char const* info_simulate = "INFO" ":" "simulate[" SIMULATE_ID "]"; +#endif + +#ifdef __QNXNTO__ +char const* qnxnto = "INFO" ":" "qnxnto[]"; +#endif + +#if defined(__CRAYXE) || defined(__CRAYXC) +char const *info_cray = "INFO" ":" "compiler_wrapper[CrayPrgEnv]"; +#endif + +#define STRINGIFY_HELPER(X) #X +#define STRINGIFY(X) STRINGIFY_HELPER(X) + +/* Identify known platforms by name. */ +#if defined(__linux) || defined(__linux__) || defined(linux) +# define PLATFORM_ID "Linux" + +#elif defined(__CYGWIN__) +# define PLATFORM_ID "Cygwin" + +#elif defined(__MINGW32__) +# define PLATFORM_ID "MinGW" + +#elif defined(__APPLE__) +# define PLATFORM_ID "Darwin" + +#elif defined(_WIN32) || defined(__WIN32__) || defined(WIN32) +# define PLATFORM_ID "Windows" + +#elif defined(__FreeBSD__) || defined(__FreeBSD) +# define PLATFORM_ID "FreeBSD" + +#elif defined(__NetBSD__) || defined(__NetBSD) +# define PLATFORM_ID "NetBSD" + +#elif defined(__OpenBSD__) || defined(__OPENBSD) +# define PLATFORM_ID "OpenBSD" + +#elif defined(__sun) || defined(sun) +# define PLATFORM_ID "SunOS" + +#elif defined(_AIX) || defined(__AIX) || defined(__AIX__) || defined(__aix) || defined(__aix__) +# define PLATFORM_ID "AIX" + +#elif defined(__hpux) || defined(__hpux__) +# define PLATFORM_ID "HP-UX" + +#elif defined(__HAIKU__) +# define PLATFORM_ID "Haiku" + +#elif defined(__BeOS) || defined(__BEOS__) || defined(_BEOS) +# define PLATFORM_ID "BeOS" + +#elif defined(__QNX__) || defined(__QNXNTO__) +# define PLATFORM_ID "QNX" + +#elif defined(__tru64) || defined(_tru64) || defined(__TRU64__) +# define PLATFORM_ID "Tru64" + +#elif defined(__riscos) || defined(__riscos__) +# define PLATFORM_ID "RISCos" + +#elif defined(__sinix) || defined(__sinix__) || defined(__SINIX__) +# define PLATFORM_ID "SINIX" + +#elif defined(__UNIX_SV__) +# define PLATFORM_ID "UNIX_SV" + +#elif defined(__bsdos__) +# define PLATFORM_ID "BSDOS" + +#elif defined(_MPRAS) || defined(MPRAS) +# define PLATFORM_ID "MP-RAS" + +#elif defined(__osf) || defined(__osf__) +# define PLATFORM_ID "OSF1" + +#elif defined(_SCO_SV) || defined(SCO_SV) || defined(sco_sv) +# define PLATFORM_ID "SCO_SV" + +#elif defined(__ultrix) || defined(__ultrix__) || defined(_ULTRIX) +# define PLATFORM_ID "ULTRIX" + +#elif defined(__XENIX__) || defined(_XENIX) || defined(XENIX) +# define PLATFORM_ID "Xenix" + +#elif defined(__WATCOMC__) +# if defined(__LINUX__) +# define PLATFORM_ID "Linux" + +# elif defined(__DOS__) +# define PLATFORM_ID "DOS" + +# elif defined(__OS2__) +# define PLATFORM_ID "OS2" + +# elif defined(__WINDOWS__) +# define PLATFORM_ID "Windows3x" + +# else /* unknown platform */ +# define PLATFORM_ID +# endif + +#elif defined(__INTEGRITY) +# if defined(INT_178B) +# define PLATFORM_ID "Integrity178" + +# else /* regular Integrity */ +# define PLATFORM_ID "Integrity" +# endif + +#else /* unknown platform */ +# define PLATFORM_ID + +#endif + +/* For windows compilers MSVC and Intel we can determine + the architecture of the compiler being used. This is because + the compilers do not have flags that can change the architecture, + but rather depend on which compiler is being used +*/ +#if defined(_WIN32) && defined(_MSC_VER) +# if defined(_M_IA64) +# define ARCHITECTURE_ID "IA64" + +# elif defined(_M_X64) || defined(_M_AMD64) +# define ARCHITECTURE_ID "x64" + +# elif defined(_M_IX86) +# define ARCHITECTURE_ID "X86" + +# elif defined(_M_ARM64) +# define ARCHITECTURE_ID "ARM64" + +# elif defined(_M_ARM) +# if _M_ARM == 4 +# define ARCHITECTURE_ID "ARMV4I" +# elif _M_ARM == 5 +# define ARCHITECTURE_ID "ARMV5I" +# else +# define ARCHITECTURE_ID "ARMV" STRINGIFY(_M_ARM) +# endif + +# elif defined(_M_MIPS) +# define ARCHITECTURE_ID "MIPS" + +# elif defined(_M_SH) +# define ARCHITECTURE_ID "SHx" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__WATCOMC__) +# if defined(_M_I86) +# define ARCHITECTURE_ID "I86" + +# elif defined(_M_IX86) +# define ARCHITECTURE_ID "X86" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC) +# if defined(__ICCARM__) +# define ARCHITECTURE_ID "ARM" + +# elif defined(__ICCRX__) +# define ARCHITECTURE_ID "RX" + +# elif defined(__ICCRH850__) +# define ARCHITECTURE_ID "RH850" + +# elif defined(__ICCRL78__) +# define ARCHITECTURE_ID "RL78" + +# elif defined(__ICCRISCV__) +# define ARCHITECTURE_ID "RISCV" + +# elif defined(__ICCAVR__) +# define ARCHITECTURE_ID "AVR" + +# elif defined(__ICC430__) +# define ARCHITECTURE_ID "MSP430" + +# elif defined(__ICCV850__) +# define ARCHITECTURE_ID "V850" + +# elif defined(__ICC8051__) +# define ARCHITECTURE_ID "8051" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__ghs__) +# if defined(__PPC64__) +# define ARCHITECTURE_ID "PPC64" + +# elif defined(__ppc__) +# define ARCHITECTURE_ID "PPC" + +# elif defined(__ARM__) +# define ARCHITECTURE_ID "ARM" + +# elif defined(__x86_64__) +# define ARCHITECTURE_ID "x64" + +# elif defined(__i386__) +# define ARCHITECTURE_ID "X86" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif +#else +# define ARCHITECTURE_ID +#endif + +/* Convert integer to decimal digit literals. */ +#define DEC(n) \ + ('0' + (((n) / 10000000)%10)), \ + ('0' + (((n) / 1000000)%10)), \ + ('0' + (((n) / 100000)%10)), \ + ('0' + (((n) / 10000)%10)), \ + ('0' + (((n) / 1000)%10)), \ + ('0' + (((n) / 100)%10)), \ + ('0' + (((n) / 10)%10)), \ + ('0' + ((n) % 10)) + +/* Convert integer to hex digit literals. */ +#define HEX(n) \ + ('0' + ((n)>>28 & 0xF)), \ + ('0' + ((n)>>24 & 0xF)), \ + ('0' + ((n)>>20 & 0xF)), \ + ('0' + ((n)>>16 & 0xF)), \ + ('0' + ((n)>>12 & 0xF)), \ + ('0' + ((n)>>8 & 0xF)), \ + ('0' + ((n)>>4 & 0xF)), \ + ('0' + ((n) & 0xF)) + +/* Construct a string literal encoding the version number components. */ +#ifdef COMPILER_VERSION_MAJOR +char const info_version[] = { + 'I', 'N', 'F', 'O', ':', + 'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','[', + COMPILER_VERSION_MAJOR, +# ifdef COMPILER_VERSION_MINOR + '.', COMPILER_VERSION_MINOR, +# ifdef COMPILER_VERSION_PATCH + '.', COMPILER_VERSION_PATCH, +# ifdef COMPILER_VERSION_TWEAK + '.', COMPILER_VERSION_TWEAK, +# endif +# endif +# endif + ']','\0'}; +#endif + +/* Construct a string literal encoding the internal version number. */ +#ifdef COMPILER_VERSION_INTERNAL +char const info_version_internal[] = { + 'I', 'N', 'F', 'O', ':', + 'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','_', + 'i','n','t','e','r','n','a','l','[', + COMPILER_VERSION_INTERNAL,']','\0'}; +#endif + +/* Construct a string literal encoding the version number components. */ +#ifdef SIMULATE_VERSION_MAJOR +char const info_simulate_version[] = { + 'I', 'N', 'F', 'O', ':', + 's','i','m','u','l','a','t','e','_','v','e','r','s','i','o','n','[', + SIMULATE_VERSION_MAJOR, +# ifdef SIMULATE_VERSION_MINOR + '.', SIMULATE_VERSION_MINOR, +# ifdef SIMULATE_VERSION_PATCH + '.', SIMULATE_VERSION_PATCH, +# ifdef SIMULATE_VERSION_TWEAK + '.', SIMULATE_VERSION_TWEAK, +# endif +# endif +# endif + ']','\0'}; +#endif + +/* Construct the string literal in pieces to prevent the source from + getting matched. Store it in a pointer rather than an array + because some compilers will just produce instructions to fill the + array rather than assigning a pointer to a static array. */ +char const* info_platform = "INFO" ":" "platform[" PLATFORM_ID "]"; +char const* info_arch = "INFO" ":" "arch[" ARCHITECTURE_ID "]"; + + + + +#if !defined(__STDC__) +# if (defined(_MSC_VER) && !defined(__clang__)) \ + || (defined(__ibmxl__) || defined(__IBMC__)) +# define C_DIALECT "90" +# else +# define C_DIALECT +# endif +#elif __STDC_VERSION__ >= 201000L +# define C_DIALECT "11" +#elif __STDC_VERSION__ >= 199901L +# define C_DIALECT "99" +#else +# define C_DIALECT "90" +#endif +const char* info_language_dialect_default = + "INFO" ":" "dialect_default[" C_DIALECT "]"; + +/*--------------------------------------------------------------------------*/ + +#ifdef ID_VOID_MAIN +void main() {} +#else +# if defined(__CLASSIC_C__) +int main(argc, argv) int argc; char *argv[]; +# else +int main(int argc, char* argv[]) +# endif +{ + int require = 0; + require += info_compiler[argc]; + require += info_platform[argc]; + require += info_arch[argc]; +#ifdef COMPILER_VERSION_MAJOR + require += info_version[argc]; +#endif +#ifdef COMPILER_VERSION_INTERNAL + require += info_version_internal[argc]; +#endif +#ifdef SIMULATE_ID + require += info_simulate[argc]; +#endif +#ifdef SIMULATE_VERSION_MAJOR + require += info_simulate_version[argc]; +#endif +#if defined(__CRAYXE) || defined(__CRAYXC) + require += info_cray[argc]; +#endif + require += info_language_dialect_default[argc]; + (void)argv; + return require; +} +#endif diff --git a/GPU_version/vio/cmake-build-debug/CMakeFiles/3.17.5/CompilerIdC/a.out b/GPU_version/vio/cmake-build-debug/CMakeFiles/3.17.5/CompilerIdC/a.out new file mode 100755 index 0000000000000000000000000000000000000000..11b7df452ad29dfd7bf1d9b188856c9e33182403 GIT binary patch literal 8408 zcmeHMZ;Vt|6~D8?!t!Tl2MTn7M#f4FRCd^=A*#)EvO{L4@?ab`%r1OW& zywQb-l59&d&~1tO0b?|pm>6Tf=!aVUV3zPl<0puTMQsyeKv$)@wH3D&7|*%y{AS;K zJ7|q2e&HrF=ic8v=iKwoJNM4HXTI3o*HaS+D72vZq~g)OS_f&DiEFE*L!@1`sfG0Y zh+3oO(|Df7ocVT#(5%yDL^Wug;6b7+*H+^Ie)@>;fx<$jVw!Mx$rX**^9-;uB|?3eZK=a;b94=RtVHla$^1ZnXF8Wn4p>8JmK@3CvLb0Z ztW_DcJ&t$b;{bV&{fGBlT%DqwQKL4B?TCBC>plsd8QB-W!-Cg^BU%zT#$g}+%>~W^ zjXwOZf=7J#0#Uf$hd(6vwFYNhHiMrB?YaxcGxOY(3+MPkn|9&YGdwrr!rkYJF@CGg zI8%FRQA8OpPTDo)E5`W6x(lkj^-BbmANvY@H>_=^-VdlZd=~4pyxm*6de|ua))>Dr zy>FmzqV@wa+nA^y*JRi4h_Sq4m}K5-Slh)jyS__<1I9${w}=|sXN=NKdlfCcgNL+q z{b2d}aI|6V3wnvc3%u&=nB-H;II(p|tJ!dmETrB6wr7cPX4kK2G*w?Nm!}N+x?KAXjRS1XNjB`=3#5{s zhuH`JFiafWE1kGyl#17X+I@$4j58~~PC{q8ZyD!|z?FvARKrgu1KoEBpSTZxq8iQ$ z;#bIHWm4Mk+Ps>InuFEZ@35JU|6 zW?ncu`+nZNK+nywq@#zu;BA4*sp!Qq>fO_`cSk&zIhsl*^M~lP9K?)6J@e*gllej_ zmp#<%v~5x8Y(=MeP-%&yY0DnYiflue=xMk!#qa%Za{9bRAJXOQZM7<%>iw61_om3q`_43VlBBxdo2zSAnr`V9k;R zb!P($!i@88{Lk)`%b#EdY1R2@9hztUG2+)}TPWNUYW!5g;?LEcR8Otm`S=s-^zqE{ zUGzCZe04<8SoS&k43WJrGZ+hnPt|nR&#x(wMUKqp3BE@2NuKWrg<&dH z=5>VDzf^04norF)LT%#<`a|vcP+Kh291E@Q2t|mG_&Y*%`rKtdDDs2*d}8Q9d*Fcw z9(dq^|Az;V=OM2{P6fI|jB1o*NUlpNA^97wfyf`%2tUqP&a=58kL2@~8|MFZubkuY zIXM)Oa~YDXNxG?Cm-$7^Oznh2)MBBHLRSa{LC!ZRd7YT8W@G|(MC5_xx~QPeS7hRmALZaixl>c7hkNJ5%8{wpjx8ZtK#*Q zI*f~*?#-dfe)QrE>SUEb3sN?MI)ayfsTxI~yC#BkQ^x*w!L;r}m3{5SDchI7W&V1M^$e6Aldq6gUtbNzXa@M`wo@43FG^(<9s99UT3K6-wn=a@82>$qapU^;+_uD`Zu#EhFMB)(JbuHl$R^@APjn9pTorH(g$~p0{ zituGs;=e=VKIJsDM2|n-vV=$Gva1t>FRfXra2|r?G~;S^f6bGLuWEdy^4B}QLpb|k zT7J-y!heZqnBuC<7w03wkGd=FLO&G!{yNJg!dZ`hzg!hPpOJO-9f#KZrRee3S>9uu zp4YF3ucZ;O*-cgx{-_&}{`d8|bI-k2;%C22N<3^9{!WdrR1sg@N5%7Y!7dIDN8@U? zEN0pnGtPyv0u{v)IddeP8?w@7!p`Ljrd1qMd_ztr?PMalt#x}_btW#!rA#ZIw~m>~ zteromhVxb?X(o!9%rO#ijZEUSJ*=Jm*7M2EPPvHpCdfR~?Aagd?>4*lbeUA0^U5TY z+4bz6SbuM)cSe^138I_4*=>jhqier1clYh>i1nF!dwQPk9xw-D9ev%bRTmHAg`&3p zUzZD$3Cp%1GFxwKZ}$`&P3Cfnip1-!Fq(-%&K$L}39df&?j^27Dr*)C$%IN}hjS*% z23UmcVpln{C{xhvP@y18=!&NnPFvZLqBTMe_tqAOoywkYBiBQ#7CF6TRqsP-{ZjmJ zY~fl4RU-<=GPX5D)XqC}6unfI%B@FLG@G-N(O5@slWmR2Xe3*V4i!^W+fF4^lt-gh zVN^vE$Fii)p?2Px!J?W?1}4qrlWB_uR8;#XdNge-{)&#|sADI`=$qq_ICJ{7MU$fv zfujkM$H)ig-H^|LMg#}Jd5Uohb=>mE`#{%$QK(3}~C+C%bu z*MR)%(g8)mmycO~cE}@BIY<~^0U(cj6BPFuV$sd-zr%#`-2(E+OF?l@gZEaE0Ua2FzT%TdehmtHA&)UA=V$Kq@w*JV42}^6SQq-f;giSx8PuP~`JeyW zB9CQG%I_!Wt5`^A#5d-7wjc7y-$0-A@%z{Ru}>cN1kgHG?rQKGpo`SuoLj=Ca-YEe zjDCKML9dW(gG(Ougc&JFfR9*o!x;2ULOJ%Ze&v3`Mp2s-`w^dz!+ZQP@h}VIagUi~ zqo}p(@7XWNgWjYmw|pi4lm(h+MRgByfd51t#;`u}vu2U^^ZQo<$zxZd+PeP9pHKaOwM?v_7GsXn)UpK`40%yQ0HUH&aufbSpf=9m8` D$)0nc literal 0 HcmV?d00001 diff --git a/GPU_version/vio/cmake-build-debug/CMakeFiles/3.17.5/CompilerIdCXX/CMakeCXXCompilerId.cpp b/GPU_version/vio/cmake-build-debug/CMakeFiles/3.17.5/CompilerIdCXX/CMakeCXXCompilerId.cpp new file mode 100644 index 0000000..69cfdba --- /dev/null +++ b/GPU_version/vio/cmake-build-debug/CMakeFiles/3.17.5/CompilerIdCXX/CMakeCXXCompilerId.cpp @@ -0,0 +1,660 @@ +/* This source file must have a .cpp extension so that all C++ compilers + recognize the extension without flags. Borland does not know .cxx for + example. */ +#ifndef __cplusplus +# error "A C compiler has been selected for C++." +#endif + + +/* Version number components: V=Version, R=Revision, P=Patch + Version date components: YYYY=Year, MM=Month, DD=Day */ + +#if defined(__COMO__) +# define COMPILER_ID "Comeau" + /* __COMO_VERSION__ = VRR */ +# define COMPILER_VERSION_MAJOR DEC(__COMO_VERSION__ / 100) +# define COMPILER_VERSION_MINOR DEC(__COMO_VERSION__ % 100) + +#elif defined(__INTEL_COMPILER) || defined(__ICC) +# define COMPILER_ID "Intel" +# if defined(_MSC_VER) +# define SIMULATE_ID "MSVC" +# endif +# if defined(__GNUC__) +# define SIMULATE_ID "GNU" +# endif + /* __INTEL_COMPILER = VRP */ +# define COMPILER_VERSION_MAJOR DEC(__INTEL_COMPILER/100) +# define COMPILER_VERSION_MINOR DEC(__INTEL_COMPILER/10 % 10) +# if defined(__INTEL_COMPILER_UPDATE) +# define COMPILER_VERSION_PATCH DEC(__INTEL_COMPILER_UPDATE) +# else +# define COMPILER_VERSION_PATCH DEC(__INTEL_COMPILER % 10) +# endif +# if defined(__INTEL_COMPILER_BUILD_DATE) + /* __INTEL_COMPILER_BUILD_DATE = YYYYMMDD */ +# define COMPILER_VERSION_TWEAK DEC(__INTEL_COMPILER_BUILD_DATE) +# endif +# if defined(_MSC_VER) + /* _MSC_VER = VVRR */ +# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100) +# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100) +# endif +# if defined(__GNUC__) +# define SIMULATE_VERSION_MAJOR DEC(__GNUC__) +# elif defined(__GNUG__) +# define SIMULATE_VERSION_MAJOR DEC(__GNUG__) +# endif +# if defined(__GNUC_MINOR__) +# define SIMULATE_VERSION_MINOR DEC(__GNUC_MINOR__) +# endif +# if defined(__GNUC_PATCHLEVEL__) +# define SIMULATE_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__) +# endif + +#elif defined(__PATHCC__) +# define COMPILER_ID "PathScale" +# define COMPILER_VERSION_MAJOR DEC(__PATHCC__) +# define COMPILER_VERSION_MINOR DEC(__PATHCC_MINOR__) +# if defined(__PATHCC_PATCHLEVEL__) +# define COMPILER_VERSION_PATCH DEC(__PATHCC_PATCHLEVEL__) +# endif + +#elif defined(__BORLANDC__) && defined(__CODEGEARC_VERSION__) +# define COMPILER_ID "Embarcadero" +# define COMPILER_VERSION_MAJOR HEX(__CODEGEARC_VERSION__>>24 & 0x00FF) +# define COMPILER_VERSION_MINOR HEX(__CODEGEARC_VERSION__>>16 & 0x00FF) +# define COMPILER_VERSION_PATCH DEC(__CODEGEARC_VERSION__ & 0xFFFF) + +#elif defined(__BORLANDC__) +# define COMPILER_ID "Borland" + /* __BORLANDC__ = 0xVRR */ +# define COMPILER_VERSION_MAJOR HEX(__BORLANDC__>>8) +# define COMPILER_VERSION_MINOR HEX(__BORLANDC__ & 0xFF) + +#elif defined(__WATCOMC__) && __WATCOMC__ < 1200 +# define COMPILER_ID "Watcom" + /* __WATCOMC__ = VVRR */ +# define COMPILER_VERSION_MAJOR DEC(__WATCOMC__ / 100) +# define COMPILER_VERSION_MINOR DEC((__WATCOMC__ / 10) % 10) +# if (__WATCOMC__ % 10) > 0 +# define COMPILER_VERSION_PATCH DEC(__WATCOMC__ % 10) +# endif + +#elif defined(__WATCOMC__) +# define COMPILER_ID "OpenWatcom" + /* __WATCOMC__ = VVRP + 1100 */ +# define COMPILER_VERSION_MAJOR DEC((__WATCOMC__ - 1100) / 100) +# define COMPILER_VERSION_MINOR DEC((__WATCOMC__ / 10) % 10) +# if (__WATCOMC__ % 10) > 0 +# define COMPILER_VERSION_PATCH DEC(__WATCOMC__ % 10) +# endif + +#elif defined(__SUNPRO_CC) +# define COMPILER_ID "SunPro" +# if __SUNPRO_CC >= 0x5100 + /* __SUNPRO_CC = 0xVRRP */ +# define COMPILER_VERSION_MAJOR HEX(__SUNPRO_CC>>12) +# define COMPILER_VERSION_MINOR HEX(__SUNPRO_CC>>4 & 0xFF) +# define COMPILER_VERSION_PATCH HEX(__SUNPRO_CC & 0xF) +# else + /* __SUNPRO_CC = 0xVRP */ +# define COMPILER_VERSION_MAJOR HEX(__SUNPRO_CC>>8) +# define COMPILER_VERSION_MINOR HEX(__SUNPRO_CC>>4 & 0xF) +# define COMPILER_VERSION_PATCH HEX(__SUNPRO_CC & 0xF) +# endif + +#elif defined(__HP_aCC) +# define COMPILER_ID "HP" + /* __HP_aCC = VVRRPP */ +# define COMPILER_VERSION_MAJOR DEC(__HP_aCC/10000) +# define COMPILER_VERSION_MINOR DEC(__HP_aCC/100 % 100) +# define COMPILER_VERSION_PATCH DEC(__HP_aCC % 100) + +#elif defined(__DECCXX) +# define COMPILER_ID "Compaq" + /* __DECCXX_VER = VVRRTPPPP */ +# define COMPILER_VERSION_MAJOR DEC(__DECCXX_VER/10000000) +# define COMPILER_VERSION_MINOR DEC(__DECCXX_VER/100000 % 100) +# define COMPILER_VERSION_PATCH DEC(__DECCXX_VER % 10000) + +#elif defined(__IBMCPP__) && defined(__COMPILER_VER__) +# define COMPILER_ID "zOS" + /* __IBMCPP__ = VRP */ +# define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100) +# define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10) +# define COMPILER_VERSION_PATCH DEC(__IBMCPP__ % 10) + +#elif defined(__ibmxl__) && defined(__clang__) +# define COMPILER_ID "XLClang" +# define COMPILER_VERSION_MAJOR DEC(__ibmxl_version__) +# define COMPILER_VERSION_MINOR DEC(__ibmxl_release__) +# define COMPILER_VERSION_PATCH DEC(__ibmxl_modification__) +# define COMPILER_VERSION_TWEAK DEC(__ibmxl_ptf_fix_level__) + + +#elif defined(__IBMCPP__) && !defined(__COMPILER_VER__) && __IBMCPP__ >= 800 +# define COMPILER_ID "XL" + /* __IBMCPP__ = VRP */ +# define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100) +# define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10) +# define COMPILER_VERSION_PATCH DEC(__IBMCPP__ % 10) + +#elif defined(__IBMCPP__) && !defined(__COMPILER_VER__) && __IBMCPP__ < 800 +# define COMPILER_ID "VisualAge" + /* __IBMCPP__ = VRP */ +# define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100) +# define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10) +# define COMPILER_VERSION_PATCH DEC(__IBMCPP__ % 10) + +#elif defined(__PGI) +# define COMPILER_ID "PGI" +# define COMPILER_VERSION_MAJOR DEC(__PGIC__) +# define COMPILER_VERSION_MINOR DEC(__PGIC_MINOR__) +# if defined(__PGIC_PATCHLEVEL__) +# define COMPILER_VERSION_PATCH DEC(__PGIC_PATCHLEVEL__) +# endif + +#elif defined(_CRAYC) +# define COMPILER_ID "Cray" +# define COMPILER_VERSION_MAJOR DEC(_RELEASE_MAJOR) +# define COMPILER_VERSION_MINOR DEC(_RELEASE_MINOR) + +#elif defined(__TI_COMPILER_VERSION__) +# define COMPILER_ID "TI" + /* __TI_COMPILER_VERSION__ = VVVRRRPPP */ +# define COMPILER_VERSION_MAJOR DEC(__TI_COMPILER_VERSION__/1000000) +# define COMPILER_VERSION_MINOR DEC(__TI_COMPILER_VERSION__/1000 % 1000) +# define COMPILER_VERSION_PATCH DEC(__TI_COMPILER_VERSION__ % 1000) + +#elif defined(__FUJITSU) || defined(__FCC_VERSION) || defined(__fcc_version) +# define COMPILER_ID "Fujitsu" + +#elif defined(__ghs__) +# define COMPILER_ID "GHS" +/* __GHS_VERSION_NUMBER = VVVVRP */ +# ifdef __GHS_VERSION_NUMBER +# define COMPILER_VERSION_MAJOR DEC(__GHS_VERSION_NUMBER / 100) +# define COMPILER_VERSION_MINOR DEC(__GHS_VERSION_NUMBER / 10 % 10) +# define COMPILER_VERSION_PATCH DEC(__GHS_VERSION_NUMBER % 10) +# endif + +#elif defined(__SCO_VERSION__) +# define COMPILER_ID "SCO" + +#elif defined(__ARMCC_VERSION) && !defined(__clang__) +# define COMPILER_ID "ARMCC" +#if __ARMCC_VERSION >= 1000000 + /* __ARMCC_VERSION = VRRPPPP */ + # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/1000000) + # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 100) + # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION % 10000) +#else + /* __ARMCC_VERSION = VRPPPP */ + # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/100000) + # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 10) + # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION % 10000) +#endif + + +#elif defined(__clang__) && defined(__apple_build_version__) +# define COMPILER_ID "AppleClang" +# if defined(_MSC_VER) +# define SIMULATE_ID "MSVC" +# endif +# define COMPILER_VERSION_MAJOR DEC(__clang_major__) +# define COMPILER_VERSION_MINOR DEC(__clang_minor__) +# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__) +# if defined(_MSC_VER) + /* _MSC_VER = VVRR */ +# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100) +# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100) +# endif +# define COMPILER_VERSION_TWEAK DEC(__apple_build_version__) + +#elif defined(__clang__) && defined(__ARMCOMPILER_VERSION) +# define COMPILER_ID "ARMClang" + # define COMPILER_VERSION_MAJOR DEC(__ARMCOMPILER_VERSION/1000000) + # define COMPILER_VERSION_MINOR DEC(__ARMCOMPILER_VERSION/10000 % 100) + # define COMPILER_VERSION_PATCH DEC(__ARMCOMPILER_VERSION % 10000) +# define COMPILER_VERSION_INTERNAL DEC(__ARMCOMPILER_VERSION) + +#elif defined(__clang__) +# define COMPILER_ID "Clang" +# if defined(_MSC_VER) +# define SIMULATE_ID "MSVC" +# endif +# define COMPILER_VERSION_MAJOR DEC(__clang_major__) +# define COMPILER_VERSION_MINOR DEC(__clang_minor__) +# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__) +# if defined(_MSC_VER) + /* _MSC_VER = VVRR */ +# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100) +# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100) +# endif + +#elif defined(__GNUC__) || defined(__GNUG__) +# define COMPILER_ID "GNU" +# if defined(__GNUC__) +# define COMPILER_VERSION_MAJOR DEC(__GNUC__) +# else +# define COMPILER_VERSION_MAJOR DEC(__GNUG__) +# endif +# if defined(__GNUC_MINOR__) +# define COMPILER_VERSION_MINOR DEC(__GNUC_MINOR__) +# endif +# if defined(__GNUC_PATCHLEVEL__) +# define COMPILER_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__) +# endif + +#elif defined(_MSC_VER) +# define COMPILER_ID "MSVC" + /* _MSC_VER = VVRR */ +# define COMPILER_VERSION_MAJOR DEC(_MSC_VER / 100) +# define COMPILER_VERSION_MINOR DEC(_MSC_VER % 100) +# if defined(_MSC_FULL_VER) +# if _MSC_VER >= 1400 + /* _MSC_FULL_VER = VVRRPPPPP */ +# define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 100000) +# else + /* _MSC_FULL_VER = VVRRPPPP */ +# define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 10000) +# endif +# endif +# if defined(_MSC_BUILD) +# define COMPILER_VERSION_TWEAK DEC(_MSC_BUILD) +# endif + +#elif defined(__VISUALDSPVERSION__) || defined(__ADSPBLACKFIN__) || defined(__ADSPTS__) || defined(__ADSP21000__) +# define COMPILER_ID "ADSP" +#if defined(__VISUALDSPVERSION__) + /* __VISUALDSPVERSION__ = 0xVVRRPP00 */ +# define COMPILER_VERSION_MAJOR HEX(__VISUALDSPVERSION__>>24) +# define COMPILER_VERSION_MINOR HEX(__VISUALDSPVERSION__>>16 & 0xFF) +# define COMPILER_VERSION_PATCH HEX(__VISUALDSPVERSION__>>8 & 0xFF) +#endif + +#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC) +# define COMPILER_ID "IAR" +# if defined(__VER__) && defined(__ICCARM__) +# define COMPILER_VERSION_MAJOR DEC((__VER__) / 1000000) +# define COMPILER_VERSION_MINOR DEC(((__VER__) / 1000) % 1000) +# define COMPILER_VERSION_PATCH DEC((__VER__) % 1000) +# define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__) +# elif defined(__VER__) && (defined(__ICCAVR__) || defined(__ICCRX__) || defined(__ICCRH850__) || defined(__ICCRL78__) || defined(__ICC430__) || defined(__ICCRISCV__) || defined(__ICCV850__) || defined(__ICC8051__)) +# define COMPILER_VERSION_MAJOR DEC((__VER__) / 100) +# define COMPILER_VERSION_MINOR DEC((__VER__) - (((__VER__) / 100)*100)) +# define COMPILER_VERSION_PATCH DEC(__SUBVERSION__) +# define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__) +# endif + + +/* These compilers are either not known or too old to define an + identification macro. Try to identify the platform and guess that + it is the native compiler. */ +#elif defined(__hpux) || defined(__hpua) +# define COMPILER_ID "HP" + +#else /* unknown compiler */ +# define COMPILER_ID "" +#endif + +/* Construct the string literal in pieces to prevent the source from + getting matched. Store it in a pointer rather than an array + because some compilers will just produce instructions to fill the + array rather than assigning a pointer to a static array. */ +char const* info_compiler = "INFO" ":" "compiler[" COMPILER_ID "]"; +#ifdef SIMULATE_ID +char const* info_simulate = "INFO" ":" "simulate[" SIMULATE_ID "]"; +#endif + +#ifdef __QNXNTO__ +char const* qnxnto = "INFO" ":" "qnxnto[]"; +#endif + +#if defined(__CRAYXE) || defined(__CRAYXC) +char const *info_cray = "INFO" ":" "compiler_wrapper[CrayPrgEnv]"; +#endif + +#define STRINGIFY_HELPER(X) #X +#define STRINGIFY(X) STRINGIFY_HELPER(X) + +/* Identify known platforms by name. */ +#if defined(__linux) || defined(__linux__) || defined(linux) +# define PLATFORM_ID "Linux" + +#elif defined(__CYGWIN__) +# define PLATFORM_ID "Cygwin" + +#elif defined(__MINGW32__) +# define PLATFORM_ID "MinGW" + +#elif defined(__APPLE__) +# define PLATFORM_ID "Darwin" + +#elif defined(_WIN32) || defined(__WIN32__) || defined(WIN32) +# define PLATFORM_ID "Windows" + +#elif defined(__FreeBSD__) || defined(__FreeBSD) +# define PLATFORM_ID "FreeBSD" + +#elif defined(__NetBSD__) || defined(__NetBSD) +# define PLATFORM_ID "NetBSD" + +#elif defined(__OpenBSD__) || defined(__OPENBSD) +# define PLATFORM_ID "OpenBSD" + +#elif defined(__sun) || defined(sun) +# define PLATFORM_ID "SunOS" + +#elif defined(_AIX) || defined(__AIX) || defined(__AIX__) || defined(__aix) || defined(__aix__) +# define PLATFORM_ID "AIX" + +#elif defined(__hpux) || defined(__hpux__) +# define PLATFORM_ID "HP-UX" + +#elif defined(__HAIKU__) +# define PLATFORM_ID "Haiku" + +#elif defined(__BeOS) || defined(__BEOS__) || defined(_BEOS) +# define PLATFORM_ID "BeOS" + +#elif defined(__QNX__) || defined(__QNXNTO__) +# define PLATFORM_ID "QNX" + +#elif defined(__tru64) || defined(_tru64) || defined(__TRU64__) +# define PLATFORM_ID "Tru64" + +#elif defined(__riscos) || defined(__riscos__) +# define PLATFORM_ID "RISCos" + +#elif defined(__sinix) || defined(__sinix__) || defined(__SINIX__) +# define PLATFORM_ID "SINIX" + +#elif defined(__UNIX_SV__) +# define PLATFORM_ID "UNIX_SV" + +#elif defined(__bsdos__) +# define PLATFORM_ID "BSDOS" + +#elif defined(_MPRAS) || defined(MPRAS) +# define PLATFORM_ID "MP-RAS" + +#elif defined(__osf) || defined(__osf__) +# define PLATFORM_ID "OSF1" + +#elif defined(_SCO_SV) || defined(SCO_SV) || defined(sco_sv) +# define PLATFORM_ID "SCO_SV" + +#elif defined(__ultrix) || defined(__ultrix__) || defined(_ULTRIX) +# define PLATFORM_ID "ULTRIX" + +#elif defined(__XENIX__) || defined(_XENIX) || defined(XENIX) +# define PLATFORM_ID "Xenix" + +#elif defined(__WATCOMC__) +# if defined(__LINUX__) +# define PLATFORM_ID "Linux" + +# elif defined(__DOS__) +# define PLATFORM_ID "DOS" + +# elif defined(__OS2__) +# define PLATFORM_ID "OS2" + +# elif defined(__WINDOWS__) +# define PLATFORM_ID "Windows3x" + +# else /* unknown platform */ +# define PLATFORM_ID +# endif + +#elif defined(__INTEGRITY) +# if defined(INT_178B) +# define PLATFORM_ID "Integrity178" + +# else /* regular Integrity */ +# define PLATFORM_ID "Integrity" +# endif + +#else /* unknown platform */ +# define PLATFORM_ID + +#endif + +/* For windows compilers MSVC and Intel we can determine + the architecture of the compiler being used. This is because + the compilers do not have flags that can change the architecture, + but rather depend on which compiler is being used +*/ +#if defined(_WIN32) && defined(_MSC_VER) +# if defined(_M_IA64) +# define ARCHITECTURE_ID "IA64" + +# elif defined(_M_X64) || defined(_M_AMD64) +# define ARCHITECTURE_ID "x64" + +# elif defined(_M_IX86) +# define ARCHITECTURE_ID "X86" + +# elif defined(_M_ARM64) +# define ARCHITECTURE_ID "ARM64" + +# elif defined(_M_ARM) +# if _M_ARM == 4 +# define ARCHITECTURE_ID "ARMV4I" +# elif _M_ARM == 5 +# define ARCHITECTURE_ID "ARMV5I" +# else +# define ARCHITECTURE_ID "ARMV" STRINGIFY(_M_ARM) +# endif + +# elif defined(_M_MIPS) +# define ARCHITECTURE_ID "MIPS" + +# elif defined(_M_SH) +# define ARCHITECTURE_ID "SHx" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__WATCOMC__) +# if defined(_M_I86) +# define ARCHITECTURE_ID "I86" + +# elif defined(_M_IX86) +# define ARCHITECTURE_ID "X86" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC) +# if defined(__ICCARM__) +# define ARCHITECTURE_ID "ARM" + +# elif defined(__ICCRX__) +# define ARCHITECTURE_ID "RX" + +# elif defined(__ICCRH850__) +# define ARCHITECTURE_ID "RH850" + +# elif defined(__ICCRL78__) +# define ARCHITECTURE_ID "RL78" + +# elif defined(__ICCRISCV__) +# define ARCHITECTURE_ID "RISCV" + +# elif defined(__ICCAVR__) +# define ARCHITECTURE_ID "AVR" + +# elif defined(__ICC430__) +# define ARCHITECTURE_ID "MSP430" + +# elif defined(__ICCV850__) +# define ARCHITECTURE_ID "V850" + +# elif defined(__ICC8051__) +# define ARCHITECTURE_ID "8051" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__ghs__) +# if defined(__PPC64__) +# define ARCHITECTURE_ID "PPC64" + +# elif defined(__ppc__) +# define ARCHITECTURE_ID "PPC" + +# elif defined(__ARM__) +# define ARCHITECTURE_ID "ARM" + +# elif defined(__x86_64__) +# define ARCHITECTURE_ID "x64" + +# elif defined(__i386__) +# define ARCHITECTURE_ID "X86" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif +#else +# define ARCHITECTURE_ID +#endif + +/* Convert integer to decimal digit literals. */ +#define DEC(n) \ + ('0' + (((n) / 10000000)%10)), \ + ('0' + (((n) / 1000000)%10)), \ + ('0' + (((n) / 100000)%10)), \ + ('0' + (((n) / 10000)%10)), \ + ('0' + (((n) / 1000)%10)), \ + ('0' + (((n) / 100)%10)), \ + ('0' + (((n) / 10)%10)), \ + ('0' + ((n) % 10)) + +/* Convert integer to hex digit literals. */ +#define HEX(n) \ + ('0' + ((n)>>28 & 0xF)), \ + ('0' + ((n)>>24 & 0xF)), \ + ('0' + ((n)>>20 & 0xF)), \ + ('0' + ((n)>>16 & 0xF)), \ + ('0' + ((n)>>12 & 0xF)), \ + ('0' + ((n)>>8 & 0xF)), \ + ('0' + ((n)>>4 & 0xF)), \ + ('0' + ((n) & 0xF)) + +/* Construct a string literal encoding the version number components. */ +#ifdef COMPILER_VERSION_MAJOR +char const info_version[] = { + 'I', 'N', 'F', 'O', ':', + 'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','[', + COMPILER_VERSION_MAJOR, +# ifdef COMPILER_VERSION_MINOR + '.', COMPILER_VERSION_MINOR, +# ifdef COMPILER_VERSION_PATCH + '.', COMPILER_VERSION_PATCH, +# ifdef COMPILER_VERSION_TWEAK + '.', COMPILER_VERSION_TWEAK, +# endif +# endif +# endif + ']','\0'}; +#endif + +/* Construct a string literal encoding the internal version number. */ +#ifdef COMPILER_VERSION_INTERNAL +char const info_version_internal[] = { + 'I', 'N', 'F', 'O', ':', + 'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','_', + 'i','n','t','e','r','n','a','l','[', + COMPILER_VERSION_INTERNAL,']','\0'}; +#endif + +/* Construct a string literal encoding the version number components. */ +#ifdef SIMULATE_VERSION_MAJOR +char const info_simulate_version[] = { + 'I', 'N', 'F', 'O', ':', + 's','i','m','u','l','a','t','e','_','v','e','r','s','i','o','n','[', + SIMULATE_VERSION_MAJOR, +# ifdef SIMULATE_VERSION_MINOR + '.', SIMULATE_VERSION_MINOR, +# ifdef SIMULATE_VERSION_PATCH + '.', SIMULATE_VERSION_PATCH, +# ifdef SIMULATE_VERSION_TWEAK + '.', SIMULATE_VERSION_TWEAK, +# endif +# endif +# endif + ']','\0'}; +#endif + +/* Construct the string literal in pieces to prevent the source from + getting matched. Store it in a pointer rather than an array + because some compilers will just produce instructions to fill the + array rather than assigning a pointer to a static array. */ +char const* info_platform = "INFO" ":" "platform[" PLATFORM_ID "]"; +char const* info_arch = "INFO" ":" "arch[" ARCHITECTURE_ID "]"; + + + + +#if defined(__INTEL_COMPILER) && defined(_MSVC_LANG) && _MSVC_LANG < 201403L +# if defined(__INTEL_CXX11_MODE__) +# if defined(__cpp_aggregate_nsdmi) +# define CXX_STD 201402L +# else +# define CXX_STD 201103L +# endif +# else +# define CXX_STD 199711L +# endif +#elif defined(_MSC_VER) && defined(_MSVC_LANG) +# define CXX_STD _MSVC_LANG +#else +# define CXX_STD __cplusplus +#endif + +const char* info_language_dialect_default = "INFO" ":" "dialect_default[" +#if CXX_STD > 201703L + "20" +#elif CXX_STD >= 201703L + "17" +#elif CXX_STD >= 201402L + "14" +#elif CXX_STD >= 201103L + "11" +#else + "98" +#endif +"]"; + +/*--------------------------------------------------------------------------*/ + +int main(int argc, char* argv[]) +{ + int require = 0; + require += info_compiler[argc]; + require += info_platform[argc]; +#ifdef COMPILER_VERSION_MAJOR + require += info_version[argc]; +#endif +#ifdef COMPILER_VERSION_INTERNAL + require += info_version_internal[argc]; +#endif +#ifdef SIMULATE_ID + require += info_simulate[argc]; +#endif +#ifdef SIMULATE_VERSION_MAJOR + require += info_simulate_version[argc]; +#endif +#if defined(__CRAYXE) || defined(__CRAYXC) + require += info_cray[argc]; +#endif + require += info_language_dialect_default[argc]; + (void)argv; + return require; +} diff --git a/GPU_version/vio/cmake-build-debug/CMakeFiles/3.17.5/CompilerIdCXX/a.out b/GPU_version/vio/cmake-build-debug/CMakeFiles/3.17.5/CompilerIdCXX/a.out new file mode 100755 index 0000000000000000000000000000000000000000..71c2ceda86a2fae89d661d131b89af3990e37838 GIT binary patch literal 8416 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'/root/Project/ROS/src/vio_svo/GPU_version/svo/cmake-build-debug/CMakeFiles/CMakeTmp' +Building C object CMakeFiles/cmTC_fdf34.dir/CheckSymbolExists.c.o +/usr/bin/cc -o CMakeFiles/cmTC_fdf34.dir/CheckSymbolExists.c.o -c /root/Project/ROS/src/vio_svo/GPU_version/svo/cmake-build-debug/CMakeFiles/CMakeTmp/CheckSymbolExists.c +Linking C executable cmTC_fdf34 +/opt/clion-2020.3.2/bin/cmake/linux/bin/cmake -E cmake_link_script CMakeFiles/cmTC_fdf34.dir/link.txt --verbose=1 +/usr/bin/cc -rdynamic CMakeFiles/cmTC_fdf34.dir/CheckSymbolExists.c.o -o cmTC_fdf34 +make[1]: Leaving directory '/root/Project/ROS/src/vio_svo/GPU_version/svo/cmake-build-debug/CMakeFiles/CMakeTmp' + + +File /root/Project/ROS/src/vio_svo/GPU_version/svo/cmake-build-debug/CMakeFiles/CMakeTmp/CheckSymbolExists.c: +/* */ +#include + +int main(int argc, char** argv) +{ + (void)argv; +#ifndef CL_VERSION_2_2 + return ((int*)(&CL_VERSION_2_2))[argc]; +#else + (void)argc; + return 0; +#endif +} diff --git a/GPU_version/vio/cmake-build-debug/CMakeFiles/clion-environment.txt b/GPU_version/vio/cmake-build-debug/CMakeFiles/clion-environment.txt new file mode 100644 index 0000000..270d93c --- /dev/null +++ b/GPU_version/vio/cmake-build-debug/CMakeFiles/clion-environment.txt @@ -0,0 +1,3 @@ +ToolSet: 1.0 (local)Options: + +Options: \ No newline at end of file diff --git a/GPU_version/vio/cmake-build-debug/CMakeFiles/clion-log.txt b/GPU_version/vio/cmake-build-debug/CMakeFiles/clion-log.txt new file mode 100644 index 0000000..1363506 --- /dev/null +++ b/GPU_version/vio/cmake-build-debug/CMakeFiles/clion-log.txt @@ -0,0 +1,70 @@ +/opt/clion-2020.3.2/bin/cmake/linux/bin/cmake -DCMAKE_BUILD_TYPE=Debug -G "CodeBlocks - Unix Makefiles" /root/Project/ROS/src/vio_svo/GPU_version/svo +-- The C compiler identification is GNU 7.5.0 +-- The CXX compiler identification is GNU 7.5.0 +-- Check for working C compiler: /usr/bin/cc +-- Check for working C compiler: /usr/bin/cc - works +-- Detecting C compiler ABI info +-- Detecting C compiler ABI info - done +-- Detecting C compile features +-- Detecting C compile features - done +-- Check for working CXX compiler: /usr/bin/c++ +-- Check for working CXX compiler: /usr/bin/c++ - works +-- Detecting CXX compiler ABI info +-- Detecting CXX compiler ABI info - done +-- Detecting CXX compile features +-- Detecting CXX compile features - done +-- Found OpenCV: /usr (found suitable version "3.2.0", minimum required is "3") +-- Found PkgConfig: /usr/bin/pkg-config (found version "0.29.1") +-- Checking for module 'eigen3' +-- Found eigen3, version 3.3.4 +-- Found Eigen: /usr/include/eigen3 +-- Eigen found (include: /usr/include/eigen3) +-- Looking for pthread.h +-- Looking for pthread.h - found +-- Performing Test CMAKE_HAVE_LIBC_PTHREAD +-- Performing Test CMAKE_HAVE_LIBC_PTHREAD - Failed +-- Looking for pthread_create in pthreads +-- Looking for pthread_create in pthreads - not found +-- Looking for pthread_create in pthread +-- Looking for pthread_create in pthread - found +-- Found Threads: TRUE +-- Found Boost: /usr/include (found version "1.65.1") found components: thread system chrono date_time atomic +-- Looking for CL_VERSION_2_2 +-- Looking for CL_VERSION_2_2 - found +-- Found OpenCL: /usr/lib/x86_64-linux-gnu/libOpenCL.so (found version "2.2") +-- Using CATKIN_DEVEL_PREFIX: /root/Project/ROS/src/vio_svo/GPU_version/svo/cmake-build-debug/devel +-- Using CMAKE_PREFIX_PATH: /opt/ros/melodic +-- This workspace overlays: /opt/ros/melodic +-- Found PythonInterp: /usr/bin/python2 (found suitable version "2.7.17", minimum required is "2") +-- Using PYTHON_EXECUTABLE: /usr/bin/python2 +-- Using Debian Python package layout +-- Using empy: /usr/bin/empy +-- Using CATKIN_ENABLE_TESTING: ON +-- Call enable_testing() +-- Using CATKIN_TEST_RESULTS_DIR: /root/Project/ROS/src/vio_svo/GPU_version/svo/cmake-build-debug/test_results +-- Found gtest sources under '/usr/src/googletest': gtests will be built +-- Found gmock sources under '/usr/src/googletest': gmock will be built +-- Found PythonInterp: /usr/bin/python2 (found version "2.7.17") +-- Using Python nosetests: /usr/bin/nosetests-2.7 +-- catkin 0.7.28 +-- BUILD_SHARED_LIBS is on +-- Could NOT find robot_localization (missing: robot_localization_DIR) +-- Could not find the required component 'robot_localization'. The following CMake error indicates that you either need to install the package with the same name or change your environment so that it can be found. +CMake Error at /opt/ros/melodic/share/catkin/cmake/catkinConfig.cmake:83 (find_package): + Could not find a package configuration file provided by + "robot_localization" with any of the following names: + + robot_localizationConfig.cmake + robot_localization-config.cmake + + Add the installation prefix of "robot_localization" to CMAKE_PREFIX_PATH or + set "robot_localization_DIR" to a directory containing one of the above + files. If "robot_localization" provides a separate development package or + SDK, be sure it has been installed. +Call Stack (most recent call first): + CMakeLists.txt:34 (FIND_PACKAGE) + + +-- Configuring incomplete, errors occurred! +See also "/root/Project/ROS/src/vio_svo/GPU_version/svo/cmake-build-debug/CMakeFiles/CMakeOutput.log". +See also "/root/Project/ROS/src/vio_svo/GPU_version/svo/cmake-build-debug/CMakeFiles/CMakeError.log". diff --git a/GPU_version/vio/cmake-build-debug/CMakeFiles/cmake.check_cache b/GPU_version/vio/cmake-build-debug/CMakeFiles/cmake.check_cache new file mode 100644 index 0000000..3dccd73 --- /dev/null +++ b/GPU_version/vio/cmake-build-debug/CMakeFiles/cmake.check_cache @@ -0,0 +1 @@ +# This file is generated by cmake for dependency checking of the CMakeCache.txt file diff --git a/GPU_version/vio/cmake-build-debug/CTestConfiguration.ini b/GPU_version/vio/cmake-build-debug/CTestConfiguration.ini new file mode 100644 index 0000000..38e6ab1 --- /dev/null +++ b/GPU_version/vio/cmake-build-debug/CTestConfiguration.ini @@ -0,0 +1,107 @@ +# This file is configured by CMake automatically as DartConfiguration.tcl +# If you choose not to use CMake, this file may be hand configured, by +# filling in the required variables. + + +# Configuration directories and files +SourceDirectory: /root/Project/ROS/src/vio_svo/GPU_version/svo +BuildDirectory: /root/Project/ROS/src/vio_svo/GPU_version/svo/cmake-build-debug + +# Where to place the cost data store +CostDataFile: + +# Site is something like machine.domain, i.e. pragmatic.crd +Site: gfuse + +# Build name is osname-revision-compiler, i.e. Linux-2.4.2-2smp-c++ +BuildName: + +# Subprojects +LabelsForSubprojects: + +# Submission information +SubmitURL: + +# Dashboard start time +NightlyStartTime: + +# Commands for the build/test/submit cycle +ConfigureCommand: "/opt/clion-2020.3.2/bin/cmake/linux/bin/cmake" "/root/Project/ROS/src/vio_svo/GPU_version/svo" +MakeCommand: +DefaultCTestConfigurationType: + +# version control +UpdateVersionOnly: + +# CVS options +# Default is "-d -P -A" +CVSCommand: +CVSUpdateOptions: + +# Subversion options +SVNCommand: +SVNOptions: +SVNUpdateOptions: + +# Git options +GITCommand: +GITInitSubmodules: +GITUpdateOptions: +GITUpdateCustom: + +# Perforce options +P4Command: +P4Client: +P4Options: +P4UpdateOptions: +P4UpdateCustom: + +# Generic update command +UpdateCommand: +UpdateOptions: +UpdateType: + +# Compiler info +Compiler: /usr/bin/c++ +CompilerVersion: 7.5.0 + +# Dynamic analysis (MemCheck) +PurifyCommand: +ValgrindCommand: +ValgrindCommandOptions: +DrMemoryCommand: +DrMemoryCommandOptions: +MemoryCheckType: +MemoryCheckSanitizerOptions: +MemoryCheckCommand: +MemoryCheckCommandOptions: +MemoryCheckSuppressionFile: + +# Coverage +CoverageCommand: +CoverageExtraFlags: + +# Cluster commands +SlurmBatchCommand: +SlurmRunCommand: + +# Testing options +# TimeOut is the amount of time in seconds to wait for processes +# to complete during testing. After TimeOut seconds, the +# process will be summarily terminated. +# Currently set to 25 minutes +TimeOut: + +# During parallel testing CTest will not start a new test if doing +# so would cause the system load to exceed this value. +TestLoad: + +UseLaunchers: +CurlOptions: +# warning, if you add new options here that have to do with submit, +# you have to update cmCTestSubmitCommand.cxx + +# For CTest submissions that timeout, these options +# specify behavior for retrying the submission +CTestSubmitRetryDelay: +CTestSubmitRetryCount: diff --git a/GPU_version/vio/cmake-build-debug/CTestCustom.cmake b/GPU_version/vio/cmake-build-debug/CTestCustom.cmake new file mode 100644 index 0000000..14956f3 --- /dev/null +++ b/GPU_version/vio/cmake-build-debug/CTestCustom.cmake @@ -0,0 +1,2 @@ +set(CTEST_CUSTOM_MAXIMUM_PASSED_TEST_OUTPUT_SIZE 0) +set(CTEST_CUSTOM_MAXIMUM_FAILED_TEST_OUTPUT_SIZE 0) diff --git a/GPU_version/vio/cmake-build-debug/atomic_configure/.rosinstall b/GPU_version/vio/cmake-build-debug/atomic_configure/.rosinstall new file mode 100644 index 0000000..b61ff9e --- /dev/null +++ b/GPU_version/vio/cmake-build-debug/atomic_configure/.rosinstall @@ -0,0 +1,2 @@ +- setup-file: + local-name: /root/Project/ROS/src/vio_svo/GPU_version/svo/cmake-build-debug/devel/setup.sh diff --git a/GPU_version/vio/cmake-build-debug/atomic_configure/_setup_util.py b/GPU_version/vio/cmake-build-debug/atomic_configure/_setup_util.py new file mode 100755 index 0000000..760f26f --- /dev/null +++ b/GPU_version/vio/cmake-build-debug/atomic_configure/_setup_util.py @@ -0,0 +1,304 @@ +#!/usr/bin/python2 +# -*- coding: utf-8 -*- + +# Software License Agreement (BSD License) +# +# Copyright (c) 2012, Willow Garage, Inc. +# All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# * Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# * Redistributions in binary form must reproduce the above +# copyright notice, this list of conditions and the following +# disclaimer in the documentation and/or other materials provided +# with the distribution. +# * Neither the name of Willow Garage, Inc. nor the names of its +# contributors may be used to endorse or promote products derived +# from this software without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. + +"""This file generates shell code for the setup.SHELL scripts to set environment variables.""" + +from __future__ import print_function + +import argparse +import copy +import errno +import os +import platform +import sys + +CATKIN_MARKER_FILE = '.catkin' + +system = platform.system() +IS_DARWIN = (system == 'Darwin') +IS_WINDOWS = (system == 'Windows') + +PATH_TO_ADD_SUFFIX = ['bin'] +if IS_WINDOWS: + # while catkin recommends putting dll's into bin, 3rd party packages often put dll's into lib + # since Windows finds dll's via the PATH variable, prepend it with path to lib + PATH_TO_ADD_SUFFIX.extend([['lib', os.path.join('lib', 'x86_64-linux-gnu')]]) + +# subfolder of workspace prepended to CMAKE_PREFIX_PATH +ENV_VAR_SUBFOLDERS = { + 'CMAKE_PREFIX_PATH': '', + 'LD_LIBRARY_PATH' if not IS_DARWIN else 'DYLD_LIBRARY_PATH': ['lib', os.path.join('lib', 'x86_64-linux-gnu')], + 'PATH': PATH_TO_ADD_SUFFIX, + 'PKG_CONFIG_PATH': [os.path.join('lib', 'pkgconfig'), os.path.join('lib', 'x86_64-linux-gnu', 'pkgconfig')], + 'PYTHONPATH': 'lib/python2.7/dist-packages', +} + + +def rollback_env_variables(environ, env_var_subfolders): + """ + Generate shell code to reset environment variables. + + by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH. + This does not cover modifications performed by environment hooks. + """ + lines = [] + unmodified_environ = copy.copy(environ) + for key in sorted(env_var_subfolders.keys()): + subfolders = env_var_subfolders[key] + if not isinstance(subfolders, list): + subfolders = [subfolders] + value = _rollback_env_variable(unmodified_environ, key, subfolders) + if value is not None: + environ[key] = value + lines.append(assignment(key, value)) + if lines: + lines.insert(0, comment('reset environment variables by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH')) + return lines + + +def _rollback_env_variable(environ, name, subfolders): + """ + For each catkin workspace in CMAKE_PREFIX_PATH remove the first entry from env[NAME] matching workspace + subfolder. + + :param subfolders: list of str '' or subfoldername that may start with '/' + :returns: the updated value of the environment variable. + """ + value = environ[name] if name in environ else '' + env_paths = [path for path in value.split(os.pathsep) if path] + value_modified = False + for subfolder in subfolders: + if subfolder: + if subfolder.startswith(os.path.sep) or (os.path.altsep and subfolder.startswith(os.path.altsep)): + subfolder = subfolder[1:] + if subfolder.endswith(os.path.sep) or (os.path.altsep and subfolder.endswith(os.path.altsep)): + subfolder = subfolder[:-1] + for ws_path in _get_workspaces(environ, include_fuerte=True, include_non_existing=True): + path_to_find = os.path.join(ws_path, subfolder) if subfolder else ws_path + path_to_remove = None + for env_path in env_paths: + env_path_clean = env_path[:-1] if env_path and env_path[-1] in [os.path.sep, os.path.altsep] else env_path + if env_path_clean == path_to_find: + path_to_remove = env_path + break + if path_to_remove: + env_paths.remove(path_to_remove) + value_modified = True + new_value = os.pathsep.join(env_paths) + return new_value if value_modified else None + + +def _get_workspaces(environ, include_fuerte=False, include_non_existing=False): + """ + Based on CMAKE_PREFIX_PATH return all catkin workspaces. + + :param include_fuerte: The flag if paths starting with '/opt/ros/fuerte' should be considered workspaces, ``bool`` + """ + # get all cmake prefix paths + env_name = 'CMAKE_PREFIX_PATH' + value = environ[env_name] if env_name in environ else '' + paths = [path for path in value.split(os.pathsep) if path] + # remove non-workspace paths + workspaces = [path for path in paths if os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE)) or (include_fuerte and path.startswith('/opt/ros/fuerte')) or (include_non_existing and not os.path.exists(path))] + return workspaces + + +def prepend_env_variables(environ, env_var_subfolders, workspaces): + """Generate shell code to prepend environment variables for the all workspaces.""" + lines = [] + lines.append(comment('prepend folders of workspaces to environment variables')) + + paths = [path for path in workspaces.split(os.pathsep) if path] + + prefix = _prefix_env_variable(environ, 'CMAKE_PREFIX_PATH', paths, '') + lines.append(prepend(environ, 'CMAKE_PREFIX_PATH', prefix)) + + for key in sorted(key for key in env_var_subfolders.keys() if key != 'CMAKE_PREFIX_PATH'): + subfolder = env_var_subfolders[key] + prefix = _prefix_env_variable(environ, key, paths, subfolder) + lines.append(prepend(environ, key, prefix)) + return lines + + +def _prefix_env_variable(environ, name, paths, subfolders): + """ + Return the prefix to prepend to the environment variable NAME. + + Adding any path in NEW_PATHS_STR without creating duplicate or empty items. + """ + value = environ[name] if name in environ else '' + environ_paths = [path for path in value.split(os.pathsep) if path] + checked_paths = [] + for path in paths: + if not isinstance(subfolders, list): + subfolders = [subfolders] + for subfolder in subfolders: + path_tmp = path + if subfolder: + path_tmp = os.path.join(path_tmp, subfolder) + # skip nonexistent paths + if not os.path.exists(path_tmp): + continue + # exclude any path already in env and any path we already added + if path_tmp not in environ_paths and path_tmp not in checked_paths: + checked_paths.append(path_tmp) + prefix_str = os.pathsep.join(checked_paths) + if prefix_str != '' and environ_paths: + prefix_str += os.pathsep + return prefix_str + + +def assignment(key, value): + if not IS_WINDOWS: + return 'export %s="%s"' % (key, value) + else: + return 'set %s=%s' % (key, value) + + +def comment(msg): + if not IS_WINDOWS: + return '# %s' % msg + else: + return 'REM %s' % msg + + +def prepend(environ, key, prefix): + if key not in environ or not environ[key]: + return assignment(key, prefix) + if not IS_WINDOWS: + return 'export %s="%s$%s"' % (key, prefix, key) + else: + return 'set %s=%s%%%s%%' % (key, prefix, key) + + +def find_env_hooks(environ, cmake_prefix_path): + """Generate shell code with found environment hooks for the all workspaces.""" + lines = [] + lines.append(comment('found environment hooks in workspaces')) + + generic_env_hooks = [] + generic_env_hooks_workspace = [] + specific_env_hooks = [] + specific_env_hooks_workspace = [] + generic_env_hooks_by_filename = {} + specific_env_hooks_by_filename = {} + generic_env_hook_ext = 'bat' if IS_WINDOWS else 'sh' + specific_env_hook_ext = environ['CATKIN_SHELL'] if not IS_WINDOWS and 'CATKIN_SHELL' in environ and environ['CATKIN_SHELL'] else None + # remove non-workspace paths + workspaces = [path for path in cmake_prefix_path.split(os.pathsep) if path and os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE))] + for workspace in reversed(workspaces): + env_hook_dir = os.path.join(workspace, 'etc', 'catkin', 'profile.d') + if os.path.isdir(env_hook_dir): + for filename in sorted(os.listdir(env_hook_dir)): + if filename.endswith('.%s' % generic_env_hook_ext): + # remove previous env hook with same name if present + if filename in generic_env_hooks_by_filename: + i = generic_env_hooks.index(generic_env_hooks_by_filename[filename]) + generic_env_hooks.pop(i) + generic_env_hooks_workspace.pop(i) + # append env hook + generic_env_hooks.append(os.path.join(env_hook_dir, filename)) + generic_env_hooks_workspace.append(workspace) + generic_env_hooks_by_filename[filename] = generic_env_hooks[-1] + elif specific_env_hook_ext is not None and filename.endswith('.%s' % specific_env_hook_ext): + # remove previous env hook with same name if present + if filename in specific_env_hooks_by_filename: + i = specific_env_hooks.index(specific_env_hooks_by_filename[filename]) + specific_env_hooks.pop(i) + specific_env_hooks_workspace.pop(i) + # append env hook + specific_env_hooks.append(os.path.join(env_hook_dir, filename)) + specific_env_hooks_workspace.append(workspace) + specific_env_hooks_by_filename[filename] = specific_env_hooks[-1] + env_hooks = generic_env_hooks + specific_env_hooks + env_hooks_workspace = generic_env_hooks_workspace + specific_env_hooks_workspace + count = len(env_hooks) + lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_COUNT', count)) + for i in range(count): + lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d' % i, env_hooks[i])) + lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d_WORKSPACE' % i, env_hooks_workspace[i])) + return lines + + +def _parse_arguments(args=None): + parser = argparse.ArgumentParser(description='Generates code blocks for the setup.SHELL script.') + parser.add_argument('--extend', action='store_true', help='Skip unsetting previous environment variables to extend context') + parser.add_argument('--local', action='store_true', help='Only consider this prefix path and ignore other prefix path in the environment') + return parser.parse_known_args(args=args)[0] + + +if __name__ == '__main__': + try: + try: + args = _parse_arguments() + except Exception as e: + print(e, file=sys.stderr) + sys.exit(1) + + if not args.local: + # environment at generation time + CMAKE_PREFIX_PATH = '/opt/ros/melodic'.split(';') + else: + # don't consider any other prefix path than this one + CMAKE_PREFIX_PATH = [] + # prepend current workspace if not already part of CPP + base_path = os.path.dirname(__file__) + # CMAKE_PREFIX_PATH uses forward slash on all platforms, but __file__ is platform dependent + # base_path on Windows contains backward slashes, need to be converted to forward slashes before comparison + if os.path.sep != '/': + base_path = base_path.replace(os.path.sep, '/') + + if base_path not in CMAKE_PREFIX_PATH: + CMAKE_PREFIX_PATH.insert(0, base_path) + CMAKE_PREFIX_PATH = os.pathsep.join(CMAKE_PREFIX_PATH) + + environ = dict(os.environ) + lines = [] + if not args.extend: + lines += rollback_env_variables(environ, ENV_VAR_SUBFOLDERS) + lines += prepend_env_variables(environ, ENV_VAR_SUBFOLDERS, CMAKE_PREFIX_PATH) + lines += find_env_hooks(environ, CMAKE_PREFIX_PATH) + print('\n'.join(lines)) + + # need to explicitly flush the output + sys.stdout.flush() + except IOError as e: + # and catch potential "broken pipe" if stdout is not writable + # which can happen when piping the output to a file but the disk is full + if e.errno == errno.EPIPE: + print(e, file=sys.stderr) + sys.exit(2) + raise + + sys.exit(0) diff --git a/GPU_version/vio/cmake-build-debug/atomic_configure/env.sh b/GPU_version/vio/cmake-build-debug/atomic_configure/env.sh new file mode 100755 index 0000000..8aa9d24 --- /dev/null +++ b/GPU_version/vio/cmake-build-debug/atomic_configure/env.sh @@ -0,0 +1,16 @@ +#!/usr/bin/env sh +# generated from catkin/cmake/templates/env.sh.in + +if [ $# -eq 0 ] ; then + /bin/echo "Usage: env.sh COMMANDS" + /bin/echo "Calling env.sh without arguments is not supported anymore. Instead spawn a subshell and source a setup file manually." + exit 1 +fi + +# ensure to not use different shell type which was set before +CATKIN_SHELL=sh + +# source setup.sh from same directory as this file +_CATKIN_SETUP_DIR=$(cd "`dirname "$0"`" > /dev/null && pwd) +. "$_CATKIN_SETUP_DIR/setup.sh" +exec "$@" diff --git a/GPU_version/vio/cmake-build-debug/atomic_configure/local_setup.bash b/GPU_version/vio/cmake-build-debug/atomic_configure/local_setup.bash new file mode 100644 index 0000000..7da0d97 --- /dev/null +++ b/GPU_version/vio/cmake-build-debug/atomic_configure/local_setup.bash @@ -0,0 +1,8 @@ +#!/usr/bin/env bash +# generated from catkin/cmake/templates/local_setup.bash.in + +CATKIN_SHELL=bash + +# source setup.sh from same directory as this file +_CATKIN_SETUP_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd) +. "$_CATKIN_SETUP_DIR/setup.sh" --extend --local diff --git a/GPU_version/vio/cmake-build-debug/atomic_configure/local_setup.sh b/GPU_version/vio/cmake-build-debug/atomic_configure/local_setup.sh new file mode 100644 index 0000000..d29ab41 --- /dev/null +++ b/GPU_version/vio/cmake-build-debug/atomic_configure/local_setup.sh @@ -0,0 +1,9 @@ +#!/usr/bin/env sh +# generated from catkin/cmake/template/local_setup.sh.in + +# since this file is sourced either use the provided _CATKIN_SETUP_DIR +# or fall back to the destination set at configure time +: ${_CATKIN_SETUP_DIR:=/root/Project/ROS/src/vio_svo/GPU_version/svo/cmake-build-debug/devel} +CATKIN_SETUP_UTIL_ARGS="--extend --local" +. "$_CATKIN_SETUP_DIR/setup.sh" +unset CATKIN_SETUP_UTIL_ARGS diff --git a/GPU_version/vio/cmake-build-debug/atomic_configure/local_setup.zsh b/GPU_version/vio/cmake-build-debug/atomic_configure/local_setup.zsh new file mode 100644 index 0000000..e692acc --- /dev/null +++ b/GPU_version/vio/cmake-build-debug/atomic_configure/local_setup.zsh @@ -0,0 +1,8 @@ +#!/usr/bin/env zsh +# generated from catkin/cmake/templates/local_setup.zsh.in + +CATKIN_SHELL=zsh + +# source setup.sh from same directory as this file +_CATKIN_SETUP_DIR=$(builtin cd -q "`dirname "$0"`" > /dev/null && pwd) +emulate -R zsh -c 'source "$_CATKIN_SETUP_DIR/setup.sh" --extend --local' diff --git a/GPU_version/vio/cmake-build-debug/atomic_configure/setup.bash b/GPU_version/vio/cmake-build-debug/atomic_configure/setup.bash new file mode 100644 index 0000000..ff47af8 --- /dev/null +++ b/GPU_version/vio/cmake-build-debug/atomic_configure/setup.bash @@ -0,0 +1,8 @@ +#!/usr/bin/env bash +# generated from catkin/cmake/templates/setup.bash.in + +CATKIN_SHELL=bash + +# source setup.sh from same directory as this file +_CATKIN_SETUP_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd) +. "$_CATKIN_SETUP_DIR/setup.sh" diff --git a/GPU_version/vio/cmake-build-debug/atomic_configure/setup.sh b/GPU_version/vio/cmake-build-debug/atomic_configure/setup.sh new file mode 100644 index 0000000..1764d84 --- /dev/null +++ b/GPU_version/vio/cmake-build-debug/atomic_configure/setup.sh @@ -0,0 +1,96 @@ +#!/usr/bin/env sh +# generated from catkin/cmake/template/setup.sh.in + +# Sets various environment variables and sources additional environment hooks. +# It tries it's best to undo changes from a previously sourced setup file before. +# Supported command line options: +# --extend: skips the undoing of changes from a previously sourced setup file +# --local: only considers this workspace but not the chained ones +# In plain sh shell which doesn't support arguments for sourced scripts you can +# set the environment variable `CATKIN_SETUP_UTIL_ARGS=--extend/--local` instead. + +# since this file is sourced either use the provided _CATKIN_SETUP_DIR +# or fall back to the destination set at configure time +: ${_CATKIN_SETUP_DIR:=/root/Project/ROS/src/vio_svo/GPU_version/svo/cmake-build-debug/devel} +_SETUP_UTIL="$_CATKIN_SETUP_DIR/_setup_util.py" +unset _CATKIN_SETUP_DIR + +if [ ! -f "$_SETUP_UTIL" ]; then + echo "Missing Python script: $_SETUP_UTIL" + return 22 +fi + +# detect if running on Darwin platform +_UNAME=`uname -s` +_IS_DARWIN=0 +if [ "$_UNAME" = "Darwin" ]; then + _IS_DARWIN=1 +fi +unset _UNAME + +# make sure to export all environment variables +export CMAKE_PREFIX_PATH +if [ $_IS_DARWIN -eq 0 ]; then + export LD_LIBRARY_PATH +else + export DYLD_LIBRARY_PATH +fi +unset _IS_DARWIN +export PATH +export PKG_CONFIG_PATH +export PYTHONPATH + +# remember type of shell if not already set +if [ -z "$CATKIN_SHELL" ]; then + CATKIN_SHELL=sh +fi + +# invoke Python script to generate necessary exports of environment variables +# use TMPDIR if it exists, otherwise fall back to /tmp +if [ -d "${TMPDIR:-}" ]; then + _TMPDIR="${TMPDIR}" +else + _TMPDIR=/tmp +fi +_SETUP_TMP=`mktemp "${_TMPDIR}/setup.sh.XXXXXXXXXX"` +unset _TMPDIR +if [ $? -ne 0 -o ! -f "$_SETUP_TMP" ]; then + echo "Could not create temporary file: $_SETUP_TMP" + return 1 +fi +CATKIN_SHELL=$CATKIN_SHELL "$_SETUP_UTIL" $@ ${CATKIN_SETUP_UTIL_ARGS:-} >> "$_SETUP_TMP" +_RC=$? +if [ $_RC -ne 0 ]; then + if [ $_RC -eq 2 ]; then + echo "Could not write the output of '$_SETUP_UTIL' to temporary file '$_SETUP_TMP': may be the disk if full?" + else + echo "Failed to run '\"$_SETUP_UTIL\" $@': return code $_RC" + fi + unset _RC + unset _SETUP_UTIL + rm -f "$_SETUP_TMP" + unset _SETUP_TMP + return 1 +fi +unset _RC +unset _SETUP_UTIL +. "$_SETUP_TMP" +rm -f "$_SETUP_TMP" +unset _SETUP_TMP + +# source all environment hooks +_i=0 +while [ $_i -lt $_CATKIN_ENVIRONMENT_HOOKS_COUNT ]; do + eval _envfile=\$_CATKIN_ENVIRONMENT_HOOKS_$_i + unset _CATKIN_ENVIRONMENT_HOOKS_$_i + eval _envfile_workspace=\$_CATKIN_ENVIRONMENT_HOOKS_${_i}_WORKSPACE + unset _CATKIN_ENVIRONMENT_HOOKS_${_i}_WORKSPACE + # set workspace for environment hook + CATKIN_ENV_HOOK_WORKSPACE=$_envfile_workspace + . "$_envfile" + unset CATKIN_ENV_HOOK_WORKSPACE + _i=$((_i + 1)) +done +unset _i + +unset _CATKIN_ENVIRONMENT_HOOKS_COUNT diff --git a/GPU_version/vio/cmake-build-debug/atomic_configure/setup.zsh b/GPU_version/vio/cmake-build-debug/atomic_configure/setup.zsh new file mode 100644 index 0000000..9f780b7 --- /dev/null +++ b/GPU_version/vio/cmake-build-debug/atomic_configure/setup.zsh @@ -0,0 +1,8 @@ +#!/usr/bin/env zsh +# generated from catkin/cmake/templates/setup.zsh.in + +CATKIN_SHELL=zsh + +# source setup.sh from same directory as this file +_CATKIN_SETUP_DIR=$(builtin cd -q "`dirname "$0"`" > /dev/null && pwd) +emulate -R zsh -c 'source "$_CATKIN_SETUP_DIR/setup.sh"' diff --git a/GPU_version/vio/cmake-build-debug/catkin/catkin_generated/version/package.cmake b/GPU_version/vio/cmake-build-debug/catkin/catkin_generated/version/package.cmake new file mode 100644 index 0000000..b3278c8 --- /dev/null +++ b/GPU_version/vio/cmake-build-debug/catkin/catkin_generated/version/package.cmake @@ -0,0 +1,24 @@ +set(_CATKIN_CURRENT_PACKAGE "catkin") +set(catkin_VERSION "0.7.28") +set(catkin_MAINTAINER "Dirk Thomas ") +set(catkin_PACKAGE_FORMAT "3") +set(catkin_BUILD_DEPENDS "python-argparse" "python-catkin-pkg" "python3-catkin-pkg" "python-empy" "python3-empy") +set(catkin_BUILD_DEPENDS_python-catkin-pkg_VERSION_GT "0.4.3") +set(catkin_BUILD_DEPENDS_python3-catkin-pkg_VERSION_GT "0.4.3") +set(catkin_BUILD_EXPORT_DEPENDS "google-mock" "gtest" "python-nose" "python3-nose" "python-argparse" "python-catkin-pkg" "python3-catkin-pkg" "python-empy" "python3-empy") +set(catkin_BUILD_EXPORT_DEPENDS_python-catkin-pkg_VERSION_GT "0.4.3") +set(catkin_BUILD_EXPORT_DEPENDS_python3-catkin-pkg_VERSION_GT "0.4.3") +set(catkin_BUILDTOOL_DEPENDS "cmake" "python-setuptools" "python3-setuptools") +set(catkin_BUILDTOOL_EXPORT_DEPENDS "cmake" "python3-setuptools") +set(catkin_EXEC_DEPENDS "python-argparse" "python-catkin-pkg" "python3-catkin-pkg" "python-empy" "python3-empy") +set(catkin_EXEC_DEPENDS_python-catkin-pkg_VERSION_GT "0.4.3") +set(catkin_EXEC_DEPENDS_python3-catkin-pkg_VERSION_GT "0.4.3") +set(catkin_RUN_DEPENDS "python-argparse" "python-catkin-pkg" "python3-catkin-pkg" "python-empy" "python3-empy" "google-mock" "gtest" "python-nose" "python3-nose") +set(catkin_RUN_DEPENDS_python-catkin-pkg_VERSION_GT "0.4.3") +set(catkin_RUN_DEPENDS_python3-catkin-pkg_VERSION_GT "0.4.3") +set(catkin_TEST_DEPENDS "python-mock" "python3-mock" "python-nose" "python3-nose") +set(catkin_DOC_DEPENDS ) +set(catkin_URL_WEBSITE "http://wiki.ros.org/catkin") +set(catkin_URL_BUGTRACKER "https://github.com/ros/catkin/issues") +set(catkin_URL_REPOSITORY "https://github.com/ros/catkin") +set(catkin_DEPRECATED "") \ No newline at end of file diff --git a/GPU_version/vio/cmake-build-debug/catkin_generated/env_cached.sh b/GPU_version/vio/cmake-build-debug/catkin_generated/env_cached.sh new file mode 100755 index 0000000..d6be91d --- /dev/null +++ b/GPU_version/vio/cmake-build-debug/catkin_generated/env_cached.sh @@ -0,0 +1,16 @@ +#!/usr/bin/env sh +# generated from catkin/cmake/templates/env.sh.in + +if [ $# -eq 0 ] ; then + /bin/echo "Usage: env.sh COMMANDS" + /bin/echo "Calling env.sh without arguments is not supported anymore. Instead spawn a subshell and source a setup file manually." + exit 1 +fi + +# ensure to not use different shell type which was set before +CATKIN_SHELL=sh + +# source setup_cached.sh from same directory as this file +_CATKIN_SETUP_DIR=$(cd "`dirname "$0"`" > /dev/null && pwd) +. "$_CATKIN_SETUP_DIR/setup_cached.sh" +exec "$@" diff --git a/GPU_version/vio/cmake-build-debug/catkin_generated/generate_cached_setup.py b/GPU_version/vio/cmake-build-debug/catkin_generated/generate_cached_setup.py new file mode 100644 index 0000000..b1f2d17 --- /dev/null +++ b/GPU_version/vio/cmake-build-debug/catkin_generated/generate_cached_setup.py @@ -0,0 +1,30 @@ +# -*- coding: utf-8 -*- +from __future__ import print_function + +import os +import stat +import sys + +# find the import for catkin's python package - either from source space or from an installed underlay +if os.path.exists(os.path.join('/opt/ros/melodic/share/catkin/cmake', 'catkinConfig.cmake.in')): + sys.path.insert(0, os.path.join('/opt/ros/melodic/share/catkin/cmake', '..', 'python')) +try: + from catkin.environment_cache import generate_environment_script +except ImportError: + # search for catkin package in all workspaces and prepend to path + for workspace in '/opt/ros/melodic'.split(';'): + python_path = os.path.join(workspace, 'lib/python2.7/dist-packages') + if os.path.isdir(os.path.join(python_path, 'catkin')): + sys.path.insert(0, python_path) + break + from catkin.environment_cache import generate_environment_script + +code = generate_environment_script('/root/Project/ROS/src/vio_svo/GPU_version/svo/cmake-build-debug/devel/env.sh') + +output_filename = '/root/Project/ROS/src/vio_svo/GPU_version/svo/cmake-build-debug/catkin_generated/setup_cached.sh' +with open(output_filename, 'w') as f: + # print('Generate script for cached setup "%s"' % output_filename) + f.write('\n'.join(code)) + +mode = os.stat(output_filename).st_mode +os.chmod(output_filename, mode | stat.S_IXUSR) diff --git a/GPU_version/vio/cmake-build-debug/catkin_generated/installspace/.rosinstall b/GPU_version/vio/cmake-build-debug/catkin_generated/installspace/.rosinstall new file mode 100644 index 0000000..6fb13af --- /dev/null +++ b/GPU_version/vio/cmake-build-debug/catkin_generated/installspace/.rosinstall @@ -0,0 +1,2 @@ +- setup-file: + local-name: /usr/local/setup.sh diff --git a/GPU_version/vio/cmake-build-debug/catkin_generated/installspace/_setup_util.py b/GPU_version/vio/cmake-build-debug/catkin_generated/installspace/_setup_util.py new file mode 100755 index 0000000..760f26f --- /dev/null +++ b/GPU_version/vio/cmake-build-debug/catkin_generated/installspace/_setup_util.py @@ -0,0 +1,304 @@ +#!/usr/bin/python2 +# -*- coding: utf-8 -*- + +# Software License Agreement (BSD License) +# +# Copyright (c) 2012, Willow Garage, Inc. +# All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# * Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# * Redistributions in binary form must reproduce the above +# copyright notice, this list of conditions and the following +# disclaimer in the documentation and/or other materials provided +# with the distribution. +# * Neither the name of Willow Garage, Inc. nor the names of its +# contributors may be used to endorse or promote products derived +# from this software without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. + +"""This file generates shell code for the setup.SHELL scripts to set environment variables.""" + +from __future__ import print_function + +import argparse +import copy +import errno +import os +import platform +import sys + +CATKIN_MARKER_FILE = '.catkin' + +system = platform.system() +IS_DARWIN = (system == 'Darwin') +IS_WINDOWS = (system == 'Windows') + +PATH_TO_ADD_SUFFIX = ['bin'] +if IS_WINDOWS: + # while catkin recommends putting dll's into bin, 3rd party packages often put dll's into lib + # since Windows finds dll's via the PATH variable, prepend it with path to lib + PATH_TO_ADD_SUFFIX.extend([['lib', os.path.join('lib', 'x86_64-linux-gnu')]]) + +# subfolder of workspace prepended to CMAKE_PREFIX_PATH +ENV_VAR_SUBFOLDERS = { + 'CMAKE_PREFIX_PATH': '', + 'LD_LIBRARY_PATH' if not IS_DARWIN else 'DYLD_LIBRARY_PATH': ['lib', os.path.join('lib', 'x86_64-linux-gnu')], + 'PATH': PATH_TO_ADD_SUFFIX, + 'PKG_CONFIG_PATH': [os.path.join('lib', 'pkgconfig'), os.path.join('lib', 'x86_64-linux-gnu', 'pkgconfig')], + 'PYTHONPATH': 'lib/python2.7/dist-packages', +} + + +def rollback_env_variables(environ, env_var_subfolders): + """ + Generate shell code to reset environment variables. + + by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH. + This does not cover modifications performed by environment hooks. + """ + lines = [] + unmodified_environ = copy.copy(environ) + for key in sorted(env_var_subfolders.keys()): + subfolders = env_var_subfolders[key] + if not isinstance(subfolders, list): + subfolders = [subfolders] + value = _rollback_env_variable(unmodified_environ, key, subfolders) + if value is not None: + environ[key] = value + lines.append(assignment(key, value)) + if lines: + lines.insert(0, comment('reset environment variables by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH')) + return lines + + +def _rollback_env_variable(environ, name, subfolders): + """ + For each catkin workspace in CMAKE_PREFIX_PATH remove the first entry from env[NAME] matching workspace + subfolder. + + :param subfolders: list of str '' or subfoldername that may start with '/' + :returns: the updated value of the environment variable. + """ + value = environ[name] if name in environ else '' + env_paths = [path for path in value.split(os.pathsep) if path] + value_modified = False + for subfolder in subfolders: + if subfolder: + if subfolder.startswith(os.path.sep) or (os.path.altsep and subfolder.startswith(os.path.altsep)): + subfolder = subfolder[1:] + if subfolder.endswith(os.path.sep) or (os.path.altsep and subfolder.endswith(os.path.altsep)): + subfolder = subfolder[:-1] + for ws_path in _get_workspaces(environ, include_fuerte=True, include_non_existing=True): + path_to_find = os.path.join(ws_path, subfolder) if subfolder else ws_path + path_to_remove = None + for env_path in env_paths: + env_path_clean = env_path[:-1] if env_path and env_path[-1] in [os.path.sep, os.path.altsep] else env_path + if env_path_clean == path_to_find: + path_to_remove = env_path + break + if path_to_remove: + env_paths.remove(path_to_remove) + value_modified = True + new_value = os.pathsep.join(env_paths) + return new_value if value_modified else None + + +def _get_workspaces(environ, include_fuerte=False, include_non_existing=False): + """ + Based on CMAKE_PREFIX_PATH return all catkin workspaces. + + :param include_fuerte: The flag if paths starting with '/opt/ros/fuerte' should be considered workspaces, ``bool`` + """ + # get all cmake prefix paths + env_name = 'CMAKE_PREFIX_PATH' + value = environ[env_name] if env_name in environ else '' + paths = [path for path in value.split(os.pathsep) if path] + # remove non-workspace paths + workspaces = [path for path in paths if os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE)) or (include_fuerte and path.startswith('/opt/ros/fuerte')) or (include_non_existing and not os.path.exists(path))] + return workspaces + + +def prepend_env_variables(environ, env_var_subfolders, workspaces): + """Generate shell code to prepend environment variables for the all workspaces.""" + lines = [] + lines.append(comment('prepend folders of workspaces to environment variables')) + + paths = [path for path in workspaces.split(os.pathsep) if path] + + prefix = _prefix_env_variable(environ, 'CMAKE_PREFIX_PATH', paths, '') + lines.append(prepend(environ, 'CMAKE_PREFIX_PATH', prefix)) + + for key in sorted(key for key in env_var_subfolders.keys() if key != 'CMAKE_PREFIX_PATH'): + subfolder = env_var_subfolders[key] + prefix = _prefix_env_variable(environ, key, paths, subfolder) + lines.append(prepend(environ, key, prefix)) + return lines + + +def _prefix_env_variable(environ, name, paths, subfolders): + """ + Return the prefix to prepend to the environment variable NAME. + + Adding any path in NEW_PATHS_STR without creating duplicate or empty items. + """ + value = environ[name] if name in environ else '' + environ_paths = [path for path in value.split(os.pathsep) if path] + checked_paths = [] + for path in paths: + if not isinstance(subfolders, list): + subfolders = [subfolders] + for subfolder in subfolders: + path_tmp = path + if subfolder: + path_tmp = os.path.join(path_tmp, subfolder) + # skip nonexistent paths + if not os.path.exists(path_tmp): + continue + # exclude any path already in env and any path we already added + if path_tmp not in environ_paths and path_tmp not in checked_paths: + checked_paths.append(path_tmp) + prefix_str = os.pathsep.join(checked_paths) + if prefix_str != '' and environ_paths: + prefix_str += os.pathsep + return prefix_str + + +def assignment(key, value): + if not IS_WINDOWS: + return 'export %s="%s"' % (key, value) + else: + return 'set %s=%s' % (key, value) + + +def comment(msg): + if not IS_WINDOWS: + return '# %s' % msg + else: + return 'REM %s' % msg + + +def prepend(environ, key, prefix): + if key not in environ or not environ[key]: + return assignment(key, prefix) + if not IS_WINDOWS: + return 'export %s="%s$%s"' % (key, prefix, key) + else: + return 'set %s=%s%%%s%%' % (key, prefix, key) + + +def find_env_hooks(environ, cmake_prefix_path): + """Generate shell code with found environment hooks for the all workspaces.""" + lines = [] + lines.append(comment('found environment hooks in workspaces')) + + generic_env_hooks = [] + generic_env_hooks_workspace = [] + specific_env_hooks = [] + specific_env_hooks_workspace = [] + generic_env_hooks_by_filename = {} + specific_env_hooks_by_filename = {} + generic_env_hook_ext = 'bat' if IS_WINDOWS else 'sh' + specific_env_hook_ext = environ['CATKIN_SHELL'] if not IS_WINDOWS and 'CATKIN_SHELL' in environ and environ['CATKIN_SHELL'] else None + # remove non-workspace paths + workspaces = [path for path in cmake_prefix_path.split(os.pathsep) if path and os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE))] + for workspace in reversed(workspaces): + env_hook_dir = os.path.join(workspace, 'etc', 'catkin', 'profile.d') + if os.path.isdir(env_hook_dir): + for filename in sorted(os.listdir(env_hook_dir)): + if filename.endswith('.%s' % generic_env_hook_ext): + # remove previous env hook with same name if present + if filename in generic_env_hooks_by_filename: + i = generic_env_hooks.index(generic_env_hooks_by_filename[filename]) + generic_env_hooks.pop(i) + generic_env_hooks_workspace.pop(i) + # append env hook + generic_env_hooks.append(os.path.join(env_hook_dir, filename)) + generic_env_hooks_workspace.append(workspace) + generic_env_hooks_by_filename[filename] = generic_env_hooks[-1] + elif specific_env_hook_ext is not None and filename.endswith('.%s' % specific_env_hook_ext): + # remove previous env hook with same name if present + if filename in specific_env_hooks_by_filename: + i = specific_env_hooks.index(specific_env_hooks_by_filename[filename]) + specific_env_hooks.pop(i) + specific_env_hooks_workspace.pop(i) + # append env hook + specific_env_hooks.append(os.path.join(env_hook_dir, filename)) + specific_env_hooks_workspace.append(workspace) + specific_env_hooks_by_filename[filename] = specific_env_hooks[-1] + env_hooks = generic_env_hooks + specific_env_hooks + env_hooks_workspace = generic_env_hooks_workspace + specific_env_hooks_workspace + count = len(env_hooks) + lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_COUNT', count)) + for i in range(count): + lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d' % i, env_hooks[i])) + lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d_WORKSPACE' % i, env_hooks_workspace[i])) + return lines + + +def _parse_arguments(args=None): + parser = argparse.ArgumentParser(description='Generates code blocks for the setup.SHELL script.') + parser.add_argument('--extend', action='store_true', help='Skip unsetting previous environment variables to extend context') + parser.add_argument('--local', action='store_true', help='Only consider this prefix path and ignore other prefix path in the environment') + return parser.parse_known_args(args=args)[0] + + +if __name__ == '__main__': + try: + try: + args = _parse_arguments() + except Exception as e: + print(e, file=sys.stderr) + sys.exit(1) + + if not args.local: + # environment at generation time + CMAKE_PREFIX_PATH = '/opt/ros/melodic'.split(';') + else: + # don't consider any other prefix path than this one + CMAKE_PREFIX_PATH = [] + # prepend current workspace if not already part of CPP + base_path = os.path.dirname(__file__) + # CMAKE_PREFIX_PATH uses forward slash on all platforms, but __file__ is platform dependent + # base_path on Windows contains backward slashes, need to be converted to forward slashes before comparison + if os.path.sep != '/': + base_path = base_path.replace(os.path.sep, '/') + + if base_path not in CMAKE_PREFIX_PATH: + CMAKE_PREFIX_PATH.insert(0, base_path) + CMAKE_PREFIX_PATH = os.pathsep.join(CMAKE_PREFIX_PATH) + + environ = dict(os.environ) + lines = [] + if not args.extend: + lines += rollback_env_variables(environ, ENV_VAR_SUBFOLDERS) + lines += prepend_env_variables(environ, ENV_VAR_SUBFOLDERS, CMAKE_PREFIX_PATH) + lines += find_env_hooks(environ, CMAKE_PREFIX_PATH) + print('\n'.join(lines)) + + # need to explicitly flush the output + sys.stdout.flush() + except IOError as e: + # and catch potential "broken pipe" if stdout is not writable + # which can happen when piping the output to a file but the disk is full + if e.errno == errno.EPIPE: + print(e, file=sys.stderr) + sys.exit(2) + raise + + sys.exit(0) diff --git a/GPU_version/vio/cmake-build-debug/catkin_generated/installspace/env.sh b/GPU_version/vio/cmake-build-debug/catkin_generated/installspace/env.sh new file mode 100755 index 0000000..8aa9d24 --- /dev/null +++ b/GPU_version/vio/cmake-build-debug/catkin_generated/installspace/env.sh @@ -0,0 +1,16 @@ +#!/usr/bin/env sh +# generated from catkin/cmake/templates/env.sh.in + +if [ $# -eq 0 ] ; then + /bin/echo "Usage: env.sh COMMANDS" + /bin/echo "Calling env.sh without arguments is not supported anymore. Instead spawn a subshell and source a setup file manually." + exit 1 +fi + +# ensure to not use different shell type which was set before +CATKIN_SHELL=sh + +# source setup.sh from same directory as this file +_CATKIN_SETUP_DIR=$(cd "`dirname "$0"`" > /dev/null && pwd) +. "$_CATKIN_SETUP_DIR/setup.sh" +exec "$@" diff --git a/GPU_version/vio/cmake-build-debug/catkin_generated/installspace/local_setup.bash b/GPU_version/vio/cmake-build-debug/catkin_generated/installspace/local_setup.bash new file mode 100644 index 0000000..7da0d97 --- /dev/null +++ b/GPU_version/vio/cmake-build-debug/catkin_generated/installspace/local_setup.bash @@ -0,0 +1,8 @@ +#!/usr/bin/env bash +# generated from catkin/cmake/templates/local_setup.bash.in + +CATKIN_SHELL=bash + +# source setup.sh from same directory as this file +_CATKIN_SETUP_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd) +. "$_CATKIN_SETUP_DIR/setup.sh" --extend --local diff --git a/GPU_version/vio/cmake-build-debug/catkin_generated/installspace/local_setup.sh b/GPU_version/vio/cmake-build-debug/catkin_generated/installspace/local_setup.sh new file mode 100644 index 0000000..f021098 --- /dev/null +++ b/GPU_version/vio/cmake-build-debug/catkin_generated/installspace/local_setup.sh @@ -0,0 +1,9 @@ +#!/usr/bin/env sh +# generated from catkin/cmake/template/local_setup.sh.in + +# since this file is sourced either use the provided _CATKIN_SETUP_DIR +# or fall back to the destination set at configure time +: ${_CATKIN_SETUP_DIR:=/usr/local} +CATKIN_SETUP_UTIL_ARGS="--extend --local" +. "$_CATKIN_SETUP_DIR/setup.sh" +unset CATKIN_SETUP_UTIL_ARGS diff --git a/GPU_version/vio/cmake-build-debug/catkin_generated/installspace/local_setup.zsh b/GPU_version/vio/cmake-build-debug/catkin_generated/installspace/local_setup.zsh new file mode 100644 index 0000000..e692acc --- /dev/null +++ b/GPU_version/vio/cmake-build-debug/catkin_generated/installspace/local_setup.zsh @@ -0,0 +1,8 @@ +#!/usr/bin/env zsh +# generated from catkin/cmake/templates/local_setup.zsh.in + +CATKIN_SHELL=zsh + +# source setup.sh from same directory as this file +_CATKIN_SETUP_DIR=$(builtin cd -q "`dirname "$0"`" > /dev/null && pwd) +emulate -R zsh -c 'source "$_CATKIN_SETUP_DIR/setup.sh" --extend --local' diff --git a/GPU_version/vio/cmake-build-debug/catkin_generated/installspace/setup.bash b/GPU_version/vio/cmake-build-debug/catkin_generated/installspace/setup.bash new file mode 100644 index 0000000..ff47af8 --- /dev/null +++ b/GPU_version/vio/cmake-build-debug/catkin_generated/installspace/setup.bash @@ -0,0 +1,8 @@ +#!/usr/bin/env bash +# generated from catkin/cmake/templates/setup.bash.in + +CATKIN_SHELL=bash + +# source setup.sh from same directory as this file +_CATKIN_SETUP_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd) +. "$_CATKIN_SETUP_DIR/setup.sh" diff --git a/GPU_version/vio/cmake-build-debug/catkin_generated/installspace/setup.sh b/GPU_version/vio/cmake-build-debug/catkin_generated/installspace/setup.sh new file mode 100644 index 0000000..b5a330e --- /dev/null +++ b/GPU_version/vio/cmake-build-debug/catkin_generated/installspace/setup.sh @@ -0,0 +1,96 @@ +#!/usr/bin/env sh +# generated from catkin/cmake/template/setup.sh.in + +# Sets various environment variables and sources additional environment hooks. +# It tries it's best to undo changes from a previously sourced setup file before. +# Supported command line options: +# --extend: skips the undoing of changes from a previously sourced setup file +# --local: only considers this workspace but not the chained ones +# In plain sh shell which doesn't support arguments for sourced scripts you can +# set the environment variable `CATKIN_SETUP_UTIL_ARGS=--extend/--local` instead. + +# since this file is sourced either use the provided _CATKIN_SETUP_DIR +# or fall back to the destination set at configure time +: ${_CATKIN_SETUP_DIR:=/usr/local} +_SETUP_UTIL="$_CATKIN_SETUP_DIR/_setup_util.py" +unset _CATKIN_SETUP_DIR + +if [ ! -f "$_SETUP_UTIL" ]; then + echo "Missing Python script: $_SETUP_UTIL" + return 22 +fi + +# detect if running on Darwin platform +_UNAME=`uname -s` +_IS_DARWIN=0 +if [ "$_UNAME" = "Darwin" ]; then + _IS_DARWIN=1 +fi +unset _UNAME + +# make sure to export all environment variables +export CMAKE_PREFIX_PATH +if [ $_IS_DARWIN -eq 0 ]; then + export LD_LIBRARY_PATH +else + export DYLD_LIBRARY_PATH +fi +unset _IS_DARWIN +export PATH +export PKG_CONFIG_PATH +export PYTHONPATH + +# remember type of shell if not already set +if [ -z "$CATKIN_SHELL" ]; then + CATKIN_SHELL=sh +fi + +# invoke Python script to generate necessary exports of environment variables +# use TMPDIR if it exists, otherwise fall back to /tmp +if [ -d "${TMPDIR:-}" ]; then + _TMPDIR="${TMPDIR}" +else + _TMPDIR=/tmp +fi +_SETUP_TMP=`mktemp "${_TMPDIR}/setup.sh.XXXXXXXXXX"` +unset _TMPDIR +if [ $? -ne 0 -o ! -f "$_SETUP_TMP" ]; then + echo "Could not create temporary file: $_SETUP_TMP" + return 1 +fi +CATKIN_SHELL=$CATKIN_SHELL "$_SETUP_UTIL" $@ ${CATKIN_SETUP_UTIL_ARGS:-} >> "$_SETUP_TMP" +_RC=$? +if [ $_RC -ne 0 ]; then + if [ $_RC -eq 2 ]; then + echo "Could not write the output of '$_SETUP_UTIL' to temporary file '$_SETUP_TMP': may be the disk if full?" + else + echo "Failed to run '\"$_SETUP_UTIL\" $@': return code $_RC" + fi + unset _RC + unset _SETUP_UTIL + rm -f "$_SETUP_TMP" + unset _SETUP_TMP + return 1 +fi +unset _RC +unset _SETUP_UTIL +. "$_SETUP_TMP" +rm -f "$_SETUP_TMP" +unset _SETUP_TMP + +# source all environment hooks +_i=0 +while [ $_i -lt $_CATKIN_ENVIRONMENT_HOOKS_COUNT ]; do + eval _envfile=\$_CATKIN_ENVIRONMENT_HOOKS_$_i + unset _CATKIN_ENVIRONMENT_HOOKS_$_i + eval _envfile_workspace=\$_CATKIN_ENVIRONMENT_HOOKS_${_i}_WORKSPACE + unset _CATKIN_ENVIRONMENT_HOOKS_${_i}_WORKSPACE + # set workspace for environment hook + CATKIN_ENV_HOOK_WORKSPACE=$_envfile_workspace + . "$_envfile" + unset CATKIN_ENV_HOOK_WORKSPACE + _i=$((_i + 1)) +done +unset _i + +unset _CATKIN_ENVIRONMENT_HOOKS_COUNT diff --git a/GPU_version/vio/cmake-build-debug/catkin_generated/installspace/setup.zsh b/GPU_version/vio/cmake-build-debug/catkin_generated/installspace/setup.zsh new file mode 100644 index 0000000..9f780b7 --- /dev/null +++ b/GPU_version/vio/cmake-build-debug/catkin_generated/installspace/setup.zsh @@ -0,0 +1,8 @@ +#!/usr/bin/env zsh +# generated from catkin/cmake/templates/setup.zsh.in + +CATKIN_SHELL=zsh + +# source setup.sh from same directory as this file +_CATKIN_SETUP_DIR=$(builtin cd -q "`dirname "$0"`" > /dev/null && pwd) +emulate -R zsh -c 'source "$_CATKIN_SETUP_DIR/setup.sh"' diff --git a/GPU_version/vio/cmake-build-debug/catkin_generated/setup_cached.sh b/GPU_version/vio/cmake-build-debug/catkin_generated/setup_cached.sh new file mode 100755 index 0000000..619a325 --- /dev/null +++ b/GPU_version/vio/cmake-build-debug/catkin_generated/setup_cached.sh @@ -0,0 +1,13 @@ +#!/usr/bin/env sh +# generated from catkin/python/catkin/environment_cache.py + +# based on a snapshot of the environment before and after calling the setup script +# it emulates the modifications of the setup script without recurring computations + +# new environment variables + +# modified environment variables +export CMAKE_PREFIX_PATH="/root/Project/ROS/src/vio_svo/GPU_version/svo/cmake-build-debug/devel:$CMAKE_PREFIX_PATH" +export PATH='/opt/ros/melodic/bin:/opt/cmake-3.20.0-rc4-linux-x86_64/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin' +export ROSLISP_PACKAGE_DIRECTORIES='/root/Project/ROS/src/vio_svo/GPU_version/svo/cmake-build-debug/devel/share/common-lisp' +export ROS_PACKAGE_PATH="/root/Project/ROS/src/vio_svo/GPU_version/svo:$ROS_PACKAGE_PATH" \ No newline at end of file diff --git a/GPU_version/vio/cmake-build-debug/catkin_generated/stamps/vio/_setup_util.py.stamp b/GPU_version/vio/cmake-build-debug/catkin_generated/stamps/vio/_setup_util.py.stamp new file mode 100755 index 0000000..760f26f --- /dev/null +++ b/GPU_version/vio/cmake-build-debug/catkin_generated/stamps/vio/_setup_util.py.stamp @@ -0,0 +1,304 @@ +#!/usr/bin/python2 +# -*- coding: utf-8 -*- + +# Software License Agreement (BSD License) +# +# Copyright (c) 2012, Willow Garage, Inc. +# All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# * Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# * Redistributions in binary form must reproduce the above +# copyright notice, this list of conditions and the following +# disclaimer in the documentation and/or other materials provided +# with the distribution. +# * Neither the name of Willow Garage, Inc. nor the names of its +# contributors may be used to endorse or promote products derived +# from this software without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. + +"""This file generates shell code for the setup.SHELL scripts to set environment variables.""" + +from __future__ import print_function + +import argparse +import copy +import errno +import os +import platform +import sys + +CATKIN_MARKER_FILE = '.catkin' + +system = platform.system() +IS_DARWIN = (system == 'Darwin') +IS_WINDOWS = (system == 'Windows') + +PATH_TO_ADD_SUFFIX = ['bin'] +if IS_WINDOWS: + # while catkin recommends putting dll's into bin, 3rd party packages often put dll's into lib + # since Windows finds dll's via the PATH variable, prepend it with path to lib + PATH_TO_ADD_SUFFIX.extend([['lib', os.path.join('lib', 'x86_64-linux-gnu')]]) + +# subfolder of workspace prepended to CMAKE_PREFIX_PATH +ENV_VAR_SUBFOLDERS = { + 'CMAKE_PREFIX_PATH': '', + 'LD_LIBRARY_PATH' if not IS_DARWIN else 'DYLD_LIBRARY_PATH': ['lib', os.path.join('lib', 'x86_64-linux-gnu')], + 'PATH': PATH_TO_ADD_SUFFIX, + 'PKG_CONFIG_PATH': [os.path.join('lib', 'pkgconfig'), os.path.join('lib', 'x86_64-linux-gnu', 'pkgconfig')], + 'PYTHONPATH': 'lib/python2.7/dist-packages', +} + + +def rollback_env_variables(environ, env_var_subfolders): + """ + Generate shell code to reset environment variables. + + by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH. + This does not cover modifications performed by environment hooks. + """ + lines = [] + unmodified_environ = copy.copy(environ) + for key in sorted(env_var_subfolders.keys()): + subfolders = env_var_subfolders[key] + if not isinstance(subfolders, list): + subfolders = [subfolders] + value = _rollback_env_variable(unmodified_environ, key, subfolders) + if value is not None: + environ[key] = value + lines.append(assignment(key, value)) + if lines: + lines.insert(0, comment('reset environment variables by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH')) + return lines + + +def _rollback_env_variable(environ, name, subfolders): + """ + For each catkin workspace in CMAKE_PREFIX_PATH remove the first entry from env[NAME] matching workspace + subfolder. + + :param subfolders: list of str '' or subfoldername that may start with '/' + :returns: the updated value of the environment variable. + """ + value = environ[name] if name in environ else '' + env_paths = [path for path in value.split(os.pathsep) if path] + value_modified = False + for subfolder in subfolders: + if subfolder: + if subfolder.startswith(os.path.sep) or (os.path.altsep and subfolder.startswith(os.path.altsep)): + subfolder = subfolder[1:] + if subfolder.endswith(os.path.sep) or (os.path.altsep and subfolder.endswith(os.path.altsep)): + subfolder = subfolder[:-1] + for ws_path in _get_workspaces(environ, include_fuerte=True, include_non_existing=True): + path_to_find = os.path.join(ws_path, subfolder) if subfolder else ws_path + path_to_remove = None + for env_path in env_paths: + env_path_clean = env_path[:-1] if env_path and env_path[-1] in [os.path.sep, os.path.altsep] else env_path + if env_path_clean == path_to_find: + path_to_remove = env_path + break + if path_to_remove: + env_paths.remove(path_to_remove) + value_modified = True + new_value = os.pathsep.join(env_paths) + return new_value if value_modified else None + + +def _get_workspaces(environ, include_fuerte=False, include_non_existing=False): + """ + Based on CMAKE_PREFIX_PATH return all catkin workspaces. + + :param include_fuerte: The flag if paths starting with '/opt/ros/fuerte' should be considered workspaces, ``bool`` + """ + # get all cmake prefix paths + env_name = 'CMAKE_PREFIX_PATH' + value = environ[env_name] if env_name in environ else '' + paths = [path for path in value.split(os.pathsep) if path] + # remove non-workspace paths + workspaces = [path for path in paths if os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE)) or (include_fuerte and path.startswith('/opt/ros/fuerte')) or (include_non_existing and not os.path.exists(path))] + return workspaces + + +def prepend_env_variables(environ, env_var_subfolders, workspaces): + """Generate shell code to prepend environment variables for the all workspaces.""" + lines = [] + lines.append(comment('prepend folders of workspaces to environment variables')) + + paths = [path for path in workspaces.split(os.pathsep) if path] + + prefix = _prefix_env_variable(environ, 'CMAKE_PREFIX_PATH', paths, '') + lines.append(prepend(environ, 'CMAKE_PREFIX_PATH', prefix)) + + for key in sorted(key for key in env_var_subfolders.keys() if key != 'CMAKE_PREFIX_PATH'): + subfolder = env_var_subfolders[key] + prefix = _prefix_env_variable(environ, key, paths, subfolder) + lines.append(prepend(environ, key, prefix)) + return lines + + +def _prefix_env_variable(environ, name, paths, subfolders): + """ + Return the prefix to prepend to the environment variable NAME. + + Adding any path in NEW_PATHS_STR without creating duplicate or empty items. + """ + value = environ[name] if name in environ else '' + environ_paths = [path for path in value.split(os.pathsep) if path] + checked_paths = [] + for path in paths: + if not isinstance(subfolders, list): + subfolders = [subfolders] + for subfolder in subfolders: + path_tmp = path + if subfolder: + path_tmp = os.path.join(path_tmp, subfolder) + # skip nonexistent paths + if not os.path.exists(path_tmp): + continue + # exclude any path already in env and any path we already added + if path_tmp not in environ_paths and path_tmp not in checked_paths: + checked_paths.append(path_tmp) + prefix_str = os.pathsep.join(checked_paths) + if prefix_str != '' and environ_paths: + prefix_str += os.pathsep + return prefix_str + + +def assignment(key, value): + if not IS_WINDOWS: + return 'export %s="%s"' % (key, value) + else: + return 'set %s=%s' % (key, value) + + +def comment(msg): + if not IS_WINDOWS: + return '# %s' % msg + else: + return 'REM %s' % msg + + +def prepend(environ, key, prefix): + if key not in environ or not environ[key]: + return assignment(key, prefix) + if not IS_WINDOWS: + return 'export %s="%s$%s"' % (key, prefix, key) + else: + return 'set %s=%s%%%s%%' % (key, prefix, key) + + +def find_env_hooks(environ, cmake_prefix_path): + """Generate shell code with found environment hooks for the all workspaces.""" + lines = [] + lines.append(comment('found environment hooks in workspaces')) + + generic_env_hooks = [] + generic_env_hooks_workspace = [] + specific_env_hooks = [] + specific_env_hooks_workspace = [] + generic_env_hooks_by_filename = {} + specific_env_hooks_by_filename = {} + generic_env_hook_ext = 'bat' if IS_WINDOWS else 'sh' + specific_env_hook_ext = environ['CATKIN_SHELL'] if not IS_WINDOWS and 'CATKIN_SHELL' in environ and environ['CATKIN_SHELL'] else None + # remove non-workspace paths + workspaces = [path for path in cmake_prefix_path.split(os.pathsep) if path and os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE))] + for workspace in reversed(workspaces): + env_hook_dir = os.path.join(workspace, 'etc', 'catkin', 'profile.d') + if os.path.isdir(env_hook_dir): + for filename in sorted(os.listdir(env_hook_dir)): + if filename.endswith('.%s' % generic_env_hook_ext): + # remove previous env hook with same name if present + if filename in generic_env_hooks_by_filename: + i = generic_env_hooks.index(generic_env_hooks_by_filename[filename]) + generic_env_hooks.pop(i) + generic_env_hooks_workspace.pop(i) + # append env hook + generic_env_hooks.append(os.path.join(env_hook_dir, filename)) + generic_env_hooks_workspace.append(workspace) + generic_env_hooks_by_filename[filename] = generic_env_hooks[-1] + elif specific_env_hook_ext is not None and filename.endswith('.%s' % specific_env_hook_ext): + # remove previous env hook with same name if present + if filename in specific_env_hooks_by_filename: + i = specific_env_hooks.index(specific_env_hooks_by_filename[filename]) + specific_env_hooks.pop(i) + specific_env_hooks_workspace.pop(i) + # append env hook + specific_env_hooks.append(os.path.join(env_hook_dir, filename)) + specific_env_hooks_workspace.append(workspace) + specific_env_hooks_by_filename[filename] = specific_env_hooks[-1] + env_hooks = generic_env_hooks + specific_env_hooks + env_hooks_workspace = generic_env_hooks_workspace + specific_env_hooks_workspace + count = len(env_hooks) + lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_COUNT', count)) + for i in range(count): + lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d' % i, env_hooks[i])) + lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d_WORKSPACE' % i, env_hooks_workspace[i])) + return lines + + +def _parse_arguments(args=None): + parser = argparse.ArgumentParser(description='Generates code blocks for the setup.SHELL script.') + parser.add_argument('--extend', action='store_true', help='Skip unsetting previous environment variables to extend context') + parser.add_argument('--local', action='store_true', help='Only consider this prefix path and ignore other prefix path in the environment') + return parser.parse_known_args(args=args)[0] + + +if __name__ == '__main__': + try: + try: + args = _parse_arguments() + except Exception as e: + print(e, file=sys.stderr) + sys.exit(1) + + if not args.local: + # environment at generation time + CMAKE_PREFIX_PATH = '/opt/ros/melodic'.split(';') + else: + # don't consider any other prefix path than this one + CMAKE_PREFIX_PATH = [] + # prepend current workspace if not already part of CPP + base_path = os.path.dirname(__file__) + # CMAKE_PREFIX_PATH uses forward slash on all platforms, but __file__ is platform dependent + # base_path on Windows contains backward slashes, need to be converted to forward slashes before comparison + if os.path.sep != '/': + base_path = base_path.replace(os.path.sep, '/') + + if base_path not in CMAKE_PREFIX_PATH: + CMAKE_PREFIX_PATH.insert(0, base_path) + CMAKE_PREFIX_PATH = os.pathsep.join(CMAKE_PREFIX_PATH) + + environ = dict(os.environ) + lines = [] + if not args.extend: + lines += rollback_env_variables(environ, ENV_VAR_SUBFOLDERS) + lines += prepend_env_variables(environ, ENV_VAR_SUBFOLDERS, CMAKE_PREFIX_PATH) + lines += find_env_hooks(environ, CMAKE_PREFIX_PATH) + print('\n'.join(lines)) + + # need to explicitly flush the output + sys.stdout.flush() + except IOError as e: + # and catch potential "broken pipe" if stdout is not writable + # which can happen when piping the output to a file but the disk is full + if e.errno == errno.EPIPE: + print(e, file=sys.stderr) + sys.exit(2) + raise + + sys.exit(0) diff --git a/GPU_version/vio/cmake-build-debug/catkin_generated/stamps/vio/interrogate_setup_dot_py.py.stamp b/GPU_version/vio/cmake-build-debug/catkin_generated/stamps/vio/interrogate_setup_dot_py.py.stamp new file mode 100644 index 0000000..5e25fbf --- /dev/null +++ b/GPU_version/vio/cmake-build-debug/catkin_generated/stamps/vio/interrogate_setup_dot_py.py.stamp @@ -0,0 +1,255 @@ +# Software License Agreement (BSD License) +# +# Copyright (c) 2012, Willow Garage, Inc. +# All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# * Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# * Redistributions in binary form must reproduce the above +# copyright notice, this list of conditions and the following +# disclaimer in the documentation and/or other materials provided +# with the distribution. +# * Neither the name of Willow Garage, Inc. nor the names of its +# contributors may be used to endorse or promote products derived +# from this software without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. + +from __future__ import print_function + +import os +import runpy +import sys +from argparse import ArgumentParser + +setup_modules = [] + +try: + import distutils.core + setup_modules.append(distutils.core) +except ImportError: + pass + +try: + import setuptools + setup_modules.append(setuptools) +except ImportError: + pass + +assert setup_modules, 'Must have distutils or setuptools installed' + + +def _get_locations(pkgs, package_dir): + """ + Based on setuptools logic and the package_dir dict, builds a dict of location roots for each pkg in pkgs. + + See http://docs.python.org/distutils/setupscript.html + + :returns: a dict {pkgname: root} for each pkgname in pkgs (and each of their parents) + """ + # package_dir contains a dict {package_name: relativepath} + # Example {'': 'src', 'foo': 'lib', 'bar': 'lib2'} + # + # '' means where to look for any package unless a parent package + # is listed so package bar.pot is expected at lib2/bar/pot, + # whereas package sup.dee is expected at src/sup/dee + # + # if package_dir does not state anything about a package, + # setuptool expects the package folder to be in the root of the + # project + locations = {} + allprefix = package_dir.get('', '') + for pkg in pkgs: + parent_location = None + splits = pkg.split('.') + # we iterate over compound name from parent to child + # so once we found parent, children just append to their parent + for key_len in range(len(splits)): + key = '.'.join(splits[:key_len + 1]) + if key not in locations: + if key in package_dir: + locations[key] = package_dir[key] + elif parent_location is not None: + locations[key] = os.path.join(parent_location, splits[key_len]) + else: + locations[key] = os.path.join(allprefix, key) + parent_location = locations[key] + return locations + + +def generate_cmake_file(package_name, version, scripts, package_dir, pkgs, modules, setup_module=None): + """ + Generate lines to add to a cmake file which will set variables. + + :param version: str, format 'int.int.int' + :param scripts: [list of str]: relative paths to scripts + :param package_dir: {modulename: path} + :param pkgs: [list of str] python_packages declared in catkin package + :param modules: [list of str] python modules + :param setup_module: str, setuptools or distutils + """ + prefix = '%s_SETUP_PY' % package_name + result = [] + if setup_module: + result.append(r'set(%s_SETUP_MODULE "%s")' % (prefix, setup_module)) + result.append(r'set(%s_VERSION "%s")' % (prefix, version)) + result.append(r'set(%s_SCRIPTS "%s")' % (prefix, ';'.join(scripts))) + + # Remove packages with '.' separators. + # + # setuptools allows specifying submodules in other folders than + # their parent + # + # The symlink approach of catkin does not work with such submodules. + # In the common case, this does not matter as the submodule is + # within the containing module. We verify this assumption, and if + # it passes, we remove submodule packages. + locations = _get_locations(pkgs, package_dir) + for pkgname, location in locations.items(): + if '.' not in pkgname: + continue + splits = pkgname.split('.') + # hack: ignore write-combining setup.py files for msg and srv files + if splits[1] in ['msg', 'srv']: + continue + # check every child has the same root folder as its parent + root_name = splits[0] + root_location = location + for _ in range(len(splits) - 1): + root_location = os.path.dirname(root_location) + if root_location != locations[root_name]: + raise RuntimeError( + 'catkin_export_python does not support setup.py files that combine across multiple directories: %s in %s, %s in %s' % (pkgname, location, root_name, locations[root_name])) + + # If checks pass, remove all submodules + pkgs = [p for p in pkgs if '.' not in p] + + resolved_pkgs = [] + for pkg in pkgs: + resolved_pkgs += [locations[pkg]] + + result.append(r'set(%s_PACKAGES "%s")' % (prefix, ';'.join(pkgs))) + result.append(r'set(%s_PACKAGE_DIRS "%s")' % (prefix, ';'.join(resolved_pkgs).replace('\\', '/'))) + + # skip modules which collide with package names + filtered_modules = [] + for modname in modules: + splits = modname.split('.') + # check all parents too + equals_package = [('.'.join(splits[:-i]) in locations) for i in range(len(splits))] + if any(equals_package): + continue + filtered_modules.append(modname) + module_locations = _get_locations(filtered_modules, package_dir) + + result.append(r'set(%s_MODULES "%s")' % (prefix, ';'.join(['%s.py' % m.replace('.', '/') for m in filtered_modules]))) + result.append(r'set(%s_MODULE_DIRS "%s")' % (prefix, ';'.join([module_locations[m] for m in filtered_modules]).replace('\\', '/'))) + + return result + + +def _create_mock_setup_function(setup_module, package_name, outfile): + """ + Create a function to call instead of distutils.core.setup or setuptools.setup. + + It just captures some args and writes them into a file that can be used from cmake. + + :param package_name: name of the package + :param outfile: filename that cmake will use afterwards + :returns: a function to replace disutils.core.setup and setuptools.setup + """ + + def setup(*args, **kwargs): + """Check kwargs and write a scriptfile.""" + if 'version' not in kwargs: + sys.stderr.write("\n*** Unable to find 'version' in setup.py of %s\n" % package_name) + raise RuntimeError('version not found in setup.py') + version = kwargs['version'] + package_dir = kwargs.get('package_dir', {}) + + pkgs = kwargs.get('packages', []) + scripts = kwargs.get('scripts', []) + modules = kwargs.get('py_modules', []) + + unsupported_args = [ + 'entry_points', + 'exclude_package_data', + 'ext_modules ', + 'ext_package', + 'include_package_data', + 'namespace_packages', + 'setup_requires', + 'use_2to3', + 'zip_safe'] + used_unsupported_args = [arg for arg in unsupported_args if arg in kwargs] + if used_unsupported_args: + sys.stderr.write('*** Arguments %s to setup() not supported in catkin devel space in setup.py of %s\n' % (used_unsupported_args, package_name)) + + result = generate_cmake_file(package_name=package_name, + version=version, + scripts=scripts, + package_dir=package_dir, + pkgs=pkgs, + modules=modules, + setup_module=setup_module) + with open(outfile, 'w') as out: + out.write('\n'.join(result)) + + return setup + + +def main(): + """Script main, parses arguments and invokes Dummy.setup indirectly.""" + parser = ArgumentParser(description='Utility to read setup.py values from cmake macros. Creates a file with CMake set commands setting variables.') + parser.add_argument('package_name', help='Name of catkin package') + parser.add_argument('setupfile_path', help='Full path to setup.py') + parser.add_argument('outfile', help='Where to write result to') + + args = parser.parse_args() + + # print("%s" % sys.argv) + # PACKAGE_NAME = sys.argv[1] + # OUTFILE = sys.argv[3] + # print("Interrogating setup.py for package %s into %s " % (PACKAGE_NAME, OUTFILE), + # file=sys.stderr) + + # print("executing %s" % args.setupfile_path) + + # be sure you're in the directory containing + # setup.py so the sys.path manipulation works, + # so the import of __version__ works + os.chdir(os.path.dirname(os.path.abspath(args.setupfile_path))) + + # patch setup() function of distutils and setuptools for the + # context of evaluating setup.py + backup_modules = {} + try: + + for module in setup_modules: + backup_modules[id(module)] = module.setup + module.setup = _create_mock_setup_function( + setup_module=module.__name__, package_name=args.package_name, outfile=args.outfile) + + runpy.run_path(args.setupfile_path) + finally: + for module in setup_modules: + module.setup = backup_modules[id(module)] + + +if __name__ == '__main__': + main() diff --git a/GPU_version/vio/cmake-build-debug/catkin_generated/stamps/vio/package.xml.stamp b/GPU_version/vio/cmake-build-debug/catkin_generated/stamps/vio/package.xml.stamp new file mode 100644 index 0000000..bfd7934 --- /dev/null +++ b/GPU_version/vio/cmake-build-debug/catkin_generated/stamps/vio/package.xml.stamp @@ -0,0 +1,48 @@ + + + + catkin + 0.7.28 + Low-level build system macros and infrastructure for ROS. + Dirk Thomas + BSD + + http://wiki.ros.org/catkin + https://github.com/ros/catkin/issues + https://github.com/ros/catkin + + Troy Straszheim + Morten Kjaergaard + Brian Gerkey + Dirk Thomas + + python-argparse + python-catkin-pkg + python3-catkin-pkg + python-empy + python3-empy + + cmake + python-setuptools + python3-setuptools + + cmake + python3-setuptools + + google-mock + gtest + python-nose + python3-nose + + python-mock + python3-mock + python-nose + python3-nose + + + + + + diff --git a/GPU_version/vio/cmake-build-debug/devel/.catkin b/GPU_version/vio/cmake-build-debug/devel/.catkin new file mode 100644 index 0000000..749f40c --- /dev/null +++ b/GPU_version/vio/cmake-build-debug/devel/.catkin @@ -0,0 +1 @@ +/root/Project/ROS/src/vio_svo/GPU_version/svo \ No newline at end of file diff --git a/GPU_version/vio/cmake-build-debug/devel/.rosinstall b/GPU_version/vio/cmake-build-debug/devel/.rosinstall new file mode 100644 index 0000000..b61ff9e --- /dev/null +++ b/GPU_version/vio/cmake-build-debug/devel/.rosinstall @@ -0,0 +1,2 @@ +- setup-file: + local-name: /root/Project/ROS/src/vio_svo/GPU_version/svo/cmake-build-debug/devel/setup.sh diff --git a/GPU_version/vio/cmake-build-debug/devel/_setup_util.py b/GPU_version/vio/cmake-build-debug/devel/_setup_util.py new file mode 100755 index 0000000..760f26f --- /dev/null +++ b/GPU_version/vio/cmake-build-debug/devel/_setup_util.py @@ -0,0 +1,304 @@ +#!/usr/bin/python2 +# -*- coding: utf-8 -*- + +# Software License Agreement (BSD License) +# +# Copyright (c) 2012, Willow Garage, Inc. +# All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# * Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# * Redistributions in binary form must reproduce the above +# copyright notice, this list of conditions and the following +# disclaimer in the documentation and/or other materials provided +# with the distribution. +# * Neither the name of Willow Garage, Inc. nor the names of its +# contributors may be used to endorse or promote products derived +# from this software without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. + +"""This file generates shell code for the setup.SHELL scripts to set environment variables.""" + +from __future__ import print_function + +import argparse +import copy +import errno +import os +import platform +import sys + +CATKIN_MARKER_FILE = '.catkin' + +system = platform.system() +IS_DARWIN = (system == 'Darwin') +IS_WINDOWS = (system == 'Windows') + +PATH_TO_ADD_SUFFIX = ['bin'] +if IS_WINDOWS: + # while catkin recommends putting dll's into bin, 3rd party packages often put dll's into lib + # since Windows finds dll's via the PATH variable, prepend it with path to lib + PATH_TO_ADD_SUFFIX.extend([['lib', os.path.join('lib', 'x86_64-linux-gnu')]]) + +# subfolder of workspace prepended to CMAKE_PREFIX_PATH +ENV_VAR_SUBFOLDERS = { + 'CMAKE_PREFIX_PATH': '', + 'LD_LIBRARY_PATH' if not IS_DARWIN else 'DYLD_LIBRARY_PATH': ['lib', os.path.join('lib', 'x86_64-linux-gnu')], + 'PATH': PATH_TO_ADD_SUFFIX, + 'PKG_CONFIG_PATH': [os.path.join('lib', 'pkgconfig'), os.path.join('lib', 'x86_64-linux-gnu', 'pkgconfig')], + 'PYTHONPATH': 'lib/python2.7/dist-packages', +} + + +def rollback_env_variables(environ, env_var_subfolders): + """ + Generate shell code to reset environment variables. + + by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH. + This does not cover modifications performed by environment hooks. + """ + lines = [] + unmodified_environ = copy.copy(environ) + for key in sorted(env_var_subfolders.keys()): + subfolders = env_var_subfolders[key] + if not isinstance(subfolders, list): + subfolders = [subfolders] + value = _rollback_env_variable(unmodified_environ, key, subfolders) + if value is not None: + environ[key] = value + lines.append(assignment(key, value)) + if lines: + lines.insert(0, comment('reset environment variables by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH')) + return lines + + +def _rollback_env_variable(environ, name, subfolders): + """ + For each catkin workspace in CMAKE_PREFIX_PATH remove the first entry from env[NAME] matching workspace + subfolder. + + :param subfolders: list of str '' or subfoldername that may start with '/' + :returns: the updated value of the environment variable. + """ + value = environ[name] if name in environ else '' + env_paths = [path for path in value.split(os.pathsep) if path] + value_modified = False + for subfolder in subfolders: + if subfolder: + if subfolder.startswith(os.path.sep) or (os.path.altsep and subfolder.startswith(os.path.altsep)): + subfolder = subfolder[1:] + if subfolder.endswith(os.path.sep) or (os.path.altsep and subfolder.endswith(os.path.altsep)): + subfolder = subfolder[:-1] + for ws_path in _get_workspaces(environ, include_fuerte=True, include_non_existing=True): + path_to_find = os.path.join(ws_path, subfolder) if subfolder else ws_path + path_to_remove = None + for env_path in env_paths: + env_path_clean = env_path[:-1] if env_path and env_path[-1] in [os.path.sep, os.path.altsep] else env_path + if env_path_clean == path_to_find: + path_to_remove = env_path + break + if path_to_remove: + env_paths.remove(path_to_remove) + value_modified = True + new_value = os.pathsep.join(env_paths) + return new_value if value_modified else None + + +def _get_workspaces(environ, include_fuerte=False, include_non_existing=False): + """ + Based on CMAKE_PREFIX_PATH return all catkin workspaces. + + :param include_fuerte: The flag if paths starting with '/opt/ros/fuerte' should be considered workspaces, ``bool`` + """ + # get all cmake prefix paths + env_name = 'CMAKE_PREFIX_PATH' + value = environ[env_name] if env_name in environ else '' + paths = [path for path in value.split(os.pathsep) if path] + # remove non-workspace paths + workspaces = [path for path in paths if os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE)) or (include_fuerte and path.startswith('/opt/ros/fuerte')) or (include_non_existing and not os.path.exists(path))] + return workspaces + + +def prepend_env_variables(environ, env_var_subfolders, workspaces): + """Generate shell code to prepend environment variables for the all workspaces.""" + lines = [] + lines.append(comment('prepend folders of workspaces to environment variables')) + + paths = [path for path in workspaces.split(os.pathsep) if path] + + prefix = _prefix_env_variable(environ, 'CMAKE_PREFIX_PATH', paths, '') + lines.append(prepend(environ, 'CMAKE_PREFIX_PATH', prefix)) + + for key in sorted(key for key in env_var_subfolders.keys() if key != 'CMAKE_PREFIX_PATH'): + subfolder = env_var_subfolders[key] + prefix = _prefix_env_variable(environ, key, paths, subfolder) + lines.append(prepend(environ, key, prefix)) + return lines + + +def _prefix_env_variable(environ, name, paths, subfolders): + """ + Return the prefix to prepend to the environment variable NAME. + + Adding any path in NEW_PATHS_STR without creating duplicate or empty items. + """ + value = environ[name] if name in environ else '' + environ_paths = [path for path in value.split(os.pathsep) if path] + checked_paths = [] + for path in paths: + if not isinstance(subfolders, list): + subfolders = [subfolders] + for subfolder in subfolders: + path_tmp = path + if subfolder: + path_tmp = os.path.join(path_tmp, subfolder) + # skip nonexistent paths + if not os.path.exists(path_tmp): + continue + # exclude any path already in env and any path we already added + if path_tmp not in environ_paths and path_tmp not in checked_paths: + checked_paths.append(path_tmp) + prefix_str = os.pathsep.join(checked_paths) + if prefix_str != '' and environ_paths: + prefix_str += os.pathsep + return prefix_str + + +def assignment(key, value): + if not IS_WINDOWS: + return 'export %s="%s"' % (key, value) + else: + return 'set %s=%s' % (key, value) + + +def comment(msg): + if not IS_WINDOWS: + return '# %s' % msg + else: + return 'REM %s' % msg + + +def prepend(environ, key, prefix): + if key not in environ or not environ[key]: + return assignment(key, prefix) + if not IS_WINDOWS: + return 'export %s="%s$%s"' % (key, prefix, key) + else: + return 'set %s=%s%%%s%%' % (key, prefix, key) + + +def find_env_hooks(environ, cmake_prefix_path): + """Generate shell code with found environment hooks for the all workspaces.""" + lines = [] + lines.append(comment('found environment hooks in workspaces')) + + generic_env_hooks = [] + generic_env_hooks_workspace = [] + specific_env_hooks = [] + specific_env_hooks_workspace = [] + generic_env_hooks_by_filename = {} + specific_env_hooks_by_filename = {} + generic_env_hook_ext = 'bat' if IS_WINDOWS else 'sh' + specific_env_hook_ext = environ['CATKIN_SHELL'] if not IS_WINDOWS and 'CATKIN_SHELL' in environ and environ['CATKIN_SHELL'] else None + # remove non-workspace paths + workspaces = [path for path in cmake_prefix_path.split(os.pathsep) if path and os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE))] + for workspace in reversed(workspaces): + env_hook_dir = os.path.join(workspace, 'etc', 'catkin', 'profile.d') + if os.path.isdir(env_hook_dir): + for filename in sorted(os.listdir(env_hook_dir)): + if filename.endswith('.%s' % generic_env_hook_ext): + # remove previous env hook with same name if present + if filename in generic_env_hooks_by_filename: + i = generic_env_hooks.index(generic_env_hooks_by_filename[filename]) + generic_env_hooks.pop(i) + generic_env_hooks_workspace.pop(i) + # append env hook + generic_env_hooks.append(os.path.join(env_hook_dir, filename)) + generic_env_hooks_workspace.append(workspace) + generic_env_hooks_by_filename[filename] = generic_env_hooks[-1] + elif specific_env_hook_ext is not None and filename.endswith('.%s' % specific_env_hook_ext): + # remove previous env hook with same name if present + if filename in specific_env_hooks_by_filename: + i = specific_env_hooks.index(specific_env_hooks_by_filename[filename]) + specific_env_hooks.pop(i) + specific_env_hooks_workspace.pop(i) + # append env hook + specific_env_hooks.append(os.path.join(env_hook_dir, filename)) + specific_env_hooks_workspace.append(workspace) + specific_env_hooks_by_filename[filename] = specific_env_hooks[-1] + env_hooks = generic_env_hooks + specific_env_hooks + env_hooks_workspace = generic_env_hooks_workspace + specific_env_hooks_workspace + count = len(env_hooks) + lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_COUNT', count)) + for i in range(count): + lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d' % i, env_hooks[i])) + lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d_WORKSPACE' % i, env_hooks_workspace[i])) + return lines + + +def _parse_arguments(args=None): + parser = argparse.ArgumentParser(description='Generates code blocks for the setup.SHELL script.') + parser.add_argument('--extend', action='store_true', help='Skip unsetting previous environment variables to extend context') + parser.add_argument('--local', action='store_true', help='Only consider this prefix path and ignore other prefix path in the environment') + return parser.parse_known_args(args=args)[0] + + +if __name__ == '__main__': + try: + try: + args = _parse_arguments() + except Exception as e: + print(e, file=sys.stderr) + sys.exit(1) + + if not args.local: + # environment at generation time + CMAKE_PREFIX_PATH = '/opt/ros/melodic'.split(';') + else: + # don't consider any other prefix path than this one + CMAKE_PREFIX_PATH = [] + # prepend current workspace if not already part of CPP + base_path = os.path.dirname(__file__) + # CMAKE_PREFIX_PATH uses forward slash on all platforms, but __file__ is platform dependent + # base_path on Windows contains backward slashes, need to be converted to forward slashes before comparison + if os.path.sep != '/': + base_path = base_path.replace(os.path.sep, '/') + + if base_path not in CMAKE_PREFIX_PATH: + CMAKE_PREFIX_PATH.insert(0, base_path) + CMAKE_PREFIX_PATH = os.pathsep.join(CMAKE_PREFIX_PATH) + + environ = dict(os.environ) + lines = [] + if not args.extend: + lines += rollback_env_variables(environ, ENV_VAR_SUBFOLDERS) + lines += prepend_env_variables(environ, ENV_VAR_SUBFOLDERS, CMAKE_PREFIX_PATH) + lines += find_env_hooks(environ, CMAKE_PREFIX_PATH) + print('\n'.join(lines)) + + # need to explicitly flush the output + sys.stdout.flush() + except IOError as e: + # and catch potential "broken pipe" if stdout is not writable + # which can happen when piping the output to a file but the disk is full + if e.errno == errno.EPIPE: + print(e, file=sys.stderr) + sys.exit(2) + raise + + sys.exit(0) diff --git a/GPU_version/vio/cmake-build-debug/devel/cmake.lock b/GPU_version/vio/cmake-build-debug/devel/cmake.lock new file mode 100644 index 0000000..e69de29 diff --git a/GPU_version/vio/cmake-build-debug/devel/env.sh b/GPU_version/vio/cmake-build-debug/devel/env.sh new file mode 100755 index 0000000..8aa9d24 --- /dev/null +++ b/GPU_version/vio/cmake-build-debug/devel/env.sh @@ -0,0 +1,16 @@ +#!/usr/bin/env sh +# generated from catkin/cmake/templates/env.sh.in + +if [ $# -eq 0 ] ; then + /bin/echo "Usage: env.sh COMMANDS" + /bin/echo "Calling env.sh without arguments is not supported anymore. Instead spawn a subshell and source a setup file manually." + exit 1 +fi + +# ensure to not use different shell type which was set before +CATKIN_SHELL=sh + +# source setup.sh from same directory as this file +_CATKIN_SETUP_DIR=$(cd "`dirname "$0"`" > /dev/null && pwd) +. "$_CATKIN_SETUP_DIR/setup.sh" +exec "$@" diff --git a/GPU_version/vio/cmake-build-debug/devel/local_setup.bash b/GPU_version/vio/cmake-build-debug/devel/local_setup.bash new file mode 100644 index 0000000..7da0d97 --- /dev/null +++ b/GPU_version/vio/cmake-build-debug/devel/local_setup.bash @@ -0,0 +1,8 @@ +#!/usr/bin/env bash +# generated from catkin/cmake/templates/local_setup.bash.in + +CATKIN_SHELL=bash + +# source setup.sh from same directory as this file +_CATKIN_SETUP_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd) +. "$_CATKIN_SETUP_DIR/setup.sh" --extend --local diff --git a/GPU_version/vio/cmake-build-debug/devel/local_setup.sh b/GPU_version/vio/cmake-build-debug/devel/local_setup.sh new file mode 100644 index 0000000..d29ab41 --- /dev/null +++ b/GPU_version/vio/cmake-build-debug/devel/local_setup.sh @@ -0,0 +1,9 @@ +#!/usr/bin/env sh +# generated from catkin/cmake/template/local_setup.sh.in + +# since this file is sourced either use the provided _CATKIN_SETUP_DIR +# or fall back to the destination set at configure time +: ${_CATKIN_SETUP_DIR:=/root/Project/ROS/src/vio_svo/GPU_version/svo/cmake-build-debug/devel} +CATKIN_SETUP_UTIL_ARGS="--extend --local" +. "$_CATKIN_SETUP_DIR/setup.sh" +unset CATKIN_SETUP_UTIL_ARGS diff --git a/GPU_version/vio/cmake-build-debug/devel/local_setup.zsh b/GPU_version/vio/cmake-build-debug/devel/local_setup.zsh new file mode 100644 index 0000000..e692acc --- /dev/null +++ b/GPU_version/vio/cmake-build-debug/devel/local_setup.zsh @@ -0,0 +1,8 @@ +#!/usr/bin/env zsh +# generated from catkin/cmake/templates/local_setup.zsh.in + +CATKIN_SHELL=zsh + +# source setup.sh from same directory as this file +_CATKIN_SETUP_DIR=$(builtin cd -q "`dirname "$0"`" > /dev/null && pwd) +emulate -R zsh -c 'source "$_CATKIN_SETUP_DIR/setup.sh" --extend --local' diff --git a/GPU_version/vio/cmake-build-debug/devel/setup.bash b/GPU_version/vio/cmake-build-debug/devel/setup.bash new file mode 100644 index 0000000..ff47af8 --- /dev/null +++ b/GPU_version/vio/cmake-build-debug/devel/setup.bash @@ -0,0 +1,8 @@ +#!/usr/bin/env bash +# generated from catkin/cmake/templates/setup.bash.in + +CATKIN_SHELL=bash + +# source setup.sh from same directory as this file +_CATKIN_SETUP_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd) +. "$_CATKIN_SETUP_DIR/setup.sh" diff --git a/GPU_version/vio/cmake-build-debug/devel/setup.sh b/GPU_version/vio/cmake-build-debug/devel/setup.sh new file mode 100644 index 0000000..1764d84 --- /dev/null +++ b/GPU_version/vio/cmake-build-debug/devel/setup.sh @@ -0,0 +1,96 @@ +#!/usr/bin/env sh +# generated from catkin/cmake/template/setup.sh.in + +# Sets various environment variables and sources additional environment hooks. +# It tries it's best to undo changes from a previously sourced setup file before. +# Supported command line options: +# --extend: skips the undoing of changes from a previously sourced setup file +# --local: only considers this workspace but not the chained ones +# In plain sh shell which doesn't support arguments for sourced scripts you can +# set the environment variable `CATKIN_SETUP_UTIL_ARGS=--extend/--local` instead. + +# since this file is sourced either use the provided _CATKIN_SETUP_DIR +# or fall back to the destination set at configure time +: ${_CATKIN_SETUP_DIR:=/root/Project/ROS/src/vio_svo/GPU_version/svo/cmake-build-debug/devel} +_SETUP_UTIL="$_CATKIN_SETUP_DIR/_setup_util.py" +unset _CATKIN_SETUP_DIR + +if [ ! -f "$_SETUP_UTIL" ]; then + echo "Missing Python script: $_SETUP_UTIL" + return 22 +fi + +# detect if running on Darwin platform +_UNAME=`uname -s` +_IS_DARWIN=0 +if [ "$_UNAME" = "Darwin" ]; then + _IS_DARWIN=1 +fi +unset _UNAME + +# make sure to export all environment variables +export CMAKE_PREFIX_PATH +if [ $_IS_DARWIN -eq 0 ]; then + export LD_LIBRARY_PATH +else + export DYLD_LIBRARY_PATH +fi +unset _IS_DARWIN +export PATH +export PKG_CONFIG_PATH +export PYTHONPATH + +# remember type of shell if not already set +if [ -z "$CATKIN_SHELL" ]; then + CATKIN_SHELL=sh +fi + +# invoke Python script to generate necessary exports of environment variables +# use TMPDIR if it exists, otherwise fall back to /tmp +if [ -d "${TMPDIR:-}" ]; then + _TMPDIR="${TMPDIR}" +else + _TMPDIR=/tmp +fi +_SETUP_TMP=`mktemp "${_TMPDIR}/setup.sh.XXXXXXXXXX"` +unset _TMPDIR +if [ $? -ne 0 -o ! -f "$_SETUP_TMP" ]; then + echo "Could not create temporary file: $_SETUP_TMP" + return 1 +fi +CATKIN_SHELL=$CATKIN_SHELL "$_SETUP_UTIL" $@ ${CATKIN_SETUP_UTIL_ARGS:-} >> "$_SETUP_TMP" +_RC=$? +if [ $_RC -ne 0 ]; then + if [ $_RC -eq 2 ]; then + echo "Could not write the output of '$_SETUP_UTIL' to temporary file '$_SETUP_TMP': may be the disk if full?" + else + echo "Failed to run '\"$_SETUP_UTIL\" $@': return code $_RC" + fi + unset _RC + unset _SETUP_UTIL + rm -f "$_SETUP_TMP" + unset _SETUP_TMP + return 1 +fi +unset _RC +unset _SETUP_UTIL +. "$_SETUP_TMP" +rm -f "$_SETUP_TMP" +unset _SETUP_TMP + +# source all environment hooks +_i=0 +while [ $_i -lt $_CATKIN_ENVIRONMENT_HOOKS_COUNT ]; do + eval _envfile=\$_CATKIN_ENVIRONMENT_HOOKS_$_i + unset _CATKIN_ENVIRONMENT_HOOKS_$_i + eval _envfile_workspace=\$_CATKIN_ENVIRONMENT_HOOKS_${_i}_WORKSPACE + unset _CATKIN_ENVIRONMENT_HOOKS_${_i}_WORKSPACE + # set workspace for environment hook + CATKIN_ENV_HOOK_WORKSPACE=$_envfile_workspace + . "$_envfile" + unset CATKIN_ENV_HOOK_WORKSPACE + _i=$((_i + 1)) +done +unset _i + +unset _CATKIN_ENVIRONMENT_HOOKS_COUNT diff --git a/GPU_version/vio/cmake-build-debug/devel/setup.zsh b/GPU_version/vio/cmake-build-debug/devel/setup.zsh new file mode 100644 index 0000000..9f780b7 --- /dev/null +++ b/GPU_version/vio/cmake-build-debug/devel/setup.zsh @@ -0,0 +1,8 @@ +#!/usr/bin/env zsh +# generated from catkin/cmake/templates/setup.zsh.in + +CATKIN_SHELL=zsh + +# source setup.sh from same directory as this file +_CATKIN_SETUP_DIR=$(builtin cd -q "`dirname "$0"`" > /dev/null && pwd) +emulate -R zsh -c 'source "$_CATKIN_SETUP_DIR/setup.sh"' diff --git a/GPU_version/svo/doc/.gitignore b/GPU_version/vio/doc/.gitignore similarity index 100% rename from GPU_version/svo/doc/.gitignore rename to GPU_version/vio/doc/.gitignore diff --git a/GPU_version/svo/doc/notation.ipe b/GPU_version/vio/doc/notation.ipe similarity index 100% rename from GPU_version/svo/doc/notation.ipe rename to GPU_version/vio/doc/notation.ipe diff --git a/GPU_version/svo/doc/notation.pdf b/GPU_version/vio/doc/notation.pdf similarity index 100% rename from GPU_version/svo/doc/notation.pdf rename to GPU_version/vio/doc/notation.pdf diff --git a/GPU_version/svo/doc/notation.png b/GPU_version/vio/doc/notation.png similarity index 100% rename from GPU_version/svo/doc/notation.png rename to GPU_version/vio/doc/notation.png diff --git a/GPU_version/svo/src/imu_integration.cpp b/GPU_version/vio/gtsam/imu_integration.cpp old mode 100644 new mode 100755 similarity index 94% rename from GPU_version/svo/src/imu_integration.cpp rename to GPU_version/vio/gtsam/imu_integration.cpp index f7d47a2..d2e751b --- a/GPU_version/svo/src/imu_integration.cpp +++ b/GPU_version/vio/gtsam/imu_integration.cpp @@ -2,17 +2,15 @@ // Created by gfuse on 4/9/21. // //#define NDEBUG -#include "gpu_svo/imu_integration.h" +#include "imu_integration.h" #include #include #include "gpu_svo/feature.h" #include "gpu_svo/point.h" -//#include "gpu_svo/svoVisionFactorSmall.h" #include "gpu_svo/svoVisionFactor.h" -//#include "gpu_svo/svoVisionFactorLandMark.h" #include #include -#include +#include #include #include #define debug 0 @@ -43,14 +41,12 @@ Imu_Integration::~Imu_Integration(){ bool Imu_Integration::update(double* imu){ if(syn)return false; if(imu_factor_id<1)return false; - if(abs(imu[0])<1.0)imu[0]=pow(imu[0],3);//picked up from your code - if(abs(imu[1])<1.0)imu[0]=pow(imu[1],3);//picked up from your code auto in=std::chrono::steady_clock::now(); if(std::chrono::duration(in-t_1).count()>20.0){ t_1=in; - preintegratedPtr->integrateMeasurement(Eigen::Vector3d(-1.0*(imu[0]-svo::Config::X_off()),0.0,-1.0*(imu[1]-svo::Config::Y_off())),Eigen::Vector3d(0.0,imu[5]-svo::Config::Teta_off(),0.0),0.0005); + preintegratedPtr->integrateMeasurement(Eigen::Vector3d(-1.0*(imu[0]-svo::Config::X_off()),0.0,-1.0*(imu[1]-svo::Config::Y_off())),Eigen::Vector3d(0.0,imu[2]-svo::Config::Teta_off(),0.0),0.0005); }else{ - preintegratedPtr->integrateMeasurement(Eigen::Vector3d(-1.0*(imu[0]-svo::Config::X_off()),0.0,-1.0*(imu[1]-svo::Config::Y_off())),Eigen::Vector3d(0.0,imu[5]-svo::Config::Teta_off(),0.0),std::chrono::duration(in-t_1).count()); + preintegratedPtr->integrateMeasurement(Eigen::Vector3d(-1.0*(imu[0]-svo::Config::X_off()),0.0,-1.0*(imu[1]-svo::Config::Y_off())),Eigen::Vector3d(0.0,imu[2]-svo::Config::Teta_off(),0.0),std::chrono::duration(in-t_1).count()); t_1=in; ++imu_n; } diff --git a/GPU_version/svo/include/gpu_svo/imu_integration.h b/GPU_version/vio/gtsam/imu_integration.h similarity index 100% rename from GPU_version/svo/include/gpu_svo/imu_integration.h rename to GPU_version/vio/gtsam/imu_integration.h diff --git a/GPU_version/svo/include/gpu_svo/svoVisionFactor.h b/GPU_version/vio/gtsam/svoVisionFactor.h similarity index 97% rename from GPU_version/svo/include/gpu_svo/svoVisionFactor.h rename to GPU_version/vio/gtsam/svoVisionFactor.h index c81bdd5..01ad6da 100644 --- a/GPU_version/svo/include/gpu_svo/svoVisionFactor.h +++ b/GPU_version/vio/gtsam/svoVisionFactor.h @@ -10,8 +10,8 @@ #include #include #include -#include -#include +#include +#include #include namespace svo { diff --git a/GPU_version/svo/include/gpu_svo/svoVisionFactorLandMark.h b/GPU_version/vio/gtsam/svoVisionFactorLandMark.h similarity index 100% rename from GPU_version/svo/include/gpu_svo/svoVisionFactorLandMark.h rename to GPU_version/vio/gtsam/svoVisionFactorLandMark.h diff --git a/GPU_version/svo/include/gpu_svo/svoVisionFactorSmall.h b/GPU_version/vio/gtsam/svoVisionFactorSmall.h similarity index 100% rename from GPU_version/svo/include/gpu_svo/svoVisionFactorSmall.h rename to GPU_version/vio/gtsam/svoVisionFactorSmall.h diff --git a/GPU_version/svo/include/gpu_svo/abstract_camera.h b/GPU_version/vio/include/gpu_svo/abstract_camera.h similarity index 100% rename from GPU_version/svo/include/gpu_svo/abstract_camera.h rename to GPU_version/vio/include/gpu_svo/abstract_camera.h diff --git a/GPU_version/svo/include/gpu_svo/aligned_mem.h b/GPU_version/vio/include/gpu_svo/aligned_mem.h similarity index 100% rename from GPU_version/svo/include/gpu_svo/aligned_mem.h rename to GPU_version/vio/include/gpu_svo/aligned_mem.h diff --git a/GPU_version/svo/include/gpu_svo/atan_camera.h b/GPU_version/vio/include/gpu_svo/atan_camera.h similarity index 100% rename from GPU_version/svo/include/gpu_svo/atan_camera.h rename to GPU_version/vio/include/gpu_svo/atan_camera.h diff --git a/GPU_version/svo/include/gpu_svo/bundle_adjustment.h b/GPU_version/vio/include/gpu_svo/bundle_adjustment.h similarity index 100% rename from GPU_version/svo/include/gpu_svo/bundle_adjustment.h rename to GPU_version/vio/include/gpu_svo/bundle_adjustment.h diff --git a/GPU_version/vio/include/vio_gpu/camera_loader.h b/GPU_version/vio/include/gpu_svo/camera_loader.h similarity index 100% rename from GPU_version/vio/include/vio_gpu/camera_loader.h rename to GPU_version/vio/include/gpu_svo/camera_loader.h diff --git a/GPU_version/svo/include/gpu_svo/cl.hpp b/GPU_version/vio/include/gpu_svo/cl.hpp similarity index 100% rename from GPU_version/svo/include/gpu_svo/cl.hpp rename to GPU_version/vio/include/gpu_svo/cl.hpp diff --git a/GPU_version/svo/include/gpu_svo/cl_class.h b/GPU_version/vio/include/gpu_svo/cl_class.h similarity index 100% rename from GPU_version/svo/include/gpu_svo/cl_class.h rename to GPU_version/vio/include/gpu_svo/cl_class.h diff --git a/GPU_version/svo/include/gpu_svo/config.h b/GPU_version/vio/include/gpu_svo/config.h similarity index 94% rename from GPU_version/svo/include/gpu_svo/config.h rename to GPU_version/vio/include/gpu_svo/config.h index 9b3c26f..f6d710d 100644 --- a/GPU_version/svo/include/gpu_svo/config.h +++ b/GPU_version/vio/include/gpu_svo/config.h @@ -134,10 +134,11 @@ public: static double& EBP() { return getInstance().ebp; } /// the noise used for projection static double& NRP() { return getInstance().nrp; } - static double& Gravity() { return getInstance().gravity; } - static double& X_off() { return getInstance().acc_x_off; } - static double& Y_off() { return getInstance().acc_y_off; } - static double& Teta_off() { return getInstance().gyr_z_off; } + static double& Svo_Ekf() { return getInstance().svo_ekf; } + static double& X_off() { return getInstance().acc_x_off; } + static double& Y_off() { return getInstance().acc_y_off; } + static double& Teta_off() { return getInstance().gyr_z_off; } + static double& Cmd_Cov() { return getInstance().cmd_cov; } private: @@ -173,7 +174,7 @@ private: size_t max_fts; size_t quality_min_fts; int quality_max_drop_fts; - double nrp,ebp,gbc,abc,iuc,ACC_noise,GYO_noise,gravity,acc_x_off,acc_y_off,gyr_z_off; + double nrp,ebp,gbc,abc,iuc,ACC_noise,GYO_noise,svo_ekf,acc_x_off,acc_y_off,gyr_z_off,cmd_cov; }; } // namespace svo diff --git a/GPU_version/svo/include/gpu_svo/depth_filter.h b/GPU_version/vio/include/gpu_svo/depth_filter.h similarity index 100% rename from GPU_version/svo/include/gpu_svo/depth_filter.h rename to GPU_version/vio/include/gpu_svo/depth_filter.h diff --git a/GPU_version/svo/include/gpu_svo/feature.h b/GPU_version/vio/include/gpu_svo/feature.h similarity index 100% rename from GPU_version/svo/include/gpu_svo/feature.h rename to GPU_version/vio/include/gpu_svo/feature.h diff --git a/GPU_version/svo/include/gpu_svo/feature_alignment.h b/GPU_version/vio/include/gpu_svo/feature_alignment.h similarity index 100% rename from GPU_version/svo/include/gpu_svo/feature_alignment.h rename to GPU_version/vio/include/gpu_svo/feature_alignment.h diff --git a/GPU_version/svo/include/gpu_svo/feature_detection.h b/GPU_version/vio/include/gpu_svo/feature_detection.h similarity index 100% rename from GPU_version/svo/include/gpu_svo/feature_detection.h rename to GPU_version/vio/include/gpu_svo/feature_detection.h diff --git a/GPU_version/svo/include/gpu_svo/for_it.hpp b/GPU_version/vio/include/gpu_svo/for_it.hpp similarity index 100% rename from GPU_version/svo/include/gpu_svo/for_it.hpp rename to GPU_version/vio/include/gpu_svo/for_it.hpp diff --git a/GPU_version/svo/include/gpu_svo/frame.h b/GPU_version/vio/include/gpu_svo/frame.h similarity index 72% rename from GPU_version/svo/include/gpu_svo/frame.h rename to GPU_version/vio/include/gpu_svo/frame.h index 4580be2..e02f1c6 100644 --- a/GPU_version/svo/include/gpu_svo/frame.h +++ b/GPU_version/vio/include/gpu_svo/frame.h @@ -48,7 +48,7 @@ public: double timestamp_; //!< Timestamp of when the image was recorded. vk::AbstractCamera* cam_; //!< Camera model. SE2_5 T_f_w_; //!< Transform (f)rame from (w)orld. - Matrix Cov_; //!< Covariance. + Matrix Cov_; //!< Covariance. ImgPyr img_pyr_; //!< Image Pyramid. Features fts_; //!< List of features in the image. vector key_pts_; //!< Five features and associated 3D points which are used to detect if two frames have overlapping field of view. @@ -93,9 +93,11 @@ public: /// Transforms point coordinates in world-frame (w) to camera pixel coordinates (c). inline Vector2d w2c(const Vector3d& xyz_w) const { - return cam_->world2cam( Vector3d(xyz_w.x()*T_f_w_.cos_theta_+xyz_w.z()*T_f_w_.sin_theta_+T_f_w_.X_, - xyz_w.y(), - -xyz_w.x()*T_f_w_.sin_theta_+xyz_w.z()*T_f_w_.cos_theta_+T_f_w_.Z_) ); + Eigen::Matrix R; + R<world2cam( SE3(R,Vector3d(T_f_w_.T2_.translation()(0),1e-19,T_f_w_.T2_.translation()(1)))*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 ); } @@ -108,28 +110,53 @@ public: /// Transforms point coordinates in world-frame (w) to camera-frams (f). inline Vector3d w2f(const Vector3d& xyz_w) const { - return Vector3d(xyz_w.x()*T_f_w_.cos_theta_+xyz_w.z()*T_f_w_.sin_theta_+T_f_w_.X_, - xyz_w.y(), - -xyz_w.x()*T_f_w_.sin_theta_+xyz_w.z()*T_f_w_.cos_theta_+T_f_w_.Z_); + Eigen::Matrix R; + R<inverse() * f; + Eigen::Matrix R; + R<world2cam( f ); } /// Return the pose of the frame in the (w)orld coordinate frame. - inline Vector3d pos() const { return T_f_w_.T->inverse().translation(); } + inline Vector2d pos() const { return T_f_w_.T2_.translation(); } + + inline SE3 se3() const{ + Eigen::Matrix R; + R< R; + R<& J) + Matrix& J) { const double x = xyz_in_f[0]; const double y = xyz_in_f[1]; @@ -137,18 +164,12 @@ public: const double z_inv_2 = z_inv*z_inv; J(0,0) = -z_inv; // -1/z - J(0,1) = 0.0; // 0 - J(0,2) = x*z_inv_2; // x/z^2 - J(0,3) = y*J(0,2); // x*y/z^2 - J(0,4) = -(1.0 + x*J(0,2)); // -(1.0 + x^2/z^2) - J(0,5) = y*z_inv; // y/z + J(0,1) = x*z_inv_2; // x/z^2 + J(0,2) = -(1.0 + pow(x,2)/z_inv_2); // -(1.0 + x^2/z^2) - J(1,0) = 0.0; // 0 - J(1,1) = -z_inv; // -1/z - J(1,2) = y*z_inv_2; // y/z^2 - J(1,3) = 1.0 + y*J(1,2); // 1.0 + y^2/z^2 - J(1,4) = -J(0,3); // -x*y/z^2 - J(1,5) = -x*z_inv; // x/z + J(1,0) = 1e-19; // 0 + J(1,1) = y*z_inv_2; // y/z^2 + J(1,2) = -x*y/z_inv_2; // -x*y/z^2 } inline static void jacobian_l2uv( const Matrix& p, @@ -156,10 +177,10 @@ public: double A = -1.0*sqrt(p.z()); double z_inv = -1/p.z(); J(0,0) = z_inv; - J(0,1) = 0.0; + J(0,1) = 1e-19; J(0,2) = p.x()*A; - J(1,0) = 0.0; + J(1,0) = 1e-19; J(1,1) = z_inv; J(1,2) =A*p.y(); } diff --git a/GPU_version/svo/include/gpu_svo/frame_handler_base.h b/GPU_version/vio/include/gpu_svo/frame_handler_base.h similarity index 100% rename from GPU_version/svo/include/gpu_svo/frame_handler_base.h rename to GPU_version/vio/include/gpu_svo/frame_handler_base.h diff --git a/GPU_version/svo/include/gpu_svo/frame_handler_mono.h b/GPU_version/vio/include/gpu_svo/frame_handler_mono.h similarity index 91% rename from GPU_version/svo/include/gpu_svo/frame_handler_mono.h rename to GPU_version/vio/include/gpu_svo/frame_handler_mono.h index 22180d8..3faa24f 100644 --- a/GPU_version/svo/include/gpu_svo/frame_handler_mono.h +++ b/GPU_version/vio/include/gpu_svo/frame_handler_mono.h @@ -22,7 +22,7 @@ #include #include #include -#include +#include #include namespace svo { @@ -33,11 +33,11 @@ class FrameHandlerMono : public FrameHandlerBase public: EIGEN_MAKE_ALIGNED_OPERATOR_NEW - FrameHandlerMono(vk::AbstractCamera* cam,Sophus::SE3& SE_init); + FrameHandlerMono(vk::AbstractCamera* cam,Eigen::Matrix& init); virtual ~FrameHandlerMono(); /// Provide an image. - void addImage(const cv::Mat& img, double timestamp); + void addImage(const cv::Mat& img, double timestamp,const ros::Time& time); /// Set the first frame (used for synthetic datasets in benchmark node) void setFirstFrame(const FramePtr& first_frame); @@ -61,7 +61,9 @@ public: const SE3& T_kf_f, const cv::Mat& img, const double timestamp); - std::shared_ptr imu_integPtr_; //Integration of IMU + //std::shared_ptr imu_integPtr_; //Integration of IMU + void UpdateIMU(double* value,const ros::Time& time); + void UpdateCmd(double* value,const ros::Time& time); protected: vk::AbstractCamera* cam_; //!< Camera model, can be ATAN, Pinhole or Ocam (see vikit). @@ -73,7 +75,8 @@ protected: initialization::KltHomographyInit* klt_homography_init_; //!< Used to estimate pose of the first two keyframes by estimating a homography. DepthFilter* depth_filter_; //!< Depth estimation algorithm runs in a parallel thread and is used to initialize new 3D points. opencl* gpu_fast_; - uint image_count_=0; + ros::Time time_; + UKF ukfPtr_; /// Initialize the visual odometry algorithm. virtual void initialize(); diff --git a/GPU_version/svo/include/gpu_svo/global.h b/GPU_version/vio/include/gpu_svo/global.h similarity index 51% rename from GPU_version/svo/include/gpu_svo/global.h rename to GPU_version/vio/include/gpu_svo/global.h index 2cfd63b..e522a69 100644 --- a/GPU_version/svo/include/gpu_svo/global.h +++ b/GPU_version/vio/include/gpu_svo/global.h @@ -26,6 +26,7 @@ #include #include +#include #include #include #include @@ -49,26 +50,52 @@ namespace svo const double EPS = 0.0000000001; const double PI = 3.14159265; - class SE2_5{ + class SE2_5: public SE2{ public: - double X_,Z_,tetha_,cos_theta_,sin_theta_; - SE3* T; - SE2_5(double x,double z,double tetha):X_(x),Z_(z),tetha_(tetha){ - cos_theta_=cos(tetha_); - sin_theta_=sin(tetha_); - Eigen::Matrix R; - R<= 1) + pitch = std::copysign(M_PI / 2.0, pitch); // use 90 degrees if out of range + else + pitch = std::asin(pitch); + Eigen::Matrix R; + R<= 1) + pitch = std::copysign(M_PI / 2.0, pitch); // use 90 degrees if out of range + else + pitch = std::asin(pitch); + Eigen::Matrix R; + R< R; + R<translation().x(); - Z_=T->translation().z(); - tetha_=asin(2*(T->unit_quaternion().w()*T->unit_quaternion().y()- - T->unit_quaternion().z()*T->unit_quaternion().x())); - cos_theta_=cos(tetha_); - sin_theta_=sin(tetha_); + SE2 getSE2() 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()); + } + double pitch()const{ + return atan(T2_.rotation_matrix()(0,1)/T2_.rotation_matrix()(0,0)); } ~SE2_5(){} }; diff --git a/GPU_version/svo/include/gpu_svo/homography.h b/GPU_version/vio/include/gpu_svo/homography.h similarity index 100% rename from GPU_version/svo/include/gpu_svo/homography.h rename to GPU_version/vio/include/gpu_svo/homography.h diff --git a/GPU_version/svo/include/gpu_svo/initialization.h b/GPU_version/vio/include/gpu_svo/initialization.h similarity index 91% rename from GPU_version/svo/include/gpu_svo/initialization.h rename to GPU_version/vio/include/gpu_svo/initialization.h index 6c3b3b5..28fddbf 100644 --- a/GPU_version/svo/include/gpu_svo/initialization.h +++ b/GPU_version/vio/include/gpu_svo/initialization.h @@ -19,7 +19,7 @@ #include #include -#include +//#include "../../gtsam/imu_integration.h" namespace svo { @@ -37,7 +37,7 @@ public: EIGEN_MAKE_ALIGNED_OPERATOR_NEW FramePtr frame_ref_; - KltHomographyInit(opencl* gpu_fast_):gpu_fast_(gpu_fast_) {}; + KltHomographyInit(opencl* gpu_fast_):gpu_fast_(gpu_fast_),T_cur_from_ref_(0.0,0.0,0.0) {}; ~KltHomographyInit() {}; InitResult addFirstFrame(FramePtr frame_ref); InitResult addSecondFrame(FramePtr frame_ref); @@ -51,7 +51,7 @@ protected: vector disparities_; //!< disparity between first and second frame. vector inliers_; //!< inliers after the geometric check (e.g., Homography). vector xyz_in_cur_; //!< 3D points computed during the geometric check. - SE3 T_cur_from_ref_; //!< computed transformation between the first two frames. + SE2_5 T_cur_from_ref_; //!< computed transformation between the first two frames. opencl* gpu_fast_; }; @@ -79,7 +79,7 @@ void computeHomography( double reprojection_threshold, vector& inliers, vector& xyz_in_cur, - SE3& T_cur_from_ref); + SE2_5& T_cur_from_ref); } // namespace initialization } // namespace svo diff --git a/GPU_version/svo/include/gpu_svo/map.h b/GPU_version/vio/include/gpu_svo/map.h similarity index 97% rename from GPU_version/svo/include/gpu_svo/map.h rename to GPU_version/vio/include/gpu_svo/map.h index 3bee80b..e554088 100644 --- a/GPU_version/svo/include/gpu_svo/map.h +++ b/GPU_version/vio/include/gpu_svo/map.h @@ -103,12 +103,12 @@ public: FramePtr getClosestKeyframe(const FramePtr& frame) const; /// Return the keyframe which is furthest apart from pos. - FramePtr getFurthestKeyframe(const Vector3d& pos) const; + FramePtr getFurthestKeyframe(const Vector2d& pos) const; bool getKeyframeById(const int id, FramePtr& frame) const; /// Transform the whole map with rotation R, translation t and scale s. - void transform(const Matrix3d& R, const Vector3d& t, const double& s); + void transform(const Matrix2d& R, const Vector2d& t, const double& s); /// Empty trash bin of deleted keyframes and map points. We don't delete the /// points immediately to ensure proper cleanup and to provide the visualizer diff --git a/GPU_version/svo/include/gpu_svo/matcher.h b/GPU_version/vio/include/gpu_svo/matcher.h similarity index 100% rename from GPU_version/svo/include/gpu_svo/matcher.h rename to GPU_version/vio/include/gpu_svo/matcher.h diff --git a/GPU_version/svo/include/gpu_svo/math_utils.h b/GPU_version/vio/include/gpu_svo/math_utils.h similarity index 100% rename from GPU_version/svo/include/gpu_svo/math_utils.h rename to GPU_version/vio/include/gpu_svo/math_utils.h diff --git a/GPU_version/svo/include/gpu_svo/nlls_solver.h b/GPU_version/vio/include/gpu_svo/nlls_solver.h similarity index 100% rename from GPU_version/svo/include/gpu_svo/nlls_solver.h rename to GPU_version/vio/include/gpu_svo/nlls_solver.h diff --git a/GPU_version/svo/include/gpu_svo/nlls_solver_impl.hpp b/GPU_version/vio/include/gpu_svo/nlls_solver_impl.hpp similarity index 79% rename from GPU_version/svo/include/gpu_svo/nlls_solver_impl.hpp rename to GPU_version/vio/include/gpu_svo/nlls_solver_impl.hpp index ec36be8..2ce9302 100644 --- a/GPU_version/svo/include/gpu_svo/nlls_solver_impl.hpp +++ b/GPU_version/vio/include/gpu_svo/nlls_solver_impl.hpp @@ -66,8 +66,9 @@ void vk::NLLSSolver::optimizeGaussNewton(ModelType& model) std::cout << "It. " << iter_ << "\t Failure" << "\t new_chi2 = " << new_chi2 - << "\t Error increased. Stop optimizing." - << std::endl; + << "\t Error increased. Stop optimizing.\n"; + // << "H = " << H_ << std::endl + //<< "Jres = " << Jres_ << std::endl; } model = old_model; // rollback break; @@ -87,8 +88,9 @@ void vk::NLLSSolver::optimizeGaussNewton(ModelType& model) << "\t Success" << "\t new_chi2 = " << new_chi2 << "\t n_meas = " << n_meas_ - << "\t x_norm = " << vk::norm_max(x_) - << std::endl; + << "\t x_norm = " << vk::norm_max(x_)<<'\n'; + //<< "\n H = " << H_ << std::endl + //<< "Jres = " << Jres_ << std::endl; } finishIteration(); @@ -133,7 +135,7 @@ void vk::NLLSSolver::optimizeLevenbergMarquardt(ModelType& model) { rho_ = 0; startIteration(); - + bool sign=false; // try to compute and update, if it fails, try with increased mu n_trials_ = 0; do @@ -164,7 +166,7 @@ void vk::NLLSSolver::optimizeLevenbergMarquardt(ModelType& model) // compute error with new model and compare to old error n_meas_ = 0; - new_chi2 = computeResiduals(new_model, false, false); + new_chi2 = computeResiduals(new_model, true, false); rho_ = chi2_-new_chi2; } else @@ -181,7 +183,7 @@ void vk::NLLSSolver::optimizeLevenbergMarquardt(ModelType& model) // update decrased the error -> success model = new_model; chi2_ = new_chi2; - stop_ = vk::norm_max(x_)<=eps_; + stop_ = vk::norm_max(x_)<=eps_ ? true : false; mu_ *= max(1./3., min(1.-pow(2*rho_-1,3), 2./3.)); nu_ = 2.; if(verbose_) @@ -193,29 +195,52 @@ void vk::NLLSSolver::optimizeLevenbergMarquardt(ModelType& model) << "\t new_chi2 = " << new_chi2 << "\t mu = " << mu_ << "\t nu = " << nu_ + << "\t x_norm = " << vk::norm_max(x_) << endl; } } else { - // update increased the error -> fail - mu_ *= nu_; - nu_ *= 2.; - ++n_trials_; - if (n_trials_ >= n_trials_max_) - stop_ = true; - - if(verbose_) - { - cout << "It. " << iter_ - << "\t Trial " << n_trials_ - << "\t Failure" - << "\t n_meas = " << n_meas_ - << "\t new_chi2 = " << new_chi2 - << "\t mu = " << mu_ - << "\t nu = " << nu_ - << endl; + if(sign){ + if(verbose_) + { + cout << "It. " << iter_ + << "\t Trial " << n_trials_ + << "\t Failure" + << "\t n_meas = " << n_meas_ + << "\t new_chi2 = " << new_chi2 + << "\t mu = " << mu_ + << "\t nu = " << nu_ + << "\t x_norm = " << vk::norm_max(x_) + << endl; + } + mu_ /= nu_; + nu_ /= 2.; + ++n_trials_; + if (n_trials_ >= n_trials_max_) + stop_ = true; + sign=false; + }else{ + if(verbose_) + { + cout << "It. " << iter_ + << "\t Trial " << n_trials_ + << "\t Failure" + << "\t n_meas = " << n_meas_ + << "\t new_chi2 = " << new_chi2 + << "\t mu = " << mu_ + << "\t nu = " << nu_ + << "\t x_norm = " << vk::norm_max(x_) + << endl; + } + mu_ *= nu_; + nu_ *= 2.; + ++n_trials_; + if (n_trials_ >= n_trials_max_) + stop_ = true; + sign=true; } + } finishTrial(); diff --git a/GPU_version/vio/include/vio_gpu/output_helper.h b/GPU_version/vio/include/gpu_svo/output_helper.h similarity index 97% rename from GPU_version/vio/include/vio_gpu/output_helper.h rename to GPU_version/vio/include/gpu_svo/output_helper.h index a835def..b1572a8 100644 --- a/GPU_version/vio/include/vio_gpu/output_helper.h +++ b/GPU_version/vio/include/gpu_svo/output_helper.h @@ -14,9 +14,6 @@ #include #include -namespace vk { -namespace output_helper { - using namespace std; using namespace Eigen; @@ -90,8 +87,4 @@ publishFrameMarker (ros::Publisher pub, ros::Duration lifetime = ros::Duration(0.0)); -} // namespace output_helper -} // namespace vk - - #endif /* VIKIT_OUTPUT_HELPER_H_ */ diff --git a/GPU_version/svo/include/gpu_svo/params_helper.h b/GPU_version/vio/include/gpu_svo/params_helper.h similarity index 100% rename from GPU_version/svo/include/gpu_svo/params_helper.h rename to GPU_version/vio/include/gpu_svo/params_helper.h diff --git a/GPU_version/svo/include/gpu_svo/patch_score.h b/GPU_version/vio/include/gpu_svo/patch_score.h similarity index 100% rename from GPU_version/svo/include/gpu_svo/patch_score.h rename to GPU_version/vio/include/gpu_svo/patch_score.h diff --git a/GPU_version/svo/include/gpu_svo/point.h b/GPU_version/vio/include/gpu_svo/point.h similarity index 98% rename from GPU_version/svo/include/gpu_svo/point.h rename to GPU_version/vio/include/gpu_svo/point.h index 81d2769..6b0f900 100644 --- a/GPU_version/svo/include/gpu_svo/point.h +++ b/GPU_version/vio/include/gpu_svo/point.h @@ -77,7 +77,7 @@ public: Feature* findFrameRef(Frame* frame); /// Get Frame with similar viewpoint. - bool getCloseViewObs(const Vector3d& pos, Feature*& obs) const; + bool getCloseViewObs(const Vector2d& pos, Feature*& obs) const; /// Get number of observations. inline size_t nRefs() const { return obs_.size(); } diff --git a/GPU_version/svo/include/gpu_svo/pose_optimizer.h b/GPU_version/vio/include/gpu_svo/pose_optimizer.h similarity index 100% rename from GPU_version/svo/include/gpu_svo/pose_optimizer.h rename to GPU_version/vio/include/gpu_svo/pose_optimizer.h diff --git a/GPU_version/svo/include/gpu_svo/reprojector.h b/GPU_version/vio/include/gpu_svo/reprojector.h similarity index 100% rename from GPU_version/svo/include/gpu_svo/reprojector.h rename to GPU_version/vio/include/gpu_svo/reprojector.h diff --git a/GPU_version/svo/include/gpu_svo/robust_cost.h b/GPU_version/vio/include/gpu_svo/robust_cost.h similarity index 100% rename from GPU_version/svo/include/gpu_svo/robust_cost.h rename to GPU_version/vio/include/gpu_svo/robust_cost.h diff --git a/GPU_version/svo/include/gpu_svo/sparse_img_align.h b/GPU_version/vio/include/gpu_svo/sparse_img_align.h similarity index 88% rename from GPU_version/svo/include/gpu_svo/sparse_img_align.h rename to GPU_version/vio/include/gpu_svo/sparse_img_align.h index 6200066..1fbaace 100644 --- a/GPU_version/svo/include/gpu_svo/sparse_img_align.h +++ b/GPU_version/vio/include/gpu_svo/sparse_img_align.h @@ -20,6 +20,7 @@ #include #include + namespace vk { class AbstractCamera; } @@ -29,10 +30,10 @@ namespace svo { class Feature; /// Optimize the pose of the frame by minimizing the photometric error of feature patches. -class SparseImgAlign : public vk::NLLSSolver<6, SE3> +class SparseImgAlign : public vk::NLLSSolver<3, SE2> { - static const int patch_halfsize_ = 6; - static const int patch_size_ = 6*patch_halfsize_; + static const int patch_halfsize_ = 12; + static const int patch_size_ = 12*patch_halfsize_; static const int patch_area_ = patch_size_*patch_size_; public: EIGEN_MAKE_ALIGNED_OPERATOR_NEW @@ -53,7 +54,7 @@ public: /// Return fisher information matrix, i.e. the Hessian of the log-likelihood /// at the converged state. - Matrix getFisherInformation(); + Matrix getFisherInformation(); protected: FramePtr ref_frame_; //!< reference frame, has depth for gradient pixels. @@ -64,13 +65,13 @@ protected: int min_level_; //!< finest pyramid level for the alignment. // cache: - Matrix jacobian_cache_; + Matrix jacobian_cache_; bool have_ref_patch_cache_; cv::Mat ref_patch_cache_; std::vector visible_fts_; void precomputeReferencePatches(); - virtual double computeResiduals(const SE3& model, bool linearize_system, bool compute_weight_scale = false); + virtual double computeResiduals(const SE2& model, bool linearize_system, bool compute_weight_scale = false); virtual int solve(); virtual void update (const ModelType& old_model, ModelType& new_model); virtual void startIteration(); diff --git a/GPU_version/svo/include/gpu_svo/timer.h b/GPU_version/vio/include/gpu_svo/timer.h similarity index 100% rename from GPU_version/svo/include/gpu_svo/timer.h rename to GPU_version/vio/include/gpu_svo/timer.h diff --git a/GPU_version/vio/include/gpu_svo/ukf.h b/GPU_version/vio/include/gpu_svo/ukf.h new file mode 100644 index 0000000..7919c32 --- /dev/null +++ b/GPU_version/vio/include/gpu_svo/ukf.h @@ -0,0 +1,136 @@ +// +// Created by root on 6/8/21. +// +#ifndef GPU_SVO_UKF_H +#define GPU_SVO_UKF_H + +#include +#include +#include "gpu_svo/config.h" +#include +class Base{ +public: + Base(const Eigen::Matrix &init) { + state_=init; + cov_.setIdentity(); + cov_*=0.0001; + }; + virtual ~Base(){ + }; + void predict(double ddx,double ddz,double dpitch,double time){ + if(t_==0.0){ + t_=time; + return; + } + double t=time-t_; + t_=time; + state_h_< G; + G<<1.0,0,t,0,-0.5*pow(t,2)*(ddz*cos(state_(4))+ddx*sin(state_(4))),0, + 0,1.0,0,t,0.5*pow(t,2)*(ddx*cos(state_(4))-ddz*sin(state_(4))),0, + 0,0,1.0,0,-t*(ddz*cos(state_(4))+ddx*sin(state_(4))),0, + 0,0,0,1.0,t*(ddx*cos(state_(4))-ddz*sin(state_(4))),0, + 0,0,0,0,1.0,t*dpitch, + 0,0,0,0,0,1.0; + Eigen::Matrix R; + R<<10.0*svo::Config::ACC_Noise(),0,0,0,0,0, + 0,10.0*svo::Config::ACC_Noise(),0,0,0,0, + 0,0,svo::Config::ACC_Noise(),0,0,0, + 0,0,0,svo::Config::ACC_Noise(),0,0, + 0,0,0,0,10.0*svo::Config::GYO_Noise(),0, + 0,0,0,0,0,svo::Config::GYO_Noise(); + cov_h_=G*cov_*G.transpose()+R; + predict_up=true; + } + void correct(double x, double z, double pitch, double time){ + Eigen::Matrix H; + Eigen::Matrix Q; + Eigen::Matrix E; + Eigen::Matrix k; + t_=time; + H<<0,0,1.0,0,0,0, + 0,0,0,1.0,0,0, + 0,0,0,0,0,1.0; + Q< H; + Eigen::Matrix Q; + Eigen::Matrix E; + Eigen::Matrix k; + t_=time; + ++match; + H<<1.0,0,0,0,0,0, + 0,1.0,0,0,0,0, + 0,0,0,0,1.0,0; + Q< cov_; + Eigen::Matrix state_; + bool predict_up=false; +private: + double t_=0.0; + Eigen::Matrix cov_h_; + Eigen::Matrix state_h_;//state{x,z,dx,dv,pitch} + +}; + +class UKF { +public: + UKF(const Eigen::Matrix& init) : filter_(new Base(init)) { + }; + virtual ~UKF() { + delete filter_; + }; + void UpdateIMU(double x,double z,double pitch,const ros::Time& time) { + while(lock)usleep(5); + lock=true; + //if(abs(x)<1.0)x=pow(x,3);//picked up from your code + //if(abs(z)<1.0)z=pow(z,3);//picked up from your code + if(!filter_->predict_up)filter_->predict(x,z,pitch,1e-9*time.toNSec()); + lock=false; + }; + void UpdateCmd(double x,double z,double pitch,const ros::Time& time) { + while(lock)usleep(5); + lock=true; + filter_->correct(x,z,pitch,1e-9*time.toNSec()); + lock=false; + }; + std::pair,svo::SE2> UpdateSvo(double x,double z,double pitch,size_t match,ros::Time& time) { + while(lock)usleep(5); + lock=true; + filter_->correct(-1.0*x,-1.0*z,pitch,match,1e-9*time.toNSec()); + lock=false; + //std::cout<<"filter cov\n"<cov_<<'\n'; + //std::cout<<"filter state\n"<state_<<'\n'; + Eigen::Matrix cov; + cov<cov_(0,0),filter_->cov_(0,1),filter_->cov_(0,4), + filter_->cov_(1,0),filter_->cov_(1,1),filter_->cov_(1,4), + filter_->cov_(4,0),filter_->cov_(4,1),filter_->cov_(4,4); + svo::SE2 out(filter_->state_(4),Eigen::Vector2d(-1.0*filter_->state_(0),-1.0*filter_->state_(1))); + return std::pair,svo::SE2>(cov,out); + }; +private: + Base* filter_= nullptr; + bool lock=false; +}; +#endif //GPU_SVO_UKF_H diff --git a/GPU_version/svo/include/gpu_svo/vision.h b/GPU_version/vio/include/gpu_svo/vision.h similarity index 100% rename from GPU_version/svo/include/gpu_svo/vision.h rename to GPU_version/vio/include/gpu_svo/vision.h diff --git a/GPU_version/vio/include/vio_gpu/visualizer.h b/GPU_version/vio/include/gpu_svo/visualizer.h similarity index 100% rename from GPU_version/vio/include/vio_gpu/visualizer.h rename to GPU_version/vio/include/gpu_svo/visualizer.h diff --git a/GPU_version/vio/include/vio_gpu/params_helper.h b/GPU_version/vio/include/vio_gpu/params_helper.h deleted file mode 100644 index 1c8967f..0000000 --- a/GPU_version/vio/include/vio_gpu/params_helper.h +++ /dev/null @@ -1,54 +0,0 @@ -/* - * ros_params_helper.h - * - * Created on: Feb 22, 2013 - * Author: cforster - * - * from libpointmatcher_ros - */ - -#ifndef ROS_PARAMS_HELPER_H_ -#define ROS_PARAMS_HELPER_H_ - -#include -#include - -namespace vk { - -inline -bool hasParam(const std::string& name) -{ - return ros::param::has(name); -} - -template -T getParam(const std::string& name, const T& defaultValue) -{ - T v; - if(ros::param::get(name, v)) - { - ROS_INFO_STREAM("Found parameter: " << name << ", value: " << v); - return v; - } - else - ROS_WARN_STREAM("Cannot find value for parameter: " << name << ", assigning default: " << defaultValue); - return defaultValue; -} - -template -T getParam(const std::string& name) -{ - T v; - if(ros::param::get(name, v)) - { - ROS_INFO_STREAM("Found parameter: " << name << ", value: " << v); - return v; - } - else - ROS_ERROR_STREAM("Cannot find value for parameter: " << name); - return T(); -} - -} // namespace vk - -#endif // ROS_PARAMS_HELPER_H_ diff --git a/GPU_version/svo/kernel/fast-gray.cl b/GPU_version/vio/kernel/fast-gray.cl similarity index 100% rename from GPU_version/svo/kernel/fast-gray.cl rename to GPU_version/vio/kernel/fast-gray.cl diff --git a/GPU_version/vio/launch/Px30.launch b/GPU_version/vio/launch/Px30.launch index 032feaf..581e4b1 100644 --- a/GPU_version/vio/launch/Px30.launch +++ b/GPU_version/vio/launch/Px30.launch @@ -1,22 +1,18 @@ - + - - + + + - + - - - - - - + - + diff --git a/GPU_version/vio/out.txt b/GPU_version/vio/out.txt new file mode 100644 index 0000000..b027790 --- /dev/null +++ b/GPU_version/vio/out.txt @@ -0,0 +1,26087 @@ +header: + seq: 0 + stamp: + secs: 1624875191 + nsecs: 558718920 + frame_id: "/world" +pose: + pose: + position: + x: 0.0626414404632 + y: -0.0114145588813 + z: 0.0 + orientation: + x: 0.0 + y: 0.0405619092502 + z: 0.0 + w: 0.999177027117 + covariance: [0.07868209584252406, -9.461082738964364e-19, 0.0, 0.0, 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position: + x: 0.0166163353051 + y: -0.0430530963954 + z: 0.0 + orientation: + x: -0.0 + y: -0.0822472404752 + z: -0.0 + w: 0.996611956297 + covariance: [2.648854370068479, -5.4919736476426895e-06, 0.0, 0.0, -0.00048189566741691197, 0.0, -5.491973647643477e-06, 2.648847894412179, 0.0, 0.0, 0.0002940932594437838, 0.0, 0.0, 0.0, 1e-07, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1e-07, 0.0, 0.0, -0.00048189566741691566, 0.0002940932594437862, 0.0, 0.0, 2.1038345230631976, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1e-07] +--- +header: + seq: 3 + stamp: + secs: 1624875196 + nsecs: 679157019 + frame_id: "/world" +pose: + pose: + position: + x: 0.0185721548702 + y: -0.021561037511 + z: 0.0 + orientation: + x: 0.0 + y: 0.0301557821628 + z: 0.0 + w: 0.999545210985 + covariance: [2.2650572600435086, -6.206231117237778e-07, 0.0, 0.0, -5.1855607892080387e-05, 0.0, -6.206231117238479e-07, 2.265056535524967, 0.0, 0.0, 3.204631952791545e-05, 0.0, 0.0, 0.0, 1e-07, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1e-07, 0.0, 0.0, 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secs: 1624875197 + nsecs: 399205923 + frame_id: "/world" +pose: + pose: + position: + x: -0.0156086820159 + y: 0.00447412807491 + z: 0.0 + orientation: + x: 0.0 + y: 0.000243722180649 + z: 0.0 + w: 0.9999999703 + covariance: [2.998512383676597, -9.051111680390655e-09, 0.0, 0.0, -3.5665094589854947e-06, 0.0, -9.051111680390632e-09, 2.998512382287478, 0.0, 0.0, 4.628005164744784e-06, 0.0, 0.0, 0.0, 1e-07, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1e-07, 0.0, 0.0, -3.566509458985493e-06, 4.628005164744786e-06, 0.0, 0.0, 2.996544542977281, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1e-07] +--- +header: + seq: 13 + stamp: + secs: 1624875197 + nsecs: 479234934 + frame_id: "/world" +pose: + pose: + position: + x: -0.00753809395827 + y: -0.013918683117 + z: 0.0 + orientation: + x: 0.0 + y: 7.98221087963e-05 + z: 0.0 + w: 0.999999996814 + covariance: [3.0802457190027672, -1.5789072296466504e-08, 0.0, 0.0, -9.523338022074358e-06, 0.0, -1.578907229646647e-08, 3.0802457174258118, 0.0, 0.0, 3.35105621493877e-06, 0.0, 0.0, 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8.037180861960741e-06, 0.0, 0.0, 1.8250910876171649, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1e-07] +--- diff --git a/GPU_version/vio/package.xml b/GPU_version/vio/package.xml old mode 100644 new mode 100755 index 7f8fbc5..1d8d5a4 --- a/GPU_version/vio/package.xml +++ b/GPU_version/vio/package.xml @@ -1,43 +1,32 @@ - vio_gpu + vio 0.1.0 - Monocular Visual Odometry - ROS Nodes + Monocular Visual Odometry Majid Geravand - Majid Geravand + Gfuse GPLv3 catkin + cmake_modules roscpp - cmake_modules - nav_msgs - std_msgs - visualization_msgs + roslib sensor_msgs image_transport cv_bridge tf - gpu_svo - vikit_common - vikit_ros geometry_msgs - + roscpp - nav_msgs - std_msgs - visualization_msgs - sensor_msgs + roslib image_transport cv_bridge tf - vikit_common - vikit_ros geometry_msgs - gpu_svo \ No newline at end of file diff --git a/GPU_version/vio/param/px30.yaml b/GPU_version/vio/param/px30.yaml index 10fa932..4b69c4f 100644 --- a/GPU_version/vio/param/px30.yaml +++ b/GPU_version/vio/param/px30.yaml @@ -1,8 +1,9 @@ -cam_model: ATAN -cam_width: 640 -cam_height: 480 -cam_fx: 0.463632 -cam_fy: 0.823661 -cam_cx: 0.497465 -cam_cy: 0.498443 -cam_d0: 1.01687 \ No newline at end of file +vio: + cam_model: ATAN + cam_width: 640 + cam_height: 480 + cam_fx: 0.463632 + cam_fy: 0.823661 + cam_cx: 0.497465 + cam_cy: 0.498443 + cam_d0: 1.01687 diff --git a/GPU_version/vio/param/vo_fast.yaml b/GPU_version/vio/param/vo_fast.yaml index 0aa2c15..90df6be 100644 --- a/GPU_version/vio/param/vo_fast.yaml +++ b/GPU_version/vio/param/vo_fast.yaml @@ -5,18 +5,11 @@ svo: quality_min_fts: 10 #If the number of tracked features drops below this threshold. Tracking quality is bad. quality_max_drop_fts: 60 #If within one frame, this amount of features are dropped. Tracking quality is bad. init_min_tracked: 100 - init_min_disparity: 20 + init_min_disparity: 30 structureoptim_max_pts: 50 kfselect_mindist: 0.05 poseoptim_thresh: 4.0 - ACC_noise: 0.0001 #acc white noise in continuous - GYO_noise: 0.0001 #gyro white noise in continuous - IUC: 0.1 #integration uncertainty continuous - ABC: 0.1 #acc bias in continuous - GBC: 0.1 #gyro bias in continuous - EBP: 0.1 #error in the bias used for preintegration - NRP: 0.001 #noise used for projection in preintegration - gravity: -9.65 - Acceleration_offset_x: 0.0 - Acceleration_offset_y: 0.0 - Gyroscope_offset_z: 0.0 + ACC_noise: 0.1 #acc white noise in continuous in EKF + GYO_noise: 0.1 #gyro white noise in continuous in EKF + svo_ekf: 20 #Svo noise that will be devided by number of Reprojected points after opmization in EKF + Cmd_Cov: 0.05 #control vector noise in EKF diff --git a/GPU_version/vio/rqt.perspective b/GPU_version/vio/rqt.perspective deleted file mode 100644 index 66dd7ef..0000000 --- a/GPU_version/vio/rqt.perspective +++ /dev/null @@ -1,293 +0,0 @@ -{ - 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Name: Views - Splitter Ratio: 0.5 - - Class: rviz/Time - Experimental: false - Name: Time - SyncMode: 0 - SyncSource: Image -Visualization Manager: - Class: "" - Displays: - - Alpha: 0.5 - Cell Size: 1 - Class: rviz/Grid - Color: 160; 160; 164 - Enabled: true - Line Style: - Line Width: 0.03 - Value: Lines - Name: Grid - Normal Cell Count: 0 - Offset: - X: 0 - Y: 0 - Z: 0 - Plane: XY - Plane Cell Count: 10 - Reference Frame: - Value: true - - Class: rviz/TF - Enabled: false - Frame Timeout: 15 - Frames: - All Enabled: true - Marker Scale: 1 - Name: TF - Show Arrows: true - Show Axes: true - Show Names: true - Tree: - {} - Update Interval: 0 - Value: false - - Class: rviz/Marker - Enabled: true - Marker Topic: /svo/keyframes - Name: Marker - Namespaces: - cams: true - kfs: true - Queue Size: 100 - Value: true - - Class: rviz/Marker - Enabled: true - Marker Topic: /svo/points - Name: Marker - Namespaces: - pts: true - trajectory: true - Queue Size: 100 - Value: true - - Class: rviz/Image - Enabled: true - Image Topic: /svo/image - Max Value: 1 - Median window: 5 - Min Value: 0 - Name: Image - Normalize Range: true - Queue Size: 2 - Transport Hint: raw - Value: true - Enabled: true - Global Options: - Background Color: 255; 255; 255 - Fixed Frame: /world - Name: root - Tools: - - Class: rviz/Interact - Hide Inactive Objects: true - - Class: rviz/MoveCamera - - Class: rviz/Select - - Class: rviz/FocusCamera - - Class: rviz/Measure - - Class: rviz/SetInitialPose - Topic: /initialpose - - Class: rviz/SetGoal - Topic: /move_base_simple/goal - - Class: rviz/PublishPoint - Single click: true - Topic: /clicked_point - Value: true - Views: - Current: - Class: rviz/Orbit - Distance: 5.48911 - Focal Point: - X: 0.777511 - Y: 0.689927 - Z: -0.445833 - Name: Current View - Near Clip Distance: 0.01 - Pitch: 0.125204 - Target Frame: - Value: Orbit (rviz) - Yaw: 4.45215 - Saved: ~ -Window Geometry: - Displays: - collapsed: false - Height: 1416 - Hide Left Dock: false - Hide Right Dock: true - 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Selection: - collapsed: false - Time: - collapsed: false - Tool Properties: - collapsed: false - Views: - collapsed: true - Width: 2511 - X: 1962 - Y: 24 diff --git a/GPU_version/svo/src/atan_camera.cpp b/GPU_version/vio/src/atan_camera.cpp similarity index 100% rename from GPU_version/svo/src/atan_camera.cpp rename to GPU_version/vio/src/atan_camera.cpp diff --git a/GPU_version/svo/src/cl_class.cpp b/GPU_version/vio/src/cl_class.cpp similarity index 100% rename from GPU_version/svo/src/cl_class.cpp rename to GPU_version/vio/src/cl_class.cpp diff --git a/GPU_version/svo/src/config.cpp b/GPU_version/vio/src/config.cpp similarity index 96% rename from GPU_version/svo/src/config.cpp rename to GPU_version/vio/src/config.cpp index 8801d19..5c3cab7 100644 --- a/GPU_version/svo/src/config.cpp +++ b/GPU_version/vio/src/config.cpp @@ -56,10 +56,11 @@ Config::Config() : gbc(vk::getParam("svo/GBC", 1e-1)), ebp(vk::getParam("svo/EBP", 1e-2)), nrp(vk::getParam("svo/NRP", 1e-5)), - gravity(vk::getParam("svo/gravity", 9.8)), + svo_ekf(vk::getParam("svo/svo_ekf", 30)), acc_x_off(vk::getParam("svo/Acceleration_offset_x", 0.0)), acc_y_off(vk::getParam("svo/Acceleration_offset_y", 0.0)), - gyr_z_off(vk::getParam("svo/Gyroscope_offset_z", 0.0)) + gyr_z_off(vk::getParam("svo/Gyroscope_offset_z", 0.0)), + cmd_cov(vk::getParam("svo/Cmd_Cov", 0.0)) {} Config& Config::getInstance() diff --git a/GPU_version/svo/src/depth_filter.cpp b/GPU_version/vio/src/depth_filter.cpp similarity index 90% rename from GPU_version/svo/src/depth_filter.cpp rename to GPU_version/vio/src/depth_filter.cpp index 4e04b5f..cbf0f33 100644 --- a/GPU_version/svo/src/depth_filter.cpp +++ b/GPU_version/vio/src/depth_filter.cpp @@ -91,8 +91,7 @@ void DepthFilter::addFrame(FramePtr frame) } seeds_updating_halt_ = false; frame_queue_cond_.notify_one(); - } - else{ + }else{ updateSeeds(frame); } @@ -102,19 +101,20 @@ void DepthFilter::addKeyframe(FramePtr frame, double depth_mean, double depth_mi { new_keyframe_min_depth_ = depth_min; new_keyframe_mean_depth_ = depth_mean; - ++seeds_cont_; + if(thread_ != NULL) { new_keyframe_ = frame; new_keyframe_set_ = true; seeds_updating_halt_ = true; frame_queue_cond_.notify_one(); - } - else - if(seeds_cont_>5){ + }else if(seeds_cont_>3){ initializeSeeds(frame); seeds_cont_=0; - } + }else if(seeds_cont_==0){ + initializeSeeds(frame); + } + ++seeds_cont_; } void DepthFilter::initializeSeeds(FramePtr frame) @@ -184,7 +184,7 @@ void DepthFilter::updateSeedsLoop() if(new_keyframe_set_) { new_keyframe_set_ = false; - if(seeds_cont_>5){ + if(seeds_cont_>3){ seeds_updating_halt_ = false; } clearFrameQueue(); @@ -198,7 +198,7 @@ void DepthFilter::updateSeedsLoop() } updateSeeds(frame); - if(frame->isKeyframe() && seeds_cont_>5){ + if((frame->isKeyframe() && seeds_cont_>3) ||(frame->isKeyframe() && seeds_cont_==0)){ initializeSeeds(frame); seeds_cont_=0; } @@ -217,7 +217,6 @@ void DepthFilter::updateSeeds(FramePtr frame) const double focal_length = frame->cam_->errorMultiplier2(); double px_noise = 1.0; double px_error_angle = atan(px_noise/(2.0*focal_length))*2.0; // law of chord (sehnensatz) - while( it!=seeds_.end()) { // set this value true when seeds updating should be interrupted @@ -229,11 +228,19 @@ void DepthFilter::updateSeeds(FramePtr frame) it = seeds_.erase(it); continue; } - + if(it->ftr->frame == NULL){ + it = seeds_.erase(it); + continue; + } // check if point is visible in the current image - SE3 T_ref_cur = *it->ftr->frame->T_f_w_.T * frame->T_f_w_.T->inverse(); + SE2 T(it->ftr->frame->T_f_w_.getSE2() * frame->T_f_w_.inverse()); + Eigen::Matrix R; + R<mu * it->ftr->f) ); - if(xyz_f.z() < 0.0) { + if(xyz_f.z() < 0.0 && xyz_f.y() < 0.08) { ++it; // behind the camera continue; } @@ -242,29 +249,28 @@ void DepthFilter::updateSeeds(FramePtr frame) continue; } - // we are using inverse depth coordinates - float z_inv_min = it->mu + sqrt(it->sigma2); - float z_inv_max = max(it->mu - sqrt(it->sigma2), 0.00000001f); - if(z_inv_min <0){ + float z_min = it->mu + sqrt(it->sigma2); + float z_max = max(it->mu - sqrt(it->sigma2), 0.00000001f); + + if(z_min < 0){ ++it; continue; } + double z; if(!matcher_.findEpipolarMatchDirect( - *it->ftr->frame, *frame, *it->ftr, 1.0/it->mu, 1.0/z_inv_min, 1.0/z_inv_max, z)) + *it->ftr->frame, *frame, *it->ftr, 1.0/it->mu, 1.0/z_min, 1.0/z_max, z)) { it->b++; // increase outlier probability when no match was found ++it; ++n_failed_matches; continue; } - - // compute tau double tau = computeTau(T_ref_cur, it->ftr->f, z, px_error_angle); double tau_inverse = 0.5 * (1.0/max(0.0000001, z-tau) - 1.0/(z+tau)); // update the estimate - updateSeed(1./z, tau_inverse*tau_inverse, &*it); + updateSeed(1.0/z, tau_inverse*tau_inverse, &*it); ++n_updates; if(frame->isKeyframe()) @@ -277,13 +283,13 @@ void DepthFilter::updateSeeds(FramePtr frame) if(sqrt(it->sigma2) < it->z_range/options_.seed_convergence_sigma2_thresh) { assert(it->ftr->point == NULL); // TODO this should not happen anymore - Vector3d xyz_world(it->ftr->frame->T_f_w_.T->inverse() * (it->ftr->f * (1.0/it->mu))); + Vector3d xyz_world(it->ftr->frame->getSE3Inv() * (it->ftr->f/it->mu)); Point* point = new Point(xyz_world, it->ftr); it->ftr->point = point; seed_converged_cb_(point, it->sigma2); // put in candidate list it = seeds_.erase(it); } - else if(isnan(z_inv_min)) + else if(isnan(z_min)) { SVO_WARN_STREAM("z_min is NaN"); it = seeds_.erase(it); diff --git a/GPU_version/svo/src/feature_alignment.cpp b/GPU_version/vio/src/feature_alignment.cpp similarity index 99% rename from GPU_version/svo/src/feature_alignment.cpp rename to GPU_version/vio/src/feature_alignment.cpp index 6232e00..0a3de63 100644 --- a/GPU_version/svo/src/feature_alignment.cpp +++ b/GPU_version/vio/src/feature_alignment.cpp @@ -69,7 +69,7 @@ bool align1D( float v = cur_px_estimate.y(); // termination condition - const float min_update_squared = 0.03*0.03; + const float min_update_squared = 0.5*0.5; const int cur_step = cur_img.step.p[0]; float chi2 = 0; Vector2f update; update.setZero(); @@ -203,7 +203,7 @@ bool align2D( bool sign=true;// + // termination condition - const float min_update_squared = 0.3; + const float min_update_squared = 0.1;//0.001 const int cur_step = cur_img.step.p[0]; // float chi2 = 0; Vector3f update; update.setZero(); diff --git a/GPU_version/svo/src/feature_detection.cpp b/GPU_version/vio/src/feature_detection.cpp similarity index 100% rename from GPU_version/svo/src/feature_detection.cpp rename to GPU_version/vio/src/feature_detection.cpp diff --git a/GPU_version/svo/src/frame.cpp b/GPU_version/vio/src/frame.cpp similarity index 95% rename from GPU_version/svo/src/frame.cpp rename to GPU_version/vio/src/frame.cpp index b425646..30f085f 100644 --- a/GPU_version/svo/src/frame.cpp +++ b/GPU_version/vio/src/frame.cpp @@ -138,9 +138,7 @@ void Frame::removeKeyPoint(Feature* ftr) bool Frame::isVisible(const Vector3d& xyz_w) const { - Vector3d xyz_f = Vector3d(xyz_w.x()*T_f_w_.cos_theta_+xyz_w.z()*T_f_w_.sin_theta_+T_f_w_.X_, - xyz_w.y(), - -xyz_w.x()*T_f_w_.sin_theta_+xyz_w.z()*T_f_w_.cos_theta_+T_f_w_.Z_); + Vector3d xyz_f = Vector3d(this->getSE3Inv()*xyz_w); if(xyz_f.z() < 0.0) return false; // point is behind the camera Vector2d px = f2c(xyz_f); diff --git a/GPU_version/svo/src/frame_handler_base.cpp b/GPU_version/vio/src/frame_handler_base.cpp similarity index 100% rename from GPU_version/svo/src/frame_handler_base.cpp rename to GPU_version/vio/src/frame_handler_base.cpp diff --git a/GPU_version/svo/src/frame_handler_mono.cpp b/GPU_version/vio/src/frame_handler_mono.cpp similarity index 81% rename from GPU_version/svo/src/frame_handler_mono.cpp rename to GPU_version/vio/src/frame_handler_mono.cpp index a96ad9e..74527d1 100644 --- a/GPU_version/svo/src/frame_handler_mono.cpp +++ b/GPU_version/vio/src/frame_handler_mono.cpp @@ -24,17 +24,16 @@ #include #include #include -#ifdef USE_BUNDLE_ADJUSTMENT -#include -#endif namespace svo { -FrameHandlerMono::FrameHandlerMono(vk::AbstractCamera* cam,Sophus::SE3& SE_init) : +FrameHandlerMono::FrameHandlerMono(vk::AbstractCamera* cam,Eigen::Matrix& init) : FrameHandlerBase(), cam_(cam), reprojector_(cam_, map_), - depth_filter_(NULL) + depth_filter_(NULL), + ukfPtr_(init), + time_(ros::Time::now()) { gpu_fast_= new opencl(); gpu_fast_->make_kernel("fast_gray"); @@ -46,8 +45,7 @@ FrameHandlerMono::FrameHandlerMono(vk::AbstractCamera* cam,Sophus::SE3& SE_init) gpu_fast_->write_buf(0,2,1,icorner); gpu_fast_->write_buf(0,3,(1 << 18)); klt_homography_init_=new initialization::KltHomographyInit(gpu_fast_); - initialize(); - imu_integPtr_=std::make_shared(SE_init); + initialize(); } void FrameHandlerMono::initialize() @@ -66,7 +64,7 @@ FrameHandlerMono::~FrameHandlerMono() delete depth_filter_; } -void FrameHandlerMono::addImage(const cv::Mat& img, const double timestamp) +void FrameHandlerMono::addImage(const cv::Mat& img, const double timestamp,const ros::Time& time) { if(!startFrameProcessingCommon(timestamp)) return; @@ -77,7 +75,7 @@ void FrameHandlerMono::addImage(const cv::Mat& img, const double timestamp) // create new frame new_frame_.reset(new Frame(cam_, img.clone(), timestamp)); - + time_=time; // process frame UpdateResult res = RESULT_FAILURE; if(stage_ == STAGE_DEFAULT_FRAME) @@ -105,6 +103,7 @@ 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_); SVO_INFO_STREAM("Init: Selected first frame."); return RESULT_IS_KEYFRAME; } @@ -113,18 +112,16 @@ FrameHandlerBase::UpdateResult FrameHandlerMono::processSecondFrame() { new_frame_->T_f_w_ = last_frame_->T_f_w_; 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_); + new_frame_->T_f_w_ = SE2_5(result.second); + new_frame_->Cov_ = result.first; if(res == initialization::NO_KEYFRAME) - return RESULT_NO_KEYFRAME; - + return RESULT_NO_KEYFRAME; new_frame_->setKeyframe(); double depth_mean, depth_min; frame_utils::getSceneDepth(*new_frame_, depth_mean, depth_min); depth_filter_->addKeyframe(new_frame_, depth_mean, 0.5*depth_min); - if(!imu_integPtr_->init(new_frame_)){ - return RESULT_FAILURE; - } - // add frame to map map_.addKeyframe(new_frame_); stage_ = STAGE_DEFAULT_FRAME; @@ -136,50 +133,36 @@ FrameHandlerBase::UpdateResult FrameHandlerMono::processSecondFrame() FrameHandlerBase::UpdateResult FrameHandlerMono::processFrame() { - bool IMU=false; - SE2_5 tem(0.0,0.0,0.0); - if(imu_integPtr_->preintegrate_predict(tem))if((last_frame_->T_f_w_.T->translation()-tem.T->translation()).norm()>0.5){ - new_frame_->T_f_w_ = tem; - IMU=true; - }else{ - imu_integPtr_->reset(); - new_frame_->T_f_w_ = last_frame_->T_f_w_; - } + + new_frame_->T_f_w_ = last_frame_->T_f_w_; // sparse image align SparseImgAlign img_align(Config::kltMaxLevel(), Config::kltMinLevel(), 30, SparseImgAlign::LevenbergMarquardt, false, false); img_align.run(last_frame_, new_frame_); - new_frame_->T_f_w_.set(); + // std::cout<<"img_align:\n"<T_f_w_.getSE2()<<"\n"; // map reprojection & feature alignment reprojector_.reprojectMap(new_frame_, overlap_kfs_); - new_frame_->T_f_w_.set(); - if(IMU)if(!imu_integPtr_->predict(new_frame_,last_frame_,reprojector_.n_matches_)){ - return RESULT_FAILURE; - } size_t sfba_n_edges_final=0; double sfba_thresh, sfba_error_init, sfba_error_final; - new_frame_->T_f_w_.set(); pose_optimizer::optimizeGaussNewton( Config::poseOptimThresh(), Config::poseOptimNumIter(), false, new_frame_, sfba_thresh, sfba_error_init, sfba_error_final, sfba_n_edges_final); - - new_frame_->T_f_w_.set(); - - std::cout<<"Reprojection Map: "<<"\t nPoint:"<T_f_w_.T->translation()-new_frame_->T_f_w_.T->translation()).norm()>1.0){ - new_frame_->T_f_w_ = last_frame_->T_f_w_; - return RESULT_NO_KEYFRAME; + 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_; } + 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_); + new_frame_->T_f_w_ = SE2_5(result.second); + new_frame_->Cov_ = result.first; + std::cout<<"Reprojection Map nPoint: "<T_f_w_.getSE2().translation()-new_frame_->T_f_w_.getSE2().translation()).norm()<<'\n'; if(sfba_n_edges_final < Config::qualityMinFts() || reprojector_.n_matches_ < Config::qualityMinFts()){ return RESULT_NO_KEYFRAME; } optimizeStructure(new_frame_, Config::structureOptimMaxPts(), Config::structureOptimNumIter()); - - new_frame_->T_f_w_.set(); // select keyframe core_kfs_.insert(new_frame_); setTrackingQuality(sfba_n_edges_final); @@ -189,13 +172,11 @@ FrameHandlerBase::UpdateResult FrameHandlerMono::processFrame() } double depth_mean, depth_min; - new_frame_->T_f_w_.set(); frame_utils::getSceneDepth(*new_frame_, depth_mean, depth_min); - if(depth_mean > 50 || depth_mean < 0.0) + if(depth_mean > 50 || depth_min < 0.0) { return RESULT_NO_KEYFRAME; } - if(!needNewKf(depth_mean) || tracking_quality_ == TRACKING_BAD)//edited { depth_filter_->addFrame(new_frame_); @@ -203,7 +184,6 @@ FrameHandlerBase::UpdateResult FrameHandlerMono::processFrame() } new_frame_->setKeyframe(); - new_frame_->T_f_w_.set(); // new keyframe selected for(auto&& it:new_frame_->fts_){ if(it->point != NULL)it->point->addFrameRef(it); @@ -212,7 +192,6 @@ FrameHandlerBase::UpdateResult FrameHandlerMono::processFrame() // init new depth-filters depth_filter_->addKeyframe(new_frame_, depth_mean, 0.5*depth_min); - // if limited number of keyframes, remove the one furthest apart if(Config::maxNKfs() > 2 && map_.size() >= Config::maxNKfs()) { @@ -221,7 +200,6 @@ FrameHandlerBase::UpdateResult FrameHandlerMono::processFrame() map_.safeDeleteFrame(furthest_frame); } - new_frame_->T_f_w_.set(); // add keyframe to map map_.addKeyframe(new_frame_); std::cout<<"Svo pipline was finished\n"; @@ -298,7 +276,7 @@ bool FrameHandlerMono::needNewKf(double scene_depth_mean) if(scene_depth_mean >10.0)return true; for(auto&& it:overlap_kfs_) { - Vector3d relpos = new_frame_->w2f(it.first->pos()); + Vector3d relpos = new_frame_->w2f(Vector3d(it.first->pos()(0),0.0,it.first->pos()(1))); if(fabs(relpos.norm())/scene_depth_mean < Config::kfSelectMinDist()){ return false; } @@ -315,5 +293,13 @@ void FrameHandlerMono::setCoreKfs(size_t n_closest) boost::bind(&pair::second, _2)); std::for_each(overlap_kfs_.begin(), overlap_kfs_.end(), [&](pair& i){ core_kfs_.insert(i.first); }); } +void FrameHandlerMono::UpdateIMU(double* value,const ros::Time& time){ + if(value== nullptr)return; + ukfPtr_.UpdateIMU(value[0],value[1],value[2],time); +} +void FrameHandlerMono::UpdateCmd(double* value,const ros::Time& time){ + if(value== nullptr)return; + ukfPtr_.UpdateCmd(value[0],value[1],value[2],time); +} } // namespace svo diff --git a/GPU_version/svo/src/homography.cpp b/GPU_version/vio/src/homography.cpp similarity index 100% rename from GPU_version/svo/src/homography.cpp rename to GPU_version/vio/src/homography.cpp diff --git a/GPU_version/svo/src/initialization.cpp b/GPU_version/vio/src/initialization.cpp similarity index 91% rename from GPU_version/svo/src/initialization.cpp rename to GPU_version/vio/src/initialization.cpp index 6d54a36..1ca4ced 100644 --- a/GPU_version/svo/src/initialization.cpp +++ b/GPU_version/vio/src/initialization.cpp @@ -69,15 +69,11 @@ 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; - SE3 tem=T_cur_from_ref_ * (*frame_ref_->T_f_w_.T); - frame_cur->T_f_w_ = SE2_5(tem.translation().x(),tem.translation().z(),asin(2*(tem.unit_quaternion().w()*tem.unit_quaternion().y()- - tem.unit_quaternion().z()*tem.unit_quaternion().x()))); - tem.translation() = -frame_cur->T_f_w_.T->rotation_matrix()*(frame_ref_->pos() + scale*(frame_cur->pos() - frame_ref_->pos())); - frame_cur->T_f_w_.X_ = tem.translation().x(); - frame_cur->T_f_w_.Z_ = tem.translation().z(); - + 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())); // For each inlier create 3D point and add feature in both frames - SE3 T_world_cur = frame_cur->T_f_w_.T->inverse(); + SE3 T_world_cur = frame_cur->getSE3Inv(); for(vector::iterator it=inliers_.begin(); it!=inliers_.end(); ++it) { Vector2d px_cur(px_cur_[*it].x, px_cur_[*it].y); @@ -138,7 +134,7 @@ void trackKlt( vector& f_cur, vector& disparities) { - const double klt_win_size = 45.0;//30.0 + const double klt_win_size = 30.0;//30.0 const int klt_max_iter = 30;//30 const double klt_eps = 0.001; vector status; @@ -180,7 +176,7 @@ void computeHomography( double reprojection_threshold, vector& inliers, vector& xyz_in_cur, - SE3& T_cur_from_ref) + SE2_5& T_cur_from_ref) { vector uv_ref(f_ref.size()); vector uv_cur(f_cur.size()); @@ -196,7 +192,7 @@ void computeHomography( Homography.T_c2_from_c1.rotation_matrix(), Homography.T_c2_from_c1.translation(), reprojection_threshold, focal_length, xyz_in_cur, inliers, outliers); - T_cur_from_ref = Homography.T_c2_from_c1; + T_cur_from_ref=SE2_5(Homography.T_c2_from_c1); } diff --git a/GPU_version/svo/src/map.cpp b/GPU_version/vio/src/map.cpp similarity index 92% rename from GPU_version/svo/src/map.cpp rename to GPU_version/vio/src/map.cpp index 6b27b1c..877d617 100644 --- a/GPU_version/svo/src/map.cpp +++ b/GPU_version/vio/src/map.cpp @@ -59,7 +59,7 @@ bool Map::safeDeleteFrame(FramePtr frame) if(found) return true; - SVO_ERROR_STREAM("Tried to delete Keyframe in map which was not there."); + //SVO_ERROR_STREAM("Tried to delete Keyframe in map which was not there."); return false; } @@ -109,16 +109,17 @@ void Map::getCloseKeyframes( { for(auto kf : keyframes_) { + std::cout<<"key points:"<key_pts_.size())<<'\t'; // check if kf has overlaping field of view with frame, use therefore KeyPoints for(auto keypoint : kf->key_pts_) { if(keypoint == nullptr) - continue; + continue; if(frame->isVisible(keypoint->point->pos_)) { close_kfs.push_back( std::make_pair( - kf, (frame->T_f_w_.T->translation()-kf->T_f_w_.T->translation()).norm())); + kf, (frame->T_f_w_.getSE2().translation()-kf->T_f_w_.getSE2().translation()).norm())); break; // this keyframe has an overlapping field of view -> add to close_kfs } } @@ -145,7 +146,7 @@ FramePtr Map::getClosestKeyframe(const FramePtr& frame) const return close_kfs.front().first; } -FramePtr Map::getFurthestKeyframe(const Vector3d& pos) const +FramePtr Map::getFurthestKeyframe(const Vector2d& pos) const { FramePtr furthest_kf; double maxdist = 0.0; @@ -172,15 +173,16 @@ bool Map::getKeyframeById(const int id, FramePtr& frame) const return found; } -void Map::transform(const Matrix3d& R, const Vector3d& t, const double& s) +void Map::transform(const Matrix2d& R, const Vector2d& t, const double& s) { + Eigen::Matrix R3; + R3<pos() + t; - Matrix3d rot = R*(*it)->T_f_w_.T->rotation_matrix().inverse(); - SE3 inv=SE3(rot, pos).inverse(); - (*it)->T_f_w_ = SE2_5(inv.translation().x(),inv.translation().z(),asin(2*(inv.unit_quaternion().w()*inv.unit_quaternion().y()- - inv.unit_quaternion().z()*inv.unit_quaternion().x()))); + SE2_5 tem(SE2(R*(*it)->T_f_w_.inverse().rotation_matrix(),s*R*(*it)->pos() + t)); + (*it)->T_f_w_ = tem.inverse(); for(auto ftr=(*it)->fts_.begin(); ftr!=(*it)->fts_.end(); ++ftr) { if((*ftr)->point == NULL) @@ -188,7 +190,7 @@ void Map::transform(const Matrix3d& R, const Vector3d& t, const double& s) if((*ftr)->point->last_published_ts_ == -1000) continue; (*ftr)->point->last_published_ts_ = -1000; - (*ftr)->point->pos_ = s*R*(*ftr)->point->pos_ + t; + (*ftr)->point->pos_ = s*R3*(*ftr)->point->pos_ + Vector3d(t(0),0.0,t(1)); } } } diff --git a/GPU_version/svo/src/matcher.cpp b/GPU_version/vio/src/matcher.cpp similarity index 95% rename from GPU_version/svo/src/matcher.cpp rename to GPU_version/vio/src/matcher.cpp index b8b9d2d..3e6d47b 100644 --- a/GPU_version/svo/src/matcher.cpp +++ b/GPU_version/vio/src/matcher.cpp @@ -146,8 +146,8 @@ bool Matcher::findMatchDirect( // warp affine warp::getWarpMatrixAffine( *ref_ftr_->frame->cam_, *cur_frame.cam_, ref_ftr_->px, ref_ftr_->f, - (ref_ftr_->frame->pos() - pt.pos_).norm(), - (*cur_frame.T_f_w_.T) * ref_ftr_->frame->T_f_w_.T->inverse(), ref_ftr_->level, A_cur_ref_); + (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_); @@ -185,7 +185,12 @@ bool Matcher::findEpipolarMatchDirect( double& depth) { if(isnan(d_min) || isnan(d_max))return false; - SE3 T_cur_ref = (*cur_frame.T_f_w_.T) * ref_frame.T_f_w_.T->inverse(); + SE2 T(cur_frame.T_f_w_.getSE2() * ref_frame.T_f_w_.inverse()); + Eigen::Matrix R; + R< +#include #include -namespace vk { -namespace output_helper { void publishTfTransform(const Sophus::SE3& T, const ros::Time& stamp, @@ -404,7 +402,4 @@ void publishFrameMarker(ros::Publisher pub, pub.publish(marker); } -} // namespace output_helper -} // namespace vk - diff --git a/GPU_version/svo/src/point.cpp b/GPU_version/vio/src/point.cpp similarity index 84% rename from GPU_version/svo/src/point.cpp rename to GPU_version/vio/src/point.cpp index e7f1f21..aee4bd8 100644 --- a/GPU_version/svo/src/point.cpp +++ b/GPU_version/vio/src/point.cpp @@ -89,20 +89,21 @@ void Point::initNormal() assert(!obs_.empty()); const Feature* ftr = obs_.back(); assert(ftr->frame != NULL); - normal_ = ftr->frame->T_f_w_.T->rotation_matrix().transpose()*(-ftr->f); - normal_information_ = DiagonalMatrix(pow(20/(pos_-ftr->frame->pos()).norm(),2), 1.0, 1.0); + normal_ = ftr->frame->se3().rotation_matrix().transpose()*(-ftr->f); + double x=pow(20/(pos_-Vector3d(ftr->frame->pos()(0),0.0,ftr->frame->pos()(1))).norm(),2); + normal_information_ = DiagonalMatrix(x, 1.0, 1.0); normal_set_ = true; } -bool Point::getCloseViewObs(const Vector3d& framepos, Feature*& ftr) const +bool Point::getCloseViewObs(const Vector2d& framepos, Feature*& ftr) const { // TODO: get frame with same point of view AND same pyramid level! - Vector3d obs_dir(framepos - pos_); obs_dir.normalize(); + Vector3d obs_dir(Vector3d(framepos(0),0.0,framepos(1)) - pos_); obs_dir.normalize(); auto min_it=obs_.begin(); double min_cos_angle = 0; for(auto it=obs_.begin(), ite=obs_.end(); it!=ite; ++it) { - Vector3d dir((*it)->frame->pos() - pos_); dir.normalize(); + 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) { @@ -133,10 +134,8 @@ void Point::optimize(const size_t n_iter) for(auto it=obs_.begin(); it!=obs_.end(); ++it) { Matrix23d J; - const Vector3d p_in_f(pos_.x()*(*it)->frame->T_f_w_.cos_theta_+pos_.z()*(*it)->frame->T_f_w_.sin_theta_+(*it)->frame->T_f_w_.X_, - pos_.y(), - -pos_.x()*(*it)->frame->T_f_w_.sin_theta_+pos_.z()*(*it)->frame->T_f_w_.cos_theta_+(*it)->frame->T_f_w_.Z_); - Point::jacobian_xyz2uv(p_in_f, (*it)->frame->T_f_w_.T->rotation_matrix(), J); + const Vector3d p_in_f((*it)->frame->se3()*pos_); + Point::jacobian_xyz2uv(p_in_f, (*it)->frame->se3().rotation_matrix(), J); const Vector2d e(vk::project2d((*it)->f) - vk::project2d(p_in_f)); new_chi2 += e.squaredNorm(); A.noalias() += J.transpose() * J; diff --git a/GPU_version/svo/src/pose_optimizer.cpp b/GPU_version/vio/src/pose_optimizer.cpp similarity index 74% rename from GPU_version/svo/src/pose_optimizer.cpp rename to GPU_version/vio/src/pose_optimizer.cpp index 5dcbee3..79e4686 100644 --- a/GPU_version/svo/src/pose_optimizer.cpp +++ b/GPU_version/vio/src/pose_optimizer.cpp @@ -21,6 +21,7 @@ #include #include #include +#include namespace svo { namespace pose_optimizer { @@ -39,9 +40,9 @@ void optimizeGaussNewton( double chi2(0.0); vector chi2_vec_init, chi2_vec_final; vk::robust_cost::TukeyWeightFunction weight_function; - SE2_5 T_old(frame->T_f_w_.X_,frame->T_f_w_.Z_,frame->T_f_w_.tetha_); - Matrix6d A; - Vector6d b; + SE2_5 T_old(frame->T_f_w_); + Matrix3d A; + Vector3d b; // compute the scale of the error for robust estimation std::vector errors; errors.reserve(frame->fts_.size()); @@ -51,9 +52,7 @@ void optimizeGaussNewton( continue; //Reprojection error Vector2d e = vk::project2d((*it)->f) - - vk::project2d(Vector3d((*it)->point->pos_.x()*frame->T_f_w_.cos_theta_+(*it)->point->pos_.z()*frame->T_f_w_.sin_theta_+frame->T_f_w_.X_, - (*it)->point->pos_.y(), - -(*it)->point->pos_.x()*frame->T_f_w_.sin_theta_+(*it)->point->pos_.z()*frame->T_f_w_.cos_theta_+frame->T_f_w_.Z_)); + - vk::project2d(Vector3d(frame->se3()*(*it)->point->pos_)); e *= 1.0 / (1<<(*it)->level); errors.push_back(e.norm()); @@ -61,12 +60,14 @@ void optimizeGaussNewton( if(errors.empty()) return; vk::robust_cost::MADScaleEstimator scale_estimator; - estimated_scale = scale_estimator.compute(errors); + estimated_scale = 0.5*scale_estimator.compute(errors); num_obs = errors.size(); chi2_vec_init.reserve(num_obs); chi2_vec_final.reserve(num_obs); double scale = estimated_scale; + bool direction=true; + size_t n_direction=0; for(size_t iter=0; iterpoint == NULL) continue; - Matrix26d J; - Vector3d xyz_f(Vector3d((*it)->point->pos_.x()*frame->T_f_w_.cos_theta_+(*it)->point->pos_.z()*frame->T_f_w_.sin_theta_+frame->T_f_w_.X_, - (*it)->point->pos_.y(), - -(*it)->point->pos_.x()*frame->T_f_w_.sin_theta_+(*it)->point->pos_.z()*frame->T_f_w_.cos_theta_+frame->T_f_w_.Z_)); + Matrix23d J; + Vector3d xyz_f(Vector3d(frame->se3()*(*it)->point->pos_)); Frame::jacobian_xyz2uv(xyz_f, J); Vector2d e = vk::project2d((*it)->f) - vk::project2d(xyz_f); double sqrt_inv_cov = 1.0 / (1<<(*it)->level); @@ -99,22 +98,33 @@ void optimizeGaussNewton( new_chi2 += e.squaredNorm()*weight; } // solve linear system - const Vector6d dT(A.ldlt().solve(b)); + const Vector3d dT(A.ldlt().solve(b)); // check if error increased - if((iter > 0 && new_chi2 > chi2) || (bool) std::isnan((double)dT[0])) + if((iter > 0 && new_chi2 > chi2 && n_direction>3) || (bool) std::isnan((double)dT[0])) { if(verbose) std::cout << "it " << iter << "\t FAILURE \t new_chi2 = " << new_chi2 << std::endl; frame->T_f_w_ = T_old; // roll-back break; + }else if((iter > 0 && new_chi2 > chi2 && n_direction<3) ){ + ++n_direction; + scale *=0.5; + if(direction){ + direction=false; + }else{ + direction=true; + } } // update the model - SE3 T_new = SE3::exp(dT)*(*frame->T_f_w_.T); T_old = frame->T_f_w_; - frame->T_f_w_ = SE2_5(T_new.translation().x(),T_new.translation().z(),atan(T_new.rotation_matrix()(0,2)/T_new.rotation_matrix()(0,0))); + if(direction){ + frame->T_f_w_=SE2_5(SE2::exp(dT)*(T_old.getSE2())); + }else{ + frame->T_f_w_=SE2_5(SE2::exp(-1.0*dT)*(T_old.getSE2())); + } chi2 = new_chi2; if(verbose) std::cout << "it " << iter @@ -127,8 +137,8 @@ void optimizeGaussNewton( } // Set covariance as inverse information matrix. Optimistic estimator! - const double pixel_variance=1.0; - frame->Cov_ = pixel_variance*(A*std::pow(frame->cam_->errorMultiplier2(),2)).inverse(); + //const double pixel_variance=1.0; + //frame->Cov_ = pixel_variance*(A*std::pow(frame->cam_->errorMultiplier2(),2)).inverse(); // Remove Measurements with too large reprojection error double reproj_thresh_scaled = reproj_thresh / frame->cam_->errorMultiplier2(); @@ -137,9 +147,7 @@ void optimizeGaussNewton( { if((*it)->point == NULL) continue; - Vector2d e = vk::project2d((*it)->f) - vk::project2d(Vector3d((*it)->point->pos_.x()*frame->T_f_w_.cos_theta_+(*it)->point->pos_.z()*frame->T_f_w_.sin_theta_+frame->T_f_w_.X_, - (*it)->point->pos_.y(), - -(*it)->point->pos_.x()*frame->T_f_w_.sin_theta_+(*it)->point->pos_.z()*frame->T_f_w_.cos_theta_+frame->T_f_w_.Z_)); + Vector2d e = vk::project2d((*it)->f) - vk::project2d(Vector3d(frame->se3()*(*it)->point->pos_)); double sqrt_inv_cov = 1.0 / (1<<(*it)->level); e *= sqrt_inv_cov; chi2_vec_final.push_back(e.squaredNorm()); @@ -150,7 +158,6 @@ void optimizeGaussNewton( ++n_deleted_refs; } } - error_init=0.0; error_final=0.0; if(!chi2_vec_init.empty()) diff --git a/GPU_version/svo/src/reprojector.cpp b/GPU_version/vio/src/reprojector.cpp similarity index 98% rename from GPU_version/svo/src/reprojector.cpp rename to GPU_version/vio/src/reprojector.cpp index b7f9022..7a598b6 100644 --- a/GPU_version/svo/src/reprojector.cpp +++ b/GPU_version/vio/src/reprojector.cpp @@ -72,7 +72,7 @@ void Reprojector::reprojectMap( list< pair > close_kfs; map_.getCloseKeyframes(frame, close_kfs); - //std::cout<<"The number of closed frames: "<::second, _1) < boost::bind(&std::pair::second, _2)); @@ -128,7 +128,6 @@ void Reprojector::reprojectMap( } } // unlock the mutex when out of scope //SVO_STOP_TIMER("reproject_candidates"); - // Now we go through each grid cell and select one point to match. // At the end, we should have at maximum one reprojected point per cell. //SVO_START_TIMER("feature_align"); diff --git a/GPU_version/svo/src/robust_cost.cpp b/GPU_version/vio/src/robust_cost.cpp similarity index 100% rename from GPU_version/svo/src/robust_cost.cpp rename to GPU_version/vio/src/robust_cost.cpp diff --git a/GPU_version/svo/src/sparse_img_align.cpp b/GPU_version/vio/src/sparse_img_align.cpp similarity index 88% rename from GPU_version/svo/src/sparse_img_align.cpp rename to GPU_version/vio/src/sparse_img_align.cpp index fbd10d6..533c776 100644 --- a/GPU_version/svo/src/sparse_img_align.cpp +++ b/GPU_version/vio/src/sparse_img_align.cpp @@ -37,7 +37,7 @@ SparseImgAlign::SparseImgAlign( n_iter_init_ = n_iter_; method_ = method; verbose_ = verbose; - eps_ = 0.000001; + eps_ = 0.0001; } size_t SparseImgAlign::run(FramePtr ref_frame, FramePtr cur_frame) @@ -54,28 +54,27 @@ 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? - SE3 T_cur_from_ref(*cur_frame_->T_f_w_.T * ref_frame_->T_f_w_.T->inverse()); + //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()); for(level_=max_level_; level_>=min_level_; --level_) { - //visible_fts_.resize(ref_patch_cache_.rows, false); // TODO: should it be reset at each level? - mu_ = 0.1; + visible_fts_.resize(ref_patch_cache_.rows, false); // TODO: should it be reset at each level? + mu_ = 1.0; jacobian_cache_.setZero(); have_ref_patch_cache_ = false; if(verbose_) printf("\nPYRAMID LEVEL %i\n---------------\n", level_); optimize(T_cur_from_ref); } - SE3 tem=T_cur_from_ref * (*ref_frame_->T_f_w_.T); - cur_frame_->T_f_w_ = SE2_5(tem.translation().x(),tem.translation().z(),atan(tem.rotation_matrix()(0,2)/tem.rotation_matrix()(0,0))); + cur_frame_->T_f_w_ = SE2_5(T_cur_from_ref * ref_frame_->T_f_w_.getSE2()); return n_meas_/patch_area_; } -Matrix SparseImgAlign::getFisherInformation() +Matrix SparseImgAlign::getFisherInformation() { double sigma_i_sq = 5e-4*255*255; // image noise - Matrix I = H_/sigma_i_sq; + Matrix I = H_/sigma_i_sq; return I; } @@ -85,7 +84,7 @@ void SparseImgAlign::precomputeReferencePatches() const cv::Mat& ref_img = ref_frame_->img_pyr_.at(level_); const int stride = ref_img.cols; const float scale = 1.0f/(1<pos(); + const Vector3d ref_pos(ref_frame_->pos()(0),1e-19,ref_frame_->pos()(1)); const double focal_length = ref_frame_->cam_->errorMultiplier2(); size_t feature_counter = 0; std::vector::iterator visiblity_it = visible_fts_.begin(); @@ -106,9 +105,8 @@ void SparseImgAlign::precomputeReferencePatches() const Vector3d xyz_ref((*it)->f*depth); // evaluate projection jacobian - Matrix frame_jac; + Matrix frame_jac; Frame::jacobian_xyz2uv(xyz_ref, frame_jac); - // compute bilateral interpolation weights for reference image const float subpix_u_ref = u_ref-u_ref_i; const float subpix_v_ref = v_ref-v_ref_i; @@ -143,7 +141,7 @@ void SparseImgAlign::precomputeReferencePatches() } double SparseImgAlign::computeResiduals( - const SE3& T_cur_from_ref, + const SE2& T_cur_from_ref, bool linearize_system, bool compute_weight_scale) { @@ -163,7 +161,7 @@ double SparseImgAlign::computeResiduals( const int stride = cur_img.cols; const int border = patch_halfsize_+1; const float scale = 1.0f/(1<pos()); + const Vector3d ref_pos(ref_frame_->pos()(0),1e-19,ref_frame_->pos()(1)); float chi2 = 0.0; size_t feature_counter = 0; // is used to compute the index of the cached jacobian std::vector::iterator visiblity_it = visible_fts_.begin(); @@ -177,7 +175,9 @@ double SparseImgAlign::computeResiduals( // compute pixel location in cur img const double depth = ((*it)->point->pos_ - ref_pos).norm(); const Vector3d xyz_ref((*it)->f*depth); - const Vector3d xyz_cur(T_cur_from_ref * xyz_ref); + const Vector3d xyz_cur((T_cur_from_ref.rotation_matrix()(0,0)*xyz_ref.x())+(T_cur_from_ref.rotation_matrix()(0,1)*xyz_ref.z())+T_cur_from_ref.translation()(0), + xyz_ref.y(), + -1.0*(T_cur_from_ref.rotation_matrix()(1,0)*xyz_ref.x())+(T_cur_from_ref.rotation_matrix()(1,1)*xyz_ref.z())+T_cur_from_ref.translation()(1)); const Vector2f uv_cur_pyr(cur_frame_->cam_->world2cam(xyz_cur).cast() * scale); const float u_cur = uv_cur_pyr[0]; const float v_cur = uv_cur_pyr[1]; @@ -212,7 +212,7 @@ double SparseImgAlign::computeResiduals( errors.push_back(fabsf(res)); // robustification - float weight = 1.0; + float weight = 2.0; if(use_weights_) { weight = weight_function_->value(res/scale_); } @@ -223,7 +223,7 @@ double SparseImgAlign::computeResiduals( if(linearize_system) { // compute Jacobian, weighted Hessian and weighted "steepest descend images" (times error) - const Vector6d J(jacobian_cache_.col(feature_counter*patch_area_ + pixel_counter)); + const Vector3d J(jacobian_cache_.col(feature_counter*patch_area_ + pixel_counter)); H_.noalias() += J*J.transpose()*weight; Jres_.noalias() -= J*res*weight; if(display_) @@ -232,7 +232,6 @@ double SparseImgAlign::computeResiduals( } } } - // compute the weights on the first iteration if(compute_weight_scale && iter_ == 0) scale_ = scale_estimator_->compute(errors); @@ -252,7 +251,7 @@ void SparseImgAlign::update( const ModelType& T_curold_from_ref, ModelType& T_curnew_from_ref) { - T_curnew_from_ref = T_curold_from_ref * SE3::exp(-x_); + T_curnew_from_ref = T_curold_from_ref * SE2::exp(-1.0*x_); } void SparseImgAlign::startIteration() diff --git a/GPU_version/svo/src/vision.cpp b/GPU_version/vio/src/vision.cpp similarity index 99% rename from GPU_version/svo/src/vision.cpp rename to GPU_version/vio/src/vision.cpp index b6d5f58..e1be729 100644 --- a/GPU_version/svo/src/vision.cpp +++ b/GPU_version/vio/src/vision.cpp @@ -5,7 +5,7 @@ * Author: cforster */ -#include +#include #if __SSE2__ # include diff --git a/GPU_version/vio/src/visualizer.cpp b/GPU_version/vio/src/visualizer.cpp index b7f860f..43bc4b1 100644 --- a/GPU_version/vio/src/visualizer.cpp +++ b/GPU_version/vio/src/visualizer.cpp @@ -14,16 +14,15 @@ // You should have received a copy of the GNU General Public License // along with this program. If not, see . -#include +#include #include #include #include #include -#include #include #include #include -#include +#include #include namespace svo { @@ -53,31 +52,27 @@ void Visualizer::publishMinimal( header_msg.stamp = ros::Time(timestamp); if(pub_pose_with_cov_.getNumSubscribers() > 0 && slam.stage() == FrameHandlerBase::STAGE_DEFAULT_FRAME) { - Matrix Cov; // publish cam in world frame (Estimated odometry in the worls frame) - SE3 T_world_from_cam(frame->T_f_w_.T->inverse());// do not confused with inverse. the T_f_w_ is the from camera to initial position with reference of camera - double yaw=asin(2*(frame->T_f_w_.T->unit_quaternion().w()*frame->T_f_w_.T->unit_quaternion().y()- - frame->T_f_w_.T->unit_quaternion().z()*frame->T_f_w_.T->unit_quaternion().x())); - Quaterniond q; - q = AngleAxisd(0.0, Vector3d::UnitX()) - * AngleAxisd(0.0, Vector3d::UnitY()) - * AngleAxisd(yaw-1.5708, Vector3d::UnitZ()); - Cov = T_world_from_cam.Adj()*frame->Cov_*T_world_from_cam.inverse().Adj(); + Quaterniond q(AngleAxisd(frame->T_f_w_.pitch(), Vector3d::UnitY())); 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 = -1.0*T_world_from_cam.translation().x(); - msg_pose_with_cov->pose.pose.position.y = -1.0*T_world_from_cam.translation().z(); + 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.z = 0.0; - msg_pose_with_cov->pose.pose.orientation.x = q.x()/q.norm(); - msg_pose_with_cov->pose.pose.orientation.y = q.y()/q.norm(); - msg_pose_with_cov->pose.pose.orientation.z = q.z()/q.norm(); - msg_pose_with_cov->pose.pose.orientation.w = q.w()/q.norm(); - for(size_t i=0; i<36; ++i) - msg_pose_with_cov->pose.covariance[i] = Cov(i%6, i/6); + 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, + 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, + 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){ - vk::output_helper::publishPointMarker( - pub_points_, Eigen::Vector3d(-1.0*T_world_from_cam.translation().x(),-1.0*T_world_from_cam.translation().z(),0.0), "trajectory", + publishPointMarker( + pub_points_, Eigen::Vector3d(frame->se3().translation().x(),frame->se3().translation().z(),0.0), "trajectory", ros::Time::now(), trace_id_, 0, 0.01, Vector3d(0.,0.,0.5)); } } @@ -92,14 +87,14 @@ void Visualizer::visualizeMarkers( if(frame == NULL) return; - vk::output_helper::publishTfTransform( - *frame->T_f_w_.T*T_world_from_vision_.inverse(), + 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) { - vk::output_helper::publishPointMarker( - pub_points_, T_world_from_vision_*frame->pos(), "trajectory", + 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); } @@ -110,7 +105,7 @@ void Visualizer::removeDeletedPts(const Map& map) if(pub_points_.getNumSubscribers() > 0) { for(list::const_iterator it=map.trash_points_.begin(); it!=map.trash_points_.end(); ++it) - vk::output_helper::publishPointMarker(pub_points_, Vector3d(), "pts", ros::Time::now(), (*it)->id_, 2, 0.006, Vector3d()); + publishPointMarker(pub_points_, Vector3d(), "pts", ros::Time::now(), (*it)->id_, 2, 0.006, Vector3d()); } } diff --git a/GPU_version/vio/src/vo_node.cpp b/GPU_version/vio/src/vo_node.cpp index 0087b0c..20e874d 100644 --- a/GPU_version/vio/src/vo_node.cpp +++ b/GPU_version/vio/src/vo_node.cpp @@ -13,10 +13,12 @@ // // You should have received a copy of the GNU General Public License // along with this program. If not, see . -#include +#define VIO_DEBUG false +#include #include +#include #include -#include +#include #include #include #include @@ -25,13 +27,9 @@ #include #include #include -#include +#include #include - -namespace svo { - -/// SVO Interface class VoNode { public: @@ -39,16 +37,22 @@ public: svo::Visualizer visualizer_; bool publish_markers_; //!< publish only the minimal amount of info (choice for embedded devices) vk::AbstractCamera* cam_; - FILE* logtime; bool quit_; boost::thread* imu_th; VoNode(); ~VoNode(); void imgCb(const sensor_msgs::ImageConstPtr& msg); void imuCb(const sensor_msgs::ImuPtr& imu); - void imu(); + void cmdCb(const geometry_msgs::TwistPtr &imu); + void imu(); private: double* imu_; +#if VIO_DEBUG + FILE* log_= nullptr; + double imu_t_[6]={0.0,0.0,0.0,0.0,0.0,0.0}; +#endif + double* cmd_; + ros::Time imu_time_; }; VoNode::VoNode() : @@ -58,32 +62,42 @@ VoNode::VoNode() : quit_(false) { // Create Camera - imu_=(double *)calloc(static_cast(6), sizeof(double)); + imu_=(double *)calloc(static_cast(3), sizeof(double)); + cmd_=(double *)calloc(static_cast(3), sizeof(double)); if(!vk::camera_loader::loadFromRosNs("vio", cam_)) throw std::runtime_error("Camera model not correctly specified."); // Get initial position and orientation visualizer_.T_world_from_vision_ = Sophus::SE3( - vk::rpy2dcm(Vector3d(vk::getParam("vio/init_rx", 0.0), + vk::rpy2dcm(Eigen::Vector3d(vk::getParam("vio/init_rx", 0.0), vk::getParam("vio/init_ry", 0.0), vk::getParam("vio/init_rz", 0.0))), Eigen::Vector3d(vk::getParam("vio/init_tx", 0.0), vk::getParam("vio/init_ty", 0.0), vk::getParam("vio/init_tz", 0.0))); - // Init VO and start - vo_ = new svo::FrameHandlerMono(cam_,visualizer_.T_world_from_vision_); - vo_->start(); + Eigen::Matrix init; + init<<1e-5,1e-5,1e-5,1e-5,1e-5,1e-5; + vo_ = new svo::FrameHandlerMono(cam_,init); + usleep(500); + +#if VIO_DEBUG +log_ = fopen((std::string(getenv("HOME"))+"/imu_integration.txt").c_str(), "w+"); +#endif + vo_->start(); imu_th=new boost::thread(&VoNode::imu,this); - logtime = fopen((std::string(getenv("HOME"))+"/time.txt").c_str(), "w+"); } VoNode::~VoNode() { quit_=true; - fclose(logtime); + + +#if VIO_DEBUG + fclose(log_); + delete log_; +#endif imu_th->join(); delete imu_th; - delete logtime; delete vo_; delete cam_; } @@ -93,32 +107,70 @@ void VoNode::imgCb(const sensor_msgs::ImageConstPtr& msg) try { auto start=std::chrono::steady_clock::now(); cv::Mat img=cv_bridge::toCvShare(msg, "mono8")->image; - vo_->addImage(img, msg->header.stamp.toSec()); + vo_->addImage(img, msg->header.stamp.toSec(),msg->header.stamp); visualizer_.publishMinimal(img, vo_->lastFrame(), *vo_, msg->header.stamp.toSec()); - if(vo_->stage() == FrameHandlerMono::STAGE_PAUSED) + if(vo_->stage() == svo::FrameHandlerMono::STAGE_PAUSED) usleep(100000); - fprintf(logtime, "%s\n",std::to_string(std::chrono::duration(std::chrono::steady_clock::now()-start).count()).c_str()); +#if VIO_DEBUG + fprintf(log_, ",,,,,,,%s,%f,%f,%f\n",std::to_string(std::chrono::duration(std::chrono::steady_clock::now()-start).count()).c_str(),vo_->lastFrame()->T_f_w_.translation()(0), + vo_->lastFrame()->T_f_w_.translation()(1), + acos(vo_->lastFrame()->T_f_w_.getSE2().rotation_matrix()(0,0))); +#endif } catch (cv_bridge::Exception& e) { ROS_ERROR("cv_bridge exception: %s", e.what()); } } void VoNode::imuCb(const sensor_msgs::ImuPtr &imu) { - double imu_in[6]; - imu_in[0] = 0.4*imu_[0]+0.6*imu->linear_acceleration.x; - imu_in[1] = 0.4*imu_[1]+0.6*imu->linear_acceleration.y; - imu_in[2] = 0.4*imu_[2]+0.6*imu->linear_acceleration.z; - imu_in[3] = 0.4*imu_[3]+0.6*imu->angular_velocity.x; - imu_in[4] = 0.4*imu_[4]+0.6*imu->angular_velocity.y; - imu_in[5] = 0.4*imu_[5]+0.6*imu->angular_velocity.z; - memcpy(imu_, imu_in, static_cast(6*sizeof(double))); - vo_->imu_integPtr_->update(imu_in); + double imu_in[3]; + if(abs(imu->linear_acceleration.x)>5.0){ + return; + }else{ + imu_in[0]=imu->linear_acceleration.x; + }; + if(abs(imu->linear_acceleration.y)>5.0){ + return; + }else{ + imu_in[1]=imu->linear_acceleration.y; + }; + imu_in[0] = 0.5*imu_[0]+0.5*imu->linear_acceleration.x; + imu_in[1] = 0.5*imu_[1]+0.5*imu->linear_acceleration.y; + imu_in[2] = 0.5*imu_[2]+0.5*imu->angular_velocity.z; + memcpy(imu_, imu_in, static_cast(3*sizeof(double))); +#if VIO_DEBUG + if(imu_t_[5]!=0.0){ + double dt=1e-9*(imu->header.stamp.toNSec()-imu_t_[5]); + imu_t_[0]+=imu_in[0]*dt; + imu_t_[1]+=imu_t_[0]*dt; + imu_t_[2]+=imu_in[1]*dt; + imu_t_[3]+=imu_t_[2]*dt; + imu_t_[4]+=imu_in[2]*dt; + imu_t_[5]=imu->header.stamp.toNSec(); + fprintf(log_, "%f,%f,%f,%f\n",imu_t_[1],imu_t_[3],imu_t_[4],dt); + }else{ + imu_t_[0]=imu_in[0]; + imu_t_[1]=0.0; + imu_t_[2]=imu_in[1]; + imu_t_[3]=0.0; + imu_t_[4]=imu_in[2]; + imu_t_[5]=imu->header.stamp.toNSec(); + } +#endif + vo_->UpdateIMU(imu_in,imu->header.stamp); +} +void VoNode::cmdCb(const geometry_msgs::TwistPtr &cmd) { + double _cmd[3]={cmd->linear.x,cmd->linear.y,cmd->angular.z}; + memcpy(cmd_, _cmd, static_cast(3*sizeof(double))); +#if VIO_DEBUG + fprintf(log_, ",,,,%f,%f,%f\n",_cmd[0],_cmd[1],_cmd[2]); +#endif + vo_->UpdateCmd(_cmd,imu_time_); } void VoNode::imu(){ ros::NodeHandle nh; // subscribe to cam msgs image_transport::ImageTransport it(nh); - image_transport::Subscriber it_sub = it.subscribe(vk::getParam("vio/cam_topic", "camera/image_raw"), 1, &svo::VoNode::imgCb, this); + image_transport::Subscriber it_sub = it.subscribe(vk::getParam("vio/cam_topic", "camera/image_raw"), 1, &VoNode::imgCb, this); // start processing callbacks while(ros::ok() && !quit_) { @@ -126,20 +178,19 @@ void VoNode::imu(){ } } -} // namespace svo int main(int argc, char **argv) { ros::init(argc, argv, "vio"); - svo::VoNode vo_node; + VoNode vo_node; ros::NodeHandle nh; - ros::Subscriber imu_sub=nh.subscribe(vk::getParam("vio/imu_topic", "imu/raw"),1,&svo::VoNode::imuCb, &vo_node); + ros::Subscriber imu_sub=nh.subscribe(vk::getParam("vio/imu_topic", "imu/raw"),10,&VoNode::imuCb, &vo_node); + ros::Subscriber cmd_sub=nh.subscribe(vk::getParam("vio/cmd_topic", "cmd/raw"),10,&VoNode::cmdCb, &vo_node); // start processing callbacks while(ros::ok() && !vo_node.quit_) { ros::spinOnce(); usleep(1000); - // TODO check when last image was processed. when too long ago. publish warning that no msgs are received! } printf("SVO terminated.\n"); return 0; diff --git a/GPU_version/svo/test/README.md b/GPU_version/vio/test/README.md similarity index 100% rename from GPU_version/svo/test/README.md rename to GPU_version/vio/test/README.md diff --git a/GPU_version/svo/test/benchmark.csv b/GPU_version/vio/test/benchmark.csv similarity index 100% rename from GPU_version/svo/test/benchmark.csv rename to GPU_version/vio/test/benchmark.csv diff --git a/GPU_version/svo/test/data/.gitignore b/GPU_version/vio/test/data/.gitignore similarity index 100% rename from GPU_version/svo/test/data/.gitignore rename to GPU_version/vio/test/data/.gitignore diff --git a/GPU_version/svo/test/results/.gitignore b/GPU_version/vio/test/results/.gitignore similarity index 100% rename from GPU_version/svo/test/results/.gitignore rename to GPU_version/vio/test/results/.gitignore diff --git a/GPU_version/svo/test/test_depth_filter.cpp b/GPU_version/vio/test/test_depth_filter.cpp similarity index 100% rename from GPU_version/svo/test/test_depth_filter.cpp rename to GPU_version/vio/test/test_depth_filter.cpp diff --git a/GPU_version/svo/test/test_feature_alignment.cpp b/GPU_version/vio/test/test_feature_alignment.cpp similarity index 100% rename from GPU_version/svo/test/test_feature_alignment.cpp rename to GPU_version/vio/test/test_feature_alignment.cpp diff --git a/GPU_version/svo/test/test_feature_detection.cpp b/GPU_version/vio/test/test_feature_detection.cpp similarity index 100% rename from GPU_version/svo/test/test_feature_detection.cpp rename to GPU_version/vio/test/test_feature_detection.cpp diff --git a/GPU_version/svo/test/test_matcher.cpp b/GPU_version/vio/test/test_matcher.cpp similarity index 100% rename from GPU_version/svo/test/test_matcher.cpp rename to GPU_version/vio/test/test_matcher.cpp diff --git a/GPU_version/svo/test/test_pipeline.cpp b/GPU_version/vio/test/test_pipeline.cpp similarity index 100% rename from GPU_version/svo/test/test_pipeline.cpp rename to GPU_version/vio/test/test_pipeline.cpp diff --git a/GPU_version/svo/test/test_pose_optimizer.cpp b/GPU_version/vio/test/test_pose_optimizer.cpp similarity index 100% rename from GPU_version/svo/test/test_pose_optimizer.cpp rename to GPU_version/vio/test/test_pose_optimizer.cpp diff --git a/GPU_version/svo/test/test_sparse_img_align.cpp b/GPU_version/vio/test/test_sparse_img_align.cpp similarity index 100% rename from GPU_version/svo/test/test_sparse_img_align.cpp rename to GPU_version/vio/test/test_sparse_img_align.cpp diff --git a/GPU_version/svo/test/test_utils.h b/GPU_version/vio/test/test_utils.h similarity index 100% rename from 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This is because - the compilers do not have flags that can change the architecture, - but rather depend on which compiler is being used -*/ -#if defined(_WIN32) && defined(_MSC_VER) -# if defined(_M_IA64) -# define ARCHITECTURE_ID "IA64" - -# elif defined(_M_X64) || defined(_M_AMD64) -# define ARCHITECTURE_ID "x64" - -# elif defined(_M_IX86) -# define ARCHITECTURE_ID "X86" - -# elif defined(_M_ARM64) -# define ARCHITECTURE_ID "ARM64" - -# elif defined(_M_ARM) -# if _M_ARM == 4 -# define ARCHITECTURE_ID "ARMV4I" -# elif _M_ARM == 5 -# define ARCHITECTURE_ID "ARMV5I" -# else -# define ARCHITECTURE_ID "ARMV" STRINGIFY(_M_ARM) -# endif - -# elif defined(_M_MIPS) -# define ARCHITECTURE_ID "MIPS" - -# elif defined(_M_SH) -# define ARCHITECTURE_ID "SHx" - -# else /* unknown architecture */ -# define ARCHITECTURE_ID "" -# endif - -#elif defined(__WATCOMC__) -# if defined(_M_I86) -# define ARCHITECTURE_ID "I86" - -# elif defined(_M_IX86) -# define ARCHITECTURE_ID "X86" - -# else /* unknown architecture */ -# define ARCHITECTURE_ID "" -# endif - -#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC) -# if defined(__ICCARM__) -# define ARCHITECTURE_ID "ARM" - -# elif defined(__ICCRX__) -# define ARCHITECTURE_ID "RX" - -# elif defined(__ICCRH850__) -# define ARCHITECTURE_ID "RH850" - -# elif defined(__ICCRL78__) -# define ARCHITECTURE_ID "RL78" - -# elif defined(__ICCRISCV__) -# define ARCHITECTURE_ID "RISCV" - -# elif defined(__ICCAVR__) -# define ARCHITECTURE_ID "AVR" - -# elif defined(__ICC430__) -# define ARCHITECTURE_ID "MSP430" - -# elif defined(__ICCV850__) -# define ARCHITECTURE_ID "V850" - -# elif defined(__ICC8051__) -# define ARCHITECTURE_ID "8051" - -# else /* unknown architecture */ -# define ARCHITECTURE_ID "" -# endif - -#elif defined(__ghs__) -# if defined(__PPC64__) -# define ARCHITECTURE_ID "PPC64" - -# elif defined(__ppc__) -# define ARCHITECTURE_ID "PPC" - -# elif defined(__ARM__) -# define ARCHITECTURE_ID "ARM" - -# elif defined(__x86_64__) -# define ARCHITECTURE_ID "x64" - -# elif defined(__i386__) -# define ARCHITECTURE_ID "X86" - -# else /* unknown architecture */ -# define ARCHITECTURE_ID "" -# endif -#else -# define ARCHITECTURE_ID -#endif - -/* Convert integer to decimal digit literals. */ -#define DEC(n) \ - ('0' + (((n) / 10000000)%10)), \ - ('0' + (((n) / 1000000)%10)), \ - ('0' + (((n) / 100000)%10)), \ - ('0' + (((n) / 10000)%10)), \ - ('0' + (((n) / 1000)%10)), \ - ('0' + (((n) / 100)%10)), \ - ('0' + (((n) / 10)%10)), \ - ('0' + ((n) % 10)) - -/* Convert integer to hex digit literals. */ -#define HEX(n) \ - ('0' + ((n)>>28 & 0xF)), \ - ('0' + ((n)>>24 & 0xF)), \ - ('0' + ((n)>>20 & 0xF)), \ - ('0' + ((n)>>16 & 0xF)), \ - ('0' + ((n)>>12 & 0xF)), \ - ('0' + ((n)>>8 & 0xF)), \ - ('0' + ((n)>>4 & 0xF)), \ - ('0' + ((n) & 0xF)) - -/* Construct a string literal encoding the version number components. */ -#ifdef COMPILER_VERSION_MAJOR -char const info_version[] = { - 'I', 'N', 'F', 'O', ':', - 'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','[', - COMPILER_VERSION_MAJOR, -# ifdef COMPILER_VERSION_MINOR - '.', COMPILER_VERSION_MINOR, -# ifdef COMPILER_VERSION_PATCH - '.', COMPILER_VERSION_PATCH, -# ifdef COMPILER_VERSION_TWEAK - '.', COMPILER_VERSION_TWEAK, -# endif -# endif -# endif - ']','\0'}; -#endif - -/* Construct a string literal encoding the internal version number. */ -#ifdef COMPILER_VERSION_INTERNAL -char const info_version_internal[] = { - 'I', 'N', 'F', 'O', ':', - 'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','_', - 'i','n','t','e','r','n','a','l','[', - COMPILER_VERSION_INTERNAL,']','\0'}; -#endif - -/* Construct a string literal encoding the version number components. */ -#ifdef SIMULATE_VERSION_MAJOR -char const info_simulate_version[] = { - 'I', 'N', 'F', 'O', ':', - 's','i','m','u','l','a','t','e','_','v','e','r','s','i','o','n','[', - SIMULATE_VERSION_MAJOR, -# ifdef SIMULATE_VERSION_MINOR - '.', SIMULATE_VERSION_MINOR, -# ifdef SIMULATE_VERSION_PATCH - '.', SIMULATE_VERSION_PATCH, -# ifdef SIMULATE_VERSION_TWEAK - '.', SIMULATE_VERSION_TWEAK, -# endif -# endif -# endif - ']','\0'}; -#endif - -/* Construct the string literal in pieces to prevent the source from - getting matched. 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After TimeOut seconds, the -# process will be summarily terminated. -# Currently set to 25 minutes -TimeOut: - -# During parallel testing CTest will not start a new test if doing -# so would cause the system load to exceed this value. -TestLoad: - -UseLaunchers: -CurlOptions: -# warning, if you add new options here that have to do with submit, -# you have to update cmCTestSubmitCommand.cxx - -# For CTest submissions that timeout, these options -# specify behavior for retrying the submission -CTestSubmitRetryDelay: -CTestSubmitRetryCount: diff --git a/GPU_version/vio/cmake-build-debug/CTestCustom.cmake b/GPU_version/vio/cmake-build-debug/CTestCustom.cmake deleted file mode 100644 index 14956f3..0000000 --- a/GPU_version/vio/cmake-build-debug/CTestCustom.cmake +++ /dev/null @@ -1,2 +0,0 @@ -set(CTEST_CUSTOM_MAXIMUM_PASSED_TEST_OUTPUT_SIZE 0) -set(CTEST_CUSTOM_MAXIMUM_FAILED_TEST_OUTPUT_SIZE 0) diff --git a/GPU_version/vio/cmake-build-debug/atomic_configure/.rosinstall b/GPU_version/vio/cmake-build-debug/atomic_configure/.rosinstall deleted file mode 100644 index b61ff9e..0000000 --- a/GPU_version/vio/cmake-build-debug/atomic_configure/.rosinstall +++ /dev/null @@ -1,2 +0,0 @@ -- setup-file: - local-name: /root/Project/ROS/src/vio_svo/GPU_version/svo/cmake-build-debug/devel/setup.sh diff --git a/GPU_version/vio/cmake-build-debug/atomic_configure/_setup_util.py b/GPU_version/vio/cmake-build-debug/atomic_configure/_setup_util.py deleted file mode 100755 index 760f26f..0000000 --- a/GPU_version/vio/cmake-build-debug/atomic_configure/_setup_util.py +++ /dev/null @@ -1,304 +0,0 @@ -#!/usr/bin/python2 -# -*- coding: utf-8 -*- - -# Software License Agreement (BSD License) -# -# Copyright (c) 2012, Willow Garage, Inc. -# All rights reserved. -# -# Redistribution and use in source and binary forms, with or without -# modification, are permitted provided that the following conditions -# are met: -# -# * Redistributions of source code must retain the above copyright -# notice, this list of conditions and the following disclaimer. -# * Redistributions in binary form must reproduce the above -# copyright notice, this list of conditions and the following -# disclaimer in the documentation and/or other materials provided -# with the distribution. -# * Neither the name of Willow Garage, Inc. nor the names of its -# contributors may be used to endorse or promote products derived -# from this software without specific prior written permission. -# -# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS -# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT -# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS -# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE -# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, -# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, -# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; -# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER -# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT -# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN -# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -# POSSIBILITY OF SUCH DAMAGE. - -"""This file generates shell code for the setup.SHELL scripts to set environment variables.""" - -from __future__ import print_function - -import argparse -import copy -import errno -import os -import platform -import sys - -CATKIN_MARKER_FILE = '.catkin' - -system = platform.system() -IS_DARWIN = (system == 'Darwin') -IS_WINDOWS = (system == 'Windows') - -PATH_TO_ADD_SUFFIX = ['bin'] -if IS_WINDOWS: - # while catkin recommends putting dll's into bin, 3rd party packages often put dll's into lib - # since Windows finds dll's via the PATH variable, prepend it with path to lib - PATH_TO_ADD_SUFFIX.extend([['lib', os.path.join('lib', 'x86_64-linux-gnu')]]) - -# subfolder of workspace prepended to CMAKE_PREFIX_PATH -ENV_VAR_SUBFOLDERS = { - 'CMAKE_PREFIX_PATH': '', - 'LD_LIBRARY_PATH' if not IS_DARWIN else 'DYLD_LIBRARY_PATH': ['lib', os.path.join('lib', 'x86_64-linux-gnu')], - 'PATH': PATH_TO_ADD_SUFFIX, - 'PKG_CONFIG_PATH': [os.path.join('lib', 'pkgconfig'), os.path.join('lib', 'x86_64-linux-gnu', 'pkgconfig')], - 'PYTHONPATH': 'lib/python2.7/dist-packages', -} - - -def rollback_env_variables(environ, env_var_subfolders): - """ - Generate shell code to reset environment variables. - - by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH. - This does not cover modifications performed by environment hooks. - """ - lines = [] - unmodified_environ = copy.copy(environ) - for key in sorted(env_var_subfolders.keys()): - subfolders = env_var_subfolders[key] - if not isinstance(subfolders, list): - subfolders = [subfolders] - value = _rollback_env_variable(unmodified_environ, key, subfolders) - if value is not None: - environ[key] = value - lines.append(assignment(key, value)) - if lines: - lines.insert(0, comment('reset environment variables by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH')) - return lines - - -def _rollback_env_variable(environ, name, subfolders): - """ - For each catkin workspace in CMAKE_PREFIX_PATH remove the first entry from env[NAME] matching workspace + subfolder. - - :param subfolders: list of str '' or subfoldername that may start with '/' - :returns: the updated value of the environment variable. - """ - value = environ[name] if name in environ else '' - env_paths = [path for path in value.split(os.pathsep) if path] - value_modified = False - for subfolder in subfolders: - if subfolder: - if subfolder.startswith(os.path.sep) or (os.path.altsep and subfolder.startswith(os.path.altsep)): - subfolder = subfolder[1:] - if subfolder.endswith(os.path.sep) or (os.path.altsep and subfolder.endswith(os.path.altsep)): - subfolder = subfolder[:-1] - for ws_path in _get_workspaces(environ, include_fuerte=True, include_non_existing=True): - path_to_find = os.path.join(ws_path, subfolder) if subfolder else ws_path - path_to_remove = None - for env_path in env_paths: - env_path_clean = env_path[:-1] if env_path and env_path[-1] in [os.path.sep, os.path.altsep] else env_path - if env_path_clean == path_to_find: - path_to_remove = env_path - break - if path_to_remove: - env_paths.remove(path_to_remove) - value_modified = True - new_value = os.pathsep.join(env_paths) - return new_value if value_modified else None - - -def _get_workspaces(environ, include_fuerte=False, include_non_existing=False): - """ - Based on CMAKE_PREFIX_PATH return all catkin workspaces. - - :param include_fuerte: The flag if paths starting with '/opt/ros/fuerte' should be considered workspaces, ``bool`` - """ - # get all cmake prefix paths - env_name = 'CMAKE_PREFIX_PATH' - value = environ[env_name] if env_name in environ else '' - paths = [path for path in value.split(os.pathsep) if path] - # remove non-workspace paths - workspaces = [path for path in paths if os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE)) or (include_fuerte and path.startswith('/opt/ros/fuerte')) or (include_non_existing and not os.path.exists(path))] - return workspaces - - -def prepend_env_variables(environ, env_var_subfolders, workspaces): - """Generate shell code to prepend environment variables for the all workspaces.""" - lines = [] - lines.append(comment('prepend folders of workspaces to environment variables')) - - paths = [path for path in workspaces.split(os.pathsep) if path] - - prefix = _prefix_env_variable(environ, 'CMAKE_PREFIX_PATH', paths, '') - lines.append(prepend(environ, 'CMAKE_PREFIX_PATH', prefix)) - - for key in sorted(key for key in env_var_subfolders.keys() if key != 'CMAKE_PREFIX_PATH'): - subfolder = env_var_subfolders[key] - prefix = _prefix_env_variable(environ, key, paths, subfolder) - lines.append(prepend(environ, key, prefix)) - return lines - - -def _prefix_env_variable(environ, name, paths, subfolders): - """ - Return the prefix to prepend to the environment variable NAME. - - Adding any path in NEW_PATHS_STR without creating duplicate or empty items. - """ - value = environ[name] if name in environ else '' - environ_paths = [path for path in value.split(os.pathsep) if path] - checked_paths = [] - for path in paths: - if not isinstance(subfolders, list): - subfolders = [subfolders] - for subfolder in subfolders: - path_tmp = path - if subfolder: - path_tmp = os.path.join(path_tmp, subfolder) - # skip nonexistent paths - if not os.path.exists(path_tmp): - continue - # exclude any path already in env and any path we already added - if path_tmp not in environ_paths and path_tmp not in checked_paths: - checked_paths.append(path_tmp) - prefix_str = os.pathsep.join(checked_paths) - if prefix_str != '' and environ_paths: - prefix_str += os.pathsep - return prefix_str - - -def assignment(key, value): - if not IS_WINDOWS: - return 'export %s="%s"' % (key, value) - else: - return 'set %s=%s' % (key, value) - - -def comment(msg): - if not IS_WINDOWS: - return '# %s' % msg - else: - return 'REM %s' % msg - - -def prepend(environ, key, prefix): - if key not in environ or not environ[key]: - return assignment(key, prefix) - if not IS_WINDOWS: - return 'export %s="%s$%s"' % (key, prefix, key) - else: - return 'set %s=%s%%%s%%' % (key, prefix, key) - - -def find_env_hooks(environ, cmake_prefix_path): - """Generate shell code with found environment hooks for the all workspaces.""" - lines = [] - lines.append(comment('found environment hooks in workspaces')) - - generic_env_hooks = [] - generic_env_hooks_workspace = [] - specific_env_hooks = [] - specific_env_hooks_workspace = [] - generic_env_hooks_by_filename = {} - specific_env_hooks_by_filename = {} - generic_env_hook_ext = 'bat' if IS_WINDOWS else 'sh' - specific_env_hook_ext = environ['CATKIN_SHELL'] if not IS_WINDOWS and 'CATKIN_SHELL' in environ and environ['CATKIN_SHELL'] else None - # remove non-workspace paths - workspaces = [path for path in cmake_prefix_path.split(os.pathsep) if path and os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE))] - for workspace in reversed(workspaces): - env_hook_dir = os.path.join(workspace, 'etc', 'catkin', 'profile.d') - if os.path.isdir(env_hook_dir): - for filename in sorted(os.listdir(env_hook_dir)): - if filename.endswith('.%s' % generic_env_hook_ext): - # remove previous env hook with same name if present - if filename in generic_env_hooks_by_filename: - i = generic_env_hooks.index(generic_env_hooks_by_filename[filename]) - generic_env_hooks.pop(i) - generic_env_hooks_workspace.pop(i) - # append env hook - generic_env_hooks.append(os.path.join(env_hook_dir, filename)) - generic_env_hooks_workspace.append(workspace) - generic_env_hooks_by_filename[filename] = generic_env_hooks[-1] - elif specific_env_hook_ext is not None and filename.endswith('.%s' % specific_env_hook_ext): - # remove previous env hook with same name if present - if filename in specific_env_hooks_by_filename: - i = specific_env_hooks.index(specific_env_hooks_by_filename[filename]) - specific_env_hooks.pop(i) - specific_env_hooks_workspace.pop(i) - # append env hook - specific_env_hooks.append(os.path.join(env_hook_dir, filename)) - specific_env_hooks_workspace.append(workspace) - specific_env_hooks_by_filename[filename] = specific_env_hooks[-1] - env_hooks = generic_env_hooks + specific_env_hooks - env_hooks_workspace = generic_env_hooks_workspace + specific_env_hooks_workspace - count = len(env_hooks) - lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_COUNT', count)) - for i in range(count): - lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d' % i, env_hooks[i])) - lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d_WORKSPACE' % i, env_hooks_workspace[i])) - return lines - - -def _parse_arguments(args=None): - parser = argparse.ArgumentParser(description='Generates code blocks for the setup.SHELL script.') - parser.add_argument('--extend', action='store_true', help='Skip unsetting previous environment variables to extend context') - parser.add_argument('--local', action='store_true', help='Only consider this prefix path and ignore other prefix path in the environment') - return parser.parse_known_args(args=args)[0] - - -if __name__ == '__main__': - try: - try: - args = _parse_arguments() - except Exception as e: - print(e, file=sys.stderr) - sys.exit(1) - - if not args.local: - # environment at generation time - CMAKE_PREFIX_PATH = '/opt/ros/melodic'.split(';') - else: - # don't consider any other prefix path than this one - CMAKE_PREFIX_PATH = [] - # prepend current workspace if not already part of CPP - base_path = os.path.dirname(__file__) - # CMAKE_PREFIX_PATH uses forward slash on all platforms, but __file__ is platform dependent - # base_path on Windows contains backward slashes, need to be converted to forward slashes before comparison - if os.path.sep != '/': - base_path = base_path.replace(os.path.sep, '/') - - if base_path not in CMAKE_PREFIX_PATH: - CMAKE_PREFIX_PATH.insert(0, base_path) - CMAKE_PREFIX_PATH = os.pathsep.join(CMAKE_PREFIX_PATH) - - environ = dict(os.environ) - lines = [] - if not args.extend: - lines += rollback_env_variables(environ, ENV_VAR_SUBFOLDERS) - lines += prepend_env_variables(environ, ENV_VAR_SUBFOLDERS, CMAKE_PREFIX_PATH) - lines += find_env_hooks(environ, CMAKE_PREFIX_PATH) - print('\n'.join(lines)) - - # need to explicitly flush the output - sys.stdout.flush() - except IOError as e: - # and catch potential "broken pipe" if stdout is not writable - # which can happen when piping the output to a file but the disk is full - if e.errno == errno.EPIPE: - print(e, file=sys.stderr) - sys.exit(2) - raise - - sys.exit(0) diff --git a/GPU_version/vio/cmake-build-debug/atomic_configure/env.sh b/GPU_version/vio/cmake-build-debug/atomic_configure/env.sh deleted file mode 100755 index 8aa9d24..0000000 --- a/GPU_version/vio/cmake-build-debug/atomic_configure/env.sh +++ /dev/null @@ -1,16 +0,0 @@ -#!/usr/bin/env sh -# generated from catkin/cmake/templates/env.sh.in - -if [ $# -eq 0 ] ; then - /bin/echo "Usage: env.sh COMMANDS" - /bin/echo "Calling env.sh without arguments is not supported anymore. Instead spawn a subshell and source a setup file manually." - exit 1 -fi - -# ensure to not use different shell type which was set before -CATKIN_SHELL=sh - -# source setup.sh from same directory as this file -_CATKIN_SETUP_DIR=$(cd "`dirname "$0"`" > /dev/null && pwd) -. "$_CATKIN_SETUP_DIR/setup.sh" -exec "$@" diff --git a/GPU_version/vio/cmake-build-debug/atomic_configure/local_setup.bash b/GPU_version/vio/cmake-build-debug/atomic_configure/local_setup.bash deleted file mode 100644 index 7da0d97..0000000 --- a/GPU_version/vio/cmake-build-debug/atomic_configure/local_setup.bash +++ /dev/null @@ -1,8 +0,0 @@ -#!/usr/bin/env bash -# generated from catkin/cmake/templates/local_setup.bash.in - -CATKIN_SHELL=bash - -# source setup.sh from same directory as this file -_CATKIN_SETUP_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd) -. "$_CATKIN_SETUP_DIR/setup.sh" --extend --local diff --git a/GPU_version/vio/cmake-build-debug/atomic_configure/local_setup.sh b/GPU_version/vio/cmake-build-debug/atomic_configure/local_setup.sh deleted file mode 100644 index d29ab41..0000000 --- a/GPU_version/vio/cmake-build-debug/atomic_configure/local_setup.sh +++ /dev/null @@ -1,9 +0,0 @@ -#!/usr/bin/env sh -# generated from catkin/cmake/template/local_setup.sh.in - -# since this file is sourced either use the provided _CATKIN_SETUP_DIR -# or fall back to the destination set at configure time -: ${_CATKIN_SETUP_DIR:=/root/Project/ROS/src/vio_svo/GPU_version/svo/cmake-build-debug/devel} -CATKIN_SETUP_UTIL_ARGS="--extend --local" -. "$_CATKIN_SETUP_DIR/setup.sh" -unset CATKIN_SETUP_UTIL_ARGS diff --git a/GPU_version/vio/cmake-build-debug/atomic_configure/local_setup.zsh b/GPU_version/vio/cmake-build-debug/atomic_configure/local_setup.zsh deleted file mode 100644 index e692acc..0000000 --- a/GPU_version/vio/cmake-build-debug/atomic_configure/local_setup.zsh +++ /dev/null @@ -1,8 +0,0 @@ -#!/usr/bin/env zsh -# generated from catkin/cmake/templates/local_setup.zsh.in - -CATKIN_SHELL=zsh - -# source setup.sh from same directory as this file -_CATKIN_SETUP_DIR=$(builtin cd -q "`dirname "$0"`" > /dev/null && pwd) -emulate -R zsh -c 'source "$_CATKIN_SETUP_DIR/setup.sh" --extend --local' diff --git a/GPU_version/vio/cmake-build-debug/atomic_configure/setup.bash b/GPU_version/vio/cmake-build-debug/atomic_configure/setup.bash deleted file mode 100644 index ff47af8..0000000 --- a/GPU_version/vio/cmake-build-debug/atomic_configure/setup.bash +++ /dev/null @@ -1,8 +0,0 @@ -#!/usr/bin/env bash -# generated from catkin/cmake/templates/setup.bash.in - -CATKIN_SHELL=bash - -# source setup.sh from same directory as this file -_CATKIN_SETUP_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd) -. "$_CATKIN_SETUP_DIR/setup.sh" diff --git a/GPU_version/vio/cmake-build-debug/atomic_configure/setup.sh b/GPU_version/vio/cmake-build-debug/atomic_configure/setup.sh deleted file mode 100644 index 1764d84..0000000 --- a/GPU_version/vio/cmake-build-debug/atomic_configure/setup.sh +++ /dev/null @@ -1,96 +0,0 @@ -#!/usr/bin/env sh -# generated from catkin/cmake/template/setup.sh.in - -# Sets various environment variables and sources additional environment hooks. -# It tries it's best to undo changes from a previously sourced setup file before. -# Supported command line options: -# --extend: skips the undoing of changes from a previously sourced setup file -# --local: only considers this workspace but not the chained ones -# In plain sh shell which doesn't support arguments for sourced scripts you can -# set the environment variable `CATKIN_SETUP_UTIL_ARGS=--extend/--local` instead. - -# since this file is sourced either use the provided _CATKIN_SETUP_DIR -# or fall back to the destination set at configure time -: ${_CATKIN_SETUP_DIR:=/root/Project/ROS/src/vio_svo/GPU_version/svo/cmake-build-debug/devel} -_SETUP_UTIL="$_CATKIN_SETUP_DIR/_setup_util.py" -unset _CATKIN_SETUP_DIR - -if [ ! -f "$_SETUP_UTIL" ]; then - echo "Missing Python script: $_SETUP_UTIL" - return 22 -fi - -# detect if running on Darwin platform -_UNAME=`uname -s` -_IS_DARWIN=0 -if [ "$_UNAME" = "Darwin" ]; then - _IS_DARWIN=1 -fi -unset _UNAME - -# make sure to export all environment variables -export CMAKE_PREFIX_PATH -if [ $_IS_DARWIN -eq 0 ]; then - export LD_LIBRARY_PATH -else - export DYLD_LIBRARY_PATH -fi -unset _IS_DARWIN -export PATH -export PKG_CONFIG_PATH -export PYTHONPATH - -# remember type of shell if not already set -if [ -z "$CATKIN_SHELL" ]; then - CATKIN_SHELL=sh -fi - -# invoke Python script to generate necessary exports of environment variables -# use TMPDIR if it exists, otherwise fall back to /tmp -if [ -d "${TMPDIR:-}" ]; then - _TMPDIR="${TMPDIR}" -else - _TMPDIR=/tmp -fi -_SETUP_TMP=`mktemp "${_TMPDIR}/setup.sh.XXXXXXXXXX"` -unset _TMPDIR -if [ $? -ne 0 -o ! -f "$_SETUP_TMP" ]; then - echo "Could not create temporary file: $_SETUP_TMP" - return 1 -fi -CATKIN_SHELL=$CATKIN_SHELL "$_SETUP_UTIL" $@ ${CATKIN_SETUP_UTIL_ARGS:-} >> "$_SETUP_TMP" -_RC=$? -if [ $_RC -ne 0 ]; then - if [ $_RC -eq 2 ]; then - echo "Could not write the output of '$_SETUP_UTIL' to temporary file '$_SETUP_TMP': may be the disk if full?" - else - echo "Failed to run '\"$_SETUP_UTIL\" $@': return code $_RC" - fi - unset _RC - unset _SETUP_UTIL - rm -f "$_SETUP_TMP" - unset _SETUP_TMP - return 1 -fi -unset _RC -unset _SETUP_UTIL -. "$_SETUP_TMP" -rm -f "$_SETUP_TMP" -unset _SETUP_TMP - -# source all environment hooks -_i=0 -while [ $_i -lt $_CATKIN_ENVIRONMENT_HOOKS_COUNT ]; do - eval _envfile=\$_CATKIN_ENVIRONMENT_HOOKS_$_i - unset _CATKIN_ENVIRONMENT_HOOKS_$_i - eval _envfile_workspace=\$_CATKIN_ENVIRONMENT_HOOKS_${_i}_WORKSPACE - unset _CATKIN_ENVIRONMENT_HOOKS_${_i}_WORKSPACE - # set workspace for environment hook - CATKIN_ENV_HOOK_WORKSPACE=$_envfile_workspace - . "$_envfile" - unset CATKIN_ENV_HOOK_WORKSPACE - _i=$((_i + 1)) -done -unset _i - -unset _CATKIN_ENVIRONMENT_HOOKS_COUNT diff --git a/GPU_version/vio/cmake-build-debug/atomic_configure/setup.zsh b/GPU_version/vio/cmake-build-debug/atomic_configure/setup.zsh deleted file mode 100644 index 9f780b7..0000000 --- a/GPU_version/vio/cmake-build-debug/atomic_configure/setup.zsh +++ /dev/null @@ -1,8 +0,0 @@ -#!/usr/bin/env zsh -# generated from catkin/cmake/templates/setup.zsh.in - -CATKIN_SHELL=zsh - -# source setup.sh from same directory as this file -_CATKIN_SETUP_DIR=$(builtin cd -q "`dirname "$0"`" > /dev/null && pwd) -emulate -R zsh -c 'source "$_CATKIN_SETUP_DIR/setup.sh"' diff --git a/GPU_version/vio/cmake-build-debug/catkin/catkin_generated/version/package.cmake b/GPU_version/vio/cmake-build-debug/catkin/catkin_generated/version/package.cmake deleted file mode 100644 index b3278c8..0000000 --- a/GPU_version/vio/cmake-build-debug/catkin/catkin_generated/version/package.cmake +++ /dev/null @@ -1,24 +0,0 @@ -set(_CATKIN_CURRENT_PACKAGE "catkin") -set(catkin_VERSION "0.7.28") -set(catkin_MAINTAINER "Dirk Thomas ") -set(catkin_PACKAGE_FORMAT "3") -set(catkin_BUILD_DEPENDS "python-argparse" "python-catkin-pkg" "python3-catkin-pkg" "python-empy" "python3-empy") -set(catkin_BUILD_DEPENDS_python-catkin-pkg_VERSION_GT "0.4.3") -set(catkin_BUILD_DEPENDS_python3-catkin-pkg_VERSION_GT "0.4.3") -set(catkin_BUILD_EXPORT_DEPENDS "google-mock" "gtest" "python-nose" "python3-nose" "python-argparse" "python-catkin-pkg" "python3-catkin-pkg" "python-empy" "python3-empy") -set(catkin_BUILD_EXPORT_DEPENDS_python-catkin-pkg_VERSION_GT "0.4.3") -set(catkin_BUILD_EXPORT_DEPENDS_python3-catkin-pkg_VERSION_GT "0.4.3") -set(catkin_BUILDTOOL_DEPENDS "cmake" "python-setuptools" "python3-setuptools") -set(catkin_BUILDTOOL_EXPORT_DEPENDS "cmake" "python3-setuptools") -set(catkin_EXEC_DEPENDS "python-argparse" "python-catkin-pkg" "python3-catkin-pkg" "python-empy" "python3-empy") -set(catkin_EXEC_DEPENDS_python-catkin-pkg_VERSION_GT "0.4.3") -set(catkin_EXEC_DEPENDS_python3-catkin-pkg_VERSION_GT "0.4.3") -set(catkin_RUN_DEPENDS "python-argparse" "python-catkin-pkg" "python3-catkin-pkg" "python-empy" "python3-empy" "google-mock" "gtest" "python-nose" "python3-nose") -set(catkin_RUN_DEPENDS_python-catkin-pkg_VERSION_GT "0.4.3") -set(catkin_RUN_DEPENDS_python3-catkin-pkg_VERSION_GT "0.4.3") -set(catkin_TEST_DEPENDS "python-mock" "python3-mock" "python-nose" "python3-nose") -set(catkin_DOC_DEPENDS ) -set(catkin_URL_WEBSITE "http://wiki.ros.org/catkin") -set(catkin_URL_BUGTRACKER "https://github.com/ros/catkin/issues") -set(catkin_URL_REPOSITORY "https://github.com/ros/catkin") -set(catkin_DEPRECATED "") \ No newline at end of file diff --git a/GPU_version/vio/cmake-build-debug/catkin_generated/env_cached.sh b/GPU_version/vio/cmake-build-debug/catkin_generated/env_cached.sh deleted file mode 100755 index d6be91d..0000000 --- a/GPU_version/vio/cmake-build-debug/catkin_generated/env_cached.sh +++ /dev/null @@ -1,16 +0,0 @@ -#!/usr/bin/env sh -# generated from catkin/cmake/templates/env.sh.in - -if [ $# -eq 0 ] ; then - /bin/echo "Usage: env.sh COMMANDS" - /bin/echo "Calling env.sh without arguments is not supported anymore. Instead spawn a subshell and source a setup file manually." - exit 1 -fi - -# ensure to not use different shell type which was set before -CATKIN_SHELL=sh - -# source setup_cached.sh from same directory as this file -_CATKIN_SETUP_DIR=$(cd "`dirname "$0"`" > /dev/null && pwd) -. "$_CATKIN_SETUP_DIR/setup_cached.sh" -exec "$@" diff --git a/GPU_version/vio/cmake-build-debug/catkin_generated/generate_cached_setup.py b/GPU_version/vio/cmake-build-debug/catkin_generated/generate_cached_setup.py deleted file mode 100644 index b1f2d17..0000000 --- a/GPU_version/vio/cmake-build-debug/catkin_generated/generate_cached_setup.py +++ /dev/null @@ -1,30 +0,0 @@ -# -*- coding: utf-8 -*- -from __future__ import print_function - -import os -import stat -import sys - -# find the import for catkin's python package - either from source space or from an installed underlay -if os.path.exists(os.path.join('/opt/ros/melodic/share/catkin/cmake', 'catkinConfig.cmake.in')): - sys.path.insert(0, os.path.join('/opt/ros/melodic/share/catkin/cmake', '..', 'python')) -try: - from catkin.environment_cache import generate_environment_script -except ImportError: - # search for catkin package in all workspaces and prepend to path - for workspace in '/opt/ros/melodic'.split(';'): - python_path = os.path.join(workspace, 'lib/python2.7/dist-packages') - if os.path.isdir(os.path.join(python_path, 'catkin')): - sys.path.insert(0, python_path) - break - from catkin.environment_cache import generate_environment_script - -code = generate_environment_script('/root/Project/ROS/src/vio_svo/GPU_version/svo/cmake-build-debug/devel/env.sh') - -output_filename = '/root/Project/ROS/src/vio_svo/GPU_version/svo/cmake-build-debug/catkin_generated/setup_cached.sh' -with open(output_filename, 'w') as f: - # print('Generate script for cached setup "%s"' % output_filename) - f.write('\n'.join(code)) - -mode = os.stat(output_filename).st_mode -os.chmod(output_filename, mode | stat.S_IXUSR) diff --git a/GPU_version/vio/cmake-build-debug/catkin_generated/installspace/.rosinstall b/GPU_version/vio/cmake-build-debug/catkin_generated/installspace/.rosinstall deleted file mode 100644 index 6fb13af..0000000 --- a/GPU_version/vio/cmake-build-debug/catkin_generated/installspace/.rosinstall +++ /dev/null @@ -1,2 +0,0 @@ -- setup-file: - local-name: /usr/local/setup.sh diff --git a/GPU_version/vio/cmake-build-debug/catkin_generated/installspace/_setup_util.py b/GPU_version/vio/cmake-build-debug/catkin_generated/installspace/_setup_util.py deleted file mode 100755 index 760f26f..0000000 --- a/GPU_version/vio/cmake-build-debug/catkin_generated/installspace/_setup_util.py +++ /dev/null @@ -1,304 +0,0 @@ -#!/usr/bin/python2 -# -*- coding: utf-8 -*- - -# Software License Agreement (BSD License) -# -# Copyright (c) 2012, Willow Garage, Inc. -# All rights reserved. -# -# Redistribution and use in source and binary forms, with or without -# modification, are permitted provided that the following conditions -# are met: -# -# * Redistributions of source code must retain the above copyright -# notice, this list of conditions and the following disclaimer. -# * Redistributions in binary form must reproduce the above -# copyright notice, this list of conditions and the following -# disclaimer in the documentation and/or other materials provided -# with the distribution. -# * Neither the name of Willow Garage, Inc. nor the names of its -# contributors may be used to endorse or promote products derived -# from this software without specific prior written permission. -# -# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS -# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT -# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS -# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE -# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, -# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, -# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; -# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER -# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT -# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN -# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -# POSSIBILITY OF SUCH DAMAGE. - -"""This file generates shell code for the setup.SHELL scripts to set environment variables.""" - -from __future__ import print_function - -import argparse -import copy -import errno -import os -import platform -import sys - -CATKIN_MARKER_FILE = '.catkin' - -system = platform.system() -IS_DARWIN = (system == 'Darwin') -IS_WINDOWS = (system == 'Windows') - -PATH_TO_ADD_SUFFIX = ['bin'] -if IS_WINDOWS: - # while catkin recommends putting dll's into bin, 3rd party packages often put dll's into lib - # since Windows finds dll's via the PATH variable, prepend it with path to lib - PATH_TO_ADD_SUFFIX.extend([['lib', os.path.join('lib', 'x86_64-linux-gnu')]]) - -# subfolder of workspace prepended to CMAKE_PREFIX_PATH -ENV_VAR_SUBFOLDERS = { - 'CMAKE_PREFIX_PATH': '', - 'LD_LIBRARY_PATH' if not IS_DARWIN else 'DYLD_LIBRARY_PATH': ['lib', os.path.join('lib', 'x86_64-linux-gnu')], - 'PATH': PATH_TO_ADD_SUFFIX, - 'PKG_CONFIG_PATH': [os.path.join('lib', 'pkgconfig'), os.path.join('lib', 'x86_64-linux-gnu', 'pkgconfig')], - 'PYTHONPATH': 'lib/python2.7/dist-packages', -} - - -def rollback_env_variables(environ, env_var_subfolders): - """ - Generate shell code to reset environment variables. - - by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH. - This does not cover modifications performed by environment hooks. - """ - lines = [] - unmodified_environ = copy.copy(environ) - for key in sorted(env_var_subfolders.keys()): - subfolders = env_var_subfolders[key] - if not isinstance(subfolders, list): - subfolders = [subfolders] - value = _rollback_env_variable(unmodified_environ, key, subfolders) - if value is not None: - environ[key] = value - lines.append(assignment(key, value)) - if lines: - lines.insert(0, comment('reset environment variables by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH')) - return lines - - -def _rollback_env_variable(environ, name, subfolders): - """ - For each catkin workspace in CMAKE_PREFIX_PATH remove the first entry from env[NAME] matching workspace + subfolder. - - :param subfolders: list of str '' or subfoldername that may start with '/' - :returns: the updated value of the environment variable. - """ - value = environ[name] if name in environ else '' - env_paths = [path for path in value.split(os.pathsep) if path] - value_modified = False - for subfolder in subfolders: - if subfolder: - if subfolder.startswith(os.path.sep) or (os.path.altsep and subfolder.startswith(os.path.altsep)): - subfolder = subfolder[1:] - if subfolder.endswith(os.path.sep) or (os.path.altsep and subfolder.endswith(os.path.altsep)): - subfolder = subfolder[:-1] - for ws_path in _get_workspaces(environ, include_fuerte=True, include_non_existing=True): - path_to_find = os.path.join(ws_path, subfolder) if subfolder else ws_path - path_to_remove = None - for env_path in env_paths: - env_path_clean = env_path[:-1] if env_path and env_path[-1] in [os.path.sep, os.path.altsep] else env_path - if env_path_clean == path_to_find: - path_to_remove = env_path - break - if path_to_remove: - env_paths.remove(path_to_remove) - value_modified = True - new_value = os.pathsep.join(env_paths) - return new_value if value_modified else None - - -def _get_workspaces(environ, include_fuerte=False, include_non_existing=False): - """ - Based on CMAKE_PREFIX_PATH return all catkin workspaces. - - :param include_fuerte: The flag if paths starting with '/opt/ros/fuerte' should be considered workspaces, ``bool`` - """ - # get all cmake prefix paths - env_name = 'CMAKE_PREFIX_PATH' - value = environ[env_name] if env_name in environ else '' - paths = [path for path in value.split(os.pathsep) if path] - # remove non-workspace paths - workspaces = [path for path in paths if os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE)) or (include_fuerte and path.startswith('/opt/ros/fuerte')) or (include_non_existing and not os.path.exists(path))] - return workspaces - - -def prepend_env_variables(environ, env_var_subfolders, workspaces): - """Generate shell code to prepend environment variables for the all workspaces.""" - lines = [] - lines.append(comment('prepend folders of workspaces to environment variables')) - - paths = [path for path in workspaces.split(os.pathsep) if path] - - prefix = _prefix_env_variable(environ, 'CMAKE_PREFIX_PATH', paths, '') - lines.append(prepend(environ, 'CMAKE_PREFIX_PATH', prefix)) - - for key in sorted(key for key in env_var_subfolders.keys() if key != 'CMAKE_PREFIX_PATH'): - subfolder = env_var_subfolders[key] - prefix = _prefix_env_variable(environ, key, paths, subfolder) - lines.append(prepend(environ, key, prefix)) - return lines - - -def _prefix_env_variable(environ, name, paths, subfolders): - """ - Return the prefix to prepend to the environment variable NAME. - - Adding any path in NEW_PATHS_STR without creating duplicate or empty items. - """ - value = environ[name] if name in environ else '' - environ_paths = [path for path in value.split(os.pathsep) if path] - checked_paths = [] - for path in paths: - if not isinstance(subfolders, list): - subfolders = [subfolders] - for subfolder in subfolders: - path_tmp = path - if subfolder: - path_tmp = os.path.join(path_tmp, subfolder) - # skip nonexistent paths - if not os.path.exists(path_tmp): - continue - # exclude any path already in env and any path we already added - if path_tmp not in environ_paths and path_tmp not in checked_paths: - checked_paths.append(path_tmp) - prefix_str = os.pathsep.join(checked_paths) - if prefix_str != '' and environ_paths: - prefix_str += os.pathsep - return prefix_str - - -def assignment(key, value): - if not IS_WINDOWS: - return 'export %s="%s"' % (key, value) - else: - return 'set %s=%s' % (key, value) - - -def comment(msg): - if not IS_WINDOWS: - return '# %s' % msg - else: - return 'REM %s' % msg - - -def prepend(environ, key, prefix): - if key not in environ or not environ[key]: - return assignment(key, prefix) - if not IS_WINDOWS: - return 'export %s="%s$%s"' % (key, prefix, key) - else: - return 'set %s=%s%%%s%%' % (key, prefix, key) - - -def find_env_hooks(environ, cmake_prefix_path): - """Generate shell code with found environment hooks for the all workspaces.""" - lines = [] - lines.append(comment('found environment hooks in workspaces')) - - generic_env_hooks = [] - generic_env_hooks_workspace = [] - specific_env_hooks = [] - specific_env_hooks_workspace = [] - generic_env_hooks_by_filename = {} - specific_env_hooks_by_filename = {} - generic_env_hook_ext = 'bat' if IS_WINDOWS else 'sh' - specific_env_hook_ext = environ['CATKIN_SHELL'] if not IS_WINDOWS and 'CATKIN_SHELL' in environ and environ['CATKIN_SHELL'] else None - # remove non-workspace paths - workspaces = [path for path in cmake_prefix_path.split(os.pathsep) if path and os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE))] - for workspace in reversed(workspaces): - env_hook_dir = os.path.join(workspace, 'etc', 'catkin', 'profile.d') - if os.path.isdir(env_hook_dir): - for filename in sorted(os.listdir(env_hook_dir)): - if filename.endswith('.%s' % generic_env_hook_ext): - # remove previous env hook with same name if present - if filename in generic_env_hooks_by_filename: - i = generic_env_hooks.index(generic_env_hooks_by_filename[filename]) - generic_env_hooks.pop(i) - generic_env_hooks_workspace.pop(i) - # append env hook - generic_env_hooks.append(os.path.join(env_hook_dir, filename)) - generic_env_hooks_workspace.append(workspace) - generic_env_hooks_by_filename[filename] = generic_env_hooks[-1] - elif specific_env_hook_ext is not None and filename.endswith('.%s' % specific_env_hook_ext): - # remove previous env hook with same name if present - if filename in specific_env_hooks_by_filename: - i = specific_env_hooks.index(specific_env_hooks_by_filename[filename]) - specific_env_hooks.pop(i) - specific_env_hooks_workspace.pop(i) - # append env hook - specific_env_hooks.append(os.path.join(env_hook_dir, filename)) - specific_env_hooks_workspace.append(workspace) - specific_env_hooks_by_filename[filename] = specific_env_hooks[-1] - env_hooks = generic_env_hooks + specific_env_hooks - env_hooks_workspace = generic_env_hooks_workspace + specific_env_hooks_workspace - count = len(env_hooks) - lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_COUNT', count)) - for i in range(count): - lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d' % i, env_hooks[i])) - lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d_WORKSPACE' % i, env_hooks_workspace[i])) - return lines - - -def _parse_arguments(args=None): - parser = argparse.ArgumentParser(description='Generates code blocks for the setup.SHELL script.') - parser.add_argument('--extend', action='store_true', help='Skip unsetting previous environment variables to extend context') - parser.add_argument('--local', action='store_true', help='Only consider this prefix path and ignore other prefix path in the environment') - return parser.parse_known_args(args=args)[0] - - -if __name__ == '__main__': - try: - try: - args = _parse_arguments() - except Exception as e: - print(e, file=sys.stderr) - sys.exit(1) - - if not args.local: - # environment at generation time - CMAKE_PREFIX_PATH = '/opt/ros/melodic'.split(';') - else: - # don't consider any other prefix path than this one - CMAKE_PREFIX_PATH = [] - # prepend current workspace if not already part of CPP - base_path = os.path.dirname(__file__) - # CMAKE_PREFIX_PATH uses forward slash on all platforms, but __file__ is platform dependent - # base_path on Windows contains backward slashes, need to be converted to forward slashes before comparison - if os.path.sep != '/': - base_path = base_path.replace(os.path.sep, '/') - - if base_path not in CMAKE_PREFIX_PATH: - CMAKE_PREFIX_PATH.insert(0, base_path) - CMAKE_PREFIX_PATH = os.pathsep.join(CMAKE_PREFIX_PATH) - - environ = dict(os.environ) - lines = [] - if not args.extend: - lines += rollback_env_variables(environ, ENV_VAR_SUBFOLDERS) - lines += prepend_env_variables(environ, ENV_VAR_SUBFOLDERS, CMAKE_PREFIX_PATH) - lines += find_env_hooks(environ, CMAKE_PREFIX_PATH) - print('\n'.join(lines)) - - # need to explicitly flush the output - sys.stdout.flush() - except IOError as e: - # and catch potential "broken pipe" if stdout is not writable - # which can happen when piping the output to a file but the disk is full - if e.errno == errno.EPIPE: - print(e, file=sys.stderr) - sys.exit(2) - raise - - sys.exit(0) diff --git a/GPU_version/vio/cmake-build-debug/catkin_generated/installspace/env.sh b/GPU_version/vio/cmake-build-debug/catkin_generated/installspace/env.sh deleted file mode 100755 index 8aa9d24..0000000 --- a/GPU_version/vio/cmake-build-debug/catkin_generated/installspace/env.sh +++ /dev/null @@ -1,16 +0,0 @@ -#!/usr/bin/env sh -# generated from catkin/cmake/templates/env.sh.in - -if [ $# -eq 0 ] ; then - /bin/echo "Usage: env.sh COMMANDS" - /bin/echo "Calling env.sh without arguments is not supported anymore. Instead spawn a subshell and source a setup file manually." - exit 1 -fi - -# ensure to not use different shell type which was set before -CATKIN_SHELL=sh - -# source setup.sh from same directory as this file -_CATKIN_SETUP_DIR=$(cd "`dirname "$0"`" > /dev/null && pwd) -. "$_CATKIN_SETUP_DIR/setup.sh" -exec "$@" diff --git a/GPU_version/vio/cmake-build-debug/catkin_generated/installspace/local_setup.bash b/GPU_version/vio/cmake-build-debug/catkin_generated/installspace/local_setup.bash deleted file mode 100644 index 7da0d97..0000000 --- a/GPU_version/vio/cmake-build-debug/catkin_generated/installspace/local_setup.bash +++ /dev/null @@ -1,8 +0,0 @@ -#!/usr/bin/env bash -# generated from catkin/cmake/templates/local_setup.bash.in - -CATKIN_SHELL=bash - -# source setup.sh from same directory as this file -_CATKIN_SETUP_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd) -. "$_CATKIN_SETUP_DIR/setup.sh" --extend --local diff --git a/GPU_version/vio/cmake-build-debug/catkin_generated/installspace/local_setup.sh b/GPU_version/vio/cmake-build-debug/catkin_generated/installspace/local_setup.sh deleted file mode 100644 index f021098..0000000 --- a/GPU_version/vio/cmake-build-debug/catkin_generated/installspace/local_setup.sh +++ /dev/null @@ -1,9 +0,0 @@ -#!/usr/bin/env sh -# generated from catkin/cmake/template/local_setup.sh.in - -# since this file is sourced either use the provided _CATKIN_SETUP_DIR -# or fall back to the destination set at configure time -: ${_CATKIN_SETUP_DIR:=/usr/local} -CATKIN_SETUP_UTIL_ARGS="--extend --local" -. "$_CATKIN_SETUP_DIR/setup.sh" -unset CATKIN_SETUP_UTIL_ARGS diff --git a/GPU_version/vio/cmake-build-debug/catkin_generated/installspace/local_setup.zsh b/GPU_version/vio/cmake-build-debug/catkin_generated/installspace/local_setup.zsh deleted file mode 100644 index e692acc..0000000 --- a/GPU_version/vio/cmake-build-debug/catkin_generated/installspace/local_setup.zsh +++ /dev/null @@ -1,8 +0,0 @@ -#!/usr/bin/env zsh -# generated from catkin/cmake/templates/local_setup.zsh.in - -CATKIN_SHELL=zsh - -# source setup.sh from same directory as this file -_CATKIN_SETUP_DIR=$(builtin cd -q "`dirname "$0"`" > /dev/null && pwd) -emulate -R zsh -c 'source "$_CATKIN_SETUP_DIR/setup.sh" --extend --local' diff --git a/GPU_version/vio/cmake-build-debug/catkin_generated/installspace/setup.bash b/GPU_version/vio/cmake-build-debug/catkin_generated/installspace/setup.bash deleted file mode 100644 index ff47af8..0000000 --- a/GPU_version/vio/cmake-build-debug/catkin_generated/installspace/setup.bash +++ /dev/null @@ -1,8 +0,0 @@ -#!/usr/bin/env bash -# generated from catkin/cmake/templates/setup.bash.in - -CATKIN_SHELL=bash - -# source setup.sh from same directory as this file -_CATKIN_SETUP_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd) -. "$_CATKIN_SETUP_DIR/setup.sh" diff --git a/GPU_version/vio/cmake-build-debug/catkin_generated/installspace/setup.sh b/GPU_version/vio/cmake-build-debug/catkin_generated/installspace/setup.sh deleted file mode 100644 index b5a330e..0000000 --- a/GPU_version/vio/cmake-build-debug/catkin_generated/installspace/setup.sh +++ /dev/null @@ -1,96 +0,0 @@ -#!/usr/bin/env sh -# generated from catkin/cmake/template/setup.sh.in - -# Sets various environment variables and sources additional environment hooks. -# It tries it's best to undo changes from a previously sourced setup file before. -# Supported command line options: -# --extend: skips the undoing of changes from a previously sourced setup file -# --local: only considers this workspace but not the chained ones -# In plain sh shell which doesn't support arguments for sourced scripts you can -# set the environment variable `CATKIN_SETUP_UTIL_ARGS=--extend/--local` instead. - -# since this file is sourced either use the provided _CATKIN_SETUP_DIR -# or fall back to the destination set at configure time -: ${_CATKIN_SETUP_DIR:=/usr/local} -_SETUP_UTIL="$_CATKIN_SETUP_DIR/_setup_util.py" -unset _CATKIN_SETUP_DIR - -if [ ! -f "$_SETUP_UTIL" ]; then - echo "Missing Python script: $_SETUP_UTIL" - return 22 -fi - -# detect if running on Darwin platform -_UNAME=`uname -s` -_IS_DARWIN=0 -if [ "$_UNAME" = "Darwin" ]; then - _IS_DARWIN=1 -fi -unset _UNAME - -# make sure to export all environment variables -export CMAKE_PREFIX_PATH -if [ $_IS_DARWIN -eq 0 ]; then - export LD_LIBRARY_PATH -else - export DYLD_LIBRARY_PATH -fi -unset _IS_DARWIN -export PATH -export PKG_CONFIG_PATH -export PYTHONPATH - -# remember type of shell if not already set -if [ -z "$CATKIN_SHELL" ]; then - CATKIN_SHELL=sh -fi - -# invoke Python script to generate necessary exports of environment variables -# use TMPDIR if it exists, otherwise fall back to /tmp -if [ -d "${TMPDIR:-}" ]; then - _TMPDIR="${TMPDIR}" -else - _TMPDIR=/tmp -fi -_SETUP_TMP=`mktemp "${_TMPDIR}/setup.sh.XXXXXXXXXX"` -unset _TMPDIR -if [ $? -ne 0 -o ! -f "$_SETUP_TMP" ]; then - echo "Could not create temporary file: $_SETUP_TMP" - return 1 -fi -CATKIN_SHELL=$CATKIN_SHELL "$_SETUP_UTIL" $@ ${CATKIN_SETUP_UTIL_ARGS:-} >> "$_SETUP_TMP" -_RC=$? -if [ $_RC -ne 0 ]; then - if [ $_RC -eq 2 ]; then - echo "Could not write the output of '$_SETUP_UTIL' to temporary file '$_SETUP_TMP': may be the disk if full?" - else - echo "Failed to run '\"$_SETUP_UTIL\" $@': return code $_RC" - fi - unset _RC - unset _SETUP_UTIL - rm -f "$_SETUP_TMP" - unset _SETUP_TMP - return 1 -fi -unset _RC -unset _SETUP_UTIL -. "$_SETUP_TMP" -rm -f "$_SETUP_TMP" -unset _SETUP_TMP - -# source all environment hooks -_i=0 -while [ $_i -lt $_CATKIN_ENVIRONMENT_HOOKS_COUNT ]; do - eval _envfile=\$_CATKIN_ENVIRONMENT_HOOKS_$_i - unset _CATKIN_ENVIRONMENT_HOOKS_$_i - eval _envfile_workspace=\$_CATKIN_ENVIRONMENT_HOOKS_${_i}_WORKSPACE - unset _CATKIN_ENVIRONMENT_HOOKS_${_i}_WORKSPACE - # set workspace for environment hook - CATKIN_ENV_HOOK_WORKSPACE=$_envfile_workspace - . "$_envfile" - unset CATKIN_ENV_HOOK_WORKSPACE - _i=$((_i + 1)) -done -unset _i - -unset _CATKIN_ENVIRONMENT_HOOKS_COUNT diff --git a/GPU_version/vio/cmake-build-debug/catkin_generated/installspace/setup.zsh b/GPU_version/vio/cmake-build-debug/catkin_generated/installspace/setup.zsh deleted file mode 100644 index 9f780b7..0000000 --- a/GPU_version/vio/cmake-build-debug/catkin_generated/installspace/setup.zsh +++ /dev/null @@ -1,8 +0,0 @@ -#!/usr/bin/env zsh -# generated from catkin/cmake/templates/setup.zsh.in - -CATKIN_SHELL=zsh - -# source setup.sh from same directory as this file -_CATKIN_SETUP_DIR=$(builtin cd -q "`dirname "$0"`" > /dev/null && pwd) -emulate -R zsh -c 'source "$_CATKIN_SETUP_DIR/setup.sh"' diff --git a/GPU_version/vio/cmake-build-debug/catkin_generated/setup_cached.sh b/GPU_version/vio/cmake-build-debug/catkin_generated/setup_cached.sh deleted file mode 100755 index 619a325..0000000 --- a/GPU_version/vio/cmake-build-debug/catkin_generated/setup_cached.sh +++ /dev/null @@ -1,13 +0,0 @@ -#!/usr/bin/env sh -# generated from catkin/python/catkin/environment_cache.py - -# based on a snapshot of the environment before and after calling the setup script -# it emulates the modifications of the setup script without recurring computations - -# new environment variables - -# modified environment variables -export CMAKE_PREFIX_PATH="/root/Project/ROS/src/vio_svo/GPU_version/svo/cmake-build-debug/devel:$CMAKE_PREFIX_PATH" -export PATH='/opt/ros/melodic/bin:/opt/cmake-3.20.0-rc4-linux-x86_64/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin' -export ROSLISP_PACKAGE_DIRECTORIES='/root/Project/ROS/src/vio_svo/GPU_version/svo/cmake-build-debug/devel/share/common-lisp' -export ROS_PACKAGE_PATH="/root/Project/ROS/src/vio_svo/GPU_version/svo:$ROS_PACKAGE_PATH" \ No newline at end of file diff --git a/GPU_version/vio/cmake-build-debug/catkin_generated/stamps/vio/_setup_util.py.stamp b/GPU_version/vio/cmake-build-debug/catkin_generated/stamps/vio/_setup_util.py.stamp deleted file mode 100755 index 760f26f..0000000 --- a/GPU_version/vio/cmake-build-debug/catkin_generated/stamps/vio/_setup_util.py.stamp +++ /dev/null @@ -1,304 +0,0 @@ -#!/usr/bin/python2 -# -*- coding: utf-8 -*- - -# Software License Agreement (BSD License) -# -# Copyright (c) 2012, Willow Garage, Inc. -# All rights reserved. -# -# Redistribution and use in source and binary forms, with or without -# modification, are permitted provided that the following conditions -# are met: -# -# * Redistributions of source code must retain the above copyright -# notice, this list of conditions and the following disclaimer. -# * Redistributions in binary form must reproduce the above -# copyright notice, this list of conditions and the following -# disclaimer in the documentation and/or other materials provided -# with the distribution. -# * Neither the name of Willow Garage, Inc. nor the names of its -# contributors may be used to endorse or promote products derived -# from this software without specific prior written permission. -# -# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS -# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT -# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS -# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE -# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, -# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, -# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; -# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER -# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT -# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN -# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -# POSSIBILITY OF SUCH DAMAGE. - -"""This file generates shell code for the setup.SHELL scripts to set environment variables.""" - -from __future__ import print_function - -import argparse -import copy -import errno -import os -import platform -import sys - -CATKIN_MARKER_FILE = '.catkin' - -system = platform.system() -IS_DARWIN = (system == 'Darwin') -IS_WINDOWS = (system == 'Windows') - -PATH_TO_ADD_SUFFIX = ['bin'] -if IS_WINDOWS: - # while catkin recommends putting dll's into bin, 3rd party packages often put dll's into lib - # since Windows finds dll's via the PATH variable, prepend it with path to lib - PATH_TO_ADD_SUFFIX.extend([['lib', os.path.join('lib', 'x86_64-linux-gnu')]]) - -# subfolder of workspace prepended to CMAKE_PREFIX_PATH -ENV_VAR_SUBFOLDERS = { - 'CMAKE_PREFIX_PATH': '', - 'LD_LIBRARY_PATH' if not IS_DARWIN else 'DYLD_LIBRARY_PATH': ['lib', os.path.join('lib', 'x86_64-linux-gnu')], - 'PATH': PATH_TO_ADD_SUFFIX, - 'PKG_CONFIG_PATH': [os.path.join('lib', 'pkgconfig'), os.path.join('lib', 'x86_64-linux-gnu', 'pkgconfig')], - 'PYTHONPATH': 'lib/python2.7/dist-packages', -} - - -def rollback_env_variables(environ, env_var_subfolders): - """ - Generate shell code to reset environment variables. - - by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH. - This does not cover modifications performed by environment hooks. - """ - lines = [] - unmodified_environ = copy.copy(environ) - for key in sorted(env_var_subfolders.keys()): - subfolders = env_var_subfolders[key] - if not isinstance(subfolders, list): - subfolders = [subfolders] - value = _rollback_env_variable(unmodified_environ, key, subfolders) - if value is not None: - environ[key] = value - lines.append(assignment(key, value)) - if lines: - lines.insert(0, comment('reset environment variables by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH')) - return lines - - -def _rollback_env_variable(environ, name, subfolders): - """ - For each catkin workspace in CMAKE_PREFIX_PATH remove the first entry from env[NAME] matching workspace + subfolder. - - :param subfolders: list of str '' or subfoldername that may start with '/' - :returns: the updated value of the environment variable. - """ - value = environ[name] if name in environ else '' - env_paths = [path for path in value.split(os.pathsep) if path] - value_modified = False - for subfolder in subfolders: - if subfolder: - if subfolder.startswith(os.path.sep) or (os.path.altsep and subfolder.startswith(os.path.altsep)): - subfolder = subfolder[1:] - if subfolder.endswith(os.path.sep) or (os.path.altsep and subfolder.endswith(os.path.altsep)): - subfolder = subfolder[:-1] - for ws_path in _get_workspaces(environ, include_fuerte=True, include_non_existing=True): - path_to_find = os.path.join(ws_path, subfolder) if subfolder else ws_path - path_to_remove = None - for env_path in env_paths: - env_path_clean = env_path[:-1] if env_path and env_path[-1] in [os.path.sep, os.path.altsep] else env_path - if env_path_clean == path_to_find: - path_to_remove = env_path - break - if path_to_remove: - env_paths.remove(path_to_remove) - value_modified = True - new_value = os.pathsep.join(env_paths) - return new_value if value_modified else None - - -def _get_workspaces(environ, include_fuerte=False, include_non_existing=False): - """ - Based on CMAKE_PREFIX_PATH return all catkin workspaces. - - :param include_fuerte: The flag if paths starting with '/opt/ros/fuerte' should be considered workspaces, ``bool`` - """ - # get all cmake prefix paths - env_name = 'CMAKE_PREFIX_PATH' - value = environ[env_name] if env_name in environ else '' - paths = [path for path in value.split(os.pathsep) if path] - # remove non-workspace paths - workspaces = [path for path in paths if os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE)) or (include_fuerte and path.startswith('/opt/ros/fuerte')) or (include_non_existing and not os.path.exists(path))] - return workspaces - - -def prepend_env_variables(environ, env_var_subfolders, workspaces): - """Generate shell code to prepend environment variables for the all workspaces.""" - lines = [] - lines.append(comment('prepend folders of workspaces to environment variables')) - - paths = [path for path in workspaces.split(os.pathsep) if path] - - prefix = _prefix_env_variable(environ, 'CMAKE_PREFIX_PATH', paths, '') - lines.append(prepend(environ, 'CMAKE_PREFIX_PATH', prefix)) - - for key in sorted(key for key in env_var_subfolders.keys() if key != 'CMAKE_PREFIX_PATH'): - subfolder = env_var_subfolders[key] - prefix = _prefix_env_variable(environ, key, paths, subfolder) - lines.append(prepend(environ, key, prefix)) - return lines - - -def _prefix_env_variable(environ, name, paths, subfolders): - """ - Return the prefix to prepend to the environment variable NAME. - - Adding any path in NEW_PATHS_STR without creating duplicate or empty items. - """ - value = environ[name] if name in environ else '' - environ_paths = [path for path in value.split(os.pathsep) if path] - checked_paths = [] - for path in paths: - if not isinstance(subfolders, list): - subfolders = [subfolders] - for subfolder in subfolders: - path_tmp = path - if subfolder: - path_tmp = os.path.join(path_tmp, subfolder) - # skip nonexistent paths - if not os.path.exists(path_tmp): - continue - # exclude any path already in env and any path we already added - if path_tmp not in environ_paths and path_tmp not in checked_paths: - checked_paths.append(path_tmp) - prefix_str = os.pathsep.join(checked_paths) - if prefix_str != '' and environ_paths: - prefix_str += os.pathsep - return prefix_str - - -def assignment(key, value): - if not IS_WINDOWS: - return 'export %s="%s"' % (key, value) - else: - return 'set %s=%s' % (key, value) - - -def comment(msg): - if not IS_WINDOWS: - return '# %s' % msg - else: - return 'REM %s' % msg - - -def prepend(environ, key, prefix): - if key not in environ or not environ[key]: - return assignment(key, prefix) - if not IS_WINDOWS: - return 'export %s="%s$%s"' % (key, prefix, key) - else: - return 'set %s=%s%%%s%%' % (key, prefix, key) - - -def find_env_hooks(environ, cmake_prefix_path): - """Generate shell code with found environment hooks for the all workspaces.""" - lines = [] - lines.append(comment('found environment hooks in workspaces')) - - generic_env_hooks = [] - generic_env_hooks_workspace = [] - specific_env_hooks = [] - specific_env_hooks_workspace = [] - generic_env_hooks_by_filename = {} - specific_env_hooks_by_filename = {} - generic_env_hook_ext = 'bat' if IS_WINDOWS else 'sh' - specific_env_hook_ext = environ['CATKIN_SHELL'] if not IS_WINDOWS and 'CATKIN_SHELL' in environ and environ['CATKIN_SHELL'] else None - # remove non-workspace paths - workspaces = [path for path in cmake_prefix_path.split(os.pathsep) if path and os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE))] - for workspace in reversed(workspaces): - env_hook_dir = os.path.join(workspace, 'etc', 'catkin', 'profile.d') - if os.path.isdir(env_hook_dir): - for filename in sorted(os.listdir(env_hook_dir)): - if filename.endswith('.%s' % generic_env_hook_ext): - # remove previous env hook with same name if present - if filename in generic_env_hooks_by_filename: - i = generic_env_hooks.index(generic_env_hooks_by_filename[filename]) - generic_env_hooks.pop(i) - generic_env_hooks_workspace.pop(i) - # append env hook - generic_env_hooks.append(os.path.join(env_hook_dir, filename)) - generic_env_hooks_workspace.append(workspace) - generic_env_hooks_by_filename[filename] = generic_env_hooks[-1] - elif specific_env_hook_ext is not None and filename.endswith('.%s' % specific_env_hook_ext): - # remove previous env hook with same name if present - if filename in specific_env_hooks_by_filename: - i = specific_env_hooks.index(specific_env_hooks_by_filename[filename]) - specific_env_hooks.pop(i) - specific_env_hooks_workspace.pop(i) - # append env hook - specific_env_hooks.append(os.path.join(env_hook_dir, filename)) - specific_env_hooks_workspace.append(workspace) - specific_env_hooks_by_filename[filename] = specific_env_hooks[-1] - env_hooks = generic_env_hooks + specific_env_hooks - env_hooks_workspace = generic_env_hooks_workspace + specific_env_hooks_workspace - count = len(env_hooks) - lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_COUNT', count)) - for i in range(count): - lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d' % i, env_hooks[i])) - lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d_WORKSPACE' % i, env_hooks_workspace[i])) - return lines - - -def _parse_arguments(args=None): - parser = argparse.ArgumentParser(description='Generates code blocks for the setup.SHELL script.') - parser.add_argument('--extend', action='store_true', help='Skip unsetting previous environment variables to extend context') - parser.add_argument('--local', action='store_true', help='Only consider this prefix path and ignore other prefix path in the environment') - return parser.parse_known_args(args=args)[0] - - -if __name__ == '__main__': - try: - try: - args = _parse_arguments() - except Exception as e: - print(e, file=sys.stderr) - sys.exit(1) - - if not args.local: - # environment at generation time - CMAKE_PREFIX_PATH = '/opt/ros/melodic'.split(';') - else: - # don't consider any other prefix path than this one - CMAKE_PREFIX_PATH = [] - # prepend current workspace if not already part of CPP - base_path = os.path.dirname(__file__) - # CMAKE_PREFIX_PATH uses forward slash on all platforms, but __file__ is platform dependent - # base_path on Windows contains backward slashes, need to be converted to forward slashes before comparison - if os.path.sep != '/': - base_path = base_path.replace(os.path.sep, '/') - - if base_path not in CMAKE_PREFIX_PATH: - CMAKE_PREFIX_PATH.insert(0, base_path) - CMAKE_PREFIX_PATH = os.pathsep.join(CMAKE_PREFIX_PATH) - - environ = dict(os.environ) - lines = [] - if not args.extend: - lines += rollback_env_variables(environ, ENV_VAR_SUBFOLDERS) - lines += prepend_env_variables(environ, ENV_VAR_SUBFOLDERS, CMAKE_PREFIX_PATH) - lines += find_env_hooks(environ, CMAKE_PREFIX_PATH) - print('\n'.join(lines)) - - # need to explicitly flush the output - sys.stdout.flush() - except IOError as e: - # and catch potential "broken pipe" if stdout is not writable - # which can happen when piping the output to a file but the disk is full - if e.errno == errno.EPIPE: - print(e, file=sys.stderr) - sys.exit(2) - raise - - sys.exit(0) diff --git a/GPU_version/vio/cmake-build-debug/catkin_generated/stamps/vio/interrogate_setup_dot_py.py.stamp b/GPU_version/vio/cmake-build-debug/catkin_generated/stamps/vio/interrogate_setup_dot_py.py.stamp deleted file mode 100644 index 5e25fbf..0000000 --- a/GPU_version/vio/cmake-build-debug/catkin_generated/stamps/vio/interrogate_setup_dot_py.py.stamp +++ /dev/null @@ -1,255 +0,0 @@ -# Software License Agreement (BSD License) -# -# Copyright (c) 2012, Willow Garage, Inc. -# All rights reserved. -# -# Redistribution and use in source and binary forms, with or without -# modification, are permitted provided that the following conditions -# are met: -# -# * Redistributions of source code must retain the above copyright -# notice, this list of conditions and the following disclaimer. -# * Redistributions in binary form must reproduce the above -# copyright notice, this list of conditions and the following -# disclaimer in the documentation and/or other materials provided -# with the distribution. -# * Neither the name of Willow Garage, Inc. nor the names of its -# contributors may be used to endorse or promote products derived -# from this software without specific prior written permission. -# -# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS -# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT -# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS -# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE -# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, -# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, -# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; -# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER -# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT -# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN -# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -# POSSIBILITY OF SUCH DAMAGE. - -from __future__ import print_function - -import os -import runpy -import sys -from argparse import ArgumentParser - -setup_modules = [] - -try: - import distutils.core - setup_modules.append(distutils.core) -except ImportError: - pass - -try: - import setuptools - setup_modules.append(setuptools) -except ImportError: - pass - -assert setup_modules, 'Must have distutils or setuptools installed' - - -def _get_locations(pkgs, package_dir): - """ - Based on setuptools logic and the package_dir dict, builds a dict of location roots for each pkg in pkgs. - - See http://docs.python.org/distutils/setupscript.html - - :returns: a dict {pkgname: root} for each pkgname in pkgs (and each of their parents) - """ - # package_dir contains a dict {package_name: relativepath} - # Example {'': 'src', 'foo': 'lib', 'bar': 'lib2'} - # - # '' means where to look for any package unless a parent package - # is listed so package bar.pot is expected at lib2/bar/pot, - # whereas package sup.dee is expected at src/sup/dee - # - # if package_dir does not state anything about a package, - # setuptool expects the package folder to be in the root of the - # project - locations = {} - allprefix = package_dir.get('', '') - for pkg in pkgs: - parent_location = None - splits = pkg.split('.') - # we iterate over compound name from parent to child - # so once we found parent, children just append to their parent - for key_len in range(len(splits)): - key = '.'.join(splits[:key_len + 1]) - if key not in locations: - if key in package_dir: - locations[key] = package_dir[key] - elif parent_location is not None: - locations[key] = os.path.join(parent_location, splits[key_len]) - else: - locations[key] = os.path.join(allprefix, key) - parent_location = locations[key] - return locations - - -def generate_cmake_file(package_name, version, scripts, package_dir, pkgs, modules, setup_module=None): - """ - Generate lines to add to a cmake file which will set variables. - - :param version: str, format 'int.int.int' - :param scripts: [list of str]: relative paths to scripts - :param package_dir: {modulename: path} - :param pkgs: [list of str] python_packages declared in catkin package - :param modules: [list of str] python modules - :param setup_module: str, setuptools or distutils - """ - prefix = '%s_SETUP_PY' % package_name - result = [] - if setup_module: - result.append(r'set(%s_SETUP_MODULE "%s")' % (prefix, setup_module)) - result.append(r'set(%s_VERSION "%s")' % (prefix, version)) - result.append(r'set(%s_SCRIPTS "%s")' % (prefix, ';'.join(scripts))) - - # Remove packages with '.' separators. - # - # setuptools allows specifying submodules in other folders than - # their parent - # - # The symlink approach of catkin does not work with such submodules. - # In the common case, this does not matter as the submodule is - # within the containing module. We verify this assumption, and if - # it passes, we remove submodule packages. - locations = _get_locations(pkgs, package_dir) - for pkgname, location in locations.items(): - if '.' not in pkgname: - continue - splits = pkgname.split('.') - # hack: ignore write-combining setup.py files for msg and srv files - if splits[1] in ['msg', 'srv']: - continue - # check every child has the same root folder as its parent - root_name = splits[0] - root_location = location - for _ in range(len(splits) - 1): - root_location = os.path.dirname(root_location) - if root_location != locations[root_name]: - raise RuntimeError( - 'catkin_export_python does not support setup.py files that combine across multiple directories: %s in %s, %s in %s' % (pkgname, location, root_name, locations[root_name])) - - # If checks pass, remove all submodules - pkgs = [p for p in pkgs if '.' not in p] - - resolved_pkgs = [] - for pkg in pkgs: - resolved_pkgs += [locations[pkg]] - - result.append(r'set(%s_PACKAGES "%s")' % (prefix, ';'.join(pkgs))) - result.append(r'set(%s_PACKAGE_DIRS "%s")' % (prefix, ';'.join(resolved_pkgs).replace('\\', '/'))) - - # skip modules which collide with package names - filtered_modules = [] - for modname in modules: - splits = modname.split('.') - # check all parents too - equals_package = [('.'.join(splits[:-i]) in locations) for i in range(len(splits))] - if any(equals_package): - continue - filtered_modules.append(modname) - module_locations = _get_locations(filtered_modules, package_dir) - - result.append(r'set(%s_MODULES "%s")' % (prefix, ';'.join(['%s.py' % m.replace('.', '/') for m in filtered_modules]))) - result.append(r'set(%s_MODULE_DIRS "%s")' % (prefix, ';'.join([module_locations[m] for m in filtered_modules]).replace('\\', '/'))) - - return result - - -def _create_mock_setup_function(setup_module, package_name, outfile): - """ - Create a function to call instead of distutils.core.setup or setuptools.setup. - - It just captures some args and writes them into a file that can be used from cmake. - - :param package_name: name of the package - :param outfile: filename that cmake will use afterwards - :returns: a function to replace disutils.core.setup and setuptools.setup - """ - - def setup(*args, **kwargs): - """Check kwargs and write a scriptfile.""" - if 'version' not in kwargs: - sys.stderr.write("\n*** Unable to find 'version' in setup.py of %s\n" % package_name) - raise RuntimeError('version not found in setup.py') - version = kwargs['version'] - package_dir = kwargs.get('package_dir', {}) - - pkgs = kwargs.get('packages', []) - scripts = kwargs.get('scripts', []) - modules = kwargs.get('py_modules', []) - - unsupported_args = [ - 'entry_points', - 'exclude_package_data', - 'ext_modules ', - 'ext_package', - 'include_package_data', - 'namespace_packages', - 'setup_requires', - 'use_2to3', - 'zip_safe'] - used_unsupported_args = [arg for arg in unsupported_args if arg in kwargs] - if used_unsupported_args: - sys.stderr.write('*** Arguments %s to setup() not supported in catkin devel space in setup.py of %s\n' % (used_unsupported_args, package_name)) - - result = generate_cmake_file(package_name=package_name, - version=version, - scripts=scripts, - package_dir=package_dir, - pkgs=pkgs, - modules=modules, - setup_module=setup_module) - with open(outfile, 'w') as out: - out.write('\n'.join(result)) - - return setup - - -def main(): - """Script main, parses arguments and invokes Dummy.setup indirectly.""" - parser = ArgumentParser(description='Utility to read setup.py values from cmake macros. Creates a file with CMake set commands setting variables.') - parser.add_argument('package_name', help='Name of catkin package') - parser.add_argument('setupfile_path', help='Full path to setup.py') - parser.add_argument('outfile', help='Where to write result to') - - args = parser.parse_args() - - # print("%s" % sys.argv) - # PACKAGE_NAME = sys.argv[1] - # OUTFILE = sys.argv[3] - # print("Interrogating setup.py for package %s into %s " % (PACKAGE_NAME, OUTFILE), - # file=sys.stderr) - - # print("executing %s" % args.setupfile_path) - - # be sure you're in the directory containing - # setup.py so the sys.path manipulation works, - # so the import of __version__ works - os.chdir(os.path.dirname(os.path.abspath(args.setupfile_path))) - - # patch setup() function of distutils and setuptools for the - # context of evaluating setup.py - backup_modules = {} - try: - - for module in setup_modules: - backup_modules[id(module)] = module.setup - module.setup = _create_mock_setup_function( - setup_module=module.__name__, package_name=args.package_name, outfile=args.outfile) - - runpy.run_path(args.setupfile_path) - finally: - for module in setup_modules: - module.setup = backup_modules[id(module)] - - -if __name__ == '__main__': - main() diff --git a/GPU_version/vio/cmake-build-debug/catkin_generated/stamps/vio/package.xml.stamp b/GPU_version/vio/cmake-build-debug/catkin_generated/stamps/vio/package.xml.stamp deleted file mode 100644 index bfd7934..0000000 --- a/GPU_version/vio/cmake-build-debug/catkin_generated/stamps/vio/package.xml.stamp +++ /dev/null @@ -1,48 +0,0 @@ - - - - catkin - 0.7.28 - Low-level build system macros and infrastructure for ROS. - Dirk Thomas - BSD - - http://wiki.ros.org/catkin - https://github.com/ros/catkin/issues - https://github.com/ros/catkin - - Troy Straszheim - Morten Kjaergaard - Brian Gerkey - Dirk Thomas - - python-argparse - python-catkin-pkg - python3-catkin-pkg - python-empy - python3-empy - - cmake - python-setuptools - python3-setuptools - - cmake - python3-setuptools - - google-mock - gtest - python-nose - python3-nose - - python-mock - python3-mock - python-nose - python3-nose - - - - - - diff --git a/GPU_version/vio/cmake-build-debug/devel/.catkin b/GPU_version/vio/cmake-build-debug/devel/.catkin deleted file mode 100644 index 749f40c..0000000 --- a/GPU_version/vio/cmake-build-debug/devel/.catkin +++ /dev/null @@ -1 +0,0 @@ -/root/Project/ROS/src/vio_svo/GPU_version/svo \ No newline at end of file diff --git a/GPU_version/vio/cmake-build-debug/devel/.rosinstall b/GPU_version/vio/cmake-build-debug/devel/.rosinstall deleted file mode 100644 index b61ff9e..0000000 --- a/GPU_version/vio/cmake-build-debug/devel/.rosinstall +++ /dev/null @@ -1,2 +0,0 @@ -- setup-file: - local-name: /root/Project/ROS/src/vio_svo/GPU_version/svo/cmake-build-debug/devel/setup.sh diff --git a/GPU_version/vio/cmake-build-debug/devel/_setup_util.py b/GPU_version/vio/cmake-build-debug/devel/_setup_util.py deleted file mode 100755 index 760f26f..0000000 --- a/GPU_version/vio/cmake-build-debug/devel/_setup_util.py +++ /dev/null @@ -1,304 +0,0 @@ -#!/usr/bin/python2 -# -*- coding: utf-8 -*- - -# Software License Agreement (BSD License) -# -# Copyright (c) 2012, Willow Garage, Inc. -# All rights reserved. -# -# Redistribution and use in source and binary forms, with or without -# modification, are permitted provided that the following conditions -# are met: -# -# * Redistributions of source code must retain the above copyright -# notice, this list of conditions and the following disclaimer. -# * Redistributions in binary form must reproduce the above -# copyright notice, this list of conditions and the following -# disclaimer in the documentation and/or other materials provided -# with the distribution. -# * Neither the name of Willow Garage, Inc. nor the names of its -# contributors may be used to endorse or promote products derived -# from this software without specific prior written permission. -# -# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS -# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT -# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS -# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE -# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, -# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, -# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; -# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER -# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT -# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN -# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -# POSSIBILITY OF SUCH DAMAGE. - -"""This file generates shell code for the setup.SHELL scripts to set environment variables.""" - -from __future__ import print_function - -import argparse -import copy -import errno -import os -import platform -import sys - -CATKIN_MARKER_FILE = '.catkin' - -system = platform.system() -IS_DARWIN = (system == 'Darwin') -IS_WINDOWS = (system == 'Windows') - -PATH_TO_ADD_SUFFIX = ['bin'] -if IS_WINDOWS: - # while catkin recommends putting dll's into bin, 3rd party packages often put dll's into lib - # since Windows finds dll's via the PATH variable, prepend it with path to lib - PATH_TO_ADD_SUFFIX.extend([['lib', os.path.join('lib', 'x86_64-linux-gnu')]]) - -# subfolder of workspace prepended to CMAKE_PREFIX_PATH -ENV_VAR_SUBFOLDERS = { - 'CMAKE_PREFIX_PATH': '', - 'LD_LIBRARY_PATH' if not IS_DARWIN else 'DYLD_LIBRARY_PATH': ['lib', os.path.join('lib', 'x86_64-linux-gnu')], - 'PATH': PATH_TO_ADD_SUFFIX, - 'PKG_CONFIG_PATH': [os.path.join('lib', 'pkgconfig'), os.path.join('lib', 'x86_64-linux-gnu', 'pkgconfig')], - 'PYTHONPATH': 'lib/python2.7/dist-packages', -} - - -def rollback_env_variables(environ, env_var_subfolders): - """ - Generate shell code to reset environment variables. - - by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH. - This does not cover modifications performed by environment hooks. - """ - lines = [] - unmodified_environ = copy.copy(environ) - for key in sorted(env_var_subfolders.keys()): - subfolders = env_var_subfolders[key] - if not isinstance(subfolders, list): - subfolders = [subfolders] - value = _rollback_env_variable(unmodified_environ, key, subfolders) - if value is not None: - environ[key] = value - lines.append(assignment(key, value)) - if lines: - lines.insert(0, comment('reset environment variables by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH')) - return lines - - -def _rollback_env_variable(environ, name, subfolders): - """ - For each catkin workspace in CMAKE_PREFIX_PATH remove the first entry from env[NAME] matching workspace + subfolder. - - :param subfolders: list of str '' or subfoldername that may start with '/' - :returns: the updated value of the environment variable. - """ - value = environ[name] if name in environ else '' - env_paths = [path for path in value.split(os.pathsep) if path] - value_modified = False - for subfolder in subfolders: - if subfolder: - if subfolder.startswith(os.path.sep) or (os.path.altsep and subfolder.startswith(os.path.altsep)): - subfolder = subfolder[1:] - if subfolder.endswith(os.path.sep) or (os.path.altsep and subfolder.endswith(os.path.altsep)): - subfolder = subfolder[:-1] - for ws_path in _get_workspaces(environ, include_fuerte=True, include_non_existing=True): - path_to_find = os.path.join(ws_path, subfolder) if subfolder else ws_path - path_to_remove = None - for env_path in env_paths: - env_path_clean = env_path[:-1] if env_path and env_path[-1] in [os.path.sep, os.path.altsep] else env_path - if env_path_clean == path_to_find: - path_to_remove = env_path - break - if path_to_remove: - env_paths.remove(path_to_remove) - value_modified = True - new_value = os.pathsep.join(env_paths) - return new_value if value_modified else None - - -def _get_workspaces(environ, include_fuerte=False, include_non_existing=False): - """ - Based on CMAKE_PREFIX_PATH return all catkin workspaces. - - :param include_fuerte: The flag if paths starting with '/opt/ros/fuerte' should be considered workspaces, ``bool`` - """ - # get all cmake prefix paths - env_name = 'CMAKE_PREFIX_PATH' - value = environ[env_name] if env_name in environ else '' - paths = [path for path in value.split(os.pathsep) if path] - # remove non-workspace paths - workspaces = [path for path in paths if os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE)) or (include_fuerte and path.startswith('/opt/ros/fuerte')) or (include_non_existing and not os.path.exists(path))] - return workspaces - - -def prepend_env_variables(environ, env_var_subfolders, workspaces): - """Generate shell code to prepend environment variables for the all workspaces.""" - lines = [] - lines.append(comment('prepend folders of workspaces to environment variables')) - - paths = [path for path in workspaces.split(os.pathsep) if path] - - prefix = _prefix_env_variable(environ, 'CMAKE_PREFIX_PATH', paths, '') - lines.append(prepend(environ, 'CMAKE_PREFIX_PATH', prefix)) - - for key in sorted(key for key in env_var_subfolders.keys() if key != 'CMAKE_PREFIX_PATH'): - subfolder = env_var_subfolders[key] - prefix = _prefix_env_variable(environ, key, paths, subfolder) - lines.append(prepend(environ, key, prefix)) - return lines - - -def _prefix_env_variable(environ, name, paths, subfolders): - """ - Return the prefix to prepend to the environment variable NAME. - - Adding any path in NEW_PATHS_STR without creating duplicate or empty items. - """ - value = environ[name] if name in environ else '' - environ_paths = [path for path in value.split(os.pathsep) if path] - checked_paths = [] - for path in paths: - if not isinstance(subfolders, list): - subfolders = [subfolders] - for subfolder in subfolders: - path_tmp = path - if subfolder: - path_tmp = os.path.join(path_tmp, subfolder) - # skip nonexistent paths - if not os.path.exists(path_tmp): - continue - # exclude any path already in env and any path we already added - if path_tmp not in environ_paths and path_tmp not in checked_paths: - checked_paths.append(path_tmp) - prefix_str = os.pathsep.join(checked_paths) - if prefix_str != '' and environ_paths: - prefix_str += os.pathsep - return prefix_str - - -def assignment(key, value): - if not IS_WINDOWS: - return 'export %s="%s"' % (key, value) - else: - return 'set %s=%s' % (key, value) - - -def comment(msg): - if not IS_WINDOWS: - return '# %s' % msg - else: - return 'REM %s' % msg - - -def prepend(environ, key, prefix): - if key not in environ or not environ[key]: - return assignment(key, prefix) - if not IS_WINDOWS: - return 'export %s="%s$%s"' % (key, prefix, key) - else: - return 'set %s=%s%%%s%%' % (key, prefix, key) - - -def find_env_hooks(environ, cmake_prefix_path): - """Generate shell code with found environment hooks for the all workspaces.""" - lines = [] - lines.append(comment('found environment hooks in workspaces')) - - generic_env_hooks = [] - generic_env_hooks_workspace = [] - specific_env_hooks = [] - specific_env_hooks_workspace = [] - generic_env_hooks_by_filename = {} - specific_env_hooks_by_filename = {} - generic_env_hook_ext = 'bat' if IS_WINDOWS else 'sh' - specific_env_hook_ext = environ['CATKIN_SHELL'] if not IS_WINDOWS and 'CATKIN_SHELL' in environ and environ['CATKIN_SHELL'] else None - # remove non-workspace paths - workspaces = [path for path in cmake_prefix_path.split(os.pathsep) if path and os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE))] - for workspace in reversed(workspaces): - env_hook_dir = os.path.join(workspace, 'etc', 'catkin', 'profile.d') - if os.path.isdir(env_hook_dir): - for filename in sorted(os.listdir(env_hook_dir)): - if filename.endswith('.%s' % generic_env_hook_ext): - # remove previous env hook with same name if present - if filename in generic_env_hooks_by_filename: - i = generic_env_hooks.index(generic_env_hooks_by_filename[filename]) - generic_env_hooks.pop(i) - generic_env_hooks_workspace.pop(i) - # append env hook - generic_env_hooks.append(os.path.join(env_hook_dir, filename)) - generic_env_hooks_workspace.append(workspace) - generic_env_hooks_by_filename[filename] = generic_env_hooks[-1] - elif specific_env_hook_ext is not None and filename.endswith('.%s' % specific_env_hook_ext): - # remove previous env hook with same name if present - if filename in specific_env_hooks_by_filename: - i = specific_env_hooks.index(specific_env_hooks_by_filename[filename]) - specific_env_hooks.pop(i) - specific_env_hooks_workspace.pop(i) - # append env hook - specific_env_hooks.append(os.path.join(env_hook_dir, filename)) - specific_env_hooks_workspace.append(workspace) - specific_env_hooks_by_filename[filename] = specific_env_hooks[-1] - env_hooks = generic_env_hooks + specific_env_hooks - env_hooks_workspace = generic_env_hooks_workspace + specific_env_hooks_workspace - count = len(env_hooks) - lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_COUNT', count)) - for i in range(count): - lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d' % i, env_hooks[i])) - lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d_WORKSPACE' % i, env_hooks_workspace[i])) - return lines - - -def _parse_arguments(args=None): - parser = argparse.ArgumentParser(description='Generates code blocks for the setup.SHELL script.') - parser.add_argument('--extend', action='store_true', help='Skip unsetting previous environment variables to extend context') - parser.add_argument('--local', action='store_true', help='Only consider this prefix path and ignore other prefix path in the environment') - return parser.parse_known_args(args=args)[0] - - -if __name__ == '__main__': - try: - try: - args = _parse_arguments() - except Exception as e: - print(e, file=sys.stderr) - sys.exit(1) - - if not args.local: - # environment at generation time - CMAKE_PREFIX_PATH = '/opt/ros/melodic'.split(';') - else: - # don't consider any other prefix path than this one - CMAKE_PREFIX_PATH = [] - # prepend current workspace if not already part of CPP - base_path = os.path.dirname(__file__) - # CMAKE_PREFIX_PATH uses forward slash on all platforms, but __file__ is platform dependent - # base_path on Windows contains backward slashes, need to be converted to forward slashes before comparison - if os.path.sep != '/': - base_path = base_path.replace(os.path.sep, '/') - - if base_path not in CMAKE_PREFIX_PATH: - CMAKE_PREFIX_PATH.insert(0, base_path) - CMAKE_PREFIX_PATH = os.pathsep.join(CMAKE_PREFIX_PATH) - - environ = dict(os.environ) - lines = [] - if not args.extend: - lines += rollback_env_variables(environ, ENV_VAR_SUBFOLDERS) - lines += prepend_env_variables(environ, ENV_VAR_SUBFOLDERS, CMAKE_PREFIX_PATH) - lines += find_env_hooks(environ, CMAKE_PREFIX_PATH) - print('\n'.join(lines)) - - # need to explicitly flush the output - sys.stdout.flush() - except IOError as e: - # and catch potential "broken pipe" if stdout is not writable - # which can happen when piping the output to a file but the disk is full - if e.errno == errno.EPIPE: - print(e, file=sys.stderr) - sys.exit(2) - raise - - sys.exit(0) diff --git a/GPU_version/vio/cmake-build-debug/devel/cmake.lock b/GPU_version/vio/cmake-build-debug/devel/cmake.lock deleted file mode 100644 index e69de29..0000000 diff --git a/GPU_version/vio/cmake-build-debug/devel/env.sh b/GPU_version/vio/cmake-build-debug/devel/env.sh deleted file mode 100755 index 8aa9d24..0000000 --- a/GPU_version/vio/cmake-build-debug/devel/env.sh +++ /dev/null @@ -1,16 +0,0 @@ -#!/usr/bin/env sh -# generated from catkin/cmake/templates/env.sh.in - -if [ $# -eq 0 ] ; then - /bin/echo "Usage: env.sh COMMANDS" - /bin/echo "Calling env.sh without arguments is not supported anymore. Instead spawn a subshell and source a setup file manually." - exit 1 -fi - -# ensure to not use different shell type which was set before -CATKIN_SHELL=sh - -# source setup.sh from same directory as this file -_CATKIN_SETUP_DIR=$(cd "`dirname "$0"`" > /dev/null && pwd) -. "$_CATKIN_SETUP_DIR/setup.sh" -exec "$@" diff --git a/GPU_version/vio/cmake-build-debug/devel/local_setup.bash b/GPU_version/vio/cmake-build-debug/devel/local_setup.bash deleted file mode 100644 index 7da0d97..0000000 --- a/GPU_version/vio/cmake-build-debug/devel/local_setup.bash +++ /dev/null @@ -1,8 +0,0 @@ -#!/usr/bin/env bash -# generated from catkin/cmake/templates/local_setup.bash.in - -CATKIN_SHELL=bash - -# source setup.sh from same directory as this file -_CATKIN_SETUP_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd) -. "$_CATKIN_SETUP_DIR/setup.sh" --extend --local diff --git a/GPU_version/vio/cmake-build-debug/devel/local_setup.sh b/GPU_version/vio/cmake-build-debug/devel/local_setup.sh deleted file mode 100644 index d29ab41..0000000 --- a/GPU_version/vio/cmake-build-debug/devel/local_setup.sh +++ /dev/null @@ -1,9 +0,0 @@ -#!/usr/bin/env sh -# generated from catkin/cmake/template/local_setup.sh.in - -# since this file is sourced either use the provided _CATKIN_SETUP_DIR -# or fall back to the destination set at configure time -: ${_CATKIN_SETUP_DIR:=/root/Project/ROS/src/vio_svo/GPU_version/svo/cmake-build-debug/devel} -CATKIN_SETUP_UTIL_ARGS="--extend --local" -. "$_CATKIN_SETUP_DIR/setup.sh" -unset CATKIN_SETUP_UTIL_ARGS diff --git a/GPU_version/vio/cmake-build-debug/devel/local_setup.zsh b/GPU_version/vio/cmake-build-debug/devel/local_setup.zsh deleted file mode 100644 index e692acc..0000000 --- a/GPU_version/vio/cmake-build-debug/devel/local_setup.zsh +++ /dev/null @@ -1,8 +0,0 @@ -#!/usr/bin/env zsh -# generated from catkin/cmake/templates/local_setup.zsh.in - -CATKIN_SHELL=zsh - -# source setup.sh from same directory as this file -_CATKIN_SETUP_DIR=$(builtin cd -q "`dirname "$0"`" > /dev/null && pwd) -emulate -R zsh -c 'source "$_CATKIN_SETUP_DIR/setup.sh" --extend --local' diff --git a/GPU_version/vio/cmake-build-debug/devel/setup.bash b/GPU_version/vio/cmake-build-debug/devel/setup.bash deleted file mode 100644 index ff47af8..0000000 --- a/GPU_version/vio/cmake-build-debug/devel/setup.bash +++ /dev/null @@ -1,8 +0,0 @@ -#!/usr/bin/env bash -# generated from catkin/cmake/templates/setup.bash.in - -CATKIN_SHELL=bash - -# source setup.sh from same directory as this file -_CATKIN_SETUP_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd) -. "$_CATKIN_SETUP_DIR/setup.sh" diff --git a/GPU_version/vio/cmake-build-debug/devel/setup.sh b/GPU_version/vio/cmake-build-debug/devel/setup.sh deleted file mode 100644 index 1764d84..0000000 --- a/GPU_version/vio/cmake-build-debug/devel/setup.sh +++ /dev/null @@ -1,96 +0,0 @@ -#!/usr/bin/env sh -# generated from catkin/cmake/template/setup.sh.in - -# Sets various environment variables and sources additional environment hooks. -# It tries it's best to undo changes from a previously sourced setup file before. -# Supported command line options: -# --extend: skips the undoing of changes from a previously sourced setup file -# --local: only considers this workspace but not the chained ones -# In plain sh shell which doesn't support arguments for sourced scripts you can -# set the environment variable `CATKIN_SETUP_UTIL_ARGS=--extend/--local` instead. - -# since this file is sourced either use the provided _CATKIN_SETUP_DIR -# or fall back to the destination set at configure time -: ${_CATKIN_SETUP_DIR:=/root/Project/ROS/src/vio_svo/GPU_version/svo/cmake-build-debug/devel} -_SETUP_UTIL="$_CATKIN_SETUP_DIR/_setup_util.py" -unset _CATKIN_SETUP_DIR - -if [ ! -f "$_SETUP_UTIL" ]; then - echo "Missing Python script: $_SETUP_UTIL" - return 22 -fi - -# detect if running on Darwin platform -_UNAME=`uname -s` -_IS_DARWIN=0 -if [ "$_UNAME" = "Darwin" ]; then - _IS_DARWIN=1 -fi -unset _UNAME - -# make sure to export all environment variables -export CMAKE_PREFIX_PATH -if [ $_IS_DARWIN -eq 0 ]; then - export LD_LIBRARY_PATH -else - export DYLD_LIBRARY_PATH -fi -unset _IS_DARWIN -export PATH -export PKG_CONFIG_PATH -export PYTHONPATH - -# remember type of shell if not already set -if [ -z "$CATKIN_SHELL" ]; then - CATKIN_SHELL=sh -fi - -# invoke Python script to generate necessary exports of environment variables -# use TMPDIR if it exists, otherwise fall back to /tmp -if [ -d "${TMPDIR:-}" ]; then - _TMPDIR="${TMPDIR}" -else - _TMPDIR=/tmp -fi -_SETUP_TMP=`mktemp "${_TMPDIR}/setup.sh.XXXXXXXXXX"` -unset _TMPDIR -if [ $? -ne 0 -o ! -f "$_SETUP_TMP" ]; then - echo "Could not create temporary file: $_SETUP_TMP" - return 1 -fi -CATKIN_SHELL=$CATKIN_SHELL "$_SETUP_UTIL" $@ ${CATKIN_SETUP_UTIL_ARGS:-} >> "$_SETUP_TMP" -_RC=$? -if [ $_RC -ne 0 ]; then - if [ $_RC -eq 2 ]; then - echo "Could not write the output of '$_SETUP_UTIL' to temporary file '$_SETUP_TMP': may be the disk if full?" - else - echo "Failed to run '\"$_SETUP_UTIL\" $@': return code $_RC" - fi - unset _RC - unset _SETUP_UTIL - rm -f "$_SETUP_TMP" - unset _SETUP_TMP - return 1 -fi -unset _RC -unset _SETUP_UTIL -. "$_SETUP_TMP" -rm -f "$_SETUP_TMP" -unset _SETUP_TMP - -# source all environment hooks -_i=0 -while [ $_i -lt $_CATKIN_ENVIRONMENT_HOOKS_COUNT ]; do - eval _envfile=\$_CATKIN_ENVIRONMENT_HOOKS_$_i - unset _CATKIN_ENVIRONMENT_HOOKS_$_i - eval _envfile_workspace=\$_CATKIN_ENVIRONMENT_HOOKS_${_i}_WORKSPACE - unset _CATKIN_ENVIRONMENT_HOOKS_${_i}_WORKSPACE - # set workspace for environment hook - CATKIN_ENV_HOOK_WORKSPACE=$_envfile_workspace - . "$_envfile" - unset CATKIN_ENV_HOOK_WORKSPACE - _i=$((_i + 1)) -done -unset _i - -unset _CATKIN_ENVIRONMENT_HOOKS_COUNT diff --git a/GPU_version/vio/cmake-build-debug/devel/setup.zsh b/GPU_version/vio/cmake-build-debug/devel/setup.zsh deleted file mode 100644 index 9f780b7..0000000 --- a/GPU_version/vio/cmake-build-debug/devel/setup.zsh +++ /dev/null @@ -1,8 +0,0 @@ -#!/usr/bin/env zsh -# generated from catkin/cmake/templates/setup.zsh.in - -CATKIN_SHELL=zsh - -# source setup.sh from same directory as this file -_CATKIN_SETUP_DIR=$(builtin cd -q "`dirname "$0"`" > /dev/null && pwd) -emulate -R zsh -c 'source "$_CATKIN_SETUP_DIR/setup.sh"' From 43edfce29e863a7306efcf8a1a14283279514949 Mon Sep 17 00:00:00 2001 From: gfuse Date: Tue, 29 Jun 2021 10:23:52 +0200 Subject: [PATCH 208/215] correct visualization --- CPU_version/svo/CMakeLists.txt | 2 +- CPU_version/vio_svo/CMakeLists.txt | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/CPU_version/svo/CMakeLists.txt b/CPU_version/svo/CMakeLists.txt index 5ecd775..c3ace90 100644 --- a/CPU_version/svo/CMakeLists.txt +++ b/CPU_version/svo/CMakeLists.txt @@ -47,7 +47,7 @@ ENDIF() SET(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS} -O3 -fsee -fomit-frame-pointer -fno-signed-zeros -fno-math-errno -funroll-loops") # Add plain cmake packages -FIND_PACKAGE(OpenCV REQUIRED) +FIND_PACKAGE(OpenCV 3 REQUIRED) FIND_PACKAGE(Eigen REQUIRED) FIND_PACKAGE(Sophus REQUIRED) FIND_PACKAGE(fast REQUIRED) diff --git a/CPU_version/vio_svo/CMakeLists.txt b/CPU_version/vio_svo/CMakeLists.txt index 70101db..7fdf637 100644 --- a/CPU_version/vio_svo/CMakeLists.txt +++ b/CPU_version/vio_svo/CMakeLists.txt @@ -37,7 +37,7 @@ FIND_PACKAGE(catkin REQUIRED COMPONENTS ) # Add plain cmake packages -FIND_PACKAGE(OpenCV REQUIRED) +FIND_PACKAGE(OpenCV 3 REQUIRED) FIND_PACKAGE(Eigen REQUIRED) FIND_PACKAGE(Sophus REQUIRED) FIND_PACKAGE(Boost REQUIRED COMPONENTS thread) From 46322cf74c55a9723954013eb0d40bf21fa0def7 Mon Sep 17 00:00:00 2001 From: gfuse Date: Tue, 29 Jun 2021 10:27:59 +0200 Subject: [PATCH 209/215] correct visualization --- GPU_version/vio/param/vo_fast.yaml | 2 +- GPU_version/vio/src/visualizer.cpp | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/GPU_version/vio/param/vo_fast.yaml b/GPU_version/vio/param/vo_fast.yaml index 90df6be..99da116 100644 --- a/GPU_version/vio/param/vo_fast.yaml +++ b/GPU_version/vio/param/vo_fast.yaml @@ -11,5 +11,5 @@ svo: poseoptim_thresh: 4.0 ACC_noise: 0.1 #acc white noise in continuous in EKF GYO_noise: 0.1 #gyro white noise in continuous in EKF - svo_ekf: 20 #Svo noise that will be devided by number of Reprojected points after opmization in EKF + svo_ekf: 5 #Svo noise that will be devided by number of Reprojected points after opmization in EKF Cmd_Cov: 0.05 #control vector noise in EKF diff --git a/GPU_version/vio/src/visualizer.cpp b/GPU_version/vio/src/visualizer.cpp index 43bc4b1..95b3353 100644 --- a/GPU_version/vio/src/visualizer.cpp +++ b/GPU_version/vio/src/visualizer.cpp @@ -53,7 +53,7 @@ void Visualizer::publishMinimal( if(pub_pose_with_cov_.getNumSubscribers() > 0 && slam.stage() == FrameHandlerBase::STAGE_DEFAULT_FRAME) { // publish cam in world frame (Estimated odometry in the worls frame) - Quaterniond q(AngleAxisd(frame->T_f_w_.pitch(), Vector3d::UnitY())); + Quaterniond q(AngleAxisd(frame->T_f_w_.pitch(), 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(); From 9ca9e263ba6161e73b0f7c8e6f94937b1dbaf571 Mon Sep 17 00:00:00 2001 From: gfuse Date: Wed, 30 Jun 2021 10:22:49 +0200 Subject: [PATCH 210/215] edit EKF formula --- .../vio/include/gpu_svo/frame_handler_mono.h | 2 +- GPU_version/vio/include/gpu_svo/ukf.h | 108 ++++++++---------- GPU_version/vio/param/vo_fast.yaml | 2 +- GPU_version/vio/src/feature_alignment.cpp | 6 +- GPU_version/vio/src/frame_handler_mono.cpp | 3 +- GPU_version/vio/src/vo_node.cpp | 5 +- 6 files changed, 57 insertions(+), 69 deletions(-) diff --git a/GPU_version/vio/include/gpu_svo/frame_handler_mono.h b/GPU_version/vio/include/gpu_svo/frame_handler_mono.h index 3faa24f..ea323be 100644 --- a/GPU_version/vio/include/gpu_svo/frame_handler_mono.h +++ b/GPU_version/vio/include/gpu_svo/frame_handler_mono.h @@ -33,7 +33,7 @@ class FrameHandlerMono : public FrameHandlerBase public: EIGEN_MAKE_ALIGNED_OPERATOR_NEW - FrameHandlerMono(vk::AbstractCamera* cam,Eigen::Matrix& init); + FrameHandlerMono(vk::AbstractCamera* cam,Eigen::Matrix& init); virtual ~FrameHandlerMono(); /// Provide an image. diff --git a/GPU_version/vio/include/gpu_svo/ukf.h b/GPU_version/vio/include/gpu_svo/ukf.h index 7919c32..0f1d787 100644 --- a/GPU_version/vio/include/gpu_svo/ukf.h +++ b/GPU_version/vio/include/gpu_svo/ukf.h @@ -10,93 +10,87 @@ #include class Base{ public: - Base(const Eigen::Matrix &init) { + Base(const Eigen::Matrix &init) { state_=init; cov_.setIdentity(); cov_*=0.0001; }; virtual ~Base(){ }; - void predict(double ddx,double ddz,double dpitch,double time){ + void predict(double dx,double dz,double dpitch,double time){ if(t_==0.0){ t_=time; return; } - double t=time-t_; + double dt=time-t_; t_=time; - state_h_< G; - G<<1.0,0,t,0,-0.5*pow(t,2)*(ddz*cos(state_(4))+ddx*sin(state_(4))),0, - 0,1.0,0,t,0.5*pow(t,2)*(ddx*cos(state_(4))-ddz*sin(state_(4))),0, - 0,0,1.0,0,-t*(ddz*cos(state_(4))+ddx*sin(state_(4))),0, - 0,0,0,1.0,t*(ddx*cos(state_(4))-ddz*sin(state_(4))),0, - 0,0,0,0,1.0,t*dpitch, - 0,0,0,0,0,1.0; - Eigen::Matrix R; - R<<10.0*svo::Config::ACC_Noise(),0,0,0,0,0, - 0,10.0*svo::Config::ACC_Noise(),0,0,0,0, - 0,0,svo::Config::ACC_Noise(),0,0,0, - 0,0,0,svo::Config::ACC_Noise(),0,0, - 0,0,0,0,10.0*svo::Config::GYO_Noise(),0, - 0,0,0,0,0,svo::Config::GYO_Noise(); + state_h_(2)=state_(2)+dt*dpitch; + state_h_(1)=state_(1)+dz*cos(state_(2))-dx*sin(state_(2)); + state_h_(0)=state_(0)+dx*cos(state_(2))+dz*sin(state_(2)); + Eigen::Matrix R; + R< G; + G<<1.0,0,-dx*sin(state_(2))+dz*cos(state_(2)), + 0,1.0,-dz*sin(state_(2))-dx*cos(state_(2)), + 0,0,1.0; cov_h_=G*cov_*G.transpose()+R; predict_up=true; } - void correct(double x, double z, double pitch, double time){ - Eigen::Matrix H; + void correct(double ddx, double ddz, double dpitch, double time){ + Eigen::Matrix H; Eigen::Matrix Q; Eigen::Matrix E; - Eigen::Matrix k; + Eigen::Matrix k; + double dt=time-t_; t_=time; - H<<0,0,1.0,0,0,0, - 0,0,0,1.0,0,0, - 0,0,0,0,0,1.0; - Q< H; + Eigen::Matrix H; Eigen::Matrix Q; Eigen::Matrix E; - Eigen::Matrix k; + Eigen::Matrix k; t_=time; ++match; - H<<1.0,0,0,0,0,0, - 0,1.0,0,0,0,0, - 0,0,0,0,1.0,0; + H<<1.0,0,0, + 0,1.0,0, + 0,0,1.0; Q< cov_; - Eigen::Matrix state_; + Eigen::Matrix cov_; + Eigen::Matrix state_; bool predict_up=false; private: double t_=0.0; - Eigen::Matrix cov_h_; - Eigen::Matrix state_h_;//state{x,z,dx,dv,pitch} + Eigen::Matrix cov_h_; + Eigen::Matrix state_h_;//state{x,z,pitch} }; class UKF { public: - UKF(const Eigen::Matrix& init) : filter_(new Base(init)) { + UKF(const Eigen::Matrix& init) : filter_(new Base(init)) { }; virtual ~UKF() { delete filter_; @@ -104,30 +98,24 @@ public: void UpdateIMU(double x,double z,double pitch,const ros::Time& time) { while(lock)usleep(5); lock=true; - //if(abs(x)<1.0)x=pow(x,3);//picked up from your code - //if(abs(z)<1.0)z=pow(z,3);//picked up from your code - if(!filter_->predict_up)filter_->predict(x,z,pitch,1e-9*time.toNSec()); + if(abs(x)<1.0)x=pow(x,3);//picked up from your code + if(abs(z)<1.0)z=pow(z,3);//picked up from your code + if(filter_->predict_up)filter_->correct(x,z,pitch,1e-9*time.toNSec()); lock=false; }; void UpdateCmd(double x,double z,double pitch,const ros::Time& time) { while(lock)usleep(5); lock=true; - filter_->correct(x,z,pitch,1e-9*time.toNSec()); + filter_->predict(x,z,pitch,1e-9*time.toNSec()); lock=false; }; std::pair,svo::SE2> UpdateSvo(double x,double z,double pitch,size_t match,ros::Time& time) { while(lock)usleep(5); lock=true; - filter_->correct(-1.0*x,-1.0*z,pitch,match,1e-9*time.toNSec()); + if(filter_->predict_up)filter_->correct(x,z,pitch,match,1e-9*time.toNSec()); lock=false; - //std::cout<<"filter cov\n"<cov_<<'\n'; - //std::cout<<"filter state\n"<state_<<'\n'; - Eigen::Matrix cov; - cov<cov_(0,0),filter_->cov_(0,1),filter_->cov_(0,4), - filter_->cov_(1,0),filter_->cov_(1,1),filter_->cov_(1,4), - filter_->cov_(4,0),filter_->cov_(4,1),filter_->cov_(4,4); - svo::SE2 out(filter_->state_(4),Eigen::Vector2d(-1.0*filter_->state_(0),-1.0*filter_->state_(1))); - return std::pair,svo::SE2>(cov,out); + svo::SE2 out(filter_->state_(2),Eigen::Vector2d(filter_->state_(0),filter_->state_(1))); + return std::pair,svo::SE2>(filter_->cov_,out); }; private: Base* filter_= nullptr; diff --git a/GPU_version/vio/param/vo_fast.yaml b/GPU_version/vio/param/vo_fast.yaml index 99da116..11b2b18 100644 --- a/GPU_version/vio/param/vo_fast.yaml +++ b/GPU_version/vio/param/vo_fast.yaml @@ -12,4 +12,4 @@ svo: ACC_noise: 0.1 #acc white noise in continuous in EKF GYO_noise: 0.1 #gyro white noise in continuous in EKF svo_ekf: 5 #Svo noise that will be devided by number of Reprojected points after opmization in EKF - Cmd_Cov: 0.05 #control vector noise in EKF + Cmd_Cov: 0.5 #control vector noise in EKF diff --git a/GPU_version/vio/src/feature_alignment.cpp b/GPU_version/vio/src/feature_alignment.cpp index 0a3de63..9e42e47 100644 --- a/GPU_version/vio/src/feature_alignment.cpp +++ b/GPU_version/vio/src/feature_alignment.cpp @@ -203,7 +203,7 @@ bool align2D( bool sign=true;// + // termination condition - const float min_update_squared = 0.1;//0.001 + const float min_update_squared = 0.5;//0.001 const int cur_step = cur_img.step.p[0]; // float chi2 = 0; Vector3f update; update.setZero(); @@ -337,7 +337,7 @@ bool align2D_SSE2( float v = cur_px_estimate.y(); // termination condition - const float min_update_squared = 0.03*0.03; + const float min_update_squared = 0.1*0.1; const int cur_step = cur_img.step.p[0]; const float Dinv = 1.0f/(A11*A22 - A12*A12); // we are missing an extra factor 16 float chi2 = 0; @@ -502,7 +502,7 @@ bool align2D_NEON ( float v = cur_px_estimate.y(); // termination condition - const float min_update_squared = 0.03*0.03; + const float min_update_squared = 0.1*0.1; const int cur_step = cur_img.step.p[0]; Vector3f update; Vector3f Jres; diff --git a/GPU_version/vio/src/frame_handler_mono.cpp b/GPU_version/vio/src/frame_handler_mono.cpp index 74527d1..f9782a5 100644 --- a/GPU_version/vio/src/frame_handler_mono.cpp +++ b/GPU_version/vio/src/frame_handler_mono.cpp @@ -27,7 +27,7 @@ namespace svo { -FrameHandlerMono::FrameHandlerMono(vk::AbstractCamera* cam,Eigen::Matrix& init) : +FrameHandlerMono::FrameHandlerMono(vk::AbstractCamera* cam,Eigen::Matrix& init) : FrameHandlerBase(), cam_(cam), reprojector_(cam_, map_), @@ -133,7 +133,6 @@ FrameHandlerBase::UpdateResult FrameHandlerMono::processSecondFrame() FrameHandlerBase::UpdateResult FrameHandlerMono::processFrame() { - new_frame_->T_f_w_ = last_frame_->T_f_w_; // sparse image align SparseImgAlign img_align(Config::kltMaxLevel(), Config::kltMinLevel(), diff --git a/GPU_version/vio/src/vo_node.cpp b/GPU_version/vio/src/vo_node.cpp index 20e874d..8fe3f84 100644 --- a/GPU_version/vio/src/vo_node.cpp +++ b/GPU_version/vio/src/vo_node.cpp @@ -74,8 +74,8 @@ VoNode::VoNode() : Eigen::Vector3d(vk::getParam("vio/init_tx", 0.0), vk::getParam("vio/init_ty", 0.0), vk::getParam("vio/init_tz", 0.0))); - Eigen::Matrix init; - init<<1e-5,1e-5,1e-5,1e-5,1e-5,1e-5; + Eigen::Matrix init; + init<<1e-19,1e-19,1e-19; vo_ = new svo::FrameHandlerMono(cam_,init); usleep(500); @@ -157,6 +157,7 @@ void VoNode::imuCb(const sensor_msgs::ImuPtr &imu) { } #endif vo_->UpdateIMU(imu_in,imu->header.stamp); + imu_time_=imu->header.stamp; } void VoNode::cmdCb(const geometry_msgs::TwistPtr &cmd) { double _cmd[3]={cmd->linear.x,cmd->linear.y,cmd->angular.z}; From 3b110b299b92a0eacc4b35c8bdb0950230b7e038 Mon Sep 17 00:00:00 2001 From: gfuse Date: Tue, 6 Jul 2021 18:43:09 +0200 Subject: [PATCH 211/215] edit EKF formula for odometry estimation problem --- GPU_version/vio/include/gpu_svo/ukf.h | 34 +++++++++++++++++----- GPU_version/vio/param/vo_fast.yaml | 10 +++---- GPU_version/vio/src/frame_handler_mono.cpp | 21 +++++-------- GPU_version/vio/src/map.cpp | 1 - 4 files changed, 38 insertions(+), 28 deletions(-) diff --git a/GPU_version/vio/include/gpu_svo/ukf.h b/GPU_version/vio/include/gpu_svo/ukf.h index 0f1d787..b3a5cd2 100644 --- a/GPU_version/vio/include/gpu_svo/ukf.h +++ b/GPU_version/vio/include/gpu_svo/ukf.h @@ -56,8 +56,23 @@ 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_; - predict_up=false; + 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))); + state_h_(0)=state_(0)+0.5*pow(dt,2)*(ddx*cos(state_(2))+ddz*sin(state_(2))); + Eigen::Matrix R; + R< G; + G<<1.0,0,0.5*pow(dt,2)*(ddz*cos(state_(2))-ddx*sin(state_(2))), + 0,1.0,-0.5*pow(dt,2)*(ddx*cos(state_(2))+ddz*sin(state_(2))), + 0,0,1.0; + cov_h_=G*cov_*G.transpose()+R; + yaw_t_1_=state_(2); + } void correct(double x, double z,double pitch,size_t match,double time){ Eigen::Matrix H; @@ -69,13 +84,16 @@ public: H<<1.0,0,0, 0,1.0,0, 0,0,1.0; - Q<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; } Eigen::Matrix cov_; @@ -85,6 +103,7 @@ private: double t_=0.0; Eigen::Matrix cov_h_; Eigen::Matrix state_h_;//state{x,z,pitch} + double yaw_t_1_=0.0; }; @@ -109,13 +128,12 @@ public: filter_->predict(x,z,pitch,1e-9*time.toNSec()); lock=false; }; - std::pair,svo::SE2> UpdateSvo(double x,double z,double pitch,size_t match,ros::Time& time) { + std::pair,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()); lock=false; - svo::SE2 out(filter_->state_(2),Eigen::Vector2d(filter_->state_(0),filter_->state_(1))); - return std::pair,svo::SE2>(filter_->cov_,out); + return std::pair,svo::SE2_5>(filter_->cov_,svo::SE2_5(filter_->state_(0),filter_->state_(1),filter_->state_(2))); }; private: Base* filter_= nullptr; diff --git a/GPU_version/vio/param/vo_fast.yaml b/GPU_version/vio/param/vo_fast.yaml index 11b2b18..f0c5dd7 100644 --- a/GPU_version/vio/param/vo_fast.yaml +++ b/GPU_version/vio/param/vo_fast.yaml @@ -7,9 +7,9 @@ svo: init_min_tracked: 100 init_min_disparity: 30 structureoptim_max_pts: 50 - kfselect_mindist: 0.05 + kfselect_mindist: 0.001 poseoptim_thresh: 4.0 - ACC_noise: 0.1 #acc white noise in continuous in EKF - GYO_noise: 0.1 #gyro white noise in continuous in EKF - svo_ekf: 5 #Svo noise that will be devided by number of Reprojected points after opmization in EKF - Cmd_Cov: 0.5 #control vector noise in EKF + ACC_noise: 0.001 #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 diff --git a/GPU_version/vio/src/frame_handler_mono.cpp b/GPU_version/vio/src/frame_handler_mono.cpp index f9782a5..5f172ab 100644 --- a/GPU_version/vio/src/frame_handler_mono.cpp +++ b/GPU_version/vio/src/frame_handler_mono.cpp @@ -113,7 +113,7 @@ FrameHandlerBase::UpdateResult FrameHandlerMono::processSecondFrame() new_frame_->T_f_w_ = last_frame_->T_f_w_; 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_); - new_frame_->T_f_w_ = SE2_5(result.second); + new_frame_->T_f_w_ = result.second; new_frame_->Cov_ = result.first; if(res == initialization::NO_KEYFRAME) return RESULT_NO_KEYFRAME; @@ -138,8 +138,6 @@ FrameHandlerBase::UpdateResult FrameHandlerMono::processFrame() SparseImgAlign img_align(Config::kltMaxLevel(), Config::kltMinLevel(), 30, SparseImgAlign::LevenbergMarquardt, false, false); img_align.run(last_frame_, new_frame_); - // std::cout<<"img_align:\n"<T_f_w_.getSE2()<<"\n"; - // map reprojection & feature alignment reprojector_.reprojectMap(new_frame_, overlap_kfs_); size_t sfba_n_edges_final=0; double sfba_thresh, sfba_error_init, sfba_error_final; @@ -151,7 +149,7 @@ FrameHandlerBase::UpdateResult FrameHandlerMono::processFrame() } 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_); - new_frame_->T_f_w_ = SE2_5(result.second); + new_frame_->T_f_w_ =result.second; new_frame_->Cov_ = result.first; std::cout<<"Reprojection Map nPoint: "< 50 || depth_min < 0.0) - { - return RESULT_NO_KEYFRAME; - } if(!needNewKf(depth_mean) || tracking_quality_ == TRACKING_BAD)//edited { depth_filter_->addFrame(new_frame_); @@ -191,6 +185,7 @@ FrameHandlerBase::UpdateResult FrameHandlerMono::processFrame() // init new depth-filters depth_filter_->addKeyframe(new_frame_, depth_mean, 0.5*depth_min); + // if limited number of keyframes, remove the one furthest apart if(Config::maxNKfs() > 2 && map_.size() >= Config::maxNKfs()) { @@ -275,13 +270,11 @@ bool FrameHandlerMono::needNewKf(double scene_depth_mean) if(scene_depth_mean >10.0)return true; for(auto&& it:overlap_kfs_) { - Vector3d relpos = new_frame_->w2f(Vector3d(it.first->pos()(0),0.0,it.first->pos()(1))); - if(fabs(relpos.norm())/scene_depth_mean < Config::kfSelectMinDist()){ - return false; - } - + if(fabs(it.first->T_f_w_.pitch()-new_frame_->T_f_w_.pitch())>0.0523599)return true; + if(fabs((it.first->T_f_w_.translation()-new_frame_->T_f_w_.translation()).norm()) > Config::kfSelectMinDist()) + return true; } - return true; + return false; } void FrameHandlerMono::setCoreKfs(size_t n_closest) diff --git a/GPU_version/vio/src/map.cpp b/GPU_version/vio/src/map.cpp index 877d617..c6eb05b 100644 --- a/GPU_version/vio/src/map.cpp +++ b/GPU_version/vio/src/map.cpp @@ -109,7 +109,6 @@ void Map::getCloseKeyframes( { for(auto kf : keyframes_) { - std::cout<<"key points:"<key_pts_.size())<<'\t'; // check if kf has overlaping field of view with frame, use therefore KeyPoints for(auto keypoint : kf->key_pts_) { From 99fa000ad55f5178d9f6d45956de41aadb4876a9 Mon Sep 17 00:00:00 2001 From: gfuse Date: Sat, 10 Jul 2021 13:35:58 +0200 Subject: [PATCH 212/215] 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. --- GPU_version/vio/include/gpu_svo/frame.h | 27 ++----- .../vio/include/gpu_svo/frame_handler_mono.h | 2 +- GPU_version/vio/include/gpu_svo/global.h | 19 ++++- GPU_version/vio/include/gpu_svo/matcher.h | 2 +- GPU_version/vio/include/gpu_svo/ukf.h | 25 ++++-- GPU_version/vio/include/gpu_svo/vision.h | 5 +- GPU_version/vio/include/gpu_svo/visualizer.h | 12 +-- GPU_version/vio/param/vo_fast.yaml | 8 +- GPU_version/vio/src/depth_filter.cpp | 2 +- GPU_version/vio/src/feature_alignment.cpp | 1 - GPU_version/vio/src/frame_handler_mono.cpp | 29 ++++--- GPU_version/vio/src/initialization.cpp | 6 +- GPU_version/vio/src/map.cpp | 2 +- GPU_version/vio/src/matcher.cpp | 76 +++++++++---------- GPU_version/vio/src/point.cpp | 14 ++-- GPU_version/vio/src/pose_optimizer.cpp | 4 +- GPU_version/vio/src/reprojector.cpp | 1 - GPU_version/vio/src/sparse_img_align.cpp | 8 +- GPU_version/vio/src/visualizer.cpp | 53 +++---------- GPU_version/vio/src/vo_node.cpp | 4 +- 20 files changed, 134 insertions(+), 166 deletions(-) diff --git a/GPU_version/vio/include/gpu_svo/frame.h b/GPU_version/vio/include/gpu_svo/frame.h index e02f1c6..3d1fd72 100644 --- a/GPU_version/vio/include/gpu_svo/frame.h +++ b/GPU_version/vio/include/gpu_svo/frame.h @@ -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 R; - R<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 R; - R< R; - R<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 R; - R< 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(); diff --git a/GPU_version/vio/include/gpu_svo/global.h b/GPU_version/vio/include/gpu_svo/global.h index e522a69..60d0f55 100644 --- a/GPU_version/vio/include/gpu_svo/global.h +++ b/GPU_version/vio/include/gpu_svo/global.h @@ -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 R; + R<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<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,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,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,svo::SE2_5>(filter_->cov_,svo::SE2_5(-filter_->state_(0),-filter_->state_(1),pitch_f)); }; + std::pair,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,svo::SE2_5>(filter_->cov_,svo::SE2_5(-filter_->state_(0),-filter_->state_(1),pitch_f)); + } private: Base* filter_= nullptr; bool lock=false; diff --git a/GPU_version/vio/include/gpu_svo/vision.h b/GPU_version/vio/include/gpu_svo/vision.h index 1533775..3b95183 100644 --- a/GPU_version/vio/include/gpu_svo/vision.h +++ b/GPU_version/vio/include/gpu_svo/vision.h @@ -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]; } diff --git a/GPU_version/vio/include/gpu_svo/visualizer.h b/GPU_version/vio/include/gpu_svo/visualizer.h index 7c09cd1..819885d 100644 --- a/GPU_version/vio/include/gpu_svo/visualizer.h +++ b/GPU_version/vio/include/gpu_svo/visualizer.h @@ -26,6 +26,7 @@ #include #include #include +#include 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& core_kfs, - const Map& map); - - void removeDeletedPts(const Map& map); - }; } // end namespace svo diff --git a/GPU_version/vio/param/vo_fast.yaml b/GPU_version/vio/param/vo_fast.yaml index f0c5dd7..1ecb630 100644 --- a/GPU_version/vio/param/vo_fast.yaml +++ b/GPU_version/vio/param/vo_fast.yaml @@ -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 diff --git a/GPU_version/vio/src/depth_filter.cpp b/GPU_version/vio/src/depth_filter.cpp index cbf0f33..ba653f2 100644 --- a/GPU_version/vio/src/depth_filter.cpp +++ b/GPU_version/vio/src/depth_filter.cpp @@ -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 R; R<= cur_img.cols-halfpatch_size_ || v_r >= cur_img.rows-halfpatch_size_){ - std::cout<<"not in bach size\n"; break; } diff --git a/GPU_version/vio/src/frame_handler_mono.cpp b/GPU_version/vio/src/frame_handler_mono.cpp index 5f172ab..cc92553 100644 --- a/GPU_version/vio/src/frame_handler_mono.cpp +++ b/GPU_version/vio/src/frame_handler_mono.cpp @@ -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: "<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; diff --git a/GPU_version/vio/src/initialization.cpp b/GPU_version/vio/src/initialization.cpp index 1ca4ced..379163f 100644 --- a/GPU_version/vio/src/initialization.cpp +++ b/GPU_version/vio/src/initialization.cpp @@ -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::iterator it=inliers_.begin(); it!=inliers_.end(); ++it) diff --git a/GPU_version/vio/src/map.cpp b/GPU_version/vio/src/map.cpp index c6eb05b..3d0cace 100644 --- a/GPU_version/vio/src/map.cpp +++ b/GPU_version/vio/src/map.cpp @@ -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 } } diff --git a/GPU_version/vio/src/matcher.cpp b/GPU_version/vio/src/matcher.cpp index 3e6d47b..767d542 100644 --- a/GPU_version/vio/src/matcher.cpp +++ b/GPU_version/vio/src/matcher.cpp @@ -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(); 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() / (1<=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()/(1<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<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(), - 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(), + // 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< R; - R<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<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; diff --git a/GPU_version/vio/src/point.cpp b/GPU_version/vio/src/point.cpp index aee4bd8..cf12a1e 100644 --- a/GPU_version/vio/src/point.cpp +++ b/GPU_version/vio/src/point.cpp @@ -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; } diff --git a/GPU_version/vio/src/pose_optimizer.cpp b/GPU_version/vio/src/pose_optimizer.cpp index 79e4686..3d45ab5 100644 --- a/GPU_version/vio/src/pose_optimizer.cpp +++ b/GPU_version/vio/src/pose_optimizer.cpp @@ -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) diff --git a/GPU_version/vio/src/reprojector.cpp b/GPU_version/vio/src/reprojector.cpp index 7a598b6..897ce59 100644 --- a/GPU_version/vio/src/reprojector.cpp +++ b/GPU_version/vio/src/reprojector.cpp @@ -72,7 +72,6 @@ void Reprojector::reprojectMap( list< pair > close_kfs; map_.getCloseKeyframes(frame, close_kfs); - std::cout<<"The number of closed frames: "<::second, _1) < boost::bind(&std::pair::second, _2)); diff --git a/GPU_version/vio/src/sparse_img_align.cpp b/GPU_version/vio/src/sparse_img_align.cpp index 533c776..59c754c 100644 --- a/GPU_version/vio/src/sparse_img_align.cpp +++ b/GPU_version/vio/src/sparse_img_align.cpp @@ -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() diff --git a/GPU_version/vio/src/visualizer.cpp b/GPU_version/vio/src/visualizer.cpp index 95b3353..9e8808d 100644 --- a/GPU_version/vio/src/visualizer.cpp +++ b/GPU_version/vio/src/visualizer.cpp @@ -24,6 +24,7 @@ #include #include #include +#include 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& 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::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 diff --git a/GPU_version/vio/src/vo_node.cpp b/GPU_version/vio/src/vo_node.cpp index 8fe3f84..dfae0ab 100644 --- a/GPU_version/vio/src/vo_node.cpp +++ b/GPU_version/vio/src/vo_node.cpp @@ -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(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}; From 4cb5cbff09204a532c37368f1203422cb5f8f383 Mon Sep 17 00:00:00 2001 From: gfuse Date: Tue, 13 Jul 2021 12:05:55 +0200 Subject: [PATCH 213/215] solve the crash issue for feature delete --- GPU_version/vio/include/gpu_svo/map.h | 3 ++- GPU_version/vio/launch/Px30.launch | 2 +- GPU_version/vio/src/feature_alignment.cpp | 16 ++++++++-------- GPU_version/vio/src/frame_handler_mono.cpp | 7 +++---- GPU_version/vio/src/map.cpp | 9 +++++++++ GPU_version/vio/src/matcher.cpp | 22 +++++++++++----------- 6 files changed, 34 insertions(+), 25 deletions(-) diff --git a/GPU_version/vio/include/gpu_svo/map.h b/GPU_version/vio/include/gpu_svo/map.h index e554088..d4a02e0 100644 --- a/GPU_version/vio/include/gpu_svo/map.h +++ b/GPU_version/vio/include/gpu_svo/map.h @@ -66,7 +66,7 @@ public: void emptyTrash(); }; - +static bool syn_=false; /// Map object which saves all keyframes which are in a map. class Map : boost::noncopyable { @@ -75,6 +75,7 @@ public: list< Point* > trash_points_; //!< A deleted point is moved to the trash bin. Now and then this is cleaned. One reason is that the visualizer must remove the points also. MapPointCandidates point_candidates_; + Map(); ~Map(); diff --git a/GPU_version/vio/launch/Px30.launch b/GPU_version/vio/launch/Px30.launch index 581e4b1..efaecc2 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/src/feature_alignment.cpp b/GPU_version/vio/src/feature_alignment.cpp index 00367df..918ab25 100644 --- a/GPU_version/vio/src/feature_alignment.cpp +++ b/GPU_version/vio/src/feature_alignment.cpp @@ -36,9 +36,9 @@ bool align1D( Vector2d& cur_px_estimate, double& h_inv) { - const int halfpatch_size_ = 4; - const int patch_size = 8; - const int patch_area = 64; + const int halfpatch_size_ = 1; + const int patch_size = 2; + const int patch_area = 4; bool converged=false; // compute derivative of template and prepare inverse compositional @@ -69,7 +69,7 @@ bool align1D( float v = cur_px_estimate.y(); // termination condition - const float min_update_squared = 0.5*0.5; + const float min_update_squared = 0.05; const int cur_step = cur_img.step.p[0]; float chi2 = 0; Vector2f update; update.setZero(); @@ -163,9 +163,9 @@ bool align2D( return align2D_NEON(cur_img, ref_patch_with_border, ref_patch, n_iter, cur_px_estimate); #endif - const int halfpatch_size_ = 4; - const int patch_size_ = 8; - const int patch_area_ = 64; + const int halfpatch_size_ = 1; + const int patch_size_ = 2; + const int patch_area_ = 4; bool converged=false; // compute derivative of template and prepare inverse compositional @@ -202,7 +202,7 @@ bool align2D( bool sign=true;// + // termination condition - const float min_update_squared = 0.5;//0.001 + const float min_update_squared = 0.05;//0.001 const int cur_step = cur_img.step.p[0]; // float chi2 = 0; Vector3f update; update.setZero(); diff --git a/GPU_version/vio/src/frame_handler_mono.cpp b/GPU_version/vio/src/frame_handler_mono.cpp index cc92553..caea65b 100644 --- a/GPU_version/vio/src/frame_handler_mono.cpp +++ b/GPU_version/vio/src/frame_handler_mono.cpp @@ -148,7 +148,9 @@ FrameHandlerBase::UpdateResult FrameHandlerMono::processFrame() 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_.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){ + 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 || + sfba_n_edges_final < Config::qualityMinFts() || reprojector_.n_matches_ < Config::qualityMinFts()){ new_frame_=last_frame_; return RESULT_NO_KEYFRAME; } @@ -160,9 +162,6 @@ FrameHandlerBase::UpdateResult FrameHandlerMono::processFrame() <<"\tnCell: "<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; - } optimizeStructure(new_frame_, Config::structureOptimMaxPts(), Config::structureOptimNumIter()); // select keyframe diff --git a/GPU_version/vio/src/map.cpp b/GPU_version/vio/src/map.cpp index 3d0cace..9e4196e 100644 --- a/GPU_version/vio/src/map.cpp +++ b/GPU_version/vio/src/map.cpp @@ -40,6 +40,7 @@ void Map::reset() bool Map::safeDeleteFrame(FramePtr frame) { + if(syn_==true)return false; bool found = false; for(auto it=keyframes_.begin(), ite=keyframes_.end(); it!=ite; ++it) { @@ -107,6 +108,7 @@ void Map::getCloseKeyframes( const FramePtr& frame, std::list< std::pair >& close_kfs) const { + syn_=true; for(auto kf : keyframes_) { // check if kf has overlaping field of view with frame, use therefore KeyPoints @@ -123,6 +125,7 @@ void Map::getCloseKeyframes( } } } + syn_=false; } FramePtr Map::getClosestKeyframe(const FramePtr& frame) const @@ -149,6 +152,7 @@ FramePtr Map::getFurthestKeyframe(const Vector2d& pos) const { FramePtr furthest_kf; double maxdist = 0.0; + syn_=true; for(auto it=keyframes_.begin(), ite=keyframes_.end(); it!=ite; ++it) { double dist = ((*it)->pos()-pos).norm(); @@ -157,18 +161,21 @@ FramePtr Map::getFurthestKeyframe(const Vector2d& pos) const furthest_kf = *it; } } + syn_=false; return furthest_kf; } bool Map::getKeyframeById(const int id, FramePtr& frame) const { bool found = false; + syn_=true; for(auto it=keyframes_.begin(), ite=keyframes_.end(); it!=ite; ++it) if((*it)->id_ == id) { found = true; frame = *it; break; } + syn_=false; return found; } @@ -178,6 +185,7 @@ void Map::transform(const Matrix2d& R, const Vector2d& t, const double& s) R3<T_f_w_.inverse().rotation_matrix(),s*R*(*it)->pos() + t)); @@ -192,6 +200,7 @@ void Map::transform(const Matrix2d& R, const Vector2d& t, const double& s) (*ftr)->point->pos_ = s*R3*(*ftr)->point->pos_ + Vector3d(t(0),0.0,t(1)); } } + syn_=false; } void Map::emptyTrash() diff --git a/GPU_version/vio/src/matcher.cpp b/GPU_version/vio/src/matcher.cpp index 767d542..1b025c9 100644 --- a/GPU_version/vio/src/matcher.cpp +++ b/GPU_version/vio/src/matcher.cpp @@ -161,20 +161,20 @@ bool Matcher::findMatchDirect( Vector2d px_scaled(px_cur/(1<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(), - // 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(), + 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< Date: Wed, 14 Jul 2021 18:18:45 +0200 Subject: [PATCH 214/215] turn to ros service --- GPU_version/vio/CMakeLists.txt | 17 +- .../vio/include/gpu_svo/frame_handler_base.h | 5 - GPU_version/vio/include/gpu_svo/visualizer.h | 3 - GPU_version/vio/launch/Px30.launch | 3 + GPU_version/vio/package.xml | 2 + GPU_version/vio/src/frame_handler_base.cpp | 10 - GPU_version/vio/src/frame_handler_mono.cpp | 5 +- GPU_version/vio/src/visualizer.cpp | 3 +- GPU_version/vio/src/vo_node.cpp | 185 +++++++++--------- GPU_version/vio/srv/getOdom.srv | 9 + GPU_version/vio/srv/start.srv | 5 + GPU_version/vio/srv/stop.srv | 5 + 12 files changed, 134 insertions(+), 118 deletions(-) create mode 100644 GPU_version/vio/srv/getOdom.srv create mode 100644 GPU_version/vio/srv/start.srv create mode 100644 GPU_version/vio/srv/stop.srv diff --git a/GPU_version/vio/CMakeLists.txt b/GPU_version/vio/CMakeLists.txt index 938c850..4644e2b 100755 --- a/GPU_version/vio/CMakeLists.txt +++ b/GPU_version/vio/CMakeLists.txt @@ -31,14 +31,19 @@ FIND_PACKAGE(Boost REQUIRED COMPONENTS thread system) FIND_PACKAGE(OpenCL REQUIRED) set(GTSAM_INCLUDE_DIRS "${GTSAM_INCLUDE_DIR}") -FIND_PACKAGE(catkin REQUIRED COMPONENTS roscpp roslib cmake_modules image_transport cv_bridge tf geometry_msgs) +FIND_PACKAGE(catkin REQUIRED COMPONENTS roscpp roslib cmake_modules image_transport cv_bridge tf geometry_msgs message_generation) + +add_service_files(FILES + getOdom.srv + stop.srv + start.srv) + +generate_messages(DEPENDENCIES std_msgs) catkin_package( - DEPENDS Eigen OpenCV Sophus Boost - CATKIN_DEPENDS roscpp roslib image_transport cv_bridge tf geometry_msgs - INCLUDE_DIRS include + DEPENDS Eigen OpenCV Sophus Boost + CATKIN_DEPENDS roscpp roslib image_transport cv_bridge tf geometry_msgs message_runtime + INCLUDE_DIRS include ) - - # Include dirs INCLUDE_DIRECTORIES( include diff --git a/GPU_version/vio/include/gpu_svo/frame_handler_base.h b/GPU_version/vio/include/gpu_svo/frame_handler_base.h index c8d84e5..99b4195 100644 --- a/GPU_version/vio/include/gpu_svo/frame_handler_base.h +++ b/GPU_version/vio/include/gpu_svo/frame_handler_base.h @@ -18,8 +18,6 @@ #define SVO_FRAME_HANDLER_BASE_H_ #include -//#include -//#include #include #include #include @@ -90,9 +88,6 @@ protected: bool set_reset_; //!< Flag that the user can set. Will reset the system before the next iteration. bool set_start_; //!< Flag the user can set to start the system when the next image is received. Map map_; //!< Map of keyframes created by the slam system. - //vk::Timer timer_; //!< Stopwatch to measure time to process frame. - //vk::RingBuffer acc_frame_timings_; //!< Total processing time of the last 10 frames, used to give some user feedback on the performance. - //vk::RingBuffer acc_num_obs_; //!< Number of observed features of the last 10 frames, used to give some user feedback on the tracking performance. size_t num_obs_last_; //!< Number of observations in the previous frame. TrackingQuality tracking_quality_; //!< An estimate of the tracking quality based on the number of tracked features. diff --git a/GPU_version/vio/include/gpu_svo/visualizer.h b/GPU_version/vio/include/gpu_svo/visualizer.h index 819885d..307c27e 100644 --- a/GPU_version/vio/include/gpu_svo/visualizer.h +++ b/GPU_version/vio/include/gpu_svo/visualizer.h @@ -46,9 +46,6 @@ public: ros::Publisher pub_frames_; ros::Publisher pub_points_; ros::Publisher pub_pose_with_cov_; - ros::Publisher pub_info_; - tf::TransformBroadcaster br_; - SE3 T_world_from_vision_; Visualizer(); diff --git a/GPU_version/vio/launch/Px30.launch b/GPU_version/vio/launch/Px30.launch index efaecc2..b5371c6 100644 --- a/GPU_version/vio/launch/Px30.launch +++ b/GPU_version/vio/launch/Px30.launch @@ -6,6 +6,9 @@ + + + diff --git a/GPU_version/vio/package.xml b/GPU_version/vio/package.xml index 1d8d5a4..262fff1 100755 --- a/GPU_version/vio/package.xml +++ b/GPU_version/vio/package.xml @@ -21,6 +21,7 @@ cv_bridge tf geometry_msgs + message_generation roscpp @@ -29,4 +30,5 @@ cv_bridge tf geometry_msgs + message_runtime \ No newline at end of file diff --git a/GPU_version/vio/src/frame_handler_base.cpp b/GPU_version/vio/src/frame_handler_base.cpp index 3c77fca..a232ce3 100644 --- a/GPU_version/vio/src/frame_handler_base.cpp +++ b/GPU_version/vio/src/frame_handler_base.cpp @@ -70,15 +70,9 @@ int FrameHandlerBase::finishFrameProcessingCommon( const UpdateResult dropout, const size_t num_observations) { -// SVO_DEBUG_STREAM("Frame: "<("keyframes", 10); diff --git a/GPU_version/vio/src/vo_node.cpp b/GPU_version/vio/src/vo_node.cpp index dfae0ab..a7df993 100644 --- a/GPU_version/vio/src/vo_node.cpp +++ b/GPU_version/vio/src/vo_node.cpp @@ -18,10 +18,10 @@ #include #include #include -#include #include #include #include +#include #include #include #include @@ -29,96 +29,101 @@ #include #include #include +#include +#include +#include +#if VIO_DEBUG +#include +#endif -class VoNode +class VioNode { public: svo::FrameHandlerMono* vo_; - svo::Visualizer visualizer_; - bool publish_markers_; //!< publish only the minimal amount of info (choice for embedded devices) vk::AbstractCamera* cam_; - bool quit_; - boost::thread* imu_th; - VoNode(); - ~VoNode(); + VioNode(); + ~VioNode(); void imgCb(const sensor_msgs::ImageConstPtr& msg); void imuCb(const sensor_msgs::ImuPtr& imu); void cmdCb(const geometry_msgs::TwistPtr &imu); - void imu(); + void imu_th(); + bool getOdom(vio::getOdom::Request& req, vio::getOdom::Response& res); + uint trace_id_= 0; + bool start_=false; + bool start(vio::start::Request& req, vio::start::Response& res){ + if(req.on==1){ + start_=true; + if(vo_->stage()!=svo::FrameHandlerBase::STAGE_DEFAULT_FRAME) + vo_->start(); + else + vo_->reset(); + imu_the_=new boost::thread(&VioNode::imu_th,this); + ++trace_id_; + res.ret=0; + }else{ + res.ret=100; + } + return true; + }; + + bool stop(vio::stop::Request& req, vio::stop::Response& res){ + if(req.off==1){ + start_=false; + usleep(5000); + imu_the_->join(); + res.ret=0; + }else{ + res.ret=100; + } + return true; + }; private: double* imu_; -#if VIO_DEBUG - FILE* log_= nullptr; - double imu_t_[6]={0.0,0.0,0.0,0.0,0.0,0.0}; -#endif double* cmd_; ros::Time imu_time_; + boost::thread* imu_the_= nullptr; +#if VIO_DEBUG + svo::Visualizer visualizer_; +#endif }; -VoNode::VoNode() : +VioNode::VioNode() : vo_(NULL), - publish_markers_(vk::getParam("vio/publish_markers", true)), - cam_(NULL), - quit_(false) + cam_(NULL) { - // Create Camera - imu_=(double *)calloc(static_cast(3), sizeof(double)); - cmd_=(double *)calloc(static_cast(3), sizeof(double)); - if(!vk::camera_loader::loadFromRosNs("vio", cam_)) + imu_=(double *)calloc(static_cast(3), sizeof(double)); + cmd_=(double *)calloc(static_cast(3), sizeof(double)); + if(!vk::camera_loader::loadFromRosNs("vio", cam_)) throw std::runtime_error("Camera model not correctly specified."); - // Get initial position and orientation - visualizer_.T_world_from_vision_ = Sophus::SE3( - vk::rpy2dcm(Eigen::Vector3d(vk::getParam("vio/init_rx", 0.0), - vk::getParam("vio/init_ry", 0.0), - vk::getParam("vio/init_rz", 0.0))), - Eigen::Vector3d(vk::getParam("vio/init_tx", 0.0), - vk::getParam("vio/init_ty", 0.0), - vk::getParam("vio/init_tz", 0.0))); Eigen::Matrix init; init<<1e-19,1e-19,1e-19; vo_ = new svo::FrameHandlerMono(cam_,init); usleep(500); - -#if VIO_DEBUG -log_ = fopen((std::string(getenv("HOME"))+"/imu_integration.txt").c_str(), "w+"); -#endif - vo_->start(); - imu_th=new boost::thread(&VoNode::imu,this); - } -VoNode::~VoNode() +VioNode::~VioNode() { - quit_=true; - - -#if VIO_DEBUG - fclose(log_); - delete log_; -#endif - imu_th->join(); - delete imu_th; + start_=false; + usleep(5000); + imu_the_->join(); + delete imu_the_; delete vo_; delete cam_; } -void VoNode::imgCb(const sensor_msgs::ImageConstPtr& msg) +void VioNode::imgCb(const sensor_msgs::ImageConstPtr& msg) { + if(!start_)return; try { 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); -#if VIO_DEBUG - fprintf(log_, ",,,,,,,%s,%f,%f,%f\n",std::to_string(std::chrono::duration(std::chrono::steady_clock::now()-start).count()).c_str(),vo_->lastFrame()->T_f_w_.translation()(0), - vo_->lastFrame()->T_f_w_.translation()(1), - acos(vo_->lastFrame()->T_f_w_.getSE2().rotation_matrix()(0,0))); -#endif - } catch (cv_bridge::Exception& e) { ROS_ERROR("cv_bridge exception: %s", e.what()); } } -void VoNode::imuCb(const sensor_msgs::ImuPtr &imu) { +void VioNode::imuCb(const sensor_msgs::ImuPtr &imu) { + if(!start_)return; double imu_in[3]; if(abs(imu->linear_acceleration.x)>5.0){ return; @@ -134,62 +139,62 @@ void VoNode::imuCb(const sensor_msgs::ImuPtr &imu) { imu_in[1] = 0.5*imu_[1]+0.5*imu->linear_acceleration.y; imu_in[2] = 0.5*imu_[2]+0.5*imu->angular_velocity.z; memcpy(imu_, imu_in, static_cast(3*sizeof(double))); -#if VIO_DEBUG - if(imu_t_[5]!=0.0){ - double dt=1e-9*(imu->header.stamp.toNSec()-imu_t_[5]); - imu_t_[0]+=imu_in[0]*dt; - imu_t_[1]+=imu_t_[0]*dt; - imu_t_[2]+=imu_in[1]*dt; - imu_t_[3]+=imu_t_[2]*dt; - imu_t_[4]+=imu_in[2]*dt; - imu_t_[5]=imu->header.stamp.toNSec(); - fprintf(log_, "%f,%f,%f,%f\n",imu_t_[1],imu_t_[3],imu_t_[4],dt); - }else{ - imu_t_[0]=imu_in[0]; - imu_t_[1]=0.0; - imu_t_[2]=imu_in[1]; - imu_t_[3]=0.0; - imu_t_[4]=imu_in[2]; - imu_t_[5]=imu->header.stamp.toNSec(); - } -#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}; - memcpy(cmd_, _cmd, static_cast(3*sizeof(double))); #if VIO_DEBUG - fprintf(log_, ",,,,%f,%f,%f\n",_cmd[0],_cmd[1],_cmd[2]); + visualizer_.publishMinimal(vo_->ukfPtr_, imu->header.stamp.toSec()); #endif +} +void VioNode::cmdCb(const geometry_msgs::TwistPtr &cmd) { + if(!start_)return; + double _cmd[3]={cmd->linear.x,cmd->linear.y,cmd->angular.z}; + memcpy(cmd_, _cmd, static_cast(3*sizeof(double))); vo_->UpdateCmd(_cmd,imu_time_); } -void VoNode::imu(){ +void VioNode::imu_th(){ ros::NodeHandle nh; - // subscribe to cam msgs - image_transport::ImageTransport it(nh); - image_transport::Subscriber it_sub = it.subscribe(vk::getParam("vio/cam_topic", "camera/image_raw"), 1, &VoNode::imgCb, this); - // start processing callbacks - while(ros::ok() && !quit_) + ros::Subscriber imu_sub=nh.subscribe(vk::getParam("vio/imu_topic", "imu/raw"),10,&VioNode::imuCb, this); + ros::Subscriber cmd_sub=nh.subscribe(vk::getParam("vio/cmd_topic", "cmd/raw"),10,&VioNode::cmdCb, this); + while(start_) { ros::spinOnce(); + usleep(1000); } } +bool VioNode::getOdom(vio::getOdom::Request &req, vio::getOdom::Response &res) { + if(req.get==1){ + res.header.stamp = ros::Time(); + res.header.frame_id = "/world"; + res.header.seq = trace_id_; + auto odom=vo_->ukfPtr_.get_location(); + res.x=odom.second.translation()(0); + res.y=odom.second.translation()(1); + res.yaw=odom.second.pitch(); + res.cov={odom.first(0,0),odom.first(0,1),odom.first(0,2), + odom.first(1,0),odom.first(1,1),odom.first(1,2), + odom.first(2,0),odom.first(2,1),odom.first(2,2)}; + } + return true; +} int main(int argc, char **argv) { ros::init(argc, argv, "vio"); - VoNode vo_node; ros::NodeHandle nh; - ros::Subscriber imu_sub=nh.subscribe(vk::getParam("vio/imu_topic", "imu/raw"),10,&VoNode::imuCb, &vo_node); - ros::Subscriber cmd_sub=nh.subscribe(vk::getParam("vio/cmd_topic", "cmd/raw"),10,&VoNode::cmdCb, &vo_node); + VioNode vio; + ros::ServiceServer start = nh.advertiseService(vk::getParam("vio/start", "start"), + &VioNode::start, &vio); + ros::ServiceServer stop = nh.advertiseService(vk::getParam("vio/stop", "stop"), + &VioNode::stop, &vio); + ros::ServiceServer getOdom = nh.advertiseService(vk::getParam("vio/odom", "get_odom"), + &VioNode::getOdom, &vio); + image_transport::ImageTransport it(nh); + image_transport::Subscriber it_sub = it.subscribe(vk::getParam("vio/cam_topic", "camera/image_raw"), 1, &VioNode::imgCb, &vio); // start processing callbacks - while(ros::ok() && !vo_node.quit_) + while(ros::ok()) { ros::spinOnce(); - usleep(1000); } printf("SVO terminated.\n"); return 0; diff --git a/GPU_version/vio/srv/getOdom.srv b/GPU_version/vio/srv/getOdom.srv new file mode 100644 index 0000000..9f60ae7 --- /dev/null +++ b/GPU_version/vio/srv/getOdom.srv @@ -0,0 +1,9 @@ +# Odometry information will be return if get is 1 +uint8 get +--- +# Odometry information +Header header +float64 x +float64 y +float64 yaw +float64[9] cov \ No newline at end of file diff --git a/GPU_version/vio/srv/start.srv b/GPU_version/vio/srv/start.srv new file mode 100644 index 0000000..a1c27cc --- /dev/null +++ b/GPU_version/vio/srv/start.srv @@ -0,0 +1,5 @@ +# Turn ON VIO if on is 1 +uint8 on +--- +# Return 0 if VIO is ON +uint8 ret \ No newline at end of file diff --git a/GPU_version/vio/srv/stop.srv b/GPU_version/vio/srv/stop.srv new file mode 100644 index 0000000..7fa22db --- /dev/null +++ b/GPU_version/vio/srv/stop.srv @@ -0,0 +1,5 @@ +# Turn off VIO if off is 1 +uint8 off +--- +# Return 0 if VIO is off +uint8 ret \ No newline at end of file From 7a355486b31d4d90342dadf5b2af822c91c96881 Mon Sep 17 00:00:00 2001 From: gfuse Date: Thu, 15 Jul 2021 16:02:11 +0200 Subject: [PATCH 215/215] solve the bug in the stop API --- .../vio/include/gpu_svo/frame_handler_mono.h | 2 +- GPU_version/vio/launch/Px30.launch | 4 ++-- GPU_version/vio/src/depth_filter.cpp | 1 + GPU_version/vio/src/vo_node.cpp | 19 ++++++++++++++----- 4 files changed, 18 insertions(+), 8 deletions(-) diff --git a/GPU_version/vio/include/gpu_svo/frame_handler_mono.h b/GPU_version/vio/include/gpu_svo/frame_handler_mono.h index c1967c3..2e3b6ed 100644 --- a/GPU_version/vio/include/gpu_svo/frame_handler_mono.h +++ b/GPU_version/vio/include/gpu_svo/frame_handler_mono.h @@ -53,7 +53,7 @@ public: const vector& initFeatureTrackCurPx() const { return klt_homography_init_->px_cur_; } /// Access the depth filter. - DepthFilter* depthFilter() const { return depth_filter_; } + DepthFilter* depthFilter() const{ return depth_filter_; } /// An external place recognition module may know where to relocalize. bool relocalizeFrameAtPose( diff --git a/GPU_version/vio/launch/Px30.launch b/GPU_version/vio/launch/Px30.launch index b5371c6..36114e8 100644 --- a/GPU_version/vio/launch/Px30.launch +++ b/GPU_version/vio/launch/Px30.launch @@ -1,6 +1,6 @@ - + @@ -8,7 +8,7 @@ - + diff --git a/GPU_version/vio/src/depth_filter.cpp b/GPU_version/vio/src/depth_filter.cpp index ba653f2..c7ebf2c 100644 --- a/GPU_version/vio/src/depth_filter.cpp +++ b/GPU_version/vio/src/depth_filter.cpp @@ -74,6 +74,7 @@ void DepthFilter::stopThread() SVO_INFO_STREAM("DepthFilter interrupt and join thread... "); seeds_updating_halt_ = true; thread_->interrupt(); + usleep(5000); thread_->join(); thread_ = NULL; } diff --git a/GPU_version/vio/src/vo_node.cpp b/GPU_version/vio/src/vo_node.cpp index a7df993..a182007 100644 --- a/GPU_version/vio/src/vo_node.cpp +++ b/GPU_version/vio/src/vo_node.cpp @@ -32,6 +32,7 @@ #include #include #include +#include #if VIO_DEBUG #include #endif @@ -55,8 +56,11 @@ public: start_=true; if(vo_->stage()!=svo::FrameHandlerBase::STAGE_DEFAULT_FRAME) vo_->start(); - else + else{ + vo_->depthFilter()->startThread(); vo_->reset(); + } + imu_the_=new boost::thread(&VioNode::imu_th,this); ++trace_id_; res.ret=0; @@ -67,10 +71,15 @@ public: }; bool stop(vio::stop::Request& req, vio::stop::Response& res){ - if(req.off==1){ + if(req.off==1 && imu_the_!=NULL){ start_=false; - usleep(5000); - imu_the_->join(); + vo_->depthFilter()->stopThread(); + imu_the_->interrupt(); + if(imu_the_->get_id()==boost::this_thread::get_id()) + imu_the_->detach(); + else + imu_the_->join(); + imu_the_=NULL; res.ret=0; }else{ res.ret=100; @@ -155,7 +164,7 @@ void VioNode::imu_th(){ ros::NodeHandle nh; ros::Subscriber imu_sub=nh.subscribe(vk::getParam("vio/imu_topic", "imu/raw"),10,&VioNode::imuCb, this); ros::Subscriber cmd_sub=nh.subscribe(vk::getParam("vio/cmd_topic", "cmd/raw"),10,&VioNode::cmdCb, this); - while(start_) + while(start_ && !boost::this_thread::interruption_requested()) { ros::spinOnce(); usleep(1000);

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