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corrent situation

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This commit is contained in:
gfuse
2021-10-08 11:41:16 +02:00
parent bcba6b30d0
commit b88547671d
5 changed files with 13 additions and 13 deletions
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GPU_version/vio/include/vio/frame.h
+1 -1
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@@ -50,7 +50,7 @@ namespace vio {
Features fts_; //!< List of features in the image. Features fts_; //!< List of features in the image.
vector<std::shared_ptr<Feature>> key_pts_; //!< Five features and associated 3D points which are used to detect if two frames have overlapping field of view. vector<std::shared_ptr<Feature>> 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? bool is_keyframe_; //!< Was this frames selected as keyframe?
g2o::VertexCam* v_kf_=nullptr; //!< Temporary pointer to the g2o node object of the keyframe. g2o::VertexSE3Expmap* v_kf_=nullptr; //!< Temporary pointer to the g2o node object of the keyframe.
int last_published_ts_; //!< Timestamp of last publishing. int last_published_ts_; //!< Timestamp of last publishing.
Frame(vk::AbstractCamera* cam, const cv::Mat& img, double timestamp); Frame(vk::AbstractCamera* cam, const cv::Mat& img, double timestamp);
GPU_version/vio/include/vio/global_optimizer.h
+2 -2
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@@ -84,7 +84,7 @@ protected:
}; };
/// Create a g2o vertice from a keyframe object. /// Create a g2o vertice from a keyframe object.
g2o::VertexCam* createG2oFrameSE3( g2o::VertexSE3Expmap* createG2oFrameSE3(
FramePtr kf, FramePtr kf,
size_t id, size_t id,
bool fixed); bool fixed);
@@ -95,7 +95,7 @@ protected:
bool fixed); bool fixed);
/// Creates a g2o edge between a g2o keyframe and mappoint vertice with the provided measurement. /// Creates a g2o edge between a g2o keyframe and mappoint vertice with the provided measurement.
g2o::EdgeProjectXYZ2UV* createG2oEdgeSE3( g2o::EdgeProjectXYZ2UV* createG2oEdgeSE3(
g2o::VertexCam* v_kf, g2o::VertexSE3Expmap* v_kf,
g2o::VertexSBAPointXYZ* v_mp, g2o::VertexSBAPointXYZ* v_mp,
const Vector2d& f_up, const Vector2d& f_up,
bool robust_kernel, bool robust_kernel,
GPU_version/vio/param/vo_fast.yaml
+1 -1
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@@ -13,6 +13,6 @@ vio:
ACC_ekf: 0.2 #acc white noise in continuous in EKF ACC_ekf: 0.2 #acc white noise in continuous in EKF
GYO_ekf: 0.5 #gyro white noise in continuous in EKF GYO_ekf: 0.5 #gyro white noise in continuous in EKF
VO_ekf_translation: 1.0 #VO noise in EKF VO_ekf_translation: 1.0 #VO noise in EKF
VO_ekf_orientation: 0.05 #VO noise in EKF VO_ekf_orientation: 1.5 #VO noise in EKF
CMD_ekf_translation: 0.1 #control vector noise in EKF CMD_ekf_translation: 0.1 #control vector noise in EKF
CMD_ekf_orientation: 0.01 #control vector noise in EKF CMD_ekf_orientation: 0.01 #control vector noise in EKF
GPU_version/vio/src/frame_handler_mono.cpp
+1 -1
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@@ -132,7 +132,7 @@ FrameHandlerBase::UpdateResult FrameHandlerMono::processSecondFrame()
fprintf(log_,"[%s] Init: Selected Second frame. \t The number of features: %d depth mean:%f min:%f\n", fprintf(log_,"[%s] Init: Selected Second frame. \t The number of features: %d depth mean:%f min:%f\n",
vio::time_in_HH_MM_SS_MMM().c_str(),new_frame_->fts_.size(),depth_mean,depth_min); vio::time_in_HH_MM_SS_MMM().c_str(),new_frame_->fts_.size(),depth_mean,depth_min);
#endif #endif
//ba_glob_->new_key_frame(); ba_glob_->new_key_frame();
ROS_INFO("VIO initialized :)"); ROS_INFO("VIO initialized :)");
ROS_INFO("Running ..."); ROS_INFO("Running ...");
return RESULT_IS_KEYFRAME; return RESULT_IS_KEYFRAME;
GPU_version/vio/src/global_optimizer.cpp
+8 -8
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@@ -104,7 +104,7 @@ namespace vio {
it_kf != map_.keyframes_.end(); ++it_kf) it_kf != map_.keyframes_.end(); ++it_kf)
{ {
// New Keyframe Vertex // New Keyframe Vertex
g2o::VertexCam* v_kf = createG2oFrameSE3(*it_kf, v_id++, false); g2o::VertexSE3Expmap* v_kf = createG2oFrameSE3(*it_kf, v_id++, false);
(*it_kf)->v_kf_ = v_kf; (*it_kf)->v_kf_ = v_kf;
optimizer.addVertex(v_kf); optimizer.addVertex(v_kf);
for(auto&& it_ftr:(*it_kf)->fts_) for(auto&& it_ftr:(*it_kf)->fts_)
@@ -200,17 +200,17 @@ namespace vio {
} }
} }
g2o::VertexCam* g2o::VertexSE3Expmap*
BA_Glob::createG2oFrameSE3(FramePtr frame, size_t id, bool fixed) BA_Glob::createG2oFrameSE3(FramePtr frame, size_t id, bool fixed)
{ {
if(frame->id_==0 || frame->id_==1){ /* if(frame->id_==0 || frame->id_==1){
g2o::VertexCam* v= new g2o::VertexCam(); g2o::VertexSE3Expmap* v= new g2o::VertexSE3Expmap();
v->setId(id); v->setId(id);
v->setToOrigin(); v->setToOrigin();
v->setFixed(true); v->setFixed(true);
v->setEstimate(g2o::SE3Quat(frame->se3().unit_quaternion(), frame->se3().translation())); v->setEstimate(g2o::SE3Quat(frame->se3().unit_quaternion(), frame->se3().translation()));
} }*/
g2o::VertexCam* v= new g2o::VertexCam(); g2o::VertexSE3Expmap* v= new g2o::VertexSE3Expmap();
v->setId(id); v->setId(id);
v->setFixed(false); v->setFixed(false);
v->setEstimate(g2o::SE3Quat(frame->se3().unit_quaternion(), frame->se3().translation())); v->setEstimate(g2o::SE3Quat(frame->se3().unit_quaternion(), frame->se3().translation()));
@@ -224,14 +224,14 @@ namespace vio {
{ {
g2o::VertexSBAPointXYZ* v =new g2o::VertexSBAPointXYZ(); g2o::VertexSBAPointXYZ* v =new g2o::VertexSBAPointXYZ();
v->setId(id); v->setId(id);
v->setFixed(fixed); //v->setFixed(fixed);
v->setMarginalized(true); v->setMarginalized(true);
v->setEstimate(pos); v->setEstimate(pos);
return v; return v;
} }
g2o::EdgeProjectXYZ2UV* BA_Glob::createG2oEdgeSE3( g2o::VertexCam* v_frame, g2o::EdgeProjectXYZ2UV* BA_Glob::createG2oEdgeSE3( g2o::VertexSE3Expmap* v_frame,
g2o::VertexSBAPointXYZ* v_point, g2o::VertexSBAPointXYZ* v_point,
const Vector2d& f_up, const Vector2d& f_up,
bool robust_kernel, bool robust_kernel,