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debugging the optimization

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This commit is contained in:
gfuse
2021-09-06 12:06:06 +02:00
parent 752b94d1ae
commit ce0beff85a
7 changed files with 28947 additions and 96 deletions
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GPU_version/vio/depth_filter_log.txt
+172 -9
View File
@@ -1,9 +1,172 @@
[17:03:24.779] init depth filter [11:52:21.714] init depth filter
[17:03:46.024] DepthFilter: RESET. [11:52:30.966] DepthFilter: RESET.
[17:03:48.535] add key frame [11:52:32.781] add key frame
[17:03:48.535] init seeds [11:52:32.781] update seed
[17:03:48.535] update seed [11:52:32.781] init seeds
[17:03:48.535] init seeds [11:52:32.786] DepthFilter: Initialized 80 new seeds
[17:03:48.539] DepthFilter: Initialized 28 new seeds [11:52:56.055] add new frame
[17:03:48.540] DepthFilter: Initialized 63 new seeds [11:52:56.055] update seed
[17:04:17.931] DepthFilter stop thread invoked.[17:04:17.931] DepthFilter interrupt and join thread [11:52:56.055] If point is visible? 0.027952, -0.014905, 0.048499
[11:52:56.055] If point is visible? 0.027753, -0.015271, 0.048499
[11:52:56.055] If point is visible? 0.027771, -0.015148, 0.048527
[11:52:56.055] If point is visible? 0.029140, -0.017475, 0.046917
[11:52:56.055] If point is visible? 0.028009, -0.017347, 0.047646
[11:52:56.055] If point is visible? 0.028030, -0.017226, 0.047678
[11:52:56.055] If point is visible? 0.028174, -0.017227, 0.047593
[11:52:56.055] If point is visible? 0.020293, -0.020609, 0.050188
[11:52:56.055] If point is visible? 0.020449, -0.020617, 0.050122
[11:52:56.055] If point is visible? 0.020400, -0.020853, 0.050044
[11:52:56.055] If point is visible? 0.020556, -0.020861, 0.049977
[11:52:56.055] If point is visible? 0.028621, -0.023543, 0.044525
[11:52:56.055] If point is visible? 0.019731, -0.024487, 0.048648
[11:52:56.055] If point is visible? 0.019759, -0.024372, 0.048694
[11:52:56.055] If point is visible? 0.026732, -0.030262, 0.041544
[11:52:56.055] If point is visible? 0.036145, -0.030595, 0.033388
[11:52:56.055] If point is visible? 0.035791, -0.031574, 0.032855
[11:52:56.055] If point is visible? 0.013190, -0.038644, 0.041103
[11:52:56.055] If point is visible? 0.021000, -0.039503, 0.036818
[11:52:56.055] If point is visible? 0.014550, -0.038122, 0.041130
[11:52:56.055] If point is visible? 0.022922, -0.039614, 0.035533
[11:52:56.055] If point is visible? 0.020696, -0.040387, 0.036024
[11:52:56.055] If point is visible? 0.020838, -0.040389, 0.035940
[11:52:56.055] If point is visible? 0.020980, -0.040391, 0.035856
[11:52:56.055] If point is visible? 0.031891, -0.007310, 0.047806
[11:52:56.055] If point is visible? 0.029369, -0.010330, 0.048851
[11:52:56.055] If point is visible? 0.029702, -0.012574, 0.048119
[11:52:56.055] If point is visible? 0.028635, -0.011822, 0.048948
[11:52:56.055] If point is visible? 0.028479, -0.015279, 0.048074
[11:52:56.055] If point is visible? 0.002201, -0.015321, 0.055823
[11:52:56.055] If point is visible? 0.027844, -0.017467, 0.047700
[11:52:56.055] If point is visible? 0.028134, -0.017469, 0.047528
[11:52:56.055] If point is visible? 0.002279, -0.014845, 0.055948
[11:52:56.055] If point is visible? 0.020332, -0.016985, 0.051512
[11:52:56.055] If point is visible? 0.017772, -0.020466, 0.051193
[11:52:56.055] If point is visible? 0.019668, -0.020577, 0.050450
[11:52:56.055] If point is visible? 0.016714, -0.020876, 0.051383
[11:52:56.055] If point is visible? 0.017035, -0.020898, 0.051269
[11:52:56.055] If point is visible? 0.019716, -0.020339, 0.050527
[11:52:56.055] If point is visible? 0.015707, -0.023889, 0.050380
[11:52:56.055] If point is visible? 0.016028, -0.023911, 0.050268
[11:52:56.055] If point is visible? 0.028686, -0.022018, 0.045256
[11:52:56.055] If point is visible? 0.019021, -0.024801, 0.048772
[11:52:56.055] If point is visible? 0.019079, -0.024570, 0.048865
[11:52:56.055] If point is visible? -0.017505, -0.022466, 0.050464
[11:52:56.055] If point is visible? -0.017814, -0.022169, 0.050487
[11:52:56.055] If point is visible? 0.045583, -0.028017, 0.022278
[11:52:56.055] If point is visible? 0.026594, -0.029818, 0.041951
[11:52:56.055] If point is visible? 0.026450, -0.030262, 0.041723
[11:52:56.055] If point is visible? 0.012977, -0.039745, 0.040110
[11:52:56.055] If point is visible? 0.013285, -0.039767, 0.039987
[11:52:56.055] If point is visible? 0.013593, -0.039789, 0.039862
[11:52:56.055] If point is visible? 0.013690, -0.039594, 0.040022
[11:52:56.055] If point is visible? -0.011674, 0.010977, 0.055690
[11:52:56.055] If point is visible? -0.014744, 0.014737, 0.054077
[11:52:56.055] If point is visible? -0.014718, 0.014253, 0.054213
[11:52:56.055] If point is visible? 0.026064, -0.011029, 0.050542
[11:52:56.055] If point is visible? 0.026660, -0.011042, 0.050228
[11:52:56.055] If point is visible? 0.027841, -0.011064, 0.049579
[11:52:56.055] If point is visible? 0.026116, -0.010529, 0.050622
[11:52:56.055] If point is visible? 0.026712, -0.010543, 0.050308
[11:52:56.055] If point is visible? 0.027892, -0.010564, 0.049659
[11:52:56.055] If point is visible? 0.029056, -0.010578, 0.048985
[11:52:56.055] If point is visible? 0.027940, -0.010064, 0.049736
[11:52:56.055] If point is visible? 0.021839, -0.010380, 0.052637
[11:52:56.055] If point is visible? 0.029292, -0.013562, 0.048101
[11:52:56.055] If point is visible? 0.020533, -0.010818, 0.053073
[11:52:56.055] If point is visible? 0.027934, -0.015028, 0.048471
[11:52:56.055] If point is visible? 0.028584, -0.014543, 0.048240
[11:52:56.055] If point is visible? 0.017772, -0.020466, 0.051193
[11:52:56.055] If point is visible? 0.019040, -0.020542, 0.050704
[11:52:56.055] If point is visible? 0.027966, -0.018435, 0.047262
[11:52:56.055] If point is visible? 0.015873, -0.023194, 0.050651
[11:52:56.055] If point is visible? 0.016515, -0.023239, 0.050425
[11:52:56.055] If point is visible? 0.017043, -0.023745, 0.050012
[11:52:56.055] If point is visible? 0.018310, -0.023823, 0.049525
[11:52:56.055] If point is visible? 0.017674, -0.020939, 0.051035
[11:52:56.055] If point is visible? 0.033505, -0.031977, 0.034813
[11:52:56.055] If point is visible? 0.033664, -0.031544, 0.035054
[11:52:56.055] If point is visible? 0.023273, -0.037710, 0.037325
[11:52:56.560] add new frame
[11:52:56.560] update seed
[11:52:56.560] If point is visible? 0.029261, -0.014902, 0.047707
[11:52:56.560] If point is visible? 0.029062, -0.015267, 0.047713
[11:52:56.560] If point is visible? 0.029081, -0.015145, 0.047741
[11:52:56.560] If point is visible? 0.030404, -0.017472, 0.046092
[11:52:56.560] If point is visible? 0.029295, -0.017344, 0.046854
[11:52:56.560] If point is visible? 0.029316, -0.017222, 0.046885
[11:52:56.560] If point is visible? 0.029458, -0.017224, 0.046795
[11:52:56.560] If point is visible? 0.021653, -0.020605, 0.049613
[11:52:56.560] If point is visible? 0.021807, -0.020613, 0.049542
[11:52:56.560] If point is visible? 0.021756, -0.020850, 0.049465
[11:52:56.560] If point is visible? 0.021910, -0.020858, 0.049394
[11:52:56.560] If point is visible? 0.029817, -0.023540, 0.043716
[11:52:56.560] If point is visible? 0.021047, -0.024484, 0.048089
[11:52:56.560] If point is visible? 0.021077, -0.024368, 0.048134
[11:52:56.560] If point is visible? 0.027845, -0.030258, 0.040790
[11:52:56.560] If point is visible? 0.037024, -0.030592, 0.032372
[11:52:56.560] If point is visible? 0.036656, -0.031570, 0.031848
[11:52:56.560] If point is visible? 0.014296, -0.038640, 0.040731
[11:52:56.560] If point is visible? 0.021982, -0.039499, 0.036228
[11:52:56.560] If point is visible? 0.015657, -0.038119, 0.040720
[11:52:56.560] If point is visible? 0.023867, -0.039610, 0.034888
[11:52:56.560] If point is visible? 0.021656, -0.040384, 0.035442
[11:52:56.560] If point is visible? 0.021796, -0.040386, 0.035355
[11:52:56.560] If point is visible? 0.021935, -0.040387, 0.035266
[11:52:56.560] If point is visible? 0.033179, -0.007307, 0.046904
[11:52:56.560] If point is visible? 0.030688, -0.010327, 0.048019
[11:52:56.560] If point is visible? 0.030999, -0.012571, 0.047278
[11:52:56.560] If point is visible? 0.029956, -0.011818, 0.048137
[11:52:56.560] If point is visible? 0.029776, -0.015275, 0.047268
[11:52:56.560] If point is visible? 0.003728, -0.015317, 0.055755
[11:52:56.560] If point is visible? 0.029131, -0.017463, 0.046912
[11:52:56.560] If point is visible? 0.029415, -0.017466, 0.046732
[11:52:56.560] If point is visible? 0.003808, -0.014842, 0.055878
[11:52:56.560] If point is visible? 0.021729, -0.016982, 0.050934
[11:52:56.560] If point is visible? 0.019161, -0.020463, 0.050688
[11:52:56.560] If point is visible? 0.021036, -0.020573, 0.049891
[11:52:56.560] If point is visible? 0.018109, -0.020873, 0.050908
[11:52:56.560] If point is visible? 0.018427, -0.020894, 0.050785
[11:52:56.560] If point is visible? 0.021086, -0.020336, 0.049967
[11:52:56.560] If point is visible? 0.017074, -0.023885, 0.049933
[11:52:56.560] If point is visible? 0.017392, -0.023908, 0.049812
[11:52:56.560] If point is visible? 0.029903, -0.022014, 0.044446
[11:52:56.560] If point is visible? 0.020342, -0.024797, 0.048232
[11:52:56.560] If point is visible? 0.020403, -0.024567, 0.048324
[11:52:56.560] If point is visible? -0.016122, -0.022463, 0.050955
[11:52:56.560] If point is visible? -0.016430, -0.022165, 0.050987
[11:52:56.560] If point is visible? 0.046145, -0.028014, 0.020999
[11:52:56.560] If point is visible? 0.027718, -0.029815, 0.041200
[11:52:56.560] If point is visible? 0.027568, -0.030258, 0.040977
[11:52:56.560] If point is visible? 0.014055, -0.039741, 0.039745
[11:52:56.560] If point is visible? 0.014360, -0.039764, 0.039613
[11:52:56.560] If point is visible? 0.014664, -0.039785, 0.039479
[11:52:56.560] If point is visible? 0.014765, -0.039591, 0.039637
[11:52:56.560] If point is visible? -0.010146, 0.010981, 0.056014
[11:52:56.560] If point is visible? -0.013260, 0.014740, 0.054489
[11:52:56.560] If point is visible? -0.013230, 0.014257, 0.054624
[11:52:56.560] If point is visible? 0.027432, -0.011025, 0.049803
[11:52:56.560] If point is visible? 0.028019, -0.011039, 0.049472
[11:52:56.560] If point is visible? 0.029180, -0.011060, 0.048790
[11:52:56.560] If point is visible? 0.027486, -0.010526, 0.049882
[11:52:56.560] If point is visible? 0.028072, -0.010540, 0.049551
[11:52:56.560] If point is visible? 0.029234, -0.010561, 0.048869
[11:52:56.560] If point is visible? 0.030379, -0.010574, 0.048162
[11:52:56.560] If point is visible? 0.029285, -0.010061, 0.048944
[11:52:56.560] If point is visible? 0.023268, -0.010376, 0.052017
[11:52:56.560] If point is visible? 0.030590, -0.013559, 0.047272
[11:52:56.560] If point is visible? 0.021974, -0.010814, 0.052489
[11:52:56.560] If point is visible? 0.029242, -0.015024, 0.047680
[11:52:56.560] If point is visible? 0.029886, -0.014539, 0.047431
[11:52:56.560] If point is visible? 0.019161, -0.020463, 0.050688
[11:52:56.560] If point is visible? 0.020415, -0.020539, 0.050164
[11:52:56.560] If point is visible? 0.029240, -0.018432, 0.046471
[11:52:56.560] If point is visible? 0.017248, -0.023190, 0.050200
[11:52:56.560] If point is visible? 0.017883, -0.023235, 0.049956
[11:52:56.560] If point is visible? 0.018399, -0.023741, 0.049528
[11:52:56.560] If point is visible? 0.019652, -0.023820, 0.049005
[11:52:56.560] If point is visible? 0.019059, -0.020936, 0.050533
[11:52:56.560] If point is visible? 0.034426, -0.031974, 0.033870
[11:52:56.560] If point is visible? 0.034591, -0.031540, 0.034107
[11:52:56.560] If point is visible? 0.024269, -0.037707, 0.036670
[11:53:04.046] DepthFilter stop thread invoked.
[11:53:04.046] DepthFilter interrupt and join thread
GPU_version/vio/frame_handler_log.txt
+28728 -52
View File
File diff suppressed because it is too large Load Diff
GPU_version/vio/include/vio/pose_optimizer.h
+2 -1
View File
@@ -42,7 +42,8 @@ void optimizeGaussNewton(
double& estimated_scale, double& estimated_scale,
double& error_init, double& error_init,
double& error_final, double& error_final,
size_t& num_obs); size_t& num_obs,
FILE* log);
} // namespace pose_optimizer } // namespace pose_optimizer
} // namespace vio } // namespace vio
GPU_version/vio/src/depth_filter.cpp
+5 -1
View File
@@ -136,8 +136,9 @@ namespace vio {
new_keyframe_set_ = true; new_keyframe_set_ = true;
seeds_updating_halt_ = true; seeds_updating_halt_ = true;
frame_queue_cond_.notify_one(); frame_queue_cond_.notify_one();
}else{
initializeSeeds(frame);
} }
initializeSeeds(frame);
} }
void DepthFilter::initializeSeeds(FramePtr frame) void DepthFilter::initializeSeeds(FramePtr frame)
@@ -265,6 +266,9 @@ namespace vio {
* AngleAxisd(0.0, Vector3d::UnitZ()); * AngleAxisd(0.0, Vector3d::UnitZ());
SE3 T_ref_cur(q.toRotationMatrix(),Vector3d(T.translation()(0), 0.0,T.translation()(1))); SE3 T_ref_cur(q.toRotationMatrix(),Vector3d(T.translation()(0), 0.0,T.translation()(1)));
const Vector3d xyz_f(T_ref_cur.inverse()*(1.0/it->mu * it->ftr->f) ); const Vector3d xyz_f(T_ref_cur.inverse()*(1.0/it->mu * it->ftr->f) );
#if VIO_DEBUG
fprintf(log_,"[%s] If point is visible? %f, %f, %f\n",vio::time_in_HH_MM_SS_MMM().c_str(),xyz_f.x(),xyz_f.y(),xyz_f.z());
#endif
if(xyz_f.z() < 0.0) { if(xyz_f.z() < 0.0) {
++it; // behind the camera ++it; // behind the camera
continue; continue;
GPU_version/vio/src/frame_handler_base.cpp
+3 -3
View File
@@ -127,9 +127,9 @@ void FrameHandlerBase::optimizeStructure(
for(auto&& it:frame->fts_){ for(auto&& it:frame->fts_){
if(it->point!=NULL)pts.push_back(it->point); if(it->point!=NULL)pts.push_back(it->point);
} }
max_n_pts = min(max_n_pts, pts.size()); //max_n_pts = min(max_n_pts, pts.size());
nth_element(pts.begin(), pts.begin() + max_n_pts, pts.end(), ptLastOptimComparator); //nth_element(pts.begin(), pts.begin() + max_n_pts, pts.end(), ptLastOptimComparator);
for(deque<Point*>::iterator it=pts.begin(); it!=pts.begin()+max_n_pts; ++it) for(deque<Point*>::iterator it=pts.begin(); it!=pts.begin(); ++it)
{ {
(*it)->optimize(max_iter); (*it)->optimize(max_iter);
(*it)->last_structure_optim_ = frame->id_; (*it)->last_structure_optim_ = frame->id_;
GPU_version/vio/src/frame_handler_mono.cpp
+11 -3
View File
@@ -197,10 +197,18 @@ FrameHandlerBase::UpdateResult FrameHandlerMono::processFrame()
size_t sfba_n_edges_final=0; size_t sfba_n_edges_final=0;
double sfba_thresh, sfba_error_init, sfba_error_final; double sfba_thresh, sfba_error_init, sfba_error_final;
pose_optimizer::optimizeGaussNewton( pose_optimizer::optimizeGaussNewton(
Config::poseOptimThresh(), Config::poseOptimNumIter(), false, Config::poseOptimThresh(), 70, false,
new_frame_, sfba_thresh, sfba_error_init, sfba_error_final, sfba_n_edges_final); new_frame_, sfba_thresh, sfba_error_init, sfba_error_final, sfba_n_edges_final,log_);
if((last_frame_->T_f_w_.se2().translation()-new_frame_->T_f_w_.se2().translation()).norm()>0.5 || #if VIO_DEBUG
fprintf(log_,"[%s] After pose optimization, distance between two frames:%f ,angle between two frames:%f\n",vio::time_in_HH_MM_SS_MMM().c_str(),
(last_frame_->T_f_w_.se2().translation()-new_frame_->T_f_w_.se2().translation()).norm(),
last_frame_->T_f_w_.pitch()-new_frame_->T_f_w_.pitch());
#endif
if((last_frame_->T_f_w_.se2().translation()-new_frame_->T_f_w_.se2().translation()).norm()>0.5 ||
fabs(last_frame_->T_f_w_.pitch()-new_frame_->T_f_w_.pitch())>M_PI_4){ fabs(last_frame_->T_f_w_.pitch()-new_frame_->T_f_w_.pitch())>M_PI_4){
auto init_f= ukfPtr_.get_location();
new_frame_->T_f_w_=init_f.second;
new_frame_->Cov_ = init_f.first;
return RESULT_FAILURE; return RESULT_FAILURE;
} }
auto result=ukfPtr_.UpdateSvo(new_frame_->T_f_w_.se2().translation()(0), auto result=ukfPtr_.UpdateSvo(new_frame_->T_f_w_.se2().translation()(0),
GPU_version/vio/src/pose_optimizer.cpp
+26 -27
View File
@@ -34,7 +34,8 @@ void optimizeGaussNewton(
double& estimated_scale, double& estimated_scale,
double& error_init, double& error_init,
double& error_final, double& error_final,
size_t& num_obs) size_t& num_obs,
FILE* log)
{ {
// init // init
double chi2(0.0); double chi2(0.0);
@@ -57,10 +58,14 @@ void optimizeGaussNewton(
e *= 1.0 / (1<<(*it)->level); e *= 1.0 / (1<<(*it)->level);
errors.push_back(e.norm()); errors.push_back(e.norm());
} }
if(errors.empty()) if(errors.empty())
return; return;
vk::robust_cost::MADScaleEstimator scale_estimator; vk::robust_cost::MADScaleEstimator scale_estimator;
estimated_scale = 0.5*scale_estimator.compute(errors); estimated_scale = 0.5*scale_estimator.compute(errors);
#if VIO_DEBUG
fprintf(log,"[%s] Init estimate scale:%f\n",vio::time_in_HH_MM_SS_MMM().c_str(),estimated_scale);
#endif
num_obs = errors.size(); num_obs = errors.size();
chi2_vec_init.reserve(num_obs); chi2_vec_init.reserve(num_obs);
@@ -70,9 +75,6 @@ void optimizeGaussNewton(
size_t n_direction=0; size_t n_direction=0;
for(size_t iter=0; iter<n_iter; iter++) for(size_t iter=0; iter<n_iter; iter++)
{ {
// overwrite scale
if(iter == 5)
scale = 0.85/frame->cam_->errorMultiplier2();
b.setZero(); b.setZero();
A.setZero(); A.setZero();
@@ -87,6 +89,11 @@ void optimizeGaussNewton(
Vector3d xyz_f(Vector3d(frame->se3()*(*it)->point->pos_)); Vector3d xyz_f(Vector3d(frame->se3()*(*it)->point->pos_));
Frame::jacobian_xyz2uv(xyz_f, J); Frame::jacobian_xyz2uv(xyz_f, J);
Vector2d e = vk::project2d((*it)->f) - vk::project2d(xyz_f); Vector2d e = vk::project2d((*it)->f) - vk::project2d(xyz_f);
#if VIO_DEBUG
fprintf(log,"[%s] xyz_f:%f, %f, %f Reprojection Error: %f, %f Feature: %f, %f, %f\n",
vio::time_in_HH_MM_SS_MMM().c_str(),xyz_f.x(),xyz_f.y(),xyz_f.z(),e.x(),e.y(),
(*it)->point->pos_.x(),(*it)->point->pos_.y(),(*it)->point->pos_.z());
#endif
double sqrt_inv_cov = 1.0 / (1<<(*it)->level); double sqrt_inv_cov = 1.0 / (1<<(*it)->level);
e *= sqrt_inv_cov; e *= sqrt_inv_cov;
if(iter == 0) if(iter == 0)
@@ -97,39 +104,31 @@ void optimizeGaussNewton(
b.noalias() -= J.transpose()*e*weight; b.noalias() -= J.transpose()*e*weight;
new_chi2 += e.squaredNorm()*weight; new_chi2 += e.squaredNorm()*weight;
} }
// solve linear system // solve linear system
const Vector3d dT(A.ldlt().solve(b)); Vector3d dT(A.ldlt().solve(b));
// check if error increased // check if error increased
if((iter > 0 && new_chi2 > chi2 && n_direction>3) || (bool) std::isnan((double)dT[0])) if((iter > 0 && new_chi2 > chi2) || (bool) std::isnan((double)dT[0]))
{ {
if(verbose) #if VIO_DEBUG
std::cout << "it " << iter fprintf(log,"[%s] it:%d \t FAILURE \t new_chi2: %f\n",
<< "\t FAILURE \t new_chi2 = " << new_chi2 << std::endl; vio::time_in_HH_MM_SS_MMM().c_str(),iter,new_chi2);
#endif
frame->T_f_w_ = T_old; // roll-back frame->T_f_w_ = T_old; // roll-back
break; break;
}else if((iter > 0 && new_chi2 > chi2 && n_direction<3) ){
++n_direction;
scale *=0.5;
if(direction){
direction=false;
}else{
direction=true;
}
} }
scale *=0.5;
dT=0.1*dT;
// update the model // update the model
T_old = frame->T_f_w_; T_old = frame->T_f_w_;
if(direction){ frame->T_f_w_=SE2_5(T_old.se2().translation().y()+dT.x(),T_old.se2().translation().y()+dT.y(),T_old.pitch()+dT.z());
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.se2()));
}
chi2 = new_chi2; chi2 = new_chi2;
if(verbose) #if VIO_DEBUG
std::cout << "it " << iter fprintf(log,"[%s] it:%d \t Success \t new_chi2: %f \t dT = %f, %f, %f\n",
<< "\t Success \t new_chi2 = " << new_chi2 vio::time_in_HH_MM_SS_MMM().c_str(),iter,new_chi2,dT.x(),dT.y(),dT.z());
<< "\t norm(dT) = " << vk::norm_max(dT) << std::endl; #endif
// stop when converged // stop when converged
if(vk::norm_max(dT) <= EPS) if(vk::norm_max(dT) <= EPS)