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apply some calibration

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This commit is contained in:
gfuse
2021-10-06 22:33:54 +02:00
parent 7af93ce95b
commit cf15e3fa15
8 changed files with 7558 additions and 1265 deletions
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GPU_version/vio/depth_filter_log.txt
+636 -276
View File
@@ -1,276 +1,636 @@
[17:32:11.529] New key frame
[17:32:11.529] BA loop run
[17:32:11.530] init error: 293.060009
[17:32:11.531] end error: 0.543081
[17:32:11.639] New key frame
[17:32:11.639] BA loop run
[17:32:11.640] init error: 224.561716
[17:32:11.642] end error: 0.334719
[17:32:11.744] New key frame
[17:32:11.744] BA loop run
[17:32:11.744] init error: 283.721961
[17:32:11.746] end error: 0.053318
[17:32:11.850] New key frame
[17:32:11.850] BA loop run
[17:32:11.851] init error: 2717.912828
[17:32:11.852] end error: 0.285626
[17:32:11.954] New key frame
[17:32:11.954] BA loop run
[17:32:11.954] init error: 142.272482
[17:32:11.955] end error: 0.000000
[17:32:12.056] New key frame
[17:32:12.056] BA loop run
[17:32:12.057] init error: 3968.874603
[17:32:12.058] end error: 0.003010
[17:32:12.171] New key frame
[17:32:12.171] BA loop run
[17:32:12.171] init error: 1849.367846
[17:32:12.173] end error: 4.401303
[17:32:12.300] New key frame
[17:32:12.300] BA loop run
[17:32:12.301] init error: 4652.019044
[17:32:12.302] end error: 0.032062
[17:32:12.567] New key frame
[17:32:12.567] BA loop run
[17:32:12.568] init error: 804.137531
[17:32:12.569] end error: 0.275732
[17:32:12.823] New key frame
[17:32:12.823] BA loop run
[17:32:12.824] init error: 6970.014359
[17:32:12.826] end error: 15.113604
[17:32:12.964] New key frame
[17:32:12.964] BA loop run
[17:32:12.965] init error: 643.455749
[17:32:12.967] end error: 1.007424
[17:32:13.113] New key frame
[17:32:13.113] BA loop run
[17:32:13.113] init error: 8491.377665
[17:32:13.115] end error: 0.375816
[17:32:13.287] New key frame
[17:32:13.287] BA loop run
[17:32:13.288] init error: 3617.932648
[17:32:13.292] end error: 1.034106
[17:32:13.687] New key frame
[17:32:13.687] BA loop run
[17:32:13.688] init error: 1383.953109
[17:32:13.690] end error: 1.024390
[17:32:13.883] New key frame
[17:32:13.883] BA loop run
[17:32:13.884] init error: 311.152471
[17:32:13.887] end error: 0.004976
[17:32:14.067] New key frame
[17:32:14.067] BA loop run
[17:32:14.068] init error: 1239.284135
[17:32:14.072] end error: 1.718622
[17:32:14.239] New key frame
[17:32:14.239] BA loop run
[17:32:14.240] init error: 1349261.364619
[17:32:14.243] end error: 152.918265
[17:32:14.417] New key frame
[17:32:14.417] BA loop run
[17:32:14.419] init error: 2033.144800
[17:32:14.423] end error: 2.082554
[17:32:14.596] New key frame
[17:32:14.596] BA loop run
[17:32:14.598] init error: 6505.652947
[17:32:14.604] end error: 1.967117
[17:32:14.804] New key frame
[17:32:14.804] BA loop run
[17:32:14.806] init error: 1904287.761586
[17:32:14.812] end error: 15.865157
[17:32:14.991] New key frame
[17:32:14.991] BA loop run
[17:32:14.993] init error: 16132.101134
[17:32:15.000] end error: 5.016863
[17:32:15.208] New key frame
[17:32:15.208] BA loop run
[17:32:15.212] init error: 2506.817955
[17:32:15.222] end error: 5.123682
[17:32:15.406] New key frame
[17:32:15.406] BA loop run
[17:32:15.410] init error: 3976.237385
[17:32:15.422] end error: 12.122728
[17:32:15.605] New key frame
[17:32:15.605] BA loop run
[17:32:15.610] init error: 2581.216779
[17:32:15.621] end error: 4.309618
[17:32:15.797] New key frame
[17:32:15.797] BA loop run
[17:32:15.802] init error: 2637.769728
[17:32:15.817] end error: 5.058419
[17:32:15.980] New key frame
[17:32:15.980] BA loop run
[17:32:15.985] init error: 2772.109789
[17:32:16.296] end error: 3.235702
[17:32:16.303] New key frame
[17:32:16.303] BA loop run
[17:32:16.310] init error: 5181.702313
[17:32:16.699] end error: 4.064365
[17:32:16.827] New key frame
[17:32:16.827] BA loop run
[17:32:16.837] init error: 6619.680182
[17:32:16.939] end error: 7.017861
[17:32:17.120] New key frame
[17:32:17.120] BA loop run
[17:32:17.126] init error: 39376.077673
[17:32:17.449] end error: 48.584416
[17:32:17.464] New key frame
[17:32:17.464] BA loop run
[17:32:17.470] init error: 19683.568233
[17:32:17.740] end error: 21.834902
[17:32:17.933] New key frame
[17:32:17.933] BA loop run
[17:32:17.938] init error: 5263.330444
[17:32:18.044] end error: 1.357237
[17:32:18.171] New key frame
[17:32:18.173] BA loop run
[17:32:18.188] init error: 17287.022363
[17:32:18.457] end error: 1.674178
[17:32:18.588] New key frame
[17:32:18.588] BA loop run
[17:32:18.596] init error: 3164.369889
[17:32:18.613] end error: 0.498000
[17:32:18.780] New key frame
[17:32:18.780] BA loop run
[17:32:18.785] init error: 8751.263701
[17:32:18.801] end error: 7.103909
[17:32:18.954] New key frame
[17:32:18.954] BA loop run
[17:32:18.958] init error: 22295055.418845
[17:32:19.034] end error: 324.929904
[17:32:19.269] New key frame
[17:32:19.269] BA loop run
[17:32:19.274] init error: 20596.294474
[17:32:19.286] end error: 3.395402
[17:32:19.466] New key frame
[17:32:19.466] BA loop run
[17:32:19.470] init error: 2759.294857
[17:32:19.479] end error: 1.836850
[17:32:19.667] New key frame
[17:32:19.667] BA loop run
[17:32:19.671] init error: 3714.527072
[17:32:19.680] end error: 1.254689
[17:32:19.816] New key frame
[17:32:19.816] BA loop run
[17:32:19.820] init error: 41857486.042550
[17:32:19.828] end error: 1218.151315
[17:32:20.010] New key frame
[17:32:20.010] BA loop run
[17:32:20.014] init error: 14315.691767
[17:32:20.022] end error: 380.350427
[17:32:20.181] New key frame
[17:32:20.181] BA loop run
[17:32:20.185] init error: 86439.023961
[17:32:20.193] end error: 2.281035
[17:32:20.435] New key frame
[17:32:20.435] BA loop run
[17:32:20.438] init error: 28823.595790
[17:32:20.446] end error: 8.216698
[17:32:22.021] New key frame
[17:32:22.021] BA loop run
[17:32:22.025] init error: 236619.348348
[17:32:22.032] end error: 26.177452
[17:32:23.624] New key frame
[17:32:23.624] BA loop run
[17:32:23.628] init error: 1552.034153
[17:32:23.635] end error: 0.011546
[17:32:24.528] New key frame
[17:32:24.528] BA loop run
[17:32:24.531] init error: 81402.950193
[17:32:24.537] end error: 19.790299
[17:32:24.681] New key frame
[17:32:24.681] BA loop run
[17:32:24.685] init error: 3855.940068
[17:32:24.693] end error: 13.655187
[17:32:29.191] New key frame
[17:32:29.192] BA loop run
[17:32:29.195] init error: 4251.679417
[17:32:29.203] end error: 0.296954
[17:32:29.405] New key frame
[17:32:29.405] BA loop run
[17:32:29.409] init error: 31645.590982
[17:32:29.415] end error: 0.556847
[17:32:29.547] New key frame
[17:32:29.547] BA loop run
[17:32:29.550] init error: 1671.085976
[17:32:29.557] end error: 9.806177
[17:32:29.665] New key frame
[17:32:29.665] BA loop run
[17:32:29.668] init error: 1920.278503
[17:32:29.675] end error: 0.320177
[17:32:29.824] New key frame
[17:32:29.824] BA loop run
[17:32:29.828] init error: 7311.655583
[17:32:29.835] end error: 10.265470
[17:32:30.194] New key frame
[17:32:30.194] BA loop run
[17:32:30.197] init error: 41972.080368
[17:32:30.205] end error: 9.416607
[17:32:30.366] New key frame
[17:32:30.366] BA loop run
[17:32:30.369] init error: 62419.997316
[17:32:30.377] end error: 38.380967
[17:32:30.584] New key frame
[17:32:30.584] BA loop run
[17:32:30.588] init error: 2563.682632
[17:32:30.597] end error: 14.959473
[17:32:30.750] New key frame
[17:32:30.750] BA loop run
[17:32:30.754] init error: 78368.203596
[17:32:30.762] end error: 22.649769
[17:32:30.913] New key frame
[17:32:30.913] BA loop run
[17:32:30.917] init error: 11021.290664
[17:32:30.925] end error: 32.896074
[17:32:31.091] New key frame
[17:32:31.091] BA loop run
[17:32:31.096] init error: 33605.372423
[17:32:31.105] end error: 65.482499
[17:32:31.260] New key frame
[17:32:31.261] BA loop run
[17:32:31.265] init error: 256897.283445
[17:32:31.274] end error: 36.913688
[17:32:31.496] New key frame
[17:32:31.496] BA loop run
[17:32:31.501] init error: 3842.942916
[17:32:31.515] end error: 41.974868
[17:32:31.711] New key frame
[17:32:31.711] BA loop run
[17:32:31.717] init error: 1383337.492819
[17:32:31.729] end error: 214.810498
[17:32:31.979] New key frame
[17:32:31.979] BA loop run
[17:32:31.986] init error: 2013.300387
[17:32:32.006] end error: 52.197859
[17:32:32.247] New key frame
[17:32:32.247] BA loop run
[17:32:32.254] init error: 35168027.265287
[17:32:32.270] end error: 586.151334
[17:32:32.512] New key frame
[17:32:32.512] BA loop run
[17:32:32.519] init error: 1994.403783
[17:32:32.543] end error: 28.194066
[17:32:32.790] New key frame
[17:32:32.790] BA loop run
[17:32:32.798] init error: 56523.834756
[17:32:32.819] end error: 38.142485
[17:32:33.090] New key frame
[17:32:33.090] BA loop run
[17:32:33.098] init error: 21871.686605
[17:32:33.118] end error: 52.627613
[17:32:33.348] New key frame
[17:32:33.348] BA loop run
[17:32:33.356] init error: 1575.851870
[17:32:33.377] end error: 134.901043
[17:32:34.377] New key frame
[17:32:34.377] BA loop run
[17:32:34.384] init error: 2308.296904
[17:32:34.405] end error: 9.879097
[17:32:34.696] New key frame
[17:32:34.696] BA loop run
[17:32:34.705] init error: 909450.535239
[17:32:34.721] end error: 84.911328
[17:32:35.003] New key frame
[17:32:35.003] BA loop run
[17:32:35.010] init error: 20285.744194
[17:32:35.031] end error: 42.106149
[22:29:46.549] New key frame
[22:29:46.550] BA loop run
[22:29:46.552] init error: -nan
[22:29:46.557] end error: -nan
[22:29:46.660] New key frame
[22:29:46.660] BA loop run
[22:29:46.662] init error: -nan
[22:29:46.667] end error: -nan
[22:29:46.763] New key frame
[22:29:46.763] BA loop run
[22:29:46.766] init error: -nan
[22:29:46.771] end error: -nan
[22:29:46.865] New key frame
[22:29:46.865] BA loop run
[22:29:46.867] init error: -nan
[22:29:46.872] end error: -nan
[22:29:46.962] New key frame
[22:29:46.962] BA loop run
[22:29:46.964] init error: -nan
[22:29:46.969] end error: -nan
[22:29:47.066] New key frame
[22:29:47.066] BA loop run
[22:29:47.068] init error: -nan
[22:29:47.072] end error: -nan
[22:29:47.159] New key frame
[22:29:47.159] BA loop run
[22:29:47.161] init error: -nan
[22:29:47.165] end error: -nan
[22:29:47.254] New key frame
[22:29:47.254] BA loop run
[22:29:47.256] init error: -nan
[22:29:47.259] end error: -nan
[22:29:47.352] New key frame
[22:29:47.353] BA loop run
[22:29:47.355] init error: -nan
[22:29:47.367] end error: -nan
[22:29:47.517] New key frame
[22:29:47.517] BA loop run
[22:29:47.518] init error: -nan
[22:29:47.527] end error: -nan
[22:29:47.693] New key frame
[22:29:47.693] BA loop run
[22:29:47.695] init error: -nan
[22:29:47.720] end error: -nan
[22:29:47.868] New key frame
[22:29:47.868] BA loop run
[22:29:47.869] init error: -nan
[22:29:47.903] end error: -nan
[22:29:48.044] New key frame
[22:29:48.044] BA loop run
[22:29:48.046] init error: -nan
[22:29:48.081] end error: -nan
[22:29:48.309] New key frame
[22:29:48.309] BA loop run
[22:29:48.310] init error: -nan
[22:29:48.611] end error: -nan
[22:29:48.612] New key frame
[22:29:48.612] BA loop run
[22:29:48.613] init error: 15.914324
[22:29:49.243] end error: 0.029411
[22:29:49.245] New key frame
[22:29:49.245] BA loop run
[22:29:49.246] init error: 11.262837
[22:29:49.655] end error: 0.003359
[22:29:50.503] New key frame
[22:29:50.504] BA loop run
[22:29:50.504] init error: 3.479064
[22:29:50.505] end error: 0.000004
[22:31:18.793] New key frame
[22:31:18.793] BA loop run
[22:31:18.794] init error: 11696.693108
[22:31:18.794] end error: 2.302663
[22:31:18.888] New key frame
[22:31:18.888] BA loop run
[22:31:18.888] init error: 1239.227021
[22:31:18.889] end error: 0.000000
[22:31:19.000] New key frame
[22:31:19.000] BA loop run
[22:31:19.000] init error: 4602.244432
[22:31:19.001] end error: 0.000004
[22:31:19.097] New key frame
[22:31:19.097] BA loop run
[22:31:19.097] init error: 753.876451
[22:31:19.097] end error: 0.364979
[22:31:19.187] New key frame
[22:31:19.188] BA loop run
[22:31:19.188] init error: 489.018266
[22:31:19.188] end error: 0.000001
[22:31:19.385] New key frame
[22:31:19.385] BA loop run
[22:31:19.385] init error: 4919.827797
[22:31:19.386] end error: 1.670606
[22:31:19.504] New key frame
[22:31:19.504] BA loop run
[22:31:19.504] init error: 1674659.415647
[22:31:19.505] end error: 89.302075
[22:31:19.590] New key frame
[22:31:19.590] BA loop run
[22:31:19.591] init error: 3310.529731
[22:31:19.591] end error: 10.137941
[22:31:19.694] New key frame
[22:31:19.694] BA loop run
[22:31:19.694] init error: 1774.557852
[22:31:19.694] end error: 0.001622
[22:31:19.879] New key frame
[22:31:19.879] BA loop run
[22:31:19.879] init error: 11939.450031
[22:31:19.880] end error: 3.465171
[22:31:19.988] New key frame
[22:31:19.988] BA loop run
[22:31:19.989] init error: 16959.020042
[22:31:19.989] end error: 7.031975
[22:31:20.087] New key frame
[22:31:20.087] BA loop run
[22:31:20.087] init error: 1291.617951
[22:31:20.088] end error: 0.535589
[22:31:20.174] New key frame
[22:31:20.174] BA loop run
[22:31:20.174] init error: 1090.877340
[22:31:20.175] end error: 0.000000
[22:31:20.308] New key frame
[22:31:20.308] BA loop run
[22:31:20.308] init error: 514.202902
[22:31:20.308] end error: 0.000000
[22:31:20.375] New key frame
[22:31:20.375] BA loop run
[22:31:20.375] init error: 55999.137403
[22:31:20.376] end error: 0.292111
[22:31:20.577] New key frame
[22:31:20.577] BA loop run
[22:31:20.578] init error: 457.175767
[22:31:20.578] end error: 0.000000
[22:31:20.806] New key frame
[22:31:20.806] BA loop run
[22:31:20.806] init error: 70.463540
[22:31:20.806] end error: 0.000000
[22:31:20.869] New key frame
[22:31:20.869] BA loop run
[22:31:20.870] init error: 96.801227
[22:31:20.870] end error: 0.000000
[22:31:21.020] New key frame
[22:31:21.020] BA loop run
[22:31:21.021] init error: 79.855318
[22:31:21.022] end error: 0.000000
[22:31:21.140] New key frame
[22:31:21.140] BA loop run
[22:31:21.141] init error: 66.740565
[22:31:21.142] end error: 0.000000
[22:31:21.242] New key frame
[22:31:21.242] BA loop run
[22:31:21.242] init error: 506.780274
[22:31:21.243] end error: 0.000000
[22:31:21.341] New key frame
[22:31:21.341] BA loop run
[22:31:21.341] init error: 54.567235
[22:31:21.342] end error: 0.000000
[22:31:21.447] New key frame
[22:31:21.447] BA loop run
[22:31:21.448] init error: 1.458657
[22:31:21.448] end error: 0.000000
[22:31:21.697] New key frame
[22:31:21.697] BA loop run
[22:31:21.697] init error: 11.303527
[22:31:21.698] end error: 0.000000
[22:31:21.804] New key frame
[22:31:21.804] BA loop run
[22:31:21.805] init error: 2.341826
[22:31:21.805] end error: 0.000000
[22:31:22.017] New key frame
[22:31:22.017] BA loop run
[22:31:22.017] init error: 0.283735
[22:31:22.017] end error: 0.000000
[22:31:22.106] New key frame
[22:31:22.106] BA loop run
[22:31:22.106] init error: 0.335039
[22:31:22.106] end error: 0.000000
[22:31:22.205] New key frame
[22:31:22.205] BA loop run
[22:31:22.205] init error: 1.167879
[22:31:22.206] end error: 0.000000
[22:31:22.332] New key frame
[22:31:22.332] BA loop run
[22:31:22.332] init error: 4.548102
[22:31:22.333] end error: 0.000000
[22:31:22.438] New key frame
[22:31:22.438] BA loop run
[22:31:22.439] init error: 81.310648
[22:31:22.440] end error: 0.000000
[22:31:22.557] New key frame
[22:31:22.557] BA loop run
[22:31:22.558] init error: 68.456043
[22:31:22.559] end error: 0.000000
[22:31:22.658] New key frame
[22:31:22.658] BA loop run
[22:31:22.659] init error: 153.170832
[22:31:22.660] end error: 0.000000
[22:31:22.753] New key frame
[22:31:22.753] BA loop run
[22:31:22.754] init error: 332.802449
[22:31:22.755] end error: 0.000000
[22:31:22.846] New key frame
[22:31:22.846] BA loop run
[22:31:22.847] init error: 75.240345
[22:31:22.848] end error: 0.000000
[22:31:22.934] New key frame
[22:31:22.934] BA loop run
[22:31:22.935] init error: 104.424590
[22:31:22.935] end error: 0.000000
[22:31:23.027] New key frame
[22:31:23.027] BA loop run
[22:31:23.028] init error: 284.629228
[22:31:23.029] end error: 0.000000
[22:31:23.133] New key frame
[22:31:23.133] BA loop run
[22:31:23.134] init error: 13.221286
[22:31:23.134] end error: 0.000000
[22:31:23.221] New key frame
[22:31:23.221] BA loop run
[22:31:23.222] init error: 15.573307
[22:31:23.222] end error: 0.000000
[22:31:23.313] New key frame
[22:31:23.313] BA loop run
[22:31:23.313] init error: 11.081408
[22:31:23.314] end error: 0.000000
[22:31:23.426] New key frame
[22:31:23.426] BA loop run
[22:31:23.427] init error: 155.448072
[22:31:23.428] end error: 0.000000
[22:31:23.520] New key frame
[22:31:23.520] BA loop run
[22:31:23.520] init error: 312.553095
[22:31:23.521] end error: 0.000000
[22:31:23.709] New key frame
[22:31:23.709] BA loop run
[22:31:23.709] init error: 65.996668
[22:31:23.710] end error: 0.000000
[22:31:23.809] New key frame
[22:31:23.809] BA loop run
[22:31:23.809] init error: 4739.644774
[22:31:23.810] end error: 0.000000
[22:31:23.911] New key frame
[22:31:23.911] BA loop run
[22:31:23.912] init error: 140.378159
[22:31:23.912] end error: 0.000000
[22:31:24.016] New key frame
[22:31:24.016] BA loop run
[22:31:24.017] init error: 56.065433
[22:31:24.018] end error: 0.000000
[22:31:24.111] New key frame
[22:31:24.111] BA loop run
[22:31:24.111] init error: 115.625364
[22:31:24.112] end error: 0.000000
[22:31:24.208] New key frame
[22:31:24.208] BA loop run
[22:31:24.208] init error: 501.796825
[22:31:24.209] end error: 0.000000
[22:31:24.311] New key frame
[22:31:24.311] BA loop run
[22:31:24.312] init error: 491.890705
[22:31:24.312] end error: 0.000000
[22:31:24.425] New key frame
[22:31:24.425] BA loop run
[22:31:24.426] init error: 212.894163
[22:31:24.426] end error: 0.000000
[22:31:24.517] New key frame
[22:31:24.517] BA loop run
[22:31:24.518] init error: 1748.696713
[22:31:24.519] end error: 0.000000
[22:31:24.609] New key frame
[22:31:24.609] BA loop run
[22:31:24.609] init error: 38.487453
[22:31:24.610] end error: 0.000000
[22:31:24.715] New key frame
[22:31:24.715] BA loop run
[22:31:24.716] init error: 117.109507
[22:31:24.717] end error: 0.000000
[22:31:24.834] New key frame
[22:31:24.835] BA loop run
[22:31:24.835] init error: 126.315516
[22:31:24.836] end error: 0.000000
[22:31:24.940] New key frame
[22:31:24.941] BA loop run
[22:31:24.941] init error: 2278.071738
[22:31:24.942] end error: 0.000000
[22:31:25.032] New key frame
[22:31:25.032] BA loop run
[22:31:25.033] init error: 292.094638
[22:31:25.034] end error: 0.000000
[22:31:25.131] New key frame
[22:31:25.131] BA loop run
[22:31:25.131] init error: 18.046504
[22:31:25.132] end error: 0.000000
[22:31:25.221] New key frame
[22:31:25.222] BA loop run
[22:31:25.222] init error: 15.136323
[22:31:25.223] end error: 0.000000
[22:31:25.320] New key frame
[22:31:25.320] BA loop run
[22:31:25.320] init error: 29.173001
[22:31:25.321] end error: 0.000000
[22:31:25.600] New key frame
[22:31:25.600] BA loop run
[22:31:25.601] init error: 310.140433
[22:31:25.602] end error: 0.000000
[22:31:25.721] New key frame
[22:31:25.721] BA loop run
[22:31:25.721] init error: 333.454276
[22:31:25.723] end error: 0.000000
[22:31:25.804] New key frame
[22:31:25.804] BA loop run
[22:31:25.805] init error: 35.690842
[22:31:25.805] end error: 0.000000
[22:31:26.052] New key frame
[22:31:26.052] BA loop run
[22:31:26.053] init error: 908.831586
[22:31:26.054] end error: 0.000000
[22:31:26.240] New key frame
[22:31:26.241] BA loop run
[22:31:26.241] init error: 3100.573611
[22:31:26.242] end error: 0.000000
[22:31:26.337] New key frame
[22:31:26.337] BA loop run
[22:31:26.338] init error: 7.552827
[22:31:26.339] end error: 0.000000
[22:31:26.423] New key frame
[22:31:26.423] BA loop run
[22:31:26.424] init error: 49.923934
[22:31:26.424] end error: 0.000000
[22:31:26.532] New key frame
[22:31:26.532] BA loop run
[22:31:26.533] init error: 56.848491
[22:31:26.533] end error: 0.000000
[22:31:26.656] New key frame
[22:31:26.657] BA loop run
[22:31:26.657] init error: 79.941534
[22:31:26.658] end error: 0.000000
[22:31:26.767] New key frame
[22:31:26.767] BA loop run
[22:31:26.768] init error: 122.897459
[22:31:26.769] end error: 0.000000
[22:31:26.875] New key frame
[22:31:26.875] BA loop run
[22:31:26.875] init error: 156.469338
[22:31:26.876] end error: 0.000000
[22:31:27.006] New key frame
[22:31:27.006] BA loop run
[22:31:27.007] init error: 156.802705
[22:31:27.008] end error: 0.000000
[22:31:27.109] New key frame
[22:31:27.109] BA loop run
[22:31:27.110] init error: 164.251649
[22:31:27.111] end error: 0.000000
[22:31:27.216] New key frame
[22:31:27.216] BA loop run
[22:31:27.217] init error: 131.059494
[22:31:27.217] end error: 0.000000
[22:31:27.325] New key frame
[22:31:27.325] BA loop run
[22:31:27.326] init error: 23.877881
[22:31:27.326] end error: 0.000000
[22:31:27.437] New key frame
[22:31:27.437] BA loop run
[22:31:27.437] init error: 4.858615
[22:31:27.438] end error: 0.000000
[22:31:27.565] New key frame
[22:31:27.565] BA loop run
[22:31:27.566] init error: 9.295936
[22:31:27.566] end error: 0.000000
[22:31:27.717] New key frame
[22:31:27.717] BA loop run
[22:31:27.718] init error: 18.324338
[22:31:27.719] end error: 0.000000
[22:31:27.877] New key frame
[22:31:27.877] BA loop run
[22:31:27.878] init error: 65.885126
[22:31:27.879] end error: 0.000000
[22:31:28.029] New key frame
[22:31:28.029] BA loop run
[22:31:28.030] init error: 1293.317479
[22:31:28.031] end error: 0.000000
[22:31:28.185] New key frame
[22:31:28.185] BA loop run
[22:31:28.185] init error: 99.517714
[22:31:28.186] end error: 0.000000
[22:31:28.334] New key frame
[22:31:28.334] BA loop run
[22:31:28.335] init error: 93.715354
[22:31:28.336] end error: 0.000000
[22:31:28.453] New key frame
[22:31:28.453] BA loop run
[22:31:28.453] init error: 110.644783
[22:31:28.455] end error: 0.000000
[22:31:28.569] New key frame
[22:31:28.569] BA loop run
[22:31:28.570] init error: 226.273434
[22:31:28.571] end error: 0.000000
[22:31:28.694] New key frame
[22:31:28.694] BA loop run
[22:31:28.695] init error: 103.323064
[22:31:28.696] end error: 0.000000
[22:31:28.813] New key frame
[22:31:28.814] BA loop run
[22:31:28.814] init error: 96.069307
[22:31:28.815] end error: 0.000000
[22:31:28.938] New key frame
[22:31:28.938] BA loop run
[22:31:28.939] init error: 121.023193
[22:31:28.940] end error: 0.000000
[22:31:29.050] New key frame
[22:31:29.050] BA loop run
[22:31:29.050] init error: 158.295558
[22:31:29.051] end error: 0.000000
[22:31:29.179] New key frame
[22:31:29.179] BA loop run
[22:31:29.180] init error: 277.136099
[22:31:29.181] end error: 0.000000
[22:31:29.300] New key frame
[22:31:29.300] BA loop run
[22:31:29.301] init error: 607.852927
[22:31:29.302] end error: 0.000000
[22:31:29.458] New key frame
[22:31:29.458] BA loop run
[22:31:29.458] init error: 63.952124
[22:31:29.459] end error: 0.000000
[22:31:29.594] New key frame
[22:31:29.594] BA loop run
[22:31:29.595] init error: 37.939308
[22:31:29.596] end error: 0.000000
[22:31:29.765] New key frame
[22:31:29.765] BA loop run
[22:31:29.766] init error: 24.319269
[22:31:29.767] end error: 0.000000
[22:31:30.086] New key frame
[22:31:30.086] BA loop run
[22:31:30.086] init error: 22.954792
[22:31:30.088] end error: 0.000000
[22:31:30.217] New key frame
[22:31:30.217] BA loop run
[22:31:30.217] init error: 39.346060
[22:31:30.218] end error: 0.000000
[22:31:30.368] New key frame
[22:31:30.368] BA loop run
[22:31:30.368] init error: 23.493694
[22:31:30.370] end error: 0.000000
[22:31:30.523] New key frame
[22:31:30.523] BA loop run
[22:31:30.523] init error: 42.977544
[22:31:30.524] end error: 0.000000
[22:31:30.846] New key frame
[22:31:30.846] BA loop run
[22:31:30.847] init error: 2383.585825
[22:31:30.848] end error: 0.000000
[22:31:31.004] New key frame
[22:31:31.004] BA loop run
[22:31:31.004] init error: 244.533693
[22:31:31.005] end error: 0.000000
[22:31:31.151] New key frame
[22:31:31.151] BA loop run
[22:31:31.151] init error: 131.799398
[22:31:31.152] end error: 0.000000
[22:31:31.314] New key frame
[22:31:31.314] BA loop run
[22:31:31.314] init error: 106.001946
[22:31:31.315] end error: 0.000000
[22:31:31.454] New key frame
[22:31:31.454] BA loop run
[22:31:31.455] init error: 254.228714
[22:31:31.456] end error: 0.000000
[22:31:31.610] New key frame
[22:31:31.610] BA loop run
[22:31:31.610] init error: 219.203953
[22:31:31.611] end error: 0.000000
[22:31:31.776] New key frame
[22:31:31.776] BA loop run
[22:31:31.777] init error: 332.295279
[22:31:31.778] end error: 0.000000
[22:31:31.915] New key frame
[22:31:31.915] BA loop run
[22:31:31.915] init error: 388.566147
[22:31:31.916] end error: 0.000000
[22:31:32.033] New key frame
[22:31:32.033] BA loop run
[22:31:32.033] init error: 226.490780
[22:31:32.034] end error: 0.000000
[22:31:32.168] New key frame
[22:31:32.168] BA loop run
[22:31:32.168] init error: 497.479135
[22:31:32.169] end error: 0.000000
[22:31:32.318] New key frame
[22:31:32.318] BA loop run
[22:31:32.319] init error: 181.703451
[22:31:32.320] end error: 0.000000
[22:31:32.454] New key frame
[22:31:32.454] BA loop run
[22:31:32.455] init error: 225.129429
[22:31:32.456] end error: 0.000000
[22:31:32.592] New key frame
[22:31:32.592] BA loop run
[22:31:32.593] init error: 309.249447
[22:31:32.594] end error: 0.000000
[22:31:32.725] New key frame
[22:31:32.725] BA loop run
[22:31:32.725] init error: 251.550786
[22:31:32.726] end error: 0.000000
[22:31:32.847] New key frame
[22:31:32.847] BA loop run
[22:31:32.847] init error: 263.837745
[22:31:32.848] end error: 0.000000
[22:31:32.968] New key frame
[22:31:32.968] BA loop run
[22:31:32.968] init error: 315.848235
[22:31:32.969] end error: 0.000000
[22:31:33.113] New key frame
[22:31:33.113] BA loop run
[22:31:33.114] init error: 240.650402
[22:31:33.115] end error: 0.000000
[22:31:33.252] New key frame
[22:31:33.252] BA loop run
[22:31:33.252] init error: 362.639353
[22:31:33.254] end error: 0.000000
[22:31:33.396] New key frame
[22:31:33.396] BA loop run
[22:31:33.396] init error: 317.858584
[22:31:33.397] end error: 0.000000
[22:31:33.528] New key frame
[22:31:33.528] BA loop run
[22:31:33.528] init error: 379.217499
[22:31:33.529] end error: 0.000000
[22:31:33.669] New key frame
[22:31:33.669] BA loop run
[22:31:33.669] init error: 159.891671
[22:31:33.670] end error: 0.000000
[22:31:33.791] New key frame
[22:31:33.791] BA loop run
[22:31:33.791] init error: 152.547726
[22:31:33.792] end error: 0.000000
[22:31:33.924] New key frame
[22:31:33.924] BA loop run
[22:31:33.925] init error: 470.502243
[22:31:33.925] end error: 0.000000
[22:31:34.374] New key frame
[22:31:34.374] BA loop run
[22:31:34.375] init error: 836.765949
[22:31:34.376] end error: 0.000000
[22:31:34.612] New key frame
[22:31:34.612] BA loop run
[22:31:34.612] init error: 618.659793
[22:31:34.613] end error: 0.000000
[22:31:34.858] New key frame
[22:31:34.858] BA loop run
[22:31:34.858] init error: 14268.603933
[22:31:34.859] end error: 0.000000
[22:31:35.073] New key frame
[22:31:35.073] BA loop run
[22:31:35.073] init error: 759.093617
[22:31:35.074] end error: 0.000000
[22:31:35.196] New key frame
[22:31:35.196] BA loop run
[22:31:35.197] init error: 399.800171
[22:31:35.197] end error: 0.000000
[22:31:35.316] New key frame
[22:31:35.316] BA loop run
[22:31:35.316] init error: 380.208476
[22:31:35.317] end error: 0.000000
[22:31:35.574] New key frame
[22:31:35.574] BA loop run
[22:31:35.574] init error: 359.733781
[22:31:35.575] end error: 0.000000
[22:31:35.682] New key frame
[22:31:35.682] BA loop run
[22:31:35.683] init error: 413.198884
[22:31:35.684] end error: 0.000000
[22:31:35.805] New key frame
[22:31:35.806] BA loop run
[22:31:35.806] init error: 476.467141
[22:31:35.807] end error: 0.000000
[22:31:35.930] New key frame
[22:31:35.930] BA loop run
[22:31:35.931] init error: 376.075532
[22:31:35.932] end error: 0.000000
[22:31:36.046] New key frame
[22:31:36.046] BA loop run
[22:31:36.046] init error: 490.398950
[22:31:36.047] end error: 0.000000
[22:31:36.337] New key frame
[22:31:36.337] BA loop run
[22:31:36.337] init error: 270.851463
[22:31:36.338] end error: 0.000000
[22:31:36.465] New key frame
[22:31:36.465] BA loop run
[22:31:36.466] init error: 265.473990
[22:31:36.467] end error: 0.000000
[22:31:36.566] New key frame
[22:31:36.566] BA loop run
[22:31:36.566] init error: 1090.064832
[22:31:36.567] end error: 0.000000
[22:31:36.764] New key frame
[22:31:36.764] BA loop run
[22:31:36.765] init error: 225.202629
[22:31:36.765] end error: 0.000000
[22:31:36.907] New key frame
[22:31:36.907] BA loop run
[22:31:36.907] init error: 18.103024
[22:31:36.908] end error: 0.000000
[22:31:37.038] New key frame
[22:31:37.039] BA loop run
[22:31:37.039] init error: 31.446433
[22:31:37.040] end error: 0.000000
[22:31:37.203] New key frame
[22:31:37.203] BA loop run
[22:31:37.204] init error: 22.914176
[22:31:37.205] end error: 0.000000
[22:31:37.345] New key frame
[22:31:37.345] BA loop run
[22:31:37.345] init error: 8.200829
[22:31:37.346] end error: 0.000000
[22:31:37.513] New key frame
[22:31:37.513] BA loop run
[22:31:37.514] init error: 19.818339
[22:31:37.515] end error: 0.002712
[22:31:37.651] New key frame
[22:31:37.651] BA loop run
[22:31:37.652] init error: 44.120608
[22:31:37.652] end error: 0.000000
[22:31:37.766] New key frame
[22:31:37.766] BA loop run
[22:31:37.766] init error: 25.558753
[22:31:37.767] end error: 0.000000
[22:31:37.884] New key frame
[22:31:37.884] BA loop run
[22:31:37.884] init error: 4.360590
[22:31:37.885] end error: 0.000000
[22:32:21.678] New key frame
[22:32:21.678] BA loop run
[22:32:21.678] init error: 0.650481
[22:32:21.679] end error: 0.000000
GPU_version/vio/frame_handler_log.txt
+6895 -967
View File
File diff suppressed because it is too large Load Diff
GPU_version/vio/include/vio/ukf.h
+14 -14
View File
@@ -30,7 +30,7 @@ public:
}*/
t_cmd=time;
state_h_(2)=state_(2)+dt*dpitch;
state_h_(1)=state_(1)+dt*/*2.0**/(dy*cos(state_(2))-dx*sin(state_(2)));
state_h_(1)=state_(1)+dt*(dy*cos(state_(2))-dx*sin(state_(2)));
state_h_(0)=state_(0)+dt*(dx*cos(state_(2))+dy*sin(state_(2)));
state_h_(3)=dpitch;
Eigen::Matrix<double,4,4> R;
@@ -40,13 +40,13 @@ public:
0,0,0,vio::Config::Cmd_Cov();
Eigen::Matrix<double,4,4> G;
G<<1.0,0,dt*(-dx*sin(state_(2))+dy*cos(state_(2))),0.0,
0,1.0,dt*/*2.0**/(-dy*sin(state_(2))-dx*cos(state_(2))),0.0,
0,1.0,dt*(-dy*sin(state_(2))-dx*cos(state_(2))),0.0,
0,0,1.0,dt,
0,0,0,1.0;
cov_h_=G*cov_*G.transpose()+R;
}
void correct(double ddx, double ddy, double dpitch, double time){
double dt=0.01;
double dt=0.05;
/*if(t_imu==0.0){
t_imu=time;
return;
@@ -57,11 +57,11 @@ public:
Eigen::Matrix<double,4,1> E;
Eigen::Matrix<double,4,4> k;
E(0)=state_(0)+pow(dt,2)*(ddx*cos(state_(2))+ddy*sin(state_(2)))-state_h_(0);
E(1)=state_(1)+/*2.0**/pow(dt,2)*(ddy*cos(state_(2))-ddx*sin(state_(2)))-state_h_(1);
E(1)=state_(1)+pow(dt,2)*(ddy*cos(state_(2))-ddx*sin(state_(2)))-state_h_(1);
E(2)=state_(2)+dt*state_(3)-state_h_(2);
E(3)=dpitch-state_h_(3);
H<<1.0,0,pow(dt,2)*(ddy*cos(state_(2))-ddx*sin(state_(2))),0.0,
0,1.0,-/*2.0**/pow(dt,2)*(ddx*cos(state_(2))+ddy*sin(state_(2))),0.0,
0,1.0,-pow(dt,2)*(ddx*cos(state_(2))+ddy*sin(state_(2))),0.0,
0,0,1.0,dt,
0,0,0,1.0;
Q<<vio::Config::ACC_Noise(),0,0,0,
@@ -72,7 +72,7 @@ public:
state_=state_h_+k*E;
cov_=(Eigen::MatrixXd::Identity(4,4)-k*H)*cov_h_;
state_h_(2)=state_(2)+dt*state_(3);
state_h_(1)=state_(1)+/*2.0**/pow(dt,2)*(ddy*cos(state_(2))-ddx*sin(state_(2)));
state_h_(1)=state_(1)+pow(dt,2)*(ddy*cos(state_(2))-ddx*sin(state_(2)));
state_h_(0)=state_(0)+pow(dt,2)*(ddx*cos(state_(2))+ddy*sin(state_(2)));
state_h_(3)=state_(3);
Eigen::Matrix<double,4,4> R;
@@ -82,7 +82,7 @@ public:
0,0,0,vio::Config::GYO_Noise();
Eigen::Matrix<double,4,4> G;
G<<1.0,0,pow(dt,2)*(ddy*cos(state_(2))-ddx*sin(state_(2))),0,
0,1.0,/*2.0**/pow(dt,2)*(ddx*cos(state_(2))+ddy*sin(state_(2))),0,
0,1.0,pow(dt,2)*(ddx*cos(state_(2))+ddy*sin(state_(2))),0,
0,0,1.0,dt,
0,0,0,1.0;
cov_h_=G*cov_*G.transpose()+R;
@@ -98,7 +98,7 @@ public:
0,0,1.0,0;
Q<<vio::Config::Svo_Ekf(),0,0,
0,vio::Config::Svo_Ekf(),0,
0,0,vio::Config::Svo_Ekf();
0,0,10.0*vio::Config::Svo_Ekf();
E<<x-state_h_(0),z-state_h_(1),pitch-state_h_(2);
k=cov_h_*H.transpose()*(H*cov_h_*H.transpose()+Q).inverse();
state_=state_h_+(k*E);
@@ -125,8 +125,8 @@ public:
/* if(abs(x)<1.0)x=pow(x,3);//picked up from your code
if(abs(y)<1.0)y=pow(y,3);//picked up from your code*/
++imu_syn_count_;
if(imu_syn_[imu_syn_count_ % 7]){
imu_syn_[imu_syn_count_ % 7]=false;
if(imu_syn_[imu_syn_count_ % 4]){
imu_syn_[imu_syn_count_ % 4]=false;
}else{
return;
}
@@ -136,8 +136,8 @@ public:
};
//IMU frame y front, x right, z up -> left hands (theta counts from y)
void UpdateCmd(double x/*in imu frame*/,double y/*in imu frame*/,double theta/*in imu frame*/,const ros::Time& time) {
cam_syn_[cmd_syn_count_ % 7]=true;
imu_syn_[cmd_syn_count_ % 7]=true;
cam_syn_[cmd_syn_count_ % 4]=true;
imu_syn_[cmd_syn_count_ % 4]=true;
++cmd_syn_count_;
if(cmd_syn_count_>50)cmd_syn_count_=0;
boost::unique_lock<boost::mutex> lock(ekf_mut_);
@@ -164,8 +164,8 @@ public:
}
size_t cmd_syn_count_=0;
size_t imu_syn_count_=2;
bool cam_syn_[7]={false,false,false,false,false,false,false};
bool imu_syn_[7]={false,false,false,false,false,false,false};
bool cam_syn_[4]={false,false,false,false};
bool imu_syn_[4]={false,false,false,false};
private:
Base* filter_= nullptr;
boost::mutex ekf_mut_;
GPU_version/vio/param/vo_fast.yaml
+3 -3
View File
@@ -10,7 +10,7 @@ svo:
kfselect_mindist: 0.01
poseoptim_thresh: 8.0
init_min_inliers: 50
ACC_noise: 0.3 #acc white noise in continuous in EKF
GYO_noise: 0.3 #gyro white noise in continuous in EKF
svo_ekf: 0.2 #Svo noise that will be devided by number of Reprojected points after opmization in EKF
ACC_noise: 0.1 #acc white noise in continuous in EKF
GYO_noise: 0.05 #gyro white noise in continuous in EKF
svo_ekf: 0.05 #VO noise in EKF
Cmd_Cov: 0.1 #control vector noise in EKF
GPU_version/vio/src/frame.cpp
+2 -2
View File
@@ -143,8 +143,8 @@ void Frame::removeKeyPoint(std::shared_ptr<Feature> ftr)
bool Frame::isVisible(const Vector3d& xyz_w) const
{
if(!id_)return false;
assert(!xyz_w.hasNaN());
if(!id_)return false;
if(xyz_w.hasNaN())return false;
Vector3d xyz_f = this->se3().inverse()*xyz_w;
if(xyz_f.z() < 0.0)
return false; // point is behind the camera
GPU_version/vio/src/global_optimizer.cpp
+2 -1
View File
@@ -139,6 +139,7 @@ namespace vio {
}
}
}
if(optimizer.vertices().size()<1)continue;
// Optimization
optimizer.initializeOptimization();
optimizer.computeActiveErrors();
@@ -146,7 +147,7 @@ namespace vio {
fprintf(log_,"[%s] init error: %f \n",
vio::time_in_HH_MM_SS_MMM().c_str(),optimizer.activeChi2());
#endif
optimizer.optimize(vio::Config::lobaNumIter());
if(optimizer.optimize(vio::Config::lobaNumIter())<1)continue;
#if VIO_DEBUG
fprintf(log_,"[%s] end error: %f \n",
vio::time_in_HH_MM_SS_MMM().c_str(),optimizer.activeChi2());
GPU_version/vio/src/math_utils.cpp
+2 -2
View File
@@ -37,8 +37,8 @@ triangulateFeatureNonLin(const Matrix3d& R, const Vector3d& t,
double lamda0 = z.dot(b0)/pow(z.norm(), 2);
double lamda1 = z.dot(b1)/pow(z.norm(), 2);
//if (lamda0 <= 0 || lamda1 <= 0)return Vector3d(0.0,0.0,0.0);
if (max(m0_hat.dot(R_F2_p), feature1.dot(f1_p)) > 1.1781)return Vector3d(0.0,0.0,0.0);
if(R_F2_p.dot(f1_p) < 0.005)return Vector3d(0.0,0.0,0.0);
if (max(m0_hat.dot(R_F2_p), feature1.dot(f1_p)) > M_PI_2)return Vector3d(0.0,0.0,0.0);
if(R_F2_p.dot(f1_p) < 0.01)return Vector3d(0.0,0.0,0.0);
Vector3d xm = lamda1 * f1_p;
Vector3d xn = t + lamda0 * R_F2_p;
return ( xm + xn )/2;
GPU_version/vio/src/pose_optimizer.cpp
+4
View File
@@ -53,6 +53,10 @@ void optimizeGaussNewton(
//Reprojection error
Vector2d e = vk::project2d((*it)->f)
- vk::project2d(Vector3d(frame->se3()*(*it)->point->pos_));
if(std::isnan(e.norm())){
map.safeDeletePoint((*it)->point);
it = frame->fts_.erase(it);
}
e *= 1.0 / (1<<(*it)->level);
chi2_vec_init.push_back(e.norm()); // just for debug
errors.push_back(e.norm());