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do calibration and edit

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This commit is contained in:
gfuse
2021-10-18 14:49:40 +02:00
parent 16637a4f0c
commit ef14e33bdf
7 changed files with 18 additions and 2521 deletions
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GPU_version/vio/CMakeLists.txt
+3
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@@ -1,3 +1,6 @@
# build g2o with -DG2O_HAVE_OPENGL=ON -DBUILD_WITH_MARCH_NATIVE=ON
# G2o version => https://github.com/RainerKuemmerle/g2o/tree/memory_management
SET(PROJECT_NAME vio)
PROJECT(${PROJECT_NAME})
CMAKE_MINIMUM_REQUIRED (VERSION 2.8.3)
GPU_version/vio/depth_filter_log.txt
-658
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@@ -1,658 +0,0 @@
[19:07:57.571] New key frame
[19:07:57.571] BA loop run
[19:07:57.572] init error: 20.124301
[19:07:57.575] end error: 0.000366
[19:07:57.725] New key frame
[19:07:57.725] BA loop run
[19:07:57.726] init error: 3.326193
[19:07:57.729] end error: 0.063434
[19:07:57.892] New key frame
[19:07:57.892] BA loop run
[19:07:58.033] New key frame
[19:07:58.033] BA loop run
[19:07:58.033] init error: 5.224831
[19:07:58.034] end error: 0.000000
[19:07:58.206] New key frame
[19:07:58.206] BA loop run
[19:07:58.206] init error: 16.211948
[19:07:58.208] end error: 0.000001
[19:07:58.406] New key frame
[19:07:58.406] BA loop run
[19:07:58.409] init error: 48.486817
[19:07:58.413] end error: 2.767577
[19:07:58.593] New key frame
[19:07:58.593] BA loop run
[19:07:58.595] init error: 348.821161
[19:07:58.600] end error: 1.276149
[19:07:58.892] New key frame
[19:07:58.892] BA loop run
[19:07:58.894] init error: 1915.998266
[19:07:58.899] end error: 3.539466
[19:07:59.206] New key frame
[19:07:59.206] BA loop run
[19:07:59.208] init error: 62.901709
[19:07:59.216] end error: 2.655298
[19:07:59.583] New key frame
[19:07:59.583] BA loop run
[19:07:59.585] init error: 36.592363
[19:07:59.592] end error: 0.916429
[19:07:59.821] New key frame
[19:07:59.821] BA loop run
[19:07:59.822] init error: 42.686031
[19:07:59.828] end error: 1.124509
[19:08:00.077] New key frame
[19:08:00.077] BA loop run
[19:08:00.078] init error: 306.849947
[19:08:00.086] end error: 2.161691
[19:08:00.316] New key frame
[19:08:00.316] BA loop run
[19:08:00.318] init error: 43.793156
[19:08:00.326] end error: 0.286283
[19:08:00.565] New key frame
[19:08:00.565] BA loop run
[19:08:00.567] init error: 114.305784
[19:08:00.577] end error: 2.788313
[19:08:00.829] New key frame
[19:08:00.829] BA loop run
[19:08:00.831] init error: 244.921992
[19:08:00.840] end error: 3.144747
[19:08:01.075] New key frame
[19:08:01.075] BA loop run
[19:08:01.077] init error: 175.755635
[19:08:01.085] end error: 2.467674
[19:08:01.352] New key frame
[19:08:01.352] BA loop run
[19:08:01.354] init error: 2023.324703
[19:08:01.366] end error: 2.591742
[19:08:01.561] New key frame
[19:08:01.561] BA loop run
[19:08:01.563] init error: 57.058299
[19:08:01.570] end error: 2.626874
[19:08:01.755] New key frame
[19:08:01.755] BA loop run
[19:08:01.757] init error: 729.558334
[19:08:01.763] end error: 1.215458
[19:08:01.957] New key frame
[19:08:01.957] BA loop run
[19:08:01.960] init error: 297.638335
[19:08:01.968] end error: 3.091007
[19:08:02.150] New key frame
[19:08:02.150] BA loop run
[19:08:02.152] init error: 144.108217
[19:08:02.162] end error: 5.496201
[19:08:02.356] New key frame
[19:08:02.356] BA loop run
[19:08:02.358] init error: 177.430184
[19:08:02.366] end error: 3.954758
[19:08:02.558] New key frame
[19:08:02.558] BA loop run
[19:08:02.560] init error: 127.969103
[19:08:02.573] end error: 3.019139
[19:08:02.801] New key frame
[19:08:02.802] BA loop run
[19:08:02.804] init error: 87.389767
[19:08:02.819] end error: 1.922565
[19:08:03.105] New key frame
[19:08:03.105] BA loop run
[19:08:03.107] init error: 3304.183444
[19:08:03.121] end error: 2.712068
[19:08:03.338] New key frame
[19:08:03.338] BA loop run
[19:08:03.340] init error: 226.922840
[19:08:03.350] end error: 2.476651
[19:08:03.594] New key frame
[19:08:03.594] BA loop run
[19:08:03.596] init error: 93.843590
[19:08:03.606] end error: 2.491450
[19:08:03.762] New key frame
[19:08:03.762] BA loop run
[19:08:03.765] init error: 1540.880986
[19:08:03.775] end error: 3.174820
[19:08:03.905] New key frame
[19:08:03.905] BA loop run
[19:08:03.908] init error: 59.127683
[19:08:03.916] end error: 1.047741
[19:08:04.135] New key frame
[19:08:04.135] BA loop run
[19:08:04.139] init error: 165.054727
[19:08:04.150] end error: 4.635068
[19:08:04.399] New key frame
[19:08:04.399] BA loop run
[19:08:04.403] init error: 84.080127
[19:08:04.414] end error: 0.297043
[19:08:04.637] New key frame
[19:08:04.637] BA loop run
[19:08:04.642] init error: 79.358421
[19:08:04.654] end error: 0.269855
[19:08:04.840] New key frame
[19:08:04.840] BA loop run
[19:08:04.845] init error: 126.204088
[19:08:04.886] end error: 0.000484
[19:08:05.064] New key frame
[19:08:05.064] BA loop run
[19:08:05.069] init error: 942.581476
[19:08:05.081] end error: 0.000467
[19:08:05.255] New key frame
[19:08:05.255] BA loop run
[19:08:05.259] init error: 36.688360
[19:08:05.308] end error: 1.078818
[19:08:05.607] New key frame
[19:08:05.607] BA loop run
[19:08:05.613] init error: 354592.408913
[19:08:05.626] end error: 526.740896
[19:08:05.961] New key frame
[19:08:05.961] BA loop run
[19:08:05.965] init error: 340.419486
[19:08:05.979] end error: 3.914580
[19:08:06.888] New key frame
[19:08:06.888] BA loop run
[19:08:06.892] init error: 5395.758872
[19:08:06.901] end error: 1.489281
[19:08:07.302] New key frame
[19:08:07.302] BA loop run
[19:08:07.306] init error: 143.068603
[19:08:07.322] end error: 3.227177
[19:08:07.706] New key frame
[19:08:07.706] BA loop run
[19:08:07.710] init error: 12406.169850
[19:08:07.719] end error: 22.960628
[19:08:08.376] New key frame
[19:08:08.376] BA loop run
[19:08:08.380] init error: 23441.247347
[19:08:08.389] end error: 11.344908
[19:08:08.769] New key frame
[19:08:08.769] BA loop run
[19:08:08.772] init error: 311.001814
[19:08:08.785] end error: 2.741961
[19:08:09.146] New key frame
[19:08:09.146] BA loop run
[19:08:09.151] init error: 2233.139659
[19:08:09.165] end error: 5.287275
[19:08:09.507] New key frame
[19:08:09.507] BA loop run
[19:08:09.512] init error: 141.205930
[19:08:09.522] end error: 4.366998
[19:08:09.909] New key frame
[19:08:09.909] BA loop run
[19:08:09.914] init error: 3004.172520
[19:08:09.926] end error: 6.696819
[19:08:10.343] New key frame
[19:08:10.343] BA loop run
[19:08:10.348] init error: 717.712530
[19:08:10.358] end error: 19.996458
[19:08:10.763] New key frame
[19:08:10.764] BA loop run
[19:08:10.769] init error: 381.142383
[19:08:10.781] end error: 18.124120
[19:08:11.149] New key frame
[19:08:11.149] BA loop run
[19:08:11.153] init error: 110.654655
[19:08:11.167] end error: 9.119094
[19:08:11.667] New key frame
[19:08:11.667] BA loop run
[19:08:11.673] init error: 148.874228
[19:08:11.688] end error: 6.669374
[19:08:12.204] New key frame
[19:08:12.204] BA loop run
[19:08:12.211] init error: 132.139573
[19:08:12.232] end error: 8.932782
[19:08:12.732] New key frame
[19:08:12.732] BA loop run
[19:08:12.740] init error: 132.865428
[19:08:12.761] end error: 13.242387
[19:08:13.253] New key frame
[19:08:13.253] BA loop run
[19:08:13.262] init error: 132.371013
[19:08:13.281] end error: 13.640638
[19:08:13.812] New key frame
[19:08:13.812] BA loop run
[19:08:13.824] init error: 420.872838
[19:08:13.847] end error: 71.267133
[19:08:14.437] New key frame
[19:08:14.437] BA loop run
[19:08:14.445] init error: 246.103669
[19:08:14.466] end error: 35.143164
[19:08:14.901] New key frame
[19:08:14.901] BA loop run
[19:08:14.910] init error: 595.048774
[19:08:14.930] end error: 6.163617
[19:08:15.429] New key frame
[19:08:15.429] BA loop run
[19:08:15.440] init error: 217.000308
[19:08:15.469] end error: 7.208416
[19:08:16.142] New key frame
[19:08:16.142] BA loop run
[19:08:16.149] init error: 581.567047
[19:08:16.169] end error: 2.480761
[19:08:16.652] New key frame
[19:08:16.652] BA loop run
[19:08:16.658] init error: 144.297517
[19:08:16.677] end error: 3.885534
[19:08:17.390] New key frame
[19:08:17.390] BA loop run
[19:08:17.397] init error: 205.203008
[19:08:17.419] end error: 5.931317
[19:08:18.184] New key frame
[19:08:18.184] BA loop run
[19:08:18.192] init error: 2362.207276
[19:08:18.217] end error: 8.164335
[19:08:18.863] New key frame
[19:08:18.863] BA loop run
[19:08:18.872] init error: 15541.837434
[19:08:18.897] end error: 30.216289
[19:08:19.517] New key frame
[19:08:19.517] BA loop run
[19:08:19.530] init error: 5645.073677
[19:08:19.572] end error: 28.499126
[19:08:20.298] New key frame
[19:08:20.298] BA loop run
[19:08:20.307] init error: 12194.098173
[19:08:20.336] end error: 13.802437
[19:08:20.989] New key frame
[19:08:20.989] BA loop run
[19:08:21.001] init error: 768.314319
[19:08:21.037] end error: 24.252743
[19:08:21.889] New key frame
[19:08:21.889] BA loop run
[19:08:21.900] init error: 4254.552392
[19:08:21.924] end error: 44.963277
[19:08:22.816] New key frame
[19:08:22.817] BA loop run
[19:08:22.828] init error: 372.261075
[19:08:22.864] end error: 9.733314
[19:08:23.453] New key frame
[19:08:23.453] BA loop run
[19:08:23.466] init error: 7895.034185
[19:08:23.499] end error: 14.295506
[19:08:24.035] New key frame
[19:08:24.035] BA loop run
[19:08:24.047] init error: 983.457179
[19:08:24.077] end error: 27.183696
[19:08:24.707] New key frame
[19:08:24.707] BA loop run
[19:08:24.719] init error: 238.905484
[19:08:24.752] end error: 31.446009
[19:08:25.574] New key frame
[19:08:25.574] BA loop run
[19:08:25.586] init error: 6639.216114
[19:08:25.615] end error: 63.603546
[19:08:26.418] New key frame
[19:08:26.418] BA loop run
[19:08:26.431] init error: 1527.439349
[19:08:26.467] end error: 102.500410
[19:08:27.104] New key frame
[19:08:27.104] BA loop run
[19:08:27.118] init error: 1682.446704
[19:08:27.158] end error: 63.194832
[19:08:28.170] New key frame
[19:08:28.170] BA loop run
[19:08:28.184] init error: 44402.645376
[19:08:28.221] end error: 100.878931
[19:08:29.319] New key frame
[19:08:29.319] BA loop run
[19:08:29.335] init error: 23143.431080
[19:08:29.375] end error: 106.133547
[19:08:29.885] New key frame
[19:08:29.885] BA loop run
[19:08:29.901] init error: 11041.869810
[19:08:29.945] end error: 92.381053
[19:08:30.974] New key frame
[19:08:30.974] BA loop run
[19:08:30.996] init error: 12458.156341
[19:08:31.043] end error: 284.208753
[19:08:32.234] New key frame
[19:08:32.234] BA loop run
[19:08:32.252] init error: 3241.041272
[19:08:32.303] end error: 138.828491
[19:08:33.769] New key frame
[19:08:33.769] BA loop run
[19:08:33.789] init error: 342796.721782
[19:08:33.834] end error: 870.263472
[19:08:34.914] New key frame
[19:08:34.914] BA loop run
[19:08:34.928] init error: 663960.189876
[19:08:34.965] end error: 872.220583
[19:08:36.148] New key frame
[19:08:36.148] BA loop run
[19:08:36.160] init error: 44034623.483747
[19:08:36.190] end error: 2783.771215
[19:08:37.044] New key frame
[19:08:37.044] BA loop run
[19:08:37.058] init error: 15634.066874
[19:08:37.090] end error: 433.156869
[19:08:38.420] New key frame
[19:08:38.420] BA loop run
[19:08:38.432] init error: 503468.223023
[19:08:38.458] end error: 847.134752
[19:08:39.613] New key frame
[19:08:39.613] BA loop run
[19:08:39.625] init error: 389294.375516
[19:08:39.648] end error: 690.928109
[19:08:40.874] New key frame
[19:08:40.874] BA loop run
[19:08:40.889] init error: 2377335.676515
[19:08:40.915] end error: 1104.021857
[19:08:43.363] New key frame
[19:08:43.363] BA loop run
[19:08:43.376] init error: 1446751.118520
[19:08:43.400] end error: 1436.698234
[19:08:44.738] New key frame
[19:08:44.738] BA loop run
[19:08:44.746] init error: 671993.539226
[19:08:44.771] end error: 1126.179519
[19:08:46.569] New key frame
[19:08:46.570] BA loop run
[19:08:46.578] init error: 38227755.723560
[19:08:46.595] end error: 1152.006000
[19:08:47.336] New key frame
[19:08:47.336] BA loop run
[19:08:47.343] init error: 552349.637205
[19:08:47.357] end error: 514.800584
[19:08:48.048] New key frame
[19:08:48.048] BA loop run
[19:08:48.054] init error: 1662425.910845
[19:08:48.065] end error: 346.807761
[19:08:48.696] New key frame
[19:08:48.696] BA loop run
[19:08:48.701] init error: 1551.689280
[19:08:48.713] end error: 34.723154
[19:08:50.537] New key frame
[19:08:50.537] BA loop run
[19:08:50.540] init error: 17253.587149
[19:08:50.547] end error: 41.350147
[19:08:50.944] New key frame
[19:08:50.944] BA loop run
[19:08:50.947] init error: 41829.307931
[19:08:50.952] end error: 13.714445
[19:08:51.401] New key frame
[19:08:51.401] BA loop run
[19:08:51.405] init error: 6269.468046
[19:08:51.412] end error: 1.252471
[19:08:51.879] New key frame
[19:08:51.879] BA loop run
[19:08:51.883] init error: 80889.919449
[19:08:51.889] end error: 5.937364
[19:08:52.330] New key frame
[19:08:52.330] BA loop run
[19:08:52.334] init error: 9300.475177
[19:08:52.340] end error: 6.408737
[19:08:52.723] New key frame
[19:08:52.723] BA loop run
[19:08:52.726] init error: 6762.686568
[19:08:52.732] end error: 30.922879
[19:08:53.046] New key frame
[19:08:53.046] BA loop run
[19:08:53.049] init error: 700473.491322
[19:08:53.055] end error: 53.988333
[19:08:53.337] New key frame
[19:08:53.337] BA loop run
[19:08:53.340] init error: 137404.671135
[19:08:53.345] end error: 28.566632
[19:08:53.632] New key frame
[19:08:53.632] BA loop run
[19:08:53.636] init error: 2455.155716
[19:08:53.642] end error: 7.978690
[19:08:53.928] New key frame
[19:08:53.928] BA loop run
[19:08:53.932] init error: 12036.376719
[19:08:53.939] end error: 30.499619
[19:08:54.198] New key frame
[19:08:54.198] BA loop run
[19:08:54.203] init error: 1078.009475
[19:08:54.211] end error: 50.562398
[19:08:54.516] New key frame
[19:08:54.516] BA loop run
[19:08:54.521] init error: 6000.783577
[19:08:54.531] end error: 182.849311
[19:08:54.817] New key frame
[19:08:54.817] BA loop run
[19:08:54.822] init error: 17020.616100
[19:08:54.831] end error: 47.082725
[19:08:55.144] New key frame
[19:08:55.144] BA loop run
[19:08:55.151] init error: 367551.921240
[19:08:55.161] end error: 329.161299
[19:08:55.452] New key frame
[19:08:55.452] BA loop run
[19:08:55.460] init error: 921304.542850
[19:08:55.473] end error: 1085.927310
[19:08:55.776] New key frame
[19:08:55.776] BA loop run
[19:08:55.784] init error: 52108.764078
[19:08:55.800] end error: 356.900435
[19:08:56.139] New key frame
[19:08:56.139] BA loop run
[19:08:56.148] init error: 347174.233661
[19:08:56.164] end error: 128.466734
[19:08:56.569] New key frame
[19:08:56.569] BA loop run
[19:08:56.578] init error: 115657.173290
[19:08:56.595] end error: 567.610467
[19:08:57.088] New key frame
[19:08:57.088] BA loop run
[19:08:57.097] init error: 34133.221553
[19:08:57.113] end error: 105.756833
[19:08:57.655] New key frame
[19:08:57.655] BA loop run
[19:08:57.666] init error: 1690132.313171
[19:08:57.687] end error: 232.489549
[19:08:58.406] New key frame
[19:08:58.406] BA loop run
[19:08:58.419] init error: 37636.651818
[19:08:58.444] end error: 303.571524
[19:08:59.291] New key frame
[19:08:59.291] BA loop run
[19:08:59.305] init error: 113246.107218
[19:08:59.336] end error: 1694.849522
[19:09:00.011] New key frame
[19:09:00.011] BA loop run
[19:09:00.030] init error: 156038.558897
[19:09:00.063] end error: 447.036669
[19:09:00.744] New key frame
[19:09:00.744] BA loop run
[19:09:00.764] init error: 2348.101843
[19:09:00.797] end error: 1079.336873
[19:09:01.371] New key frame
[19:09:01.372] BA loop run
[19:09:01.391] init error: 8593.408104
[19:09:01.428] end error: 1483.332738
[19:09:02.517] New key frame
[19:09:02.517] BA loop run
[19:09:02.537] init error: 602342.957103
[19:09:02.575] end error: 632.161000
[19:09:03.518] New key frame
[19:09:03.518] BA loop run
[19:09:03.541] init error: 2532.563297
[19:09:03.595] end error: 1354.499854
[19:09:05.686] New key frame
[19:09:05.686] BA loop run
[19:09:05.702] init error: 2417.686791
[19:09:05.743] end error: 257.207984
[19:09:06.762] New key frame
[19:09:06.762] BA loop run
[19:09:06.781] init error: 92905.664997
[19:09:06.825] end error: 552.618345
[19:09:07.734] New key frame
[19:09:07.734] BA loop run
[19:09:07.752] init error: 76574.633398
[19:09:07.790] end error: 536.851969
[19:09:08.316] New key frame
[19:09:08.317] BA loop run
[19:09:08.336] init error: 17765.492579
[19:09:08.381] end error: 537.227541
[19:09:08.888] New key frame
[19:09:08.888] BA loop run
[19:09:08.907] init error: 2713.787254
[19:09:08.946] end error: 344.511587
[19:09:09.764] New key frame
[19:09:09.764] BA loop run
[19:09:09.784] init error: 28287.606737
[19:09:09.830] end error: 495.225474
[19:09:10.843] New key frame
[19:09:10.843] BA loop run
[19:09:10.866] init error: 182562.043663
[19:09:10.920] end error: 1447.150602
[19:09:11.932] New key frame
[19:09:11.932] BA loop run
[19:09:11.957] init error: 295804.193193
[19:09:12.011] end error: 863.894614
[19:09:12.832] New key frame
[19:09:12.832] BA loop run
[19:09:12.857] init error: 30989.020287
[19:09:12.932] end error: 865.154263
[19:09:13.632] New key frame
[19:09:13.632] BA loop run
[19:09:13.657] init error: 2005.115013
[19:09:13.713] end error: 754.150107
[19:09:14.562] New key frame
[19:09:14.562] BA loop run
[19:09:14.590] init error: 2930.989857
[19:09:14.704] end error: 847.762853
[19:09:15.411] New key frame
[19:09:15.411] BA loop run
[19:09:15.439] init error: 8141.425072
[19:09:15.505] end error: 656.188305
[19:09:16.068] New key frame
[19:09:16.068] BA loop run
[19:09:16.090] init error: 7883.882089
[19:09:16.139] end error: 549.824669
[19:09:16.817] New key frame
[19:09:16.817] BA loop run
[19:09:16.838] init error: 31683.980719
[19:09:16.885] end error: 561.011736
[19:09:17.385] New key frame
[19:09:17.385] BA loop run
[19:09:17.406] init error: 59327.635941
[19:09:17.472] end error: 483.543798
[19:09:17.892] New key frame
[19:09:17.892] BA loop run
[19:09:17.913] init error: 4670.716461
[19:09:17.968] end error: 379.145547
[19:09:18.604] New key frame
[19:09:18.604] BA loop run
[19:09:18.627] init error: 5209.772044
[19:09:18.698] end error: 406.523648
[19:09:19.314] New key frame
[19:09:19.314] BA loop run
[19:09:19.342] init error: 24325.460496
[19:09:19.396] end error: 1069.182673
[19:09:20.044] New key frame
[19:09:20.044] BA loop run
[19:09:20.067] init error: 67332.643981
[19:09:20.120] end error: 451.879759
[19:09:20.768] New key frame
[19:09:20.768] BA loop run
[19:09:20.795] init error: 5823.475524
[19:09:20.849] end error: 715.265627
[19:09:21.296] New key frame
[19:09:21.296] BA loop run
[19:09:21.317] init error: 12157.100550
[19:09:21.366] end error: 441.857794
[19:09:22.053] New key frame
[19:09:22.053] BA loop run
[19:09:22.074] init error: 28622.816252
[19:09:22.123] end error: 800.104694
[19:09:22.991] New key frame
[19:09:22.991] BA loop run
[19:09:23.011] init error: 3101.906475
[19:09:23.071] end error: 354.338690
[19:09:23.883] New key frame
[19:09:23.883] BA loop run
[19:09:23.912] init error: 135469.987048
[19:09:23.966] end error: 1135.546090
[19:09:24.720] New key frame
[19:09:24.720] BA loop run
[19:09:24.747] init error: 13523.226465
[19:09:24.816] end error: 666.512385
[19:09:25.480] New key frame
[19:09:25.481] BA loop run
[19:09:25.503] init error: 435607.138491
[19:09:25.555] end error: 595.250050
[19:09:26.154] New key frame
[19:09:26.154] BA loop run
[19:09:26.175] init error: 15305.018933
[19:09:26.244] end error: 393.300600
[19:09:26.639] New key frame
[19:09:26.639] BA loop run
[19:09:26.663] init error: 5086.688488
[19:09:26.771] end error: 1158.814927
[19:09:27.192] New key frame
[19:09:27.192] BA loop run
[19:09:27.214] init error: 169567.864815
[19:09:27.259] end error: 906.772537
[19:09:27.636] New key frame
[19:09:27.636] BA loop run
[19:09:27.656] init error: 2315.138570
[19:09:27.710] end error: 429.474969
[19:09:28.021] New key frame
[19:09:28.021] BA loop run
[19:09:28.041] init error: 2193.575695
[19:09:28.083] end error: 646.445919
[19:09:28.645] New key frame
[19:09:28.645] BA loop run
[19:09:28.665] init error: 5229.595941
[19:09:28.710] end error: 561.443113
[19:09:29.317] New key frame
[19:09:29.317] BA loop run
[19:09:29.338] init error: 392563.566338
[19:09:29.382] end error: 312.687692
[19:09:29.969] New key frame
[19:09:29.969] BA loop run
[19:09:29.991] init error: 22890.618899
[19:09:30.036] end error: 187.744379
[19:09:30.596] New key frame
[19:09:30.596] BA loop run
[19:09:30.620] init error: 44921.900136
[19:09:30.676] end error: 372.990847
[19:09:31.359] New key frame
[19:09:31.359] BA loop run
[19:09:31.389] init error: 10506.844043
[19:09:31.454] end error: 1413.312563
[19:09:32.052] New key frame
[19:09:32.052] BA loop run
[19:09:32.085] init error: 8061.284444
[19:09:32.146] end error: 695.109379
[19:09:32.677] New key frame
[19:09:32.677] BA loop run
[19:09:32.710] init error: 22051.193591
[19:09:32.791] end error: 487.391619
[19:09:33.253] New key frame
[19:09:33.253] BA loop run
[19:09:33.292] init error: 408549.445554
[19:09:33.360] end error: 2152.703612
[19:09:34.085] New key frame
[19:09:34.086] BA loop run
[19:09:34.123] init error: 426652.390483
[19:09:34.210] end error: 895.246709
[19:09:34.790] New key frame
[19:09:34.790] BA loop run
[19:09:34.823] init error: 146290.284901
[19:09:34.905] end error: 952.559704
[19:09:35.659] New key frame
[19:09:35.659] BA loop run
[19:09:35.691] init error: 881388.768973
[19:09:35.774] end error: 1705.674421
[19:09:36.533] New key frame
[19:09:36.533] BA loop run
[19:09:36.562] init error: 76209.846512
[19:09:36.633] end error: 1204.167804
[19:09:37.454] New key frame
[19:09:37.454] BA loop run
[19:09:37.483] init error: 11119.525258
[19:09:37.554] end error: 1859.468648
[19:09:38.341] New key frame
[19:09:38.341] BA loop run
[19:09:38.367] init error: 5625.588972
[19:09:38.466] end error: 2318.181275
[19:09:39.275] New key frame
[19:09:39.275] BA loop run
[19:09:39.302] init error: 13654.263186
[19:09:39.377] end error: 801.690669
[19:09:40.328] New key frame
[19:09:40.328] BA loop run
[19:09:40.363] init error: 3104.981592
[19:09:40.433] end error: 707.488389
[19:09:41.352] New key frame
[19:09:41.352] BA loop run
[19:09:41.377] init error: 2056.058613
[19:09:41.444] end error: 877.723256
GPU_version/vio/frame_handler_log.txt
-1855
View File
File diff suppressed because it is too large Load Diff
GPU_version/vio/include/vio/global_optimizer.h
+1 -1
View File
@@ -86,7 +86,7 @@ protected:
/// Create a g2o vertice from a keyframe object.
std::shared_ptr<g2o::VertexSE3Expmap> createG2oFrameSE3(
FramePtr kf);
FramePtr kf, bool state);
/// Creates a g2o vertice from a mappoint object.
std::shared_ptr<g2o::VertexPointXYZ> createG2oPoint(
Vector3d pos);
GPU_version/vio/launch/Px30.launch
+1 -1
View File
@@ -1,6 +1,6 @@
<launch>
<!-- node pkg="vio" type="vio" name="vio" clear_params="true" output="screen" / -->
<node pkg="vio" type="vio" name="vio" clear_params="true" output="screen" />
<!-- Camera topic to subscribe to -->
<param name="vio/cam_topic" value="/CoreNode/grey_img" type="str" />
GPU_version/vio/param/vo_fast.yaml
+1 -1
View File
@@ -8,7 +8,7 @@ vio:
init_min_disparity: 10
structureoptim_max_pts: 50
kfselect_mindist: 0.01
poseoptim_thresh: 1.3
poseoptim_thresh: 2.0
ACC_ekf: 0.2 #acc white noise in continuous in EKF
GYO_ekf: 0.1 #gyro white noise in continuous in EKF
VO_ekf_translation: 1.0 #VO noise in EKF
GPU_version/vio/src/global_optimizer.cpp
+12 -5
View File
@@ -95,10 +95,16 @@ namespace vio {
ba_mux_.lock();
// Go through all Keyframes
v_id_ = 0;
auto end=map_.keyframes_.end();
auto end_1=end--;
for(auto it_kf=map_.keyframes_.begin();it_kf!=map_.keyframes_.end();++it_kf)
{
// New Keyframe Vertex
(*it_kf)->v_kf_ = createG2oFrameSE3(*it_kf);
if(it_kf !=map_.keyframes_.end() && it_kf !=end && it_kf !=end_1){
(*it_kf)->v_kf_ = createG2oFrameSE3(*it_kf,true);
}else{
(*it_kf)->v_kf_ = createG2oFrameSE3(*it_kf,false);
}
optimizer_->addVertex((*it_kf)->v_kf_);
for(auto& it_ftr:(*it_kf)->fts_)
{
@@ -151,8 +157,8 @@ namespace vio {
for(list<FramePtr>::iterator it_kf = map_.keyframes_.begin();
it_kf != map_.keyframes_.end();++it_kf)
{
(*it_kf)->T_f_w_ = SE2_5(SE3((*it_kf)->v_kf_->estimate().rotation().toRotationMatrix(),
(*it_kf)->v_kf_->estimate().translation()));
/* (*it_kf)->T_f_w_ = SE2_5(SE3((*it_kf)->v_kf_->estimate().rotation().toRotationMatrix(),
(*it_kf)->v_kf_->estimate().translation()));*/
for(Features::iterator it_ftr=(*it_kf)->fts_.begin(); it_ftr!=(*it_kf)->fts_.end(); ++it_ftr)
{
if((*it_ftr)->point == NULL)
@@ -169,12 +175,13 @@ namespace vio {
}
std::shared_ptr<g2o::VertexSE3Expmap>
BA_Glob::createG2oFrameSE3(FramePtr frame)
BA_Glob::createG2oFrameSE3(FramePtr frame, bool state)
{
std::shared_ptr<g2o::VertexSE3Expmap> v= std::make_shared<g2o::VertexSE3Expmap>();
++v_id_;
v->setId(v_id_);
v->setFixed(false);
// not all frames are fixed
v->setFixed(state);
v->setEstimate(g2o::SE3Quat(frame->se3().unit_quaternion(), frame->se3().translation()));
return v;
}