271 lines
9.2 KiB
C++
271 lines
9.2 KiB
C++
// This file is part of SVO - Semi-direct Visual Odometry.
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//
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// Copyright (C) 2014 Christian Forster <forster at ifi dot uzh dot ch>
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// (Robotics and Perception Group, University of Zurich, Switzerland).
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//
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// SVO is free software: you can redistribute it and/or modify it under the
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// terms of the GNU General Public License as published by the Free Software
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// Foundation, either version 3 of the License, or any later version.
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//
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// SVO is distributed in the hope that it will be useful, but WITHOUT ANY
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// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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// FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details.
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//
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// You should have received a copy of the GNU General Public License
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// along with this program. If not, see <http://www.gnu.org/licenses/>.
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#include <svo/config.h>
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#include <svo/frame_handler_mono.h>
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#include <svo/map.h>
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#include <svo/frame.h>
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#include <svo/feature.h>
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#include <svo/point.h>
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#include <svo/pose_optimizer.h>
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#include <svo/sparse_img_align.h>
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#include <vikit/performance_monitor.h>
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#include <svo/depth_filter.h>
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#ifdef USE_BUNDLE_ADJUSTMENT
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#include <svo/bundle_adjustment.h>
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#endif
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namespace svo {
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FrameHandlerMono::FrameHandlerMono(vk::AbstractCamera* cam) :
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FrameHandlerBase(),
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cam_(cam),
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reprojector_(cam_, map_),
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depth_filter_(NULL)
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{
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initialize();
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}
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void FrameHandlerMono::initialize()
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{
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feature_detection::DetectorPtr feature_detector(
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new feature_detection::FastDetector(
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cam_->width(), cam_->height(), Config::gridSize(), Config::nPyrLevels()));
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DepthFilter::callback_t depth_filter_cb = boost::bind(
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&MapPointCandidates::newCandidatePoint, &map_.point_candidates_, _1, _2);
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depth_filter_ = new DepthFilter(feature_detector, depth_filter_cb);
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depth_filter_->startThread();
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}
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FrameHandlerMono::~FrameHandlerMono()
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{
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delete depth_filter_;
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}
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void FrameHandlerMono::addImage(const cv::Mat& img, const double timestamp)
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{
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if(!startFrameProcessingCommon(timestamp))
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return;
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// some cleanup from last iteration, can't do before because of visualization
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core_kfs_.clear();
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overlap_kfs_.clear();
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// create new frame
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SVO_START_TIMER("pyramid_creation");
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new_frame_.reset(new Frame(cam_, img.clone(), timestamp));
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SVO_STOP_TIMER("pyramid_creation");
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// process frame
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UpdateResult res = RESULT_FAILURE;
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if(stage_ == STAGE_DEFAULT_FRAME)
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res = processFrame();
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else if(stage_ == STAGE_SECOND_FRAME)
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res = processSecondFrame();
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else if(stage_ == STAGE_FIRST_FRAME)
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res = processFirstFrame();
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// set last frame
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last_frame_ = new_frame_;
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new_frame_.reset();
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// finish processing
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finishFrameProcessingCommon(last_frame_->id_, res, last_frame_->nObs());
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}
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void FrameHandlerMono::setFirstFrame(const FramePtr& first_frame)
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{
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resetAll();
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last_frame_ = first_frame;
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last_frame_->setKeyframe();
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map_.addKeyframe(last_frame_);
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stage_ = STAGE_DEFAULT_FRAME;
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}
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FrameHandlerMono::UpdateResult FrameHandlerMono::processFirstFrame()
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{
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new_frame_->T_f_w_ = SE3(Matrix3d::Identity(), Vector3d::Zero());
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if(klt_homography_init_.addFirstFrame(new_frame_) == initialization::FAILURE)
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return RESULT_NO_KEYFRAME;
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new_frame_->setKeyframe();
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map_.addKeyframe(new_frame_);
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stage_ = STAGE_SECOND_FRAME;
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SVO_INFO_STREAM("Init: Selected first frame.");
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return RESULT_IS_KEYFRAME;
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}
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FrameHandlerBase::UpdateResult FrameHandlerMono::processSecondFrame()
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{
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initialization::InitResult res = klt_homography_init_.addSecondFrame(new_frame_);
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if(res == initialization::FAILURE)
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return RESULT_FAILURE;
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else if(res == initialization::NO_KEYFRAME)
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return RESULT_NO_KEYFRAME;
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// two-frame bundle adjustment
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#ifdef USE_BUNDLE_ADJUSTMENT
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ba::twoViewBA(new_frame_.get(), map_.lastKeyframe().get(), Config::lobaThresh(), map_);
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#endif
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double depth_mean, depth_min;
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frame_utils::getSceneDepth(*new_frame_, depth_mean, depth_min);
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depth_filter_->addKeyframe(new_frame_, depth_mean, 0.5*depth_min);
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// add frame to map
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new_frame_->setKeyframe();
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map_.addKeyframe(new_frame_);
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stage_ = STAGE_DEFAULT_FRAME;
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klt_homography_init_.reset();
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SVO_INFO_STREAM("Init: Selected second frame, triangulated initial map.");
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return RESULT_IS_KEYFRAME;
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}
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FrameHandlerBase::UpdateResult FrameHandlerMono::processFrame()
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{
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// Set initial pose TODO use prior
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new_frame_->T_f_w_ = last_frame_->T_f_w_;
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// sparse image align
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SVO_START_TIMER("sparse_img_align");
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SparseImgAlign img_align(Config::kltMaxLevel(), Config::kltMinLevel(),
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30, SparseImgAlign::GaussNewton, false, false);
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size_t img_align_n_tracked = img_align.run(last_frame_, new_frame_);
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SVO_STOP_TIMER("sparse_img_align");
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SVO_LOG(img_align_n_tracked);
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SVO_DEBUG_STREAM("Img Align:\t Tracked = " << img_align_n_tracked);
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// map reprojection & feature alignment
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SVO_START_TIMER("reproject");
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reprojector_.reprojectMap(new_frame_, overlap_kfs_);
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SVO_STOP_TIMER("reproject");
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const size_t repr_n_new_references = reprojector_.n_matches_;
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const size_t repr_n_mps = reprojector_.n_trials_;
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SVO_LOG2(repr_n_mps, repr_n_new_references);
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SVO_DEBUG_STREAM("Reprojection:\t nPoints = "<<repr_n_mps<<"\t \t nMatches = "<<repr_n_new_references);
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if(repr_n_new_references == 0) {
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SVO_ERROR_STREAM("Not enough matched features.");
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return RESULT_FAILURE;
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}
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// pose optimization
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SVO_START_TIMER("pose_optimizer");
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size_t sfba_n_edges_final;
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double sfba_thresh, sfba_error_init, sfba_error_final;
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pose_optimizer::optimizeGaussNewton(
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Config::poseOptimThresh(), Config::poseOptimNumIter(), false,
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new_frame_, sfba_thresh, sfba_error_init, sfba_error_final, sfba_n_edges_final);
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SVO_STOP_TIMER("pose_optimizer");
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SVO_LOG4(sfba_thresh, sfba_error_init, sfba_error_final, sfba_n_edges_final);
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SVO_DEBUG_STREAM("PoseOptimizer:\t ErrInit = "<<sfba_error_init<<"px\t thresh = "<<sfba_thresh);
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SVO_DEBUG_STREAM("PoseOptimizer:\t ErrFin. = "<<sfba_error_final<<"px\t nObsFin. = "<<sfba_n_edges_final);
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if(sfba_n_edges_final < 10)
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return RESULT_FAILURE;
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// structure optimization
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SVO_START_TIMER("point_optimizer");
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optimizeStructure(new_frame_, Config::structureOptimMaxPts(), Config::structureOptimNumIter());
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SVO_STOP_TIMER("point_optimizer");
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// select keyframe
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setTrackingQuality(sfba_n_edges_final);
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if(tracking_quality_ == TRACKING_INSUFFICIENT)
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return RESULT_FAILURE;
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double depth_mean, depth_min;
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frame_utils::getSceneDepth(*new_frame_, depth_mean, depth_min);
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if(!needNewKf(depth_mean) || tracking_quality_ == TRACKING_BAD)
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{
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depth_filter_->addFrame(new_frame_);
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return RESULT_NO_KEYFRAME;
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}
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new_frame_->setKeyframe();
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SVO_DEBUG_STREAM("New keyframe selected.");
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// new keyframe selected
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for(Features::iterator it=new_frame_->fts_.begin(); it!=new_frame_->fts_.end(); ++it)
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if((*it)->point != NULL)
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(*it)->point->addFrameRef(*it);
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map_.point_candidates_.addCandidatePointToFrame(new_frame_);
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// optional bundle adjustment
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core_kfs_.insert(new_frame_);
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#ifdef USE_BUNDLE_ADJUSTMENT
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if(Config::lobaNumIter() > 0)
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{
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SVO_START_TIMER("local_ba");
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setCoreKfs(Config::coreNKfs());
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size_t loba_n_erredges_init, loba_n_erredges_fin;
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double loba_err_init, ba_final_error;
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ba::localBA(new_frame_.get(), &core_kfs_, &map_,
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loba_n_erredges_init, ba_incorrect_edges_2,
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ba_init_error, loba_err_fin);
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SVO_STOP_TIMER("local_ba");
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SVO_LOG4(loba_n_erredges_init, loba_n_erredges_fin, loba_err_init, loba_err_fin);
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SVO_DEBUG_STREAM("Local BA:\t RemovedEdges {"<<loba_n_erredges_init<<", "<<loba_n_erredges_fin<<"} \t "
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"Error {"<<loba_err_init<<", "<<loba_err_fin<<"}");
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}
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#endif
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// init new depth-filters
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depth_filter_->addKeyframe(new_frame_, depth_mean, 0.5*depth_min);
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// if limited number of keyframes, remove the one furthest apart
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if(Config::maxNKfs() > 2 && map_.size() >= Config::maxNKfs())
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{
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FramePtr furthest_frame = map_.getFurthestKeyframe(new_frame_->pos());
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depth_filter_->removeKeyframe(furthest_frame); // TODO this interrupts the mapper thread, maybe we can solve this better
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map_.safeDeleteFrame(furthest_frame);
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}
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// add keyframe to map
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map_.addKeyframe(new_frame_);
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return RESULT_IS_KEYFRAME;
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}
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void FrameHandlerMono::resetAll()
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{
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resetCommon();
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last_frame_.reset();
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new_frame_.reset();
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core_kfs_.clear();
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overlap_kfs_.clear();
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depth_filter_->reset();
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}
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bool FrameHandlerMono::needNewKf(double scene_depth_mean)
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{
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for(auto it=overlap_kfs_.begin(), ite=overlap_kfs_.end(); it!=ite; ++it)
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{
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Vector3d relpos = new_frame_->w2f(it->first->pos());
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if(fabs(relpos.x())/scene_depth_mean < Config::kfSelectMinDist() &&
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fabs(relpos.y())/scene_depth_mean < Config::kfSelectMinDist()*0.8 &&
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fabs(relpos.z())/scene_depth_mean < Config::kfSelectMinDist()*1.3)
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return false;
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}
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return true;
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}
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void FrameHandlerMono::setCoreKfs(size_t n_closest)
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{
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size_t n = min(n_closest, overlap_kfs_.size()-1);
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std::partial_sort(overlap_kfs_.begin(), overlap_kfs_.begin()+n, overlap_kfs_.end(),
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boost::bind(&pair<FramePtr, size_t>::second, _1) >
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boost::bind(&pair<FramePtr, size_t>::second, _2));
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std::for_each(overlap_kfs_.begin(), overlap_kfs_.end(), [&](pair<FramePtr,size_t>& i){ core_kfs_.insert(i.first); });
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}
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} // namespace svo
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