/
rpvio.patch
5856 lines (5358 loc) · 245 KB
/
rpvio.patch
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From 3d295e1ff4c292ce203e636f363520f9b633908c Mon Sep 17 00:00:00 2001
From: Karnik Ram <karnikram@gmail.com>
Date: Thu, 17 Sep 2020 12:22:47 +0530
Subject: [PATCH 01/42] Add code for homography-based initializatin
---
vins_estimator/src/estimator.cpp | 14 ++--
vins_estimator/src/initial/solve_5pts.cpp | 80 ++++++++++++++++++-----
vins_estimator/src/initial/solve_5pts.h | 6 +-
3 files changed, 73 insertions(+), 27 deletions(-)
diff --git a/vins_estimator/src/estimator.cpp b/vins_estimator/src/estimator.cpp
index cb7a4af..46c93ef 100644
--- a/vins_estimator/src/estimator.cpp
+++ b/vins_estimator/src/estimator.cpp
@@ -491,14 +491,16 @@ bool Estimator::relativeHPose(Matrix3d &relative_R, Vector3d &relative_T, int &l
}
average_parallax = 1.0 * sum_parallax / int(corres.size());
- MatrixXd::Identity(4,4) TrIC;
- TrIC.block(0, 0, 3, 3) = RIC;
- TrIC.col(3) = TIC;
+ Matrix4d TrIC = Matrix4d::Identity();
+ TrIC.block(0, 0, 3, 3) = RIC[0];
+ TrIC.block(0,3,3,0) = TIC[0];
- //compute preintegrated rotation
-
+ //compute corresponding preintegrated rotation
+ Matrix3d R_imu = Matrix3d::Identity();
+ for(int k = WINDOW_SIZE - 1; k > i; k--)
+ R_imu = R_imu * (pre_integrations[k]->delta_q).toRotationMatrix();
- if(average_parallax * 660 > 30 && m_estimator.solveRelativeHRT(corres, relative_R, relative_T, R_imu, TrIC))
+ if(average_parallax * 660 > 30 && m_estimator.solveRelativeHRT(corres, R_imu, TrIC, relative_R, relative_T))
{
l = i;
ROS_DEBUG("average_parallax %f choose l %d and newest frame to triangulate the whole structure", average_parallax * 460, l);
diff --git a/vins_estimator/src/initial/solve_5pts.cpp b/vins_estimator/src/initial/solve_5pts.cpp
index a1c170d..61440da 100644
--- a/vins_estimator/src/initial/solve_5pts.cpp
+++ b/vins_estimator/src/initial/solve_5pts.cpp
@@ -1,4 +1,5 @@
#include "solve_5pts.h"
+#include <algorithm>
namespace cv {
@@ -241,27 +242,70 @@ bool MotionEstimator::solveRelativeHRT(const vector<pair<Vector3d, Vector3d>> &c
cv::Mat H = cv::findHomography(ll, rr, cv::RANSAC, 0.3/665);
cv::Mat K = (cv::Mat_<double>(3, 3) << 1, 0, 0, 0, 1, 0, 0, 0, 1);
- decomposeH(H, K, R_imu, TIC);
-
- Eigen::Matrix3d R;
- Eigen::Vector3d T;
- for (int i = 0; i < 3; i++)
- {
- T(i) = trans.at<double>(i, 0);
- for (int j = 0; j < 3; j++)
- R(i, j) = rot.at<double>(i, j);
- }
-
- Rotation = R.transpose();
- Translation = -R.transpose() * T;
- if(inlier_cnt > 12)
- return true;
- else
- return false;
+ Eigen::Matrix4d Tr = decomposeH(H, K, R_imu, TrIC);
+ Rotation = Tr.block(0,0,3,3);
+ Translation = Tr.block(0,3,3,0);
+ return true;
}
return false;
}
-void MotionEstimator::decomposeH(const cv::Mat &H, const cv::Mat &K, const Matrix3d &R_imu, const Matrix4d &TrIC)
+Matrix4d MotionEstimator::decomposeH(const cv::Mat &H, const cv::Mat &K, const Matrix3d &R_imu, const Matrix4d &TrIC)
{
+ vector<cv::Mat> cv_Rs, cv_ts, cv_ns;
+ int n_sols = cv::decomposeHomographyMat(H, K, cv_Rs, cv_ts, cv_ns);
+
+ vector<Matrix4d> positive_depth_transforms;
+ if(n_sols > 1)
+ {
+ for(int i = 0; i < n_sols; i++)
+ {
+ Matrix4d Tr = Matrix4d::Identity();
+ Matrix3d R;
+ cv::cv2eigen(cv_Rs[i], R);
+ Tr.block(0,0,3,3) = R;
+
+ Vector3d t;
+ cv::cv2eigen(cv_ts[i], t);
+ Tr.block(0,3,3,0) = t;
+
+ //Tr = TrIC * Tr * TrIC.inverse();
+ Tr = Tr.inverse();
+
+ Vector3d e3(0, 0, 1);
+ Vector3d n;
+ cv::cv2eigen(cv_ns[i], n);
+ if(n.dot(e3) > 0)
+ positive_depth_transforms.push_back(Tr);
+ }
+
+ vector<double> rot_diff;
+ for(size_t i = 0; i < positive_depth_transforms.size(); i++)
+ {
+ Eigen::Matrix4d Tr = TrIC * positive_depth_transforms[i] * TrIC.inverse();
+ Eigen::Matrix3d R = Tr.block(0,0,3,3);
+ double f = (R.transpose()*R_imu - MatrixXd::Identity(3,3)).norm();
+ rot_diff.push_back(f);
+ }
+
+ int min_index = std::min_element(rot_diff.begin(), rot_diff.end()) - rot_diff.begin();
+ Matrix4d Tr = positive_depth_transforms[min_index];
+ return Tr;
+ }
+
+ else
+ {
+ Matrix4d Tr = Matrix4d::Identity();
+ Matrix3d R;
+ cv::cv2eigen(cv_Rs[0], R);
+ Tr.block(0,0,3,3) = R;
+
+ Vector3d t;
+ cv::cv2eigen(cv_ts[0], t);
+ Tr.block(0,3,3,0) = t;
+
+ //Tr = TrIC * Tr * TrIC.inverse();
+ Tr = Tr.inverse();
+ return Tr;
+ }
}
diff --git a/vins_estimator/src/initial/solve_5pts.h b/vins_estimator/src/initial/solve_5pts.h
index 3e95c9e..9fb118e 100644
--- a/vins_estimator/src/initial/solve_5pts.h
+++ b/vins_estimator/src/initial/solve_5pts.h
@@ -4,8 +4,8 @@
using namespace std;
#include <opencv2/opencv.hpp>
-//#include <opencv2/core/eigen.hpp>
#include <eigen3/Eigen/Dense>
+#include <opencv2/core/eigen.hpp>
using namespace Eigen;
#include <ros/console.h>
@@ -15,8 +15,8 @@ class MotionEstimator
public:
bool solveRelativeRT(const vector<pair<Vector3d, Vector3d>> &corres, Matrix3d &R, Vector3d &T);
- bool solveRelativeHRT(const vector<pair<Vector3d, Vector3d>> &corres, const Matrix3d &R_imu, const Matrix4d &TrIC, const Matrix3d &R, Vector3d &T);
- void decomposeH(const cv::Mat &H, const cv::Mat &K, const Matrix3d &R_imu, const Matrix4d &TrIC);
+ bool solveRelativeHRT(const vector<pair<Vector3d, Vector3d>> &corres, const Matrix3d &R_imu, const Matrix4d &TrIC, Matrix3d &R, Vector3d &T);
+ Matrix4d decomposeH(const cv::Mat &H, const cv::Mat &K, const Matrix3d &R_imu, const Matrix4d &TrIC);
private:
double testTriangulation(const vector<cv::Point2f> &l,
--
2.17.1
From 56f9ef55ba6caf95001bba4e8cd34524fd79a089 Mon Sep 17 00:00:00 2001
From: Karnik Ram <karnikram@gmail.com>
Date: Thu, 17 Sep 2020 14:19:09 +0530
Subject: [PATCH 02/42] Fix runtime errors
---
vins_estimator/src/estimator.cpp | 4 ++--
vins_estimator/src/initial/solve_5pts.cpp | 10 +++++-----
2 files changed, 7 insertions(+), 7 deletions(-)
diff --git a/vins_estimator/src/estimator.cpp b/vins_estimator/src/estimator.cpp
index 46c93ef..733a968 100644
--- a/vins_estimator/src/estimator.cpp
+++ b/vins_estimator/src/estimator.cpp
@@ -492,8 +492,8 @@ bool Estimator::relativeHPose(Matrix3d &relative_R, Vector3d &relative_T, int &l
average_parallax = 1.0 * sum_parallax / int(corres.size());
Matrix4d TrIC = Matrix4d::Identity();
- TrIC.block(0, 0, 3, 3) = RIC[0];
- TrIC.block(0,3,3,0) = TIC[0];
+ TrIC.block(0,0,3,3) = ric[0];
+ TrIC.block(0,3,3,1) = tic[0];
//compute corresponding preintegrated rotation
Matrix3d R_imu = Matrix3d::Identity();
diff --git a/vins_estimator/src/initial/solve_5pts.cpp b/vins_estimator/src/initial/solve_5pts.cpp
index 61440da..6be2bf1 100644
--- a/vins_estimator/src/initial/solve_5pts.cpp
+++ b/vins_estimator/src/initial/solve_5pts.cpp
@@ -244,7 +244,7 @@ bool MotionEstimator::solveRelativeHRT(const vector<pair<Vector3d, Vector3d>> &c
Eigen::Matrix4d Tr = decomposeH(H, K, R_imu, TrIC);
Rotation = Tr.block(0,0,3,3);
- Translation = Tr.block(0,3,3,0);
+ Translation = Tr.block(0,3,3,1);
return true;
}
return false;
@@ -267,10 +267,10 @@ Matrix4d MotionEstimator::decomposeH(const cv::Mat &H, const cv::Mat &K, const M
Vector3d t;
cv::cv2eigen(cv_ts[i], t);
- Tr.block(0,3,3,0) = t;
+ Tr.block(0,3,3,1) = t;
//Tr = TrIC * Tr * TrIC.inverse();
- Tr = Tr.inverse();
+ Tr = Tr.inverse().eval();
Vector3d e3(0, 0, 1);
Vector3d n;
@@ -302,10 +302,10 @@ Matrix4d MotionEstimator::decomposeH(const cv::Mat &H, const cv::Mat &K, const M
Vector3d t;
cv::cv2eigen(cv_ts[0], t);
- Tr.block(0,3,3,0) = t;
+ Tr.block(0,3,3,1) = t;
//Tr = TrIC * Tr * TrIC.inverse();
- Tr = Tr.inverse();
+ Tr = Tr.inverse().eval();
return Tr;
}
}
--
2.17.1
From f9db6ec5f6d62bc608e5acd96c45414f384eadc4 Mon Sep 17 00:00:00 2001
From: Karnik Ram <karnikram@gmail.com>
Date: Sat, 19 Sep 2020 08:21:32 +0530
Subject: [PATCH 03/42] Reject with H
---
feature_tracker/src/feature_tracker.cpp | 3 ++-
vins_estimator/src/initial/solve_5pts.cpp | 3 +++
2 files changed, 5 insertions(+), 1 deletion(-)
diff --git a/feature_tracker/src/feature_tracker.cpp b/feature_tracker/src/feature_tracker.cpp
index d33709c..41322b8 100644
--- a/feature_tracker/src/feature_tracker.cpp
+++ b/feature_tracker/src/feature_tracker.cpp
@@ -188,7 +188,8 @@ void FeatureTracker::rejectWithF()
}
vector<uchar> status;
- cv::findFundamentalMat(un_cur_pts, un_forw_pts, cv::FM_RANSAC, F_THRESHOLD, 0.99, status);
+ //cv::findFundamentalMat(un_cur_pts, un_forw_pts, cv::FM_RANSAC, F_THRESHOLD, 0.99, status);
+ cv::findHomography(un_cur_pts, un_forw_pts, cv::RANSAC, 3, status);
int size_a = cur_pts.size();
reduceVector(prev_pts, status);
reduceVector(cur_pts, status);
diff --git a/vins_estimator/src/initial/solve_5pts.cpp b/vins_estimator/src/initial/solve_5pts.cpp
index 6be2bf1..50999c3 100644
--- a/vins_estimator/src/initial/solve_5pts.cpp
+++ b/vins_estimator/src/initial/solve_5pts.cpp
@@ -227,6 +227,7 @@ bool MotionEstimator::solveRelativeRT(const vector<pair<Vector3d, Vector3d>> &co
return false;
}
+
bool MotionEstimator::solveRelativeHRT(const vector<pair<Vector3d, Vector3d>> &corres, const Matrix3d &R_imu, const Matrix4d &TrIC, Matrix3d &Rotation, Vector3d &Translation)
{
if (corres.size() >= 15)
@@ -241,6 +242,7 @@ bool MotionEstimator::solveRelativeHRT(const vector<pair<Vector3d, Vector3d>> &c
//cv::Mat E = cv::findFundamentalMat(ll, rr, cv::FM_RANSAC, 0.3 / 460, 0.99, mask);
cv::Mat H = cv::findHomography(ll, rr, cv::RANSAC, 0.3/665);
cv::Mat K = (cv::Mat_<double>(3, 3) << 1, 0, 0, 0, 1, 0, 0, 0, 1);
+ //cv::Mat K = (cv::Mat_<double>(3,3) << 665, 0, 511, 0, 665, 383, 0, 0, 1);
Eigen::Matrix4d Tr = decomposeH(H, K, R_imu, TrIC);
Rotation = Tr.block(0,0,3,3);
@@ -250,6 +252,7 @@ bool MotionEstimator::solveRelativeHRT(const vector<pair<Vector3d, Vector3d>> &c
return false;
}
+
Matrix4d MotionEstimator::decomposeH(const cv::Mat &H, const cv::Mat &K, const Matrix3d &R_imu, const Matrix4d &TrIC)
{
vector<cv::Mat> cv_Rs, cv_ts, cv_ns;
--
2.17.1
From 64247beda4b05f162fbec72127dd1f79bade8709 Mon Sep 17 00:00:00 2001
From: Karnik Ram <karnikram@gmail.com>
Date: Tue, 22 Sep 2020 10:39:26 +0530
Subject: [PATCH 04/42] Add code for homography-constrained visual BA for init
---
vins_estimator/src/estimator.cpp | 11 +-
vins_estimator/src/estimator.h | 2 +-
vins_estimator/src/initial/initial_sfm.cpp | 216 ++++++++++++++++++++-
vins_estimator/src/initial/initial_sfm.h | 40 +++-
vins_estimator/src/initial/solve_5pts.cpp | 27 ++-
vins_estimator/src/initial/solve_5pts.h | 4 +-
6 files changed, 280 insertions(+), 20 deletions(-)
diff --git a/vins_estimator/src/estimator.cpp b/vins_estimator/src/estimator.cpp
index 733a968..c561fd6 100644
--- a/vins_estimator/src/estimator.cpp
+++ b/vins_estimator/src/estimator.cpp
@@ -267,15 +267,16 @@ bool Estimator::initialStructure()
}
Matrix3d relative_R;
Vector3d relative_T;
+ Vector3d n;
int l;
- if (!relativeHPose(relative_R, relative_T, l))
+ if (!relativeHPose(relative_R, relative_T, n, l))
{
ROS_INFO("Not enough features or parallax; Move device around");
return false;
}
GlobalSFM sfm;
- if(!sfm.construct(frame_count + 1, Q, T, l,
- relative_R, relative_T,
+ if(!sfm.constructH(frame_count + 1, Q, T, l,
+ relative_R, relative_T, n,
sfm_f, sfm_tracked_points))
{
ROS_DEBUG("global SFM failed!");
@@ -470,7 +471,7 @@ bool Estimator::relativePose(Matrix3d &relative_R, Vector3d &relative_T, int &l)
return false;
}
-bool Estimator::relativeHPose(Matrix3d &relative_R, Vector3d &relative_T, int &l)
+bool Estimator::relativeHPose(Matrix3d &relative_R, Vector3d &relative_T, Vector3d &n, int &l)
{
// find previous frame which contains enough correspondence and parallex with newest frame
for (int i = 0; i < WINDOW_SIZE; i++)
@@ -500,7 +501,7 @@ bool Estimator::relativeHPose(Matrix3d &relative_R, Vector3d &relative_T, int &l
for(int k = WINDOW_SIZE - 1; k > i; k--)
R_imu = R_imu * (pre_integrations[k]->delta_q).toRotationMatrix();
- if(average_parallax * 660 > 30 && m_estimator.solveRelativeHRT(corres, R_imu, TrIC, relative_R, relative_T))
+ if(average_parallax * 660 > 30 && m_estimator.solveRelativeHRT(corres, R_imu, TrIC, relative_R, relative_T, n))
{
l = i;
ROS_DEBUG("average_parallax %f choose l %d and newest frame to triangulate the whole structure", average_parallax * 460, l);
diff --git a/vins_estimator/src/estimator.h b/vins_estimator/src/estimator.h
index 7f912da..9b2a731 100644
--- a/vins_estimator/src/estimator.h
+++ b/vins_estimator/src/estimator.h
@@ -40,7 +40,7 @@ class Estimator
bool initialStructure();
bool visualInitialAlign();
bool relativePose(Matrix3d &relative_R, Vector3d &relative_T, int &l);
- bool relativeHPose(Matrix3d &relative_R, Vector3d &relative_T, int &l);
+ bool relativeHPose(Matrix3d &relative_R, Vector3d &relative_T, Vector3d &n, int &l);
void slideWindow();
void solveOdometry();
void slideWindowNew();
diff --git a/vins_estimator/src/initial/initial_sfm.cpp b/vins_estimator/src/initial/initial_sfm.cpp
index 6fbcc17..c7b1661 100644
--- a/vins_estimator/src/initial/initial_sfm.cpp
+++ b/vins_estimator/src/initial/initial_sfm.cpp
@@ -280,11 +280,11 @@ bool GlobalSFM::construct(int frame_num, Quaterniond* q, Vector3d* T, int l,
//std::cout << summary.BriefReport() << "\n";
if (summary.termination_type == ceres::CONVERGENCE || summary.final_cost < 5e-03)
{
- //cout << "vision only BA converge" << endl;
+ cout << "vision only BA converge" << endl;
}
else
{
- //cout << "vision only BA not converge " << endl;
+ cout << "vision only BA not converge " << endl;
return false;
}
for (int i = 0; i < frame_num; i++)
@@ -311,3 +311,215 @@ bool GlobalSFM::construct(int frame_num, Quaterniond* q, Vector3d* T, int l,
}
+
+bool GlobalSFM::constructH(int frame_num, Quaterniond* q, Vector3d* T, int l,
+ const Matrix3d relative_R, const Vector3d relative_T, const Vector3d n,
+ vector<SFMFeature> &sfm_f, map<int, Vector3d> &sfm_tracked_points)
+{
+ feature_num = sfm_f.size();
+ //cout << "set 0 and " << l << " as known " << endl;
+ // have relative_r relative_t
+ // intial two view
+ q[l].w() = 1;
+ q[l].x() = 0;
+ q[l].y() = 0;
+ q[l].z() = 0;
+ T[l].setZero();
+ q[frame_num - 1] = q[l] * Quaterniond(relative_R);
+ T[frame_num - 1] = relative_T;
+ //cout << "init q_l " << q[l].w() << " " << q[l].vec().transpose() << endl;
+ //cout << "init t_l " << T[l].transpose() << endl;
+
+ //rotate to cam frame
+ Matrix3d c_Rotation[frame_num];
+ Vector3d c_Translation[frame_num];
+ Quaterniond c_Quat[frame_num];
+ double c_rotation[frame_num][4];
+ double c_translation[frame_num][3];
+ double c_normal[3];
+ Eigen::Matrix<double, 3, 4> Pose[frame_num];
+
+ c_Quat[l] = q[l].inverse();
+ c_Rotation[l] = c_Quat[l].toRotationMatrix();
+ c_Translation[l] = -1 * (c_Rotation[l] * T[l]);
+ Pose[l].block<3, 3>(0, 0) = c_Rotation[l];
+ Pose[l].block<3, 1>(0, 3) = c_Translation[l];
+
+ c_Quat[frame_num - 1] = q[frame_num - 1].inverse();
+ c_Rotation[frame_num - 1] = c_Quat[frame_num - 1].toRotationMatrix();
+ c_Translation[frame_num - 1] = -1 * (c_Rotation[frame_num - 1] * T[frame_num - 1]);
+ Pose[frame_num - 1].block<3, 3>(0, 0) = c_Rotation[frame_num - 1];
+ Pose[frame_num - 1].block<3, 1>(0, 3) = c_Translation[frame_num - 1];
+
+ //1: trangulate between l ----- frame_num - 1
+ //2: solve pnp l + 1; trangulate l + 1 ------- frame_num - 1;
+ for (int i = l; i < frame_num - 1 ; i++)
+ {
+ // solve pnp
+ if (i > l)
+ {
+ Matrix3d R_initial = c_Rotation[i - 1];
+ Vector3d P_initial = c_Translation[i - 1];
+ if(!solveFrameByPnP(R_initial, P_initial, i, sfm_f))
+ return false;
+ c_Rotation[i] = R_initial;
+ c_Translation[i] = P_initial;
+ c_Quat[i] = c_Rotation[i];
+ Pose[i].block<3, 3>(0, 0) = c_Rotation[i];
+ Pose[i].block<3, 1>(0, 3) = c_Translation[i];
+ }
+
+ // triangulate point based on the solve pnp result
+ triangulateTwoFrames(i, Pose[i], frame_num - 1, Pose[frame_num - 1], sfm_f);
+ }
+ //3: triangulate l-----l+1 l+2 ... frame_num -2
+ for (int i = l + 1; i < frame_num - 1; i++)
+ triangulateTwoFrames(l, Pose[l], i, Pose[i], sfm_f);
+ //4: solve pnp l-1; triangulate l-1 ----- l
+ // l-2 l-2 ----- l
+ for (int i = l - 1; i >= 0; i--)
+ {
+ //solve pnp
+ Matrix3d R_initial = c_Rotation[i + 1];
+ Vector3d P_initial = c_Translation[i + 1];
+ if(!solveFrameByPnP(R_initial, P_initial, i, sfm_f))
+ return false;
+ c_Rotation[i] = R_initial;
+ c_Translation[i] = P_initial;
+ c_Quat[i] = c_Rotation[i];
+ Pose[i].block<3, 3>(0, 0) = c_Rotation[i];
+ Pose[i].block<3, 1>(0, 3) = c_Translation[i];
+ //triangulate
+ triangulateTwoFrames(i, Pose[i], l, Pose[l], sfm_f);
+ }
+ //5: triangulate all other points
+ for (int j = 0; j < feature_num; j++)
+ {
+ if (sfm_f[j].state == true)
+ continue;
+ if ((int)sfm_f[j].observation.size() >= 2)
+ {
+ Vector2d point0, point1;
+ int frame_0 = sfm_f[j].observation[0].first;
+ point0 = sfm_f[j].observation[0].second;
+ int frame_1 = sfm_f[j].observation.back().first;
+ point1 = sfm_f[j].observation.back().second;
+ Vector3d point_3d;
+ triangulatePoint(Pose[frame_0], Pose[frame_1], point0, point1, point_3d);
+ sfm_f[j].state = true;
+ sfm_f[j].position[0] = point_3d(0);
+ sfm_f[j].position[1] = point_3d(1);
+ sfm_f[j].position[2] = point_3d(2);
+ //cout << "trangulated : " << frame_0 << " " << frame_1 << " 3d point : " << j << " " << point_3d.transpose() << endl;
+ }
+ }
+
+/*
+ for (int i = 0; i < frame_num; i++)
+ {
+ q[i] = c_Rotation[i].transpose();
+ cout << "solvePnP q" << " i " << i <<" " <<q[i].w() << " " << q[i].vec().transpose() << endl;
+ }
+ for (int i = 0; i < frame_num; i++)
+ {
+ Vector3d t_tmp;
+ t_tmp = -1 * (q[i] * c_Translation[i]);
+ cout << "solvePnP t" << " i " << i <<" " << t_tmp.x() <<" "<< t_tmp.y() <<" "<< t_tmp.z() << endl;
+ }
+*/
+ //full BA
+ ceres::Problem problem;
+ ceres::LocalParameterization* local_parameterization = new ceres::QuaternionParameterization();
+ //cout << " begin full BA " << endl;
+ for (int i = 0; i < frame_num; i++)
+ {
+ //double array for ceres
+ c_translation[i][0] = c_Translation[i].x();
+ c_translation[i][1] = c_Translation[i].y();
+ c_translation[i][2] = c_Translation[i].z();
+ c_rotation[i][0] = c_Quat[i].w();
+ c_rotation[i][1] = c_Quat[i].x();
+ c_rotation[i][2] = c_Quat[i].y();
+ c_rotation[i][3] = c_Quat[i].z();
+ problem.AddParameterBlock(c_rotation[i], 4, local_parameterization);
+ problem.AddParameterBlock(c_translation[i], 3);
+ if (i == l)
+ {
+ problem.SetParameterBlockConstant(c_rotation[i]);
+ }
+ if (i == l || i == frame_num - 1)
+ {
+ problem.SetParameterBlockConstant(c_translation[i]);
+ }
+ }
+
+ c_normal[0] = n[0];
+ c_normal[1] = n[1];
+ c_normal[2] = n[2];
+ problem.AddParameterBlock(c_normal, 3);
+
+ for (int i = 0; i < feature_num; i++)
+ {
+ if (sfm_f[i].state != true)
+ continue;
+ for (int j = 0; j < int(sfm_f[i].observation.size()); j++)
+ {
+ int l = sfm_f[i].observation[j].first;
+
+ ceres::CostFunction* b_cost_function = ReprojectionError3D::Create(
+ sfm_f[i].observation[j].second.x(),
+ sfm_f[i].observation[j].second.y());
+
+ problem.AddResidualBlock(b_cost_function, NULL, c_rotation[l], c_translation[l],
+ sfm_f[i].position);
+
+ ceres::CostFunction* h_cost_function = ReprojectionErrorH::Create(
+ sfm_f[i].observation[j].second.x(),
+ sfm_f[i].observation[j].second.y());
+
+ problem.AddResidualBlock(h_cost_function, NULL, c_rotation[l], c_translation[l],c_normal,
+ sfm_f[i].position);
+ }
+
+ }
+ ceres::Solver::Options options;
+ options.linear_solver_type = ceres::DENSE_SCHUR;
+ //options.minimizer_progress_to_stdout = true;
+ options.max_solver_time_in_seconds = 0.2;
+ ceres::Solver::Summary summary;
+ ceres::Solve(options, &problem, &summary);
+ //std::cout << summary.BriefReport() << "\n";
+ if (summary.termination_type == ceres::CONVERGENCE || summary.final_cost < 5e-03)
+ {
+ cout << "vision only BA converge" << endl;
+ }
+ else
+ {
+ cout << "vision only BA not converge " << endl;
+ return false;
+ }
+ for (int i = 0; i < frame_num; i++)
+ {
+ q[i].w() = c_rotation[i][0];
+ q[i].x() = c_rotation[i][1];
+ q[i].y() = c_rotation[i][2];
+ q[i].z() = c_rotation[i][3];
+ q[i] = q[i].inverse();
+ //cout << "final q" << " i " << i <<" " <<q[i].w() << " " << q[i].vec().transpose() << endl;
+ }
+ for (int i = 0; i < frame_num; i++)
+ {
+
+ T[i] = -1 * (q[i] * Vector3d(c_translation[i][0], c_translation[i][1], c_translation[i][2]));
+ //cout << "final t" << " i " << i <<" " << T[i](0) <<" "<< T[i](1) <<" "<< T[i](2) << endl;
+ }
+ for (int i = 0; i < (int)sfm_f.size(); i++)
+ {
+ if(sfm_f[i].state)
+ sfm_tracked_points[sfm_f[i].id] = Vector3d(sfm_f[i].position[0], sfm_f[i].position[1], sfm_f[i].position[2]);
+ }
+ return true;
+
+}
+
+
diff --git a/vins_estimator/src/initial/initial_sfm.h b/vins_estimator/src/initial/initial_sfm.h
index f70432d..a1e6854 100644
--- a/vins_estimator/src/initial/initial_sfm.h
+++ b/vins_estimator/src/initial/initial_sfm.h
@@ -53,6 +53,40 @@ struct ReprojectionError3D
double observed_v;
};
+
+struct ReprojectionErrorH
+{
+ ReprojectionErrorH(double observed_u, double observed_v)
+ :observed_u(observed_u), observed_v(observed_v)
+ {}
+
+ template <typename T>
+ bool operator()(const T* const R, const T* const t, const T* const n, const T* point, T* residuals) const
+ {
+ T p[3];
+ ceres::QuaternionRotatePoint(R, point, p);
+ T np = n[0] * point[0] + n[1] * point[1] + n[2] * point[2];
+ p[0] += t[0]*np; p[1] += t[1]*np; p[2] += t[2]*np;
+ T xp = p[0] / p[2];
+ T yp = p[1] / p[2];
+ residuals[0] = xp - T(observed_u);
+ residuals[1] = yp - T(observed_v);
+ return true;
+ }
+
+ static ceres::CostFunction* Create(const double observed_x,
+ const double observed_y)
+ {
+ return (new ceres::AutoDiffCostFunction<
+ ReprojectionErrorH, 2, 4, 3, 3, 3>(
+ new ReprojectionErrorH(observed_x,observed_y)));
+ }
+
+ double observed_u;
+ double observed_v;
+};
+
+
class GlobalSFM
{
public:
@@ -61,6 +95,10 @@ public:
const Matrix3d relative_R, const Vector3d relative_T,
vector<SFMFeature> &sfm_f, map<int, Vector3d> &sfm_tracked_points);
+ bool constructH(int frame_num, Quaterniond* q, Vector3d* T, int l,
+ const Matrix3d relative_R, const Vector3d relative_T, const Vector3d n,
+ vector<SFMFeature> &sfm_f, map<int, Vector3d> &sfm_tracked_points);
+
private:
bool solveFrameByPnP(Matrix3d &R_initial, Vector3d &P_initial, int i, vector<SFMFeature> &sfm_f);
@@ -71,4 +109,4 @@ private:
vector<SFMFeature> &sfm_f);
int feature_num;
-};
\ No newline at end of file
+};
diff --git a/vins_estimator/src/initial/solve_5pts.cpp b/vins_estimator/src/initial/solve_5pts.cpp
index 50999c3..bdc87a3 100644
--- a/vins_estimator/src/initial/solve_5pts.cpp
+++ b/vins_estimator/src/initial/solve_5pts.cpp
@@ -228,7 +228,7 @@ bool MotionEstimator::solveRelativeRT(const vector<pair<Vector3d, Vector3d>> &co
}
-bool MotionEstimator::solveRelativeHRT(const vector<pair<Vector3d, Vector3d>> &corres, const Matrix3d &R_imu, const Matrix4d &TrIC, Matrix3d &Rotation, Vector3d &Translation)
+bool MotionEstimator::solveRelativeHRT(const vector<pair<Vector3d, Vector3d>> &corres, const Matrix3d &R_imu, const Matrix4d &TrIC, Matrix3d &Rotation, Vector3d &Translation, Vector3d &n)
{
if (corres.size() >= 15)
{
@@ -244,21 +244,26 @@ bool MotionEstimator::solveRelativeHRT(const vector<pair<Vector3d, Vector3d>> &c
cv::Mat K = (cv::Mat_<double>(3, 3) << 1, 0, 0, 0, 1, 0, 0, 0, 1);
//cv::Mat K = (cv::Mat_<double>(3,3) << 665, 0, 511, 0, 665, 383, 0, 0, 1);
- Eigen::Matrix4d Tr = decomposeH(H, K, R_imu, TrIC);
- Rotation = Tr.block(0,0,3,3);
- Translation = Tr.block(0,3,3,1);
+ Eigen::Matrix4d est_Tr;
+ Eigen::Vector3d est_n;
+ decomposeH(H, K, R_imu, TrIC, est_Tr, est_n);
+ Rotation = est_Tr.block(0,0,3,3);
+ Translation = est_Tr.block(0,3,3,1);
+ n = est_n;
return true;
}
return false;
}
-Matrix4d MotionEstimator::decomposeH(const cv::Mat &H, const cv::Mat &K, const Matrix3d &R_imu, const Matrix4d &TrIC)
+void MotionEstimator::decomposeH(const cv::Mat &H, const cv::Mat &K, const Matrix3d &R_imu, const Matrix4d &TrIC, Matrix4d &est_Tr, Vector3d &est_n)
{
vector<cv::Mat> cv_Rs, cv_ts, cv_ns;
int n_sols = cv::decomposeHomographyMat(H, K, cv_Rs, cv_ts, cv_ns);
vector<Matrix4d> positive_depth_transforms;
+ vector<Vector3d> positive_depth_normals;
+
if(n_sols > 1)
{
for(int i = 0; i < n_sols; i++)
@@ -280,6 +285,7 @@ Matrix4d MotionEstimator::decomposeH(const cv::Mat &H, const cv::Mat &K, const M
cv::cv2eigen(cv_ns[i], n);
if(n.dot(e3) > 0)
positive_depth_transforms.push_back(Tr);
+ positive_depth_normals.push_back(n);
}
vector<double> rot_diff;
@@ -292,8 +298,8 @@ Matrix4d MotionEstimator::decomposeH(const cv::Mat &H, const cv::Mat &K, const M
}
int min_index = std::min_element(rot_diff.begin(), rot_diff.end()) - rot_diff.begin();
- Matrix4d Tr = positive_depth_transforms[min_index];
- return Tr;
+ est_Tr = positive_depth_transforms[min_index];
+ est_n = positive_depth_normals[min_index];
}
else
@@ -307,8 +313,11 @@ Matrix4d MotionEstimator::decomposeH(const cv::Mat &H, const cv::Mat &K, const M
cv::cv2eigen(cv_ts[0], t);
Tr.block(0,3,3,1) = t;
+ Vector3d n;
+ cv::cv2eigen(cv_ns[0], n);
+
//Tr = TrIC * Tr * TrIC.inverse();
- Tr = Tr.inverse().eval();
- return Tr;
+ est_Tr = Tr.inverse().eval();
+ est_n = n;
}
}
diff --git a/vins_estimator/src/initial/solve_5pts.h b/vins_estimator/src/initial/solve_5pts.h
index 9fb118e..f090370 100644
--- a/vins_estimator/src/initial/solve_5pts.h
+++ b/vins_estimator/src/initial/solve_5pts.h
@@ -15,8 +15,8 @@ class MotionEstimator
public:
bool solveRelativeRT(const vector<pair<Vector3d, Vector3d>> &corres, Matrix3d &R, Vector3d &T);
- bool solveRelativeHRT(const vector<pair<Vector3d, Vector3d>> &corres, const Matrix3d &R_imu, const Matrix4d &TrIC, Matrix3d &R, Vector3d &T);
- Matrix4d decomposeH(const cv::Mat &H, const cv::Mat &K, const Matrix3d &R_imu, const Matrix4d &TrIC);
+ bool solveRelativeHRT(const vector<pair<Vector3d, Vector3d>> &corres, const Matrix3d &R_imu, const Matrix4d &TrIC, Matrix3d &R, Vector3d &T, Vector3d &n);
+ void decomposeH(const cv::Mat &H, const cv::Mat &K, const Matrix3d &R_imu, const Matrix4d &TrIC, Matrix4d &est_Tr, Vector3d &est_n);
private:
double testTriangulation(const vector<cv::Point2f> &l,
--
2.17.1
From fb6f3cf6cf15d5119c170b55e86ca5784773f970 Mon Sep 17 00:00:00 2001
From: Karnik Ram <karnikram@gmail.com>
Date: Wed, 23 Sep 2020 08:12:13 +0530
Subject: [PATCH 05/42] Fix parameter bugs
---
vins_estimator/src/initial/initial_sfm.cpp | 15 +++++++++++----
vins_estimator/src/initial/initial_sfm.h | 1 +
2 files changed, 12 insertions(+), 4 deletions(-)
diff --git a/vins_estimator/src/initial/initial_sfm.cpp b/vins_estimator/src/initial/initial_sfm.cpp
index c7b1661..05917a0 100644
--- a/vins_estimator/src/initial/initial_sfm.cpp
+++ b/vins_estimator/src/initial/initial_sfm.cpp
@@ -104,6 +104,9 @@ void GlobalSFM::triangulateTwoFrames(int frame0, Eigen::Matrix<double, 3, 4> &Po
sfm_f[j].position[0] = point_3d(0);
sfm_f[j].position[1] = point_3d(1);
sfm_f[j].position[2] = point_3d(2);
+ sfm_f[j].image[0] = point1[0];
+ sfm_f[j].image[1] = point1[1];
+ sfm_f[j].image[2] = 1;
//cout << "trangulated : " << frame1 << " 3d point : " << j << " " << point_3d.transpose() << endl;
}
}
@@ -212,6 +215,9 @@ bool GlobalSFM::construct(int frame_num, Quaterniond* q, Vector3d* T, int l,
sfm_f[j].position[0] = point_3d(0);
sfm_f[j].position[1] = point_3d(1);
sfm_f[j].position[2] = point_3d(2);
+ sfm_f[j].image[0] = point1[0];
+ sfm_f[j].image[1] = point1[1];
+ sfm_f[j].image[2] = 1;
//cout << "trangulated : " << frame_0 << " " << frame_1 << " 3d point : " << j << " " << point_3d.transpose() << endl;
}
}
@@ -410,6 +416,9 @@ bool GlobalSFM::constructH(int frame_num, Quaterniond* q, Vector3d* T, int l,
sfm_f[j].position[0] = point_3d(0);
sfm_f[j].position[1] = point_3d(1);
sfm_f[j].position[2] = point_3d(2);
+ sfm_f[j].image[0] = point1[0];
+ sfm_f[j].image[1] = point1[1];
+ sfm_f[j].image[2] = 1;
//cout << "trangulated : " << frame_0 << " " << frame_1 << " 3d point : " << j << " " << point_3d.transpose() << endl;
}
}
@@ -471,16 +480,14 @@ bool GlobalSFM::constructH(int frame_num, Quaterniond* q, Vector3d* T, int l,
sfm_f[i].observation[j].second.y());
problem.AddResidualBlock(b_cost_function, NULL, c_rotation[l], c_translation[l],
- sfm_f[i].position);
+ sfm_f[i].position);
ceres::CostFunction* h_cost_function = ReprojectionErrorH::Create(
sfm_f[i].observation[j].second.x(),
sfm_f[i].observation[j].second.y());
- problem.AddResidualBlock(h_cost_function, NULL, c_rotation[l], c_translation[l],c_normal,
- sfm_f[i].position);
+ problem.AddResidualBlock(h_cost_function, NULL, c_rotation[l], c_translation[l], c_normal, sfm_f[i].image);
}
-
}
ceres::Solver::Options options;
options.linear_solver_type = ceres::DENSE_SCHUR;
diff --git a/vins_estimator/src/initial/initial_sfm.h b/vins_estimator/src/initial/initial_sfm.h
index a1e6854..7780732 100644
--- a/vins_estimator/src/initial/initial_sfm.h
+++ b/vins_estimator/src/initial/initial_sfm.h
@@ -19,6 +19,7 @@ struct SFMFeature
int id;
vector<pair<int,Vector2d>> observation;
double position[3];
+ double image[3]; // u v 1
double depth;
};
--
2.17.1
From d33f9314e26d538f07fdb97cc6278b5a4f449b41 Mon Sep 17 00:00:00 2001
From: Karnik Ram <karnikram@gmail.com>
Date: Thu, 1 Oct 2020 11:11:06 +0530
Subject: [PATCH 06/42] Add homography const functor into estimator
---
vins_estimator/src/estimator.cpp | 5 +-
vins_estimator/src/estimator.h | 2 +
vins_estimator/src/factor/homography_factor.h | 47 +++++++++++++++++++
vins_estimator/src/initial/initial_sfm.cpp | 7 ++-
vins_estimator/src/initial/initial_sfm.h | 4 +-
5 files changed, 61 insertions(+), 4 deletions(-)
create mode 100644 vins_estimator/src/factor/homography_factor.h
diff --git a/vins_estimator/src/estimator.cpp b/vins_estimator/src/estimator.cpp
index c561fd6..97a3821 100644
--- a/vins_estimator/src/estimator.cpp
+++ b/vins_estimator/src/estimator.cpp
@@ -435,7 +435,7 @@ bool Estimator::visualInitialAlign()
Vs[i] = rot_diff * Vs[i];
}
ROS_DEBUG_STREAM("g0 " << g.transpose());
- ROS_DEBUG_STREAM("my R0 " << Utility::R2ypr(Rs[0]).transpose());
+ ROS_DEBUG_STREAM("my R0 " << Utility::R2ypr(Rs[0]).transpose());
return true;
}
@@ -800,6 +800,9 @@ void Estimator::optimization()
{
ProjectionFactor *f = new ProjectionFactor(pts_i, pts_j);
problem.AddResidualBlock(f, loss_function, para_Pose[imu_i], para_Pose[imu_j], para_Ex_Pose[0], para_Feature[feature_index]);
+
+ ceres::CostFunction *h_cost_function = HomographyFactor::Create(pts_i, pts_j);
+ problem.AddResidualBlock(h_cost_function, loss_function, para_Pose[imu_i], para_Pose[imu_j], para_N, para_Ex_Pose[0]);
}
f_m_cnt++;
}
diff --git a/vins_estimator/src/estimator.h b/vins_estimator/src/estimator.h
index 9b2a731..f3feedf 100644
--- a/vins_estimator/src/estimator.h
+++ b/vins_estimator/src/estimator.h
@@ -17,6 +17,7 @@
#include "factor/projection_factor.h"
#include "factor/projection_td_factor.h"
#include "factor/marginalization_factor.h"
+#include "factor/homography_factor.h"
#include <unordered_map>
#include <queue>
@@ -114,6 +115,7 @@ class Estimator
double para_Retrive_Pose[SIZE_POSE];
double para_Td[1][1];
double para_Tr[1][1];
+ double para_N[3];
int loop_window_index;
diff --git a/vins_estimator/src/factor/homography_factor.h b/vins_estimator/src/factor/homography_factor.h
new file mode 100644
index 0000000..86b03ff
--- /dev/null
+++ b/vins_estimator/src/factor/homography_factor.h
@@ -0,0 +1,47 @@
+#pragma once
+#include <ceres/ceres.h>
+#include <eigen3/Eigen/Dense>
+
+struct HomographyFactor
+{
+ HomographyFactor(const Eigen::Vector3d &_pts_i, const Eigen::Vector3d &_pts_j) : pts_i(_pts_i), pts_j(_pts_j) {}
+
+ template <typename T>
+ bool operator()(const T* const pose_i, const T* const pose_j, const T* const para_n, const T* const ex_pose,
+ T* residuals) const
+ {
+ Eigen::Map<const Eigen::Matrix<T, 3, 1>> pi(pose_i);
+ Eigen::Quaternion<T> qi;
+ qi.coeffs() << pose_i[3], pose_i[4], pose_i[5], pose_i[6];
+
+ Eigen::Map<const Eigen::Matrix<T, 3, 1>> pj(pose_j);
+ Eigen::Quaternion<T> qj;
+ qj.coeffs() << pose_j[3], pose_j[4], pose_j[5], pose_j[6];
+
+ Eigen::Map<const Eigen::Matrix<T, 3, 1>> tic(ex_pose);
+ Eigen::Quaternion<T> qic;
+ qic.coeffs() << ex_pose[3], ex_pose[4], ex_pose[5], ex_pose[6];
+
+ Eigen::Map<const Eigen::Matrix<T, 3, 1>> n(para_n);
+
+ Eigen::Quaternion<T> qji = qj.inverse() * qi;
+ Eigen::Matrix<T, 3, 1> tji = qj.inverse().toRotationMatrix() * (pi - pj);
+ Eigen::Matrix<T, 3, 1> pts_imu_i = qic * pts_i.cast<T>() + tic;
+ Eigen::Matrix<T, 3, 1> pts_imu_j = qji * pts_imu_i + tji * n.transpose() * pts_imu_i;
+ Eigen::Matrix<T, 3, 1> pts_cam_j = qic.inverse() * (pts_imu_j - tic);
+
+ pts_cam_j = (pts_cam_j / pts_cam_j[2]);
+ residuals[0] = pts_cam_j[0] - pts_j[0];
+ residuals[1] = pts_cam_j[1] - pts_j[1];
+
+ return true;
+ }
+
+ static ceres::CostFunction* Create(const Eigen::Vector3d &_pts_i, const Eigen::Vector3d &_pts_j)
+ {
+ return (new ceres::AutoDiffCostFunction<HomographyFactor, 2, 7, 7, 3, 7>
+ (new HomographyFactor(_pts_i, _pts_j)));
+ }
+
+ Eigen::Vector3d pts_i, pts_j;
+};
diff --git a/vins_estimator/src/initial/initial_sfm.cpp b/vins_estimator/src/initial/initial_sfm.cpp
index 05917a0..76a4f88 100644
--- a/vins_estimator/src/initial/initial_sfm.cpp
+++ b/vins_estimator/src/initial/initial_sfm.cpp
@@ -319,7 +319,7 @@ bool GlobalSFM::construct(int frame_num, Quaterniond* q, Vector3d* T, int l,
bool GlobalSFM::constructH(int frame_num, Quaterniond* q, Vector3d* T, int l,
- const Matrix3d relative_R, const Vector3d relative_T, const Vector3d n,
+ const Matrix3d relative_R, const Vector3d relative_T, Vector3d &n,
vector<SFMFeature> &sfm_f, map<int, Vector3d> &sfm_tracked_points)
{
feature_num = sfm_f.size();
@@ -525,6 +525,11 @@ bool GlobalSFM::constructH(int frame_num, Quaterniond* q, Vector3d* T, int l,
if(sfm_f[i].state)
sfm_tracked_points[sfm_f[i].id] = Vector3d(sfm_f[i].position[0], sfm_f[i].position[1], sfm_f[i].position[2]);
}
+
+ n[0] = c_normal[0];
+ n[1] = c_normal[1];
+ n[2] = c_normal[2];
+
return true;
}
diff --git a/vins_estimator/src/initial/initial_sfm.h b/vins_estimator/src/initial/initial_sfm.h
index 7780732..e79dcea 100644
--- a/vins_estimator/src/initial/initial_sfm.h
+++ b/vins_estimator/src/initial/initial_sfm.h
@@ -1,4 +1,4 @@
-#pragma once
+#pragma once
#include <ceres/ceres.h>
#include <ceres/rotation.h>
#include <eigen3/Eigen/Dense>
@@ -97,7 +97,7 @@ public:
vector<SFMFeature> &sfm_f, map<int, Vector3d> &sfm_tracked_points);
bool constructH(int frame_num, Quaterniond* q, Vector3d* T, int l,
- const Matrix3d relative_R, const Vector3d relative_T, const Vector3d n,
+ const Matrix3d relative_R, const Vector3d relative_T, Vector3d &n,
vector<SFMFeature> &sfm_f, map<int, Vector3d> &sfm_tracked_points);
private:
--
2.17.1
From d3d1faeaa37f6b413622e6b3373c80cffc4182f7 Mon Sep 17 00:00:00 2001
From: Karnik Ram <karnikram@gmail.com>
Date: Thu, 1 Oct 2020 11:57:44 +0530
Subject: [PATCH 07/42] Add code for transforming normal vector
---
vins_estimator/src/estimator.cpp | 3 +++
vins_estimator/src/factor/homography_factor.h | 5 ++++-
2 files changed, 7 insertions(+), 1 deletion(-)
diff --git a/vins_estimator/src/estimator.cpp b/vins_estimator/src/estimator.cpp