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Optimizer.cc
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Optimizer.cc
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/**
* This file is part of ORB-SLAM2.
*
* Copyright (C) 2014-2016 Raúl Mur-Artal <raulmur at unizar dot es> (University of Zaragoza)
* For more information see <https://github.com/raulmur/ORB_SLAM2>
*
* ORB-SLAM2 is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* ORB-SLAM2 is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with ORB-SLAM2. If not, see <http://www.gnu.org/licenses/>.
*/
#include "Optimizer.h"
#include "Thirdparty/g2o/g2o/core/block_solver.h"
#include "Thirdparty/g2o/g2o/core/optimization_algorithm_levenberg.h"
#include "Thirdparty/g2o/g2o/solvers/linear_solver_eigen.h"
#include "Thirdparty/g2o/g2o/types/types_six_dof_expmap.h"
#include "Thirdparty/g2o/g2o/core/robust_kernel_impl.h"
#include "Thirdparty/g2o/g2o/solvers/linear_solver_dense.h"
#include "Thirdparty/g2o/g2o/types/types_seven_dof_expmap.h"
#include<Eigen/StdVector>
#include "Converter.h"
#include<mutex>
#include "IMU/configparam.h"
#include "IMU/g2otypes.h"
#include "Thirdparty/g2o/g2o/core/optimization_algorithm_gauss_newton.h"
#include "Thirdparty/g2o/g2o/core/optimization_algorithm_with_hessian.h"
#include "Thirdparty/g2o/g2o/solvers/linear_solver_cholmod.h"
namespace ORB_SLAM2
{
//-------------------------------------------------------------------------------------------
//-------------------------------------------------------------------------------------------
//-------------------------------------------------------------------------------------------
void Optimizer::LocalBAPRVIDP(KeyFrame *pCurKF, const std::list<KeyFrame*> &lLocalKeyFrames, bool* pbStopFlag, Map* pMap, cv::Mat& gw, LocalMapping* pLM)
{
// Check current KeyFrame in local window
if(pCurKF != lLocalKeyFrames.back())
cerr<<"pCurKF != lLocalKeyFrames.back. check"<<endl;
// Extrinsics
Matrix4d Tcb = ConfigParam::GetEigT_cb();
Matrix3d Rcb = Tcb.topLeftCorner(3,3);
Vector3d Pcb = Tcb.topRightCorner(3,1);
// Gravity vector in world frame
Vector3d GravityVec = Converter::toVector3d(gw);
// All KeyFrames in Local window are optimized
for(list<KeyFrame*>::const_iterator lit=lLocalKeyFrames.begin(), lend=lLocalKeyFrames.end(); lit!=lend; lit++)
{
KeyFrame* pKFi = *lit;
if(!pKFi) cerr<<"!pKFi. why??????"<<endl;
pKFi->mnBALocalForKF = pCurKF->mnId;
}
// Local MapPoints seen in Local KeyFrames
list<MapPoint*> lLocalMapPoints;
for(list<KeyFrame*>::const_iterator lit=lLocalKeyFrames.begin() , lend=lLocalKeyFrames.end(); lit!=lend; lit++)
{
vector<MapPoint*> vpMPs = (*lit)->GetMapPointMatches();
for(vector<MapPoint*>::iterator vit=vpMPs.begin(), vend=vpMPs.end(); vit!=vend; vit++)
{
MapPoint* pMP = *vit;
if(pMP)
if(!pMP->isBad())
if(pMP->mnBALocalForKF!=pCurKF->mnId)
{
lLocalMapPoints.push_back(pMP);
pMP->mnBALocalForKF=pCurKF->mnId;
}
}
}
// Fixed Keyframes. Keyframes that see Local MapPoints but that are not Local Keyframes
list<KeyFrame*> lFixedCameras;
// Add the KeyFrame before local window.
KeyFrame* pKFPrevLocal = lLocalKeyFrames.front()->GetPrevKeyFrame();
if(pKFPrevLocal)
{
// Test log
if(pKFPrevLocal->isBad()) cerr<<"KeyFrame before local window is bad?"<<endl;
if(pKFPrevLocal->mnBAFixedForKF==pCurKF->mnId) cerr<<"KeyFrame before local, has been added to lFixedKF?"<<endl;
if(pKFPrevLocal->mnBALocalForKF==pCurKF->mnId) cerr<<"KeyFrame before local, has been added to lLocalKF?"<<endl;
pKFPrevLocal->mnBAFixedForKF = pCurKF->mnId;
if(!pKFPrevLocal->isBad())
lFixedCameras.push_back(pKFPrevLocal);
else
cerr<<"pKFPrevLocal is Bad?"<<endl;
}
// Test log
else {cerr<<"pKFPrevLocal is NULL?"<<endl;}
// Covisible KeyFrames
for(list<MapPoint*>::iterator lit=lLocalMapPoints.begin(), lend=lLocalMapPoints.end(); lit!=lend; lit++)
{
mapMapPointObs/*map<KeyFrame*,size_t>*/ observations = (*lit)->GetObservations();
for(mapMapPointObs/*map<KeyFrame*,size_t>*/::iterator mit=observations.begin(), mend=observations.end(); mit!=mend; mit++)
{
KeyFrame* pKFi = mit->first;
if(pKFi->mnBALocalForKF!=pCurKF->mnId && pKFi->mnBAFixedForKF!=pCurKF->mnId)
{
pKFi->mnBAFixedForKF=pCurKF->mnId;
if(!pKFi->isBad())
lFixedCameras.push_back(pKFi);
}
}
}
// Setup optimizer
g2o::SparseOptimizer optimizer;
g2o::BlockSolverX::LinearSolverType * linearSolver;
linearSolver = new g2o::LinearSolverEigen<g2o::BlockSolverX::PoseMatrixType>();
//linearSolver = new g2o::LinearSolverCholmod<g2o::BlockSolverX::PoseMatrixType>();
g2o::BlockSolverX * solver_ptr = new g2o::BlockSolverX(linearSolver);
g2o::OptimizationAlgorithmGaussNewton* solver = new g2o::OptimizationAlgorithmGaussNewton(solver_ptr);
//g2o::OptimizationAlgorithmLevenberg* solver = new g2o::OptimizationAlgorithmLevenberg(solver_ptr);
optimizer.setAlgorithm(solver);
//optimizer.setVerbose(true);
if(pbStopFlag)
optimizer.setForceStopFlag(pbStopFlag);
int maxKFid = 0;
// Extrinsic vertex
int ExtrinsicVertexId = KeyFrame::nNextId*3 + MapPoint::nNextId + 1;
{
g2o::VertexNavStatePR * vTcb = new g2o::VertexNavStatePR();
NavState tmpNSTcb;
tmpNSTcb.Set_Pos(Pcb);
tmpNSTcb.Set_Rot(Rcb);
vTcb->setEstimate(tmpNSTcb);
vTcb->setId(ExtrinsicVertexId);
vTcb->setFixed(true); //todo
optimizer.addVertex(vTcb);
}
// Set Local KeyFrame vertices
for(list<KeyFrame*>::const_iterator lit=lLocalKeyFrames.begin(), lend=lLocalKeyFrames.end(); lit!=lend; lit++)
{
KeyFrame* pKFi = *lit;
if(!pKFi) cerr<<"!pKFi when setting local KF vertex???"<<endl;
int idKF = pKFi->mnId*3;
// Vertex of PR/V
{
g2o::VertexNavStatePR * vNSPR = new g2o::VertexNavStatePR();
vNSPR->setEstimate(pKFi->GetNavState());
vNSPR->setId(idKF);
vNSPR->setFixed(false);
optimizer.addVertex(vNSPR);
g2o::VertexNavStateV * vNSV = new g2o::VertexNavStateV();
vNSV->setEstimate(pKFi->GetNavState());
vNSV->setId(idKF+1);
vNSV->setFixed(false);
optimizer.addVertex(vNSV);
}
// Vertex of Bias
{
g2o::VertexNavStateBias * vNSBias = new g2o::VertexNavStateBias();
vNSBias->setEstimate(pKFi->GetNavState());
vNSBias->setId(idKF+2);
vNSBias->setFixed(false);
optimizer.addVertex(vNSBias);
}
if(idKF+2>maxKFid)
maxKFid=idKF+2;
}
// Set Fixed KeyFrame vertices. Including the pKFPrevLocal.
for(list<KeyFrame*>::iterator lit=lFixedCameras.begin(), lend=lFixedCameras.end(); lit!=lend; lit++)
{
KeyFrame* pKFi = *lit;
int idKF = pKFi->mnId*3;
// For common fixed KeyFrames, only add PR vertex
{
g2o::VertexNavStatePR * vNSPR = new g2o::VertexNavStatePR();
vNSPR->setEstimate(pKFi->GetNavState());
vNSPR->setId(idKF);
vNSPR->setFixed(true);
optimizer.addVertex(vNSPR);
}
// For Local-Window-Previous KeyFrame, add V and Bias vertex
if(pKFi == pKFPrevLocal)
{
g2o::VertexNavStateV * vNSV = new g2o::VertexNavStateV();
vNSV->setEstimate(pKFi->GetNavState());
vNSV->setId(idKF+1);
vNSV->setFixed(true); //todo
optimizer.addVertex(vNSV);
g2o::VertexNavStateBias * vNSBias = new g2o::VertexNavStateBias();
vNSBias->setEstimate(pKFi->GetNavState());
vNSBias->setId(idKF+2);
vNSBias->setFixed(true); //todo. true or false
optimizer.addVertex(vNSBias);
}
if(idKF+2>maxKFid)
maxKFid=idKF+2;
}
// Edges between KeyFrames in Local Window
// and
// Edges between 1st KeyFrame of Local Window and its previous (fixed)KeyFrame - pKFPrevLocal
vector<g2o::EdgeNavStatePRV*> vpEdgesNavStatePRV;
vector<g2o::EdgeNavStateBias*> vpEdgesNavStateBias;
// Use chi2inv() in MATLAB to compute the value corresponding to 0.95/0.99 prob. w.r.t 15DOF: 24.9958/30.5779
// 12.592/16.812 for 0.95/0.99 6DoF
// 16.919/21.666 for 0.95/0.99 9DoF
//const float thHuberNavState = sqrt(30.5779);
const float thHuberNavStatePRV = sqrt(/*1e4*/100*21.666);
const float thHuberNavStateBias = sqrt(/*1e4*/100*16.812);
// Inverse covariance of bias random walk
Matrix<double,6,6> InvCovBgaRW = Matrix<double,6,6>::Identity();
InvCovBgaRW.topLeftCorner(3,3) = Matrix3d::Identity()/IMUData::getGyrBiasRW2(); // Gyroscope bias random walk, covariance INVERSE
InvCovBgaRW.bottomRightCorner(3,3) = Matrix3d::Identity()/IMUData::getAccBiasRW2(); // Accelerometer bias random walk, covariance INVERSE
for(list<KeyFrame*>::const_iterator lit=lLocalKeyFrames.begin(), lend=lLocalKeyFrames.end(); lit!=lend; lit++)
{
KeyFrame* pKF1 = *lit; // Current KF, store the IMU pre-integration between previous-current
if(!pKF1) cerr<<"pKF1"<<endl;
KeyFrame* pKF0 = pKF1->GetPrevKeyFrame(); // Previous KF
if(!pKF1 || !pKF0) cerr<<"pKF1="<<(size_t)pKF1<<", pKF0="<<(size_t)pKF0<<endl;
// PVR edge
{
// PR0, PR1, V0, V1, B0
g2o::EdgeNavStatePRV * epvr = new g2o::EdgeNavStatePRV();
epvr->setVertex(0, dynamic_cast<g2o::OptimizableGraph::Vertex*>(optimizer.vertex(3*pKF0->mnId)));
epvr->setVertex(1, dynamic_cast<g2o::OptimizableGraph::Vertex*>(optimizer.vertex(3*pKF1->mnId)));
epvr->setVertex(2, dynamic_cast<g2o::OptimizableGraph::Vertex*>(optimizer.vertex(3*pKF0->mnId+1)));
epvr->setVertex(3, dynamic_cast<g2o::OptimizableGraph::Vertex*>(optimizer.vertex(3*pKF1->mnId+1)));
epvr->setVertex(4, dynamic_cast<g2o::OptimizableGraph::Vertex*>(optimizer.vertex(3*pKF0->mnId+2)));
epvr->setMeasurement(pKF1->GetIMUPreInt());
//Matrix9d InvCovPVR = pKF1->GetIMUPreInt().getCovPVPhi().inverse();
Matrix9d CovPRV = pKF1->GetIMUPreInt().getCovPVPhi();
CovPRV.col(3).swap(CovPRV.col(6));
CovPRV.col(4).swap(CovPRV.col(7));
CovPRV.col(5).swap(CovPRV.col(8));
CovPRV.row(3).swap(CovPRV.row(6));
CovPRV.row(4).swap(CovPRV.row(7));
CovPRV.row(5).swap(CovPRV.row(8));
epvr->setInformation(CovPRV.inverse());
epvr->SetParams(GravityVec);
g2o::RobustKernelHuber* rk = new g2o::RobustKernelHuber;
epvr->setRobustKernel(rk);
rk->setDelta(thHuberNavStatePRV);
optimizer.addEdge(epvr);
vpEdgesNavStatePRV.push_back(epvr);
}
// Bias edge
{
g2o::EdgeNavStateBias * ebias = new g2o::EdgeNavStateBias();
ebias->setVertex(0, dynamic_cast<g2o::OptimizableGraph::Vertex*>(optimizer.vertex(3*pKF0->mnId+2)));
ebias->setVertex(1, dynamic_cast<g2o::OptimizableGraph::Vertex*>(optimizer.vertex(3*pKF1->mnId+2)));
ebias->setMeasurement(pKF1->GetIMUPreInt());
ebias->setInformation(InvCovBgaRW/pKF1->GetIMUPreInt().getDeltaTime());
g2o::RobustKernelHuber* rk = new g2o::RobustKernelHuber;
ebias->setRobustKernel(rk);
rk->setDelta(thHuberNavStateBias);
optimizer.addEdge(ebias);
vpEdgesNavStateBias.push_back(ebias);
}
}
// Set MapPoint vertices
const int nExpectedSize = (lLocalKeyFrames.size()+lFixedCameras.size())*lLocalMapPoints.size();
//vector<g2o::EdgeNavStatePRPointXYZ*> vpEdgesMono;
vector<g2o::EdgePRIDP*> vpEdgesMono;
vpEdgesMono.reserve(nExpectedSize);
vector<KeyFrame*> vpEdgeKFMono;
vpEdgeKFMono.reserve(nExpectedSize);
vector<MapPoint*> vpMapPointEdgeMono;
vpMapPointEdgeMono.reserve(nExpectedSize);
const float thHuberMono = sqrt(5.991);
vector<Vector2d, Eigen::aligned_allocator<Vector2d> > vRefNormXY;
vRefNormXY.resize(lLocalMapPoints.size());
vector<bool> vMPGood;
vMPGood.resize(lLocalMapPoints.size(), false);
int mpcnt=0;
for(list<MapPoint*>::iterator lit=lLocalMapPoints.begin(), lend=lLocalMapPoints.end(); lit!=lend; lit++, mpcnt++)
{
MapPoint* pMP = *lit;
Vector3d Pw = Converter::toVector3d(pMP->GetWorldPos());
KeyFrame* pRefKF = pMP->GetReferenceKeyFrame();
if(!pRefKF)
cerr<<("!pRefKF???");
if(/*!sLocalFixKFs.count(pRefKF) */pRefKF->isBad())
{
cerr<<pRefKF->mnId<<" pRefKF not in local or fixed window, bBad="<<pRefKF->isBad()<<endl;
continue;
}
Matrix3d Rcw = Converter::toMatrix3d(pRefKF->GetRotation());
Vector3d tcw = Converter::toVector3d(pRefKF->GetTranslation());
Vector3d Pc = Rcw*Pw+tcw;
double dc = Pc[2]; //depth
if(dc < 0.01)
{
std::cerr<<"depth < 0.01, = "<<dc<<std::endl;
dc = 0.01;
continue;
}
int mpVertexId = pMP->mnId+maxKFid+1;
g2o::VertexIDP* vPoint = new g2o::VertexIDP();
vPoint->setEstimate(1.0/dc);
vPoint->setId(mpVertexId);
vPoint->setMarginalized(true);
//optimizer.addVertex(vPoint);
mapMapPointObs/*map<KeyFrame*,size_t>*/ observations = pMP->GetObservations();
// compute normalized image coordinate [x,y]
if(!observations.count(pRefKF))
cerr<<"!observations.count(pRefKF), why???"<<endl;
size_t kpIdxInRefKF = observations[pRefKF];
// cerr<<pMP->mnId<<" refKFid: "<<kpIdxInRefKF<<endl;
const cv::KeyPoint &kpRefUn = pRefKF->mvKeysUn[kpIdxInRefKF];
double normx = (kpRefUn.pt.x-pRefKF->cx)/pRefKF->fx;
double normy = (kpRefUn.pt.y-pRefKF->cy)/pRefKF->fy;
vRefNormXY[mpcnt] << normx, normy;
// g2o::VertexSBAPointXYZ* vPoint = new g2o::VertexSBAPointXYZ();
// vPoint->setEstimate(Pw);
// int id = pMP->mnId+maxKFid+1;
// vPoint->setId(id);
// vPoint->setMarginalized(true);
// optimizer.addVertex(vPoint);
bool baddmpvertex = false;
// Set edges between KeyFrame and MapPoint
for(mapMapPointObs/*map<KeyFrame*,size_t>*/::const_iterator mit=observations.begin(), mend=observations.end(); mit!=mend; mit++)
{
KeyFrame* pKFi = mit->first;
if(pKFi == pRefKF)
{
continue; // no edge for reference keyframe
}
if(!pKFi->isBad())
{
const cv::KeyPoint &kpUn = pKFi->mvKeysUn[mit->second];
// Monocular observation
if(pKFi->mvuRight[mit->second]<0)
{
// There may be no available observation. So when there's observation then add vertex of mappoint
if(!baddmpvertex)
{
baddmpvertex = true;
optimizer.addVertex(vPoint);
vMPGood[mpcnt] = true;
}
// 0-idp, 1-refPR, 2-curPR, 3-TcbPR
g2o::EdgePRIDP* e = new g2o::EdgePRIDP();
e->setVertex(0, dynamic_cast<g2o::OptimizableGraph::Vertex*>(optimizer.vertex(mpVertexId)));
e->setVertex(1, dynamic_cast<g2o::OptimizableGraph::Vertex*>(optimizer.vertex(3*pRefKF->mnId)));
e->setVertex(2, dynamic_cast<g2o::OptimizableGraph::Vertex*>(optimizer.vertex(3*pKFi->mnId)));
e->setVertex(3, dynamic_cast<g2o::OptimizableGraph::Vertex*>(optimizer.vertex(ExtrinsicVertexId)));
e->SetParams(normx, normy, pRefKF->fx, pRefKF->fy, pRefKF->cx, pRefKF->cy);
//g2o::EdgeNavStatePRPointXYZ* e = new g2o::EdgeNavStatePRPointXYZ();
//e->setVertex(0, dynamic_cast<g2o::OptimizableGraph::Vertex*>(optimizer.vertex(id)));
//e->setVertex(1, dynamic_cast<g2o::OptimizableGraph::Vertex*>(optimizer.vertex(3*pKFi->mnId)));
//e->SetParams(pKFi->fx,pKFi->fy,pKFi->cx,pKFi->cy,Rcb.transpose(),-Rcb.transpose()*Pcb);
Eigen::Matrix<double,2,1> obs;
obs << kpUn.pt.x, kpUn.pt.y;
e->setMeasurement(obs);
const float &invSigma2 = pKFi->mvInvLevelSigma2[kpUn.octave];
e->setInformation(Eigen::Matrix2d::Identity()*invSigma2);
g2o::RobustKernelHuber* rk = new g2o::RobustKernelHuber;
e->setRobustKernel(rk);
rk->setDelta(thHuberMono);
optimizer.addEdge(e);
vpEdgesMono.push_back(e);
vpEdgeKFMono.push_back(pKFi);
vpMapPointEdgeMono.push_back(pMP);
}
else
{
// Test log
cerr<<"Stereo not supported yet, why here?? check."<<endl;
}
baddmpvertex = true;
}
}
}
if(pbStopFlag)
if(*pbStopFlag)
return;
// First try
//optimizer.setVerbose(true);
optimizer.initializeOptimization();
optimizer.optimize(5);
bool bDoMore= true;
if(pbStopFlag)
if(*pbStopFlag)
bDoMore = false;
if(!bDoMore) cerr<<"Hint: local mapping optimize only 5 iter. Need more computation resource."<<endl;
if(bDoMore)
{
// Check inlier observations
for(size_t i=0, iend=vpEdgesMono.size(); i<iend;i++)
{
//g2o::EdgeNavStatePRPointXYZ* e = vpEdgesMono[i];
g2o::EdgePRIDP* e = vpEdgesMono[i];
MapPoint* pMP = vpMapPointEdgeMono[i];
if(pMP->isBad())
continue;
if(e->chi2()>5.991 || !e->isDepthPositive() || static_cast<g2o::VertexIDP*>(e->vertex(0))->estimate()<2e-6)
{
e->setLevel(1);
//cerr<<"e->chi2(): "<<e->chi2()<<", inverse depth rho: "<<static_cast<g2o::VertexIDP*>(e->vertex(0))->estimate()<<endl;
}
e->setRobustKernel(0);
}
// Optimize again without the outliers
optimizer.initializeOptimization(0);
optimizer.optimize(10);
}
//
vector<pair<KeyFrame*,MapPoint*> > vToErase;
vToErase.reserve(vpEdgesMono.size());
double PosePointchi2=0;
// Check inlier observations
for(size_t i=0, iend=vpEdgesMono.size(); i<iend;i++)
{
//g2o::EdgeNavStatePRPointXYZ* e = vpEdgesMono[i];
g2o::EdgePRIDP* e = vpEdgesMono[i];
MapPoint* pMP = vpMapPointEdgeMono[i];
if(pMP->isBad())
continue;
if(e->chi2()>5.991 || !e->isDepthPositive() || static_cast<g2o::VertexIDP*>(e->vertex(0))->estimate()<2e-6 || e->level()!=0)
{
KeyFrame* pKFi = vpEdgeKFMono[i];
vToErase.push_back(make_pair(pKFi,pMP));
}
PosePointchi2 += e->chi2();
}
// // Debug log
// // Check inlier observations
// int tmpcnt2=0;
// for(size_t i=0, iend=vpEdgesNavStatePRV.size(); i<iend; i++)
// {
// g2o::EdgeNavStatePRV* e = vpEdgesNavStatePRV[i];
// if(e->chi2()>21.666)
// {
// cout<<"2 PRVedge "<<i<<", chi2 "<<e->chi2()<<". ";
// tmpcnt2++;
// }
// }
// //cout<<endl<<"edge bias ns bad: ";
// for(size_t i=0, iend=vpEdgesNavStateBias.size(); i<iend; i++)
// {
// g2o::EdgeNavStateBias* e = vpEdgesNavStateBias[i];
// if(e->chi2()>16.812)
// {
// cout<<"2 Bias edge "<<i<<", chi2 "<<e->chi2()<<". ";
// tmpcnt2++;
// }
// }
// if(tmpcnt2>0)
// cout<<endl;
// Get Map Mutex
unique_lock<mutex> lock(pMap->mMutexMapUpdate);
if(!vToErase.empty())
{
for(size_t i=0;i<vToErase.size();i++)
{
KeyFrame* pKFi = vToErase[i].first;
MapPoint* pMPi = vToErase[i].second;
pKFi->EraseMapPointMatch(pMPi);
pMPi->EraseObservation(pKFi);
}
}
//Keyframes
for(list<KeyFrame*>::const_iterator lit=lLocalKeyFrames.begin(), lend=lLocalKeyFrames.end(); lit!=lend; lit++)
{
KeyFrame* pKFi = *lit;
g2o::VertexNavStatePR* vNSPR = static_cast<g2o::VertexNavStatePR*>(optimizer.vertex(3*pKFi->mnId));
g2o::VertexNavStateV* vNSV = static_cast<g2o::VertexNavStateV*>(optimizer.vertex(3*pKFi->mnId+1));
g2o::VertexNavStateBias* vNSBias = static_cast<g2o::VertexNavStateBias*>(optimizer.vertex(3*pKFi->mnId+2));
// In optimized navstate, bias not changed, delta_bias not zero, should be added to bias
const NavState& optPRns = vNSPR->estimate();
const NavState& optVns = vNSV->estimate();
const NavState& optBiasns = vNSBias->estimate();
NavState primaryns = pKFi->GetNavState();
// Update NavState
pKFi->SetNavStatePos(optPRns.Get_P());
pKFi->SetNavStateRot(optPRns.Get_R());
pKFi->SetNavStateVel(optVns.Get_V());
//if(optBiasns.Get_dBias_Acc().norm()<1e-2 && optBiasns.Get_BiasGyr().norm()<1e-4)
//{
pKFi->SetNavStateDeltaBg(optBiasns.Get_dBias_Gyr());
pKFi->SetNavStateDeltaBa(optBiasns.Get_dBias_Acc());
//}
// Update pose Tcw
pKFi->UpdatePoseFromNS(ConfigParam::GetMatTbc());
// Test log
if( (primaryns.Get_BiasGyr() - optPRns.Get_BiasGyr()).norm() > 1e-6 || (primaryns.Get_BiasGyr() - optBiasns.Get_BiasGyr()).norm() > 1e-6 )
cerr<<"gyr bias change in optimization?"<<endl;
if( (primaryns.Get_BiasAcc() - optPRns.Get_BiasAcc()).norm() > 1e-6 || (primaryns.Get_BiasAcc() - optBiasns.Get_BiasAcc()).norm() > 1e-6 )
cerr<<"acc bias change in optimization?"<<endl;
}
//Points
mpcnt = 0;
for(list<MapPoint*>::const_iterator lit=lLocalMapPoints.begin(), lend=lLocalMapPoints.end(); lit!=lend; lit++, mpcnt++)
{
MapPoint* pMP = *lit;
if(!pMP) cerr<<("!pMP????");
KeyFrame* pRefKF = pMP->GetReferenceKeyFrame();
if(!pRefKF) cerr<<("!pRefKF???");
if(/*!sLocalFixKFs.count(pRefKF)*/pRefKF->isBad())
{
continue;
}
if(!vMPGood[mpcnt])
continue;
//g2o::VertexSBAPointXYZ* vPoint = static_cast<g2o::VertexSBAPointXYZ*>(optimizer.vertex(pMP->mnId+maxKFid+1));
g2o::VertexIDP* vPoint = static_cast<g2o::VertexIDP*>(optimizer.vertex(pMP->mnId+maxKFid+1));
const Vector2d& refXY = vRefNormXY[mpcnt];
Vector3d Pref;
Pref << refXY[0], refXY[1], 1.0;
double rho = vPoint->estimate();
//if(rho<1e-4) {cerr<<"rho="<<rho<<". ";rho = 1e-4;}
Pref *= 1.0/rho; // point coordinate in reference frame
cv::Mat Rwr = pRefKF->GetRotation().t(); // Rwr = Rrw^T
cv::Mat twr = pRefKF->GetCameraCenter(); // twr = - Rrw^T * trw
pMP->SetWorldPos(Rwr*Converter::toCvMat(Pref) + twr); // point coordinate in world frame
pMP->UpdateNormalAndDepth();
}
// update Tcb
{
g2o::VertexNavStatePR* vTcb = static_cast<g2o::VertexNavStatePR*>(optimizer.vertex(ExtrinsicVertexId));
Matrix3d Rcb = vTcb->estimate().Get_RotMatrix();
Vector3d tcb = vTcb->estimate().Get_P();
if(!vTcb->fixed())
cerr<<"opt Rcb/tcb:"<<endl<<Rcb<<endl<<tcb.transpose()<<endl;
//todo
}
if(pLM)
{
pLM->SetMapUpdateFlagInTracking(true);
}
}
void Optimizer::GlobalBundleAdjustmentNavStatePRV(Map* pMap, const cv::Mat& gw, int nIterations, bool* pbStopFlag, const unsigned long nLoopKF, const bool bRobust)
{
vector<KeyFrame*> vpKFs = pMap->GetAllKeyFrames();
vector<MapPoint*> vpMP = pMap->GetAllMapPoints();
// Extrinsics
Matrix4d Tbc = ConfigParam::GetEigTbc();
Matrix3d Rbc = Tbc.topLeftCorner(3,3);
Vector3d Pbc = Tbc.topRightCorner(3,1);
// Gravity vector in world frame
Vector3d GravityVec = Converter::toVector3d(gw);
vector<bool> vbNotIncludedMP;
vbNotIncludedMP.resize(vpMP.size());
g2o::SparseOptimizer optimizer;
g2o::BlockSolverX::LinearSolverType * linearSolver;
linearSolver = new g2o::LinearSolverEigen<g2o::BlockSolverX::PoseMatrixType>();
//linearSolver = new g2o::LinearSolverCholmod<g2o::BlockSolverX::PoseMatrixType>();
g2o::BlockSolverX * solver_ptr = new g2o::BlockSolverX(linearSolver);
g2o::OptimizationAlgorithmLevenberg* solver = new g2o::OptimizationAlgorithmLevenberg(solver_ptr);
//g2o::OptimizationAlgorithmGaussNewton* solver = new g2o::OptimizationAlgorithmGaussNewton(solver_ptr);
optimizer.setAlgorithm(solver);
if(pbStopFlag)
optimizer.setForceStopFlag(pbStopFlag);
long unsigned int maxKFid = 0;
// Set KeyFrame vertices
for(size_t i=0; i<vpKFs.size(); i++)
{
KeyFrame* pKF = vpKFs[i];
if(pKF->isBad())
continue;
// PR
g2o::VertexNavStatePR * vNSPR = new g2o::VertexNavStatePR();
vNSPR->setEstimate(pKF->GetNavState());
vNSPR->setId(pKF->mnId*3);
vNSPR->setFixed(pKF->mnId==0);
optimizer.addVertex(vNSPR);
// V
g2o::VertexNavStateV * vNSV = new g2o::VertexNavStateV();
vNSV->setEstimate(pKF->GetNavState());
vNSV->setId(pKF->mnId*3+1);
vNSV->setFixed(false);
optimizer.addVertex(vNSV);
// Bias
g2o::VertexNavStateBias * vNSBias = new g2o::VertexNavStateBias();
vNSBias->setEstimate(pKF->GetNavState());
vNSBias->setId(pKF->mnId*3+2);
vNSBias->setFixed(pKF->mnId==0);
optimizer.addVertex(vNSBias);
if(pKF->mnId*3+2>maxKFid)
maxKFid=pKF->mnId*3+2;
}
// Add NavState PRV/Bias edges
const float thHuberNavStatePRV = sqrt(100*21.666);
const float thHuberNavStateBias = sqrt(100*16.812);
// Inverse covariance of bias random walk
Matrix<double,6,6> InvCovBgaRW = Matrix<double,6,6>::Identity();
InvCovBgaRW.topLeftCorner(3,3) = Matrix3d::Identity()/IMUData::getGyrBiasRW2(); // Gyroscope bias random walk, covariance INVERSE
InvCovBgaRW.bottomRightCorner(3,3) = Matrix3d::Identity()/IMUData::getAccBiasRW2(); // Accelerometer bias random walk, covariance INVERSE
for(size_t i=0; i<vpKFs.size(); i++)
{
KeyFrame* pKF1 = vpKFs[i];
if(pKF1->isBad())
{
cout<<"pKF is bad in gBA, id "<<pKF1->mnId<<endl; //Debug log
continue;
}
KeyFrame* pKF0 = pKF1->GetPrevKeyFrame();
if(!pKF0)
{
if(pKF1->mnId!=0) cerr<<"Previous KeyFrame is NULL?"<<endl; //Test log
continue;
}
// PVR edge
{
// PR0, PR1, V0, V1, B0
g2o::EdgeNavStatePRV * epvr = new g2o::EdgeNavStatePRV();
epvr->setVertex(0, dynamic_cast<g2o::OptimizableGraph::Vertex*>(optimizer.vertex(3*pKF0->mnId)));
epvr->setVertex(1, dynamic_cast<g2o::OptimizableGraph::Vertex*>(optimizer.vertex(3*pKF1->mnId)));
epvr->setVertex(2, dynamic_cast<g2o::OptimizableGraph::Vertex*>(optimizer.vertex(3*pKF0->mnId+1)));
epvr->setVertex(3, dynamic_cast<g2o::OptimizableGraph::Vertex*>(optimizer.vertex(3*pKF1->mnId+1)));
epvr->setVertex(4, dynamic_cast<g2o::OptimizableGraph::Vertex*>(optimizer.vertex(3*pKF0->mnId+2)));
epvr->setMeasurement(pKF1->GetIMUPreInt());
//Matrix9d InvCovPVR = pKF1->GetIMUPreInt().getCovPVPhi().inverse();
Matrix9d CovPRV = pKF1->GetIMUPreInt().getCovPVPhi();
CovPRV.col(3).swap(CovPRV.col(6));
CovPRV.col(4).swap(CovPRV.col(7));
CovPRV.col(5).swap(CovPRV.col(8));
CovPRV.row(3).swap(CovPRV.row(6));
CovPRV.row(4).swap(CovPRV.row(7));
CovPRV.row(5).swap(CovPRV.row(8));
epvr->setInformation(CovPRV.inverse());
epvr->SetParams(GravityVec);
if(bRobust)
{
g2o::RobustKernelHuber* rk = new g2o::RobustKernelHuber;
epvr->setRobustKernel(rk);
rk->setDelta(thHuberNavStatePRV);
}
optimizer.addEdge(epvr);
}
// Bias edge
{
g2o::EdgeNavStateBias * ebias = new g2o::EdgeNavStateBias();
ebias->setVertex(0, dynamic_cast<g2o::OptimizableGraph::Vertex*>(optimizer.vertex(3*pKF0->mnId+2)));
ebias->setVertex(1, dynamic_cast<g2o::OptimizableGraph::Vertex*>(optimizer.vertex(3*pKF1->mnId+2)));
ebias->setMeasurement(pKF1->GetIMUPreInt());
ebias->setInformation(InvCovBgaRW/pKF1->GetIMUPreInt().getDeltaTime());
if(bRobust)
{
g2o::RobustKernelHuber* rk = new g2o::RobustKernelHuber;
ebias->setRobustKernel(rk);
rk->setDelta(thHuberNavStateBias);
}
optimizer.addEdge(ebias);
}
}
const float thHuber2D = sqrt(5.99);
// Set MapPoint vertices
for(size_t i=0; i<vpMP.size(); i++)
{
MapPoint* pMP = vpMP[i];
if(pMP->isBad())
continue;
g2o::VertexSBAPointXYZ* vPoint = new g2o::VertexSBAPointXYZ();
vPoint->setEstimate(Converter::toVector3d(pMP->GetWorldPos()));
const int id = pMP->mnId+maxKFid+1;
vPoint->setId(id);
vPoint->setMarginalized(true);
optimizer.addVertex(vPoint);
const mapMapPointObs/*map<KeyFrame*,size_t>*/ observations = pMP->GetObservations();
int nEdges = 0;
//SET EDGES
for(mapMapPointObs/*map<KeyFrame*,size_t>*/::const_iterator mit=observations.begin(); mit!=observations.end(); mit++)
{
KeyFrame* pKF = mit->first;
if(pKF->isBad() || 3*pKF->mnId>maxKFid)
continue;
nEdges++;
const cv::KeyPoint &kpUn = pKF->mvKeysUn[mit->second];
if(pKF->mvuRight[mit->second]<0)
{
Eigen::Matrix<double,2,1> obs;
obs << kpUn.pt.x, kpUn.pt.y;
g2o::EdgeNavStatePRPointXYZ* e = new g2o::EdgeNavStatePRPointXYZ();
e->setVertex(0, dynamic_cast<g2o::OptimizableGraph::Vertex*>(optimizer.vertex(id)));
e->setVertex(1, dynamic_cast<g2o::OptimizableGraph::Vertex*>(optimizer.vertex(3*pKF->mnId)));
e->setMeasurement(obs);
const float &invSigma2 = pKF->mvInvLevelSigma2[kpUn.octave];
e->setInformation(Eigen::Matrix2d::Identity()*invSigma2);
if(bRobust)
{
g2o::RobustKernelHuber* rk = new g2o::RobustKernelHuber;
e->setRobustKernel(rk);
rk->setDelta(thHuber2D);
}
e->SetParams(pKF->fx,pKF->fy,pKF->cx,pKF->cy,Rbc,Pbc);
optimizer.addEdge(e);
}
else
{
cerr<<"Stereo not supported"<<endl;
}
}
if(nEdges==0)
{
optimizer.removeVertex(vPoint);
vbNotIncludedMP[i]=true;
}
else
{
vbNotIncludedMP[i]=false;
}
}
// Optimize!
optimizer.initializeOptimization();
optimizer.optimize(nIterations);
// Recover optimized data
//Keyframes
for(size_t i=0; i<vpKFs.size(); i++)
{
KeyFrame* pKF = vpKFs[i];
if(pKF->isBad())
continue;
//g2o::VertexSE3Expmap* vSE3 = static_cast<g2o::VertexSE3Expmap*>(optimizer.vertex(pKF->mnId));
//g2o::SE3Quat SE3quat = vSE3->estimate();
g2o::VertexNavStatePR* vNSPR = static_cast<g2o::VertexNavStatePR*>(optimizer.vertex(3*pKF->mnId));
g2o::VertexNavStateV* vNSV = static_cast<g2o::VertexNavStateV*>(optimizer.vertex(3*pKF->mnId+1));
g2o::VertexNavStateBias* vNSBias = static_cast<g2o::VertexNavStateBias*>(optimizer.vertex(3*pKF->mnId+2));
const NavState& nspr = vNSPR->estimate();
const NavState& nsv = vNSV->estimate();
const NavState& nsbias = vNSBias->estimate();
NavState ns_recov = nspr;
ns_recov.Set_Pos(nspr.Get_P());
ns_recov.Set_Rot(nspr.Get_R());
ns_recov.Set_Vel(nsv.Get_V());
ns_recov.Set_DeltaBiasGyr(nsbias.Get_dBias_Gyr());
ns_recov.Set_DeltaBiasAcc(nsbias.Get_dBias_Acc());
if(nLoopKF==0)
{
//pKF->SetPose(Converter::toCvMat(SE3quat));
pKF->SetNavState(ns_recov);
pKF->UpdatePoseFromNS(ConfigParam::GetMatTbc());
}
else
{
pKF->mNavStateGBA = ns_recov;
pKF->mTcwGBA.create(4,4,CV_32F);
//Converter::toCvMat(SE3quat).copyTo(pKF->mTcwGBA);
cv::Mat Twb_ = cv::Mat::eye(4,4,CV_32F);
Converter::toCvMat(pKF->mNavStateGBA.Get_RotMatrix()).copyTo(Twb_.rowRange(0,3).colRange(0,3));
Converter::toCvMat(pKF->mNavStateGBA.Get_P()).copyTo(Twb_.rowRange(0,3).col(3));
cv::Mat Twc_ = Twb_*ConfigParam::GetMatTbc();
pKF->mTcwGBA = Converter::toCvMatInverse(Twc_);
pKF->mnBAGlobalForKF = nLoopKF;
}
}
//Points
for(size_t i=0; i<vpMP.size(); i++)
{
if(vbNotIncludedMP[i])
continue;
MapPoint* pMP = vpMP[i];
if(pMP->isBad())
continue;
g2o::VertexSBAPointXYZ* vPoint = static_cast<g2o::VertexSBAPointXYZ*>(optimizer.vertex(pMP->mnId+maxKFid+1));
if(nLoopKF==0)
{
pMP->SetWorldPos(Converter::toCvMat(vPoint->estimate()));
pMP->UpdateNormalAndDepth();
}
else
{
pMP->mPosGBA.create(3,1,CV_32F);
Converter::toCvMat(vPoint->estimate()).copyTo(pMP->mPosGBA);
pMP->mnBAGlobalForKF = nLoopKF;
}
}
}
void Optimizer::LocalBundleAdjustmentNavStatePRV(KeyFrame *pCurKF, const std::list<KeyFrame*> &lLocalKeyFrames, bool* pbStopFlag, Map* pMap, cv::Mat& gw, LocalMapping* pLM)
{
// Check current KeyFrame in local window
if(pCurKF != lLocalKeyFrames.back())
cerr<<"pCurKF != lLocalKeyFrames.back. check"<<endl;
// Extrinsics
Matrix4d Tbc = ConfigParam::GetEigTbc();
Matrix3d Rbc = Tbc.topLeftCorner(3,3);
Vector3d Pbc = Tbc.topRightCorner(3,1);
// Gravity vector in world frame
Vector3d GravityVec = Converter::toVector3d(gw);
// All KeyFrames in Local window are optimized
for(list<KeyFrame*>::const_iterator lit=lLocalKeyFrames.begin(), lend=lLocalKeyFrames.end(); lit!=lend; lit++)
{
KeyFrame* pKFi = *lit;
if(!pKFi) cerr<<"!pKFi. why??????"<<endl;
pKFi->mnBALocalForKF = pCurKF->mnId;
}
// Local MapPoints seen in Local KeyFrames
list<MapPoint*> lLocalMapPoints;
for(list<KeyFrame*>::const_iterator lit=lLocalKeyFrames.begin() , lend=lLocalKeyFrames.end(); lit!=lend; lit++)
{
vector<MapPoint*> vpMPs = (*lit)->GetMapPointMatches();
for(vector<MapPoint*>::iterator vit=vpMPs.begin(), vend=vpMPs.end(); vit!=vend; vit++)
{
MapPoint* pMP = *vit;
if(pMP)
if(!pMP->isBad())
if(pMP->mnBALocalForKF!=pCurKF->mnId)
{
lLocalMapPoints.push_back(pMP);
pMP->mnBALocalForKF=pCurKF->mnId;
}
}
}
// Fixed Keyframes. Keyframes that see Local MapPoints but that are not Local Keyframes
list<KeyFrame*> lFixedCameras;
// Add the KeyFrame before local window.
KeyFrame* pKFPrevLocal = lLocalKeyFrames.front()->GetPrevKeyFrame();
if(pKFPrevLocal)
{
// Test log
if(pKFPrevLocal->isBad()) cerr<<"KeyFrame before local window is bad?"<<endl;
if(pKFPrevLocal->mnBAFixedForKF==pCurKF->mnId) cerr<<"KeyFrame before local, has been added to lFixedKF?"<<endl;
if(pKFPrevLocal->mnBALocalForKF==pCurKF->mnId) cerr<<"KeyFrame before local, has been added to lLocalKF?"<<endl;
pKFPrevLocal->mnBAFixedForKF = pCurKF->mnId;
if(!pKFPrevLocal->isBad())
lFixedCameras.push_back(pKFPrevLocal);
else
cerr<<"pKFPrevLocal is Bad?"<<endl;
}
// Test log
else {cerr<<"pKFPrevLocal is NULL?"<<endl;}
// Covisible KeyFrames
for(list<MapPoint*>::iterator lit=lLocalMapPoints.begin(), lend=lLocalMapPoints.end(); lit!=lend; lit++)
{
mapMapPointObs/*map<KeyFrame*,size_t>*/ observations = (*lit)->GetObservations();
for(mapMapPointObs/*map<KeyFrame*,size_t>*/::iterator mit=observations.begin(), mend=observations.end(); mit!=mend; mit++)
{
KeyFrame* pKFi = mit->first;
if(pKFi->mnBALocalForKF!=pCurKF->mnId && pKFi->mnBAFixedForKF!=pCurKF->mnId)
{
pKFi->mnBAFixedForKF=pCurKF->mnId;
if(!pKFi->isBad())
lFixedCameras.push_back(pKFi);
}
}
}
// Setup optimizer
g2o::SparseOptimizer optimizer;
g2o::BlockSolverX::LinearSolverType * linearSolver;
linearSolver = new g2o::LinearSolverEigen<g2o::BlockSolverX::PoseMatrixType>();
//linearSolver = new g2o::LinearSolverCholmod<g2o::BlockSolverX::PoseMatrixType>();
g2o::BlockSolverX * solver_ptr = new g2o::BlockSolverX(linearSolver);
//g2o::OptimizationAlgorithmGaussNewton* solver = new g2o::OptimizationAlgorithmGaussNewton(solver_ptr);
g2o::OptimizationAlgorithmLevenberg* solver = new g2o::OptimizationAlgorithmLevenberg(solver_ptr);
optimizer.setAlgorithm(solver);
if(pbStopFlag)