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Added LM to mapping

This commit is contained in:
Vladyslav Usenko 2019-08-08 18:02:21 +02:00
parent 43c9914592
commit 3d6a4099cf
2 changed files with 98 additions and 48 deletions
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2
include/basalt/vi_estimator/nfr_mapper.h
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@ -205,5 +205,7 @@ class NfrMapper : public BundleAdjustmentBase {
std::shared_ptr<HashBow<256>> hash_bow_database;
VioConfig config;
double lambda, min_lambda, max_lambda, lambda_vee;
};
} // namespace basalt

144
src/vi_estimator/nfr_mapper.cpp
View File

@ -44,7 +44,11 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
namespace basalt {
NfrMapper::NfrMapper(const Calibration<double>& calib, const VioConfig& config)
: config(config) {
: config(config),
lambda(1e-10),
min_lambda(1e-32),
max_lambda(100),
lambda_vee(2) {
this->calib = calib;
this->obs_std_dev = config.mapper_obs_std_dev;
this->huber_thresh = config.mapper_obs_huber_thresh;
@ -274,7 +278,7 @@ void NfrMapper::optimize(int num_iterations) {
double error_total = rld_error + lopt.rel_error + lopt.roll_pitch_error;
std::cout << "iter " << iter
std::cout << "[LINEARIZE] iter " << iter
<< " before_update_error: vision: " << rld_error
<< " rel_error: " << lopt.rel_error
<< " roll_pitch_error: " << lopt.roll_pitch_error
@ -285,60 +289,103 @@ void NfrMapper::optimize(int num_iterations) {
lopt.accum.setup_solver();
Eigen::VectorXd Hdiag = lopt.accum.Hdiagonal();
Hdiag.setConstant(Hdiag.size(), 1e-6);
const Eigen::VectorXd inc = lopt.accum.solve(&Hdiag);
bool converged = false;
bool step = false;
int max_iter = 10;
// apply increment to poses
for (auto& kv : frame_poses) {
int idx = aom.abs_order_map.at(kv.first).first;
BASALT_ASSERT(!kv.second.isLinearized());
kv.second.applyInc(-inc.segment<POSE_SIZE>(idx));
while (!step && max_iter > 0 && !converged) {
Eigen::VectorXd Hdiag_lambda = Hdiag * lambda;
for (int i = 0; i < Hdiag_lambda.size(); i++)
Hdiag_lambda[i] = std::max(Hdiag_lambda[i], min_lambda);
const Eigen::VectorXd inc = lopt.accum.solve(&Hdiag_lambda);
double max_inc = inc.array().abs().maxCoeff();
if (max_inc < 1e-5) converged = true;
backup();
// apply increment to poses
for (auto& kv : frame_poses) {
int idx = aom.abs_order_map.at(kv.first).first;
BASALT_ASSERT(!kv.second.isLinearized());
kv.second.applyInc(-inc.segment<POSE_SIZE>(idx));
}
// Update points
tbb::blocked_range<size_t> keys_range(0, rld_vec.size());
auto update_points_func = [&](const tbb::blocked_range<size_t>& r) {
for (size_t i = r.begin(); i != r.end(); ++i) {
const auto& rld = rld_vec[i];
updatePoints(aom, rld, inc);
}
};
tbb::parallel_for(keys_range, update_points_func);
double after_update_vision_error = 0;
double after_rel_error = 0;
double after_roll_pitch_error = 0;
computeError(after_update_vision_error);
computeRelPose(after_rel_error);
computeRollPitch(after_roll_pitch_error);
double after_error_total =
after_update_vision_error + after_rel_error + after_roll_pitch_error;
double f_diff = (error_total - after_error_total);
double l_diff = 0.5 * inc.dot(inc * lambda + lopt.accum.getB());
std::cout << "f_diff " << f_diff << " l_diff " << l_diff << std::endl;
double step_quality = f_diff / l_diff;
if (step_quality < 0) {
std::cout << "\t[REJECTED] lambda:" << lambda
<< " step_quality: " << step_quality
<< " max_inc: " << max_inc
<< " vision_error: " << after_update_vision_error
<< " rel_error: " << after_rel_error
<< " roll_pitch_error: " << after_roll_pitch_error
<< " total: " << after_error_total << std::endl;
lambda = std::min(max_lambda, lambda_vee * lambda);
lambda_vee *= 2;
restore();
} else {
std::cout << "\t[ACCEPTED] lambda:" << lambda
<< " step_quality: " << step_quality
<< " max_inc: " << max_inc
<< " vision_error: " << after_update_vision_error
<< " rel_error: " << after_rel_error
<< " roll_pitch_error: " << after_roll_pitch_error
<< " total: " << after_error_total << std::endl;
lambda = std::max(
min_lambda,
lambda *
std::max(1.0 / 3, 1 - std::pow(2 * step_quality - 1, 3.0)));
lambda_vee = 2;
step = true;
}
max_iter--;
if (after_error_total > error_total) {
std::cout << "increased error after update!!!" << std::endl;
}
}
// Update points
tbb::blocked_range<size_t> keys_range(0, rld_vec.size());
auto update_points_func = [&](const tbb::blocked_range<size_t>& r) {
for (size_t i = r.begin(); i != r.end(); ++i) {
const auto& rld = rld_vec[i];
updatePoints(aom, rld, inc);
}
};
tbb::parallel_for(keys_range, update_points_func);
double after_update_vision_error = 0;
double after_rel_error = 0;
double after_roll_pitch_error = 0;
computeError(after_update_vision_error);
computeRelPose(after_rel_error);
computeRollPitch(after_roll_pitch_error);
double after_error_total =
after_update_vision_error + after_rel_error + after_roll_pitch_error;
double error_diff = error_total - after_error_total;
auto t2 = std::chrono::high_resolution_clock::now();
auto elapsed =
std::chrono::duration_cast<std::chrono::microseconds>(t2 - t1);
std::cout << "iter " << iter
<< " after_update_error: vision: " << after_update_vision_error
<< " rel_error: " << after_rel_error
<< " roll_pitch_error: " << after_roll_pitch_error
<< " total: " << after_error_total << " max_inc "
<< inc.array().abs().maxCoeff() << " error_diff " << error_diff
<< " time : " << elapsed.count() << "(us), num_states "
<< frame_states.size() << " num_poses " << frame_poses.size()
<< std::endl;
std::cout << "iter " << iter << " time : " << elapsed.count()
<< "(us), num_states " << frame_states.size() << " num_poses "
<< frame_poses.size() << std::endl;
if (after_error_total > error_total) {
std::cout << "increased error after update!!!" << std::endl;
}
if (inc.array().abs().maxCoeff() < 1e-4) break;
if (converged) break;
// std::cerr << "LT\n" << LT << std::endl;
// std::cerr << "z_p\n" << z_p.transpose() << std::endl;
@ -508,7 +555,8 @@ void NfrMapper::match_all() {
// std::cout << "Closest frames for " << tcid << ": ";
for (const auto& otcid_score : results) {
// std::cout << otcid_score.first << "(" << otcid_score.second << ") ";
// std::cout << otcid_score.first << "(" << otcid_score.second << ")
// ";
if (otcid_score.first.frame_id != tcid.frame_id &&
otcid_score.second > config.mapper_frames_to_match_threshold) {
match_pair m;