LM for cam-imu optimization
This commit is contained in:
Vladyslav Usenko
parent
14dd14fb02
commit
57bc27c713
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@ -155,9 +155,7 @@ class PosesOptimization {
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while (!step && max_iter > 0) {
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Eigen::unordered_map<int64_t, Sophus::SE3d> timestam_to_pose_backup =
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timestam_to_pose;
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Eigen::vector<SE3> T_i_c_backup = calib->T_i_c;
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Eigen::vector<GenericCamera<Scalar>> intrinsics_backup =
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calib->intrinsics;
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Calibration<Scalar> calib_backup = *calib;
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Eigen::VectorXd inc = -lopt.accum.solve(lambda);
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@ -179,22 +177,26 @@ class PosesOptimization {
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ComputeErrorPosesOpt<double> eopt(problem_size, timestam_to_pose, ccd);
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tbb::parallel_reduce(april_range, eopt);
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if (eopt.error <= lopt.error) {
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std::cout << "\t[ACCEPTED] lambda:" << lambda
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<< " Error: " << eopt.error << " num points "
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<< eopt.num_points << std::endl;
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lambda = std::max(min_lambda, lambda / 2);
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step = true;
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} else {
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if (eopt.error > lopt.error) {
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std::cout << "\t[REJECTED] lambda:" << lambda
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<< " Error: " << eopt.error << " num points "
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<< eopt.num_points << std::endl;
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lambda = std::min(max_lambda, 2 * lambda);
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timestam_to_pose = timestam_to_pose_backup;
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calib->T_i_c = T_i_c_backup;
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calib->intrinsics = intrinsics_backup;
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*calib = calib_backup;
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} else {
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std::cout << "\t[ACCEPTED] lambda:" << lambda
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<< " Error: " << eopt.error << " num points "
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<< eopt.num_points << std::endl;
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lambda = std::max(min_lambda, lambda / 2);
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error = eopt.error;
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num_points = eopt.num_points;
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reprojection_error = eopt.reprojection_error;
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step = true;
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}
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max_iter--;
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}
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@ -631,6 +631,206 @@ struct LinearizeSplineOpt : public LinearizeBase<Scalar> {
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EIGEN_MAKE_ALIGNED_OPERATOR_NEW
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};
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template <int N, typename Scalar>
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struct ComputeErrorSplineOpt : public LinearizeBase<Scalar> {
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typedef Sophus::SE3<Scalar> SE3;
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typedef Eigen::Matrix<Scalar, 2, 1> Vector2;
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typedef Eigen::Matrix<Scalar, 3, 1> Vector3;
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typedef Eigen::Matrix<Scalar, 4, 1> Vector4;
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typedef Eigen::Matrix<Scalar, 6, 1> Vector6;
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typedef Eigen::Matrix<Scalar, 3, 3> Matrix3;
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typedef Eigen::Matrix<Scalar, 6, 6> Matrix6;
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typedef Eigen::Matrix<Scalar, 2, 4> Matrix24;
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typedef Eigen::Matrix<Scalar, Eigen::Dynamic, 1> VectorX;
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typedef Eigen::Matrix<Scalar, Eigen::Dynamic, Eigen::Dynamic> MatrixX;
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typedef Se3Spline<N, Scalar> SplineT;
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typedef typename Eigen::deque<PoseData>::const_iterator PoseDataIter;
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typedef typename Eigen::deque<GyroData>::const_iterator GyroDataIter;
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typedef typename Eigen::deque<AccelData>::const_iterator AccelDataIter;
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typedef typename Eigen::deque<AprilgridCornersData>::const_iterator
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AprilgridCornersDataIter;
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typedef
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typename Eigen::deque<MocapPoseData>::const_iterator MocapPoseDataIter;
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// typedef typename LinearizeBase<Scalar>::PoseCalibH PoseCalibH;
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typedef typename LinearizeBase<Scalar>::CalibCommonData CalibCommonData;
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Scalar error;
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Scalar reprojection_error;
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int num_points;
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size_t opt_size;
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const SplineT* spline;
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ComputeErrorSplineOpt(size_t opt_size, const SplineT* spl,
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const CalibCommonData& common_data,
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const SplineT* spl_lin = nullptr)
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: opt_size(opt_size), spline(spl) {
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this->common_data = common_data;
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error = 0;
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reprojection_error = 0;
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num_points = 0;
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BASALT_ASSERT(spline);
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}
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ComputeErrorSplineOpt(const ComputeErrorSplineOpt& other, tbb::split)
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: opt_size(other.opt_size), spline(other.spline) {
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this->common_data = other.common_data;
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error = 0;
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reprojection_error = 0;
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num_points = 0;
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}
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void operator()(const tbb::blocked_range<PoseDataIter>& r) {
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for (const PoseData& pm : r) {
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int64_t time_ns = pm.timestamp_ns;
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BASALT_ASSERT_STREAM(
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time_ns >= spline->minTimeNs(),
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"time " << time_ns << " spline.minTimeNs() " << spline->minTimeNs());
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// Residual from current value of spline
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Vector3 residual_pos =
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spline->positionResidual(time_ns, pm.data.translation());
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Vector3 residual_rot =
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spline->orientationResidual(time_ns, pm.data.so3());
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// std::cout << "J_pos.start_idx " << J_pos.start_idx << std::endl;
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const Scalar& pose_var_inv = this->common_data.pose_var_inv;
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error += pose_var_inv *
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(residual_pos.squaredNorm() + residual_rot.squaredNorm());
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}
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}
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void operator()(const tbb::blocked_range<AccelDataIter>& r) {
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// size_t num_knots = spline.numKnots();
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// size_t bias_block_offset = POSE_SIZE * num_knots;
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for (const AccelData& pm : r) {
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int64_t t = pm.timestamp_ns;
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// std::cout << "time " << t << std::endl;
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// std::cout << "sline.minTime() " << spline.minTime() << std::endl;
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BASALT_ASSERT_STREAM(
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t >= spline->minTimeNs(),
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"t " << t << " spline.minTime() " << spline->minTimeNs());
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BASALT_ASSERT_STREAM(
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t <= spline->maxTimeNs(),
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"t " << t << " spline.maxTime() " << spline->maxTimeNs());
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Vector3 residual = spline->accelResidual(
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t, pm.data, this->common_data.calibration->calib_accel_bias,
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*(this->common_data.g));
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const Scalar& accel_var_inv = this->common_data.accel_var_inv;
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error += accel_var_inv * residual.squaredNorm();
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}
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}
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void operator()(const tbb::blocked_range<GyroDataIter>& r) {
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// size_t num_knots = spline.numKnots();
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// size_t bias_block_offset = POSE_SIZE * num_knots;
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for (const GyroData& pm : r) {
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int64_t t_ns = pm.timestamp_ns;
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BASALT_ASSERT(t_ns >= spline->minTimeNs());
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BASALT_ASSERT(t_ns <= spline->maxTimeNs());
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const Scalar& gyro_var_inv = this->common_data.gyro_var_inv;
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Vector3 residual = spline->gyroResidual(
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t_ns, pm.data, this->common_data.calibration->calib_gyro_bias);
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error += gyro_var_inv * residual.squaredNorm();
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}
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}
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void operator()(const tbb::blocked_range<AprilgridCornersDataIter>& r) {
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for (const AprilgridCornersData& acd : r) {
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std::visit(
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[&](const auto& cam) {
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int64_t time_ns = acd.timestamp_ns +
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this->common_data.calibration->cam_time_offset_ns;
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if (time_ns < spline->minTimeNs() || time_ns >= spline->maxTimeNs())
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return;
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SE3 T_w_i = spline->pose(time_ns);
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SE3 T_w_c =
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T_w_i * this->common_data.calibration->T_i_c[acd.cam_id];
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SE3 T_c_w = T_w_c.inverse();
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Eigen::Matrix4d T_c_w_m = T_c_w.matrix();
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double err = 0;
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double reproj_err = 0;
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int num_inliers = 0;
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for (size_t i = 0; i < acd.corner_pos.size(); i++) {
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this->linearize_point(acd.corner_pos[i], acd.corner_id[i],
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T_c_w_m, cam, nullptr, err, num_inliers,
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reproj_err);
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}
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error += err;
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reprojection_error += reproj_err;
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num_points += num_inliers;
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},
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this->common_data.calibration->intrinsics[acd.cam_id].variant);
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}
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}
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void operator()(const tbb::blocked_range<MocapPoseDataIter>& r) {
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for (const MocapPoseData& pm : r) {
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int64_t time_ns =
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pm.timestamp_ns +
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this->common_data.mocap_calibration->mocap_time_offset_ns;
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if (time_ns < spline->minTimeNs() || time_ns >= spline->maxTimeNs())
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continue;
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BASALT_ASSERT_STREAM(
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time_ns >= spline->minTimeNs(),
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"time " << time_ns << " spline.minTimeNs() " << spline->minTimeNs());
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const SE3 T_moc_w = this->common_data.mocap_calibration->T_moc_w;
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const SE3 T_i_mark = this->common_data.mocap_calibration->T_i_mark;
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const SE3 T_w_i = spline->pose(time_ns);
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const SE3 T_moc_mark = T_moc_w * T_w_i * T_i_mark;
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const SE3 T_mark_moc_meas = pm.data.inverse();
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Vector6 residual = Sophus::logd(T_mark_moc_meas * T_moc_mark);
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const Scalar& mocap_var_inv = this->common_data.mocap_var_inv;
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error += mocap_var_inv * residual.squaredNorm();
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}
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}
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void join(ComputeErrorSplineOpt& rhs) {
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error += rhs.error;
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reprojection_error += rhs.reprojection_error;
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num_points += rhs.num_points;
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}
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EIGEN_MAKE_ALIGNED_OPERATOR_NEW
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};
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} // namespace basalt
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#endif
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@ -88,7 +88,12 @@ class SplineOptimization {
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typedef Se3Spline<N, Scalar> SplineT;
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SplineOptimization(int64_t dt_ns = 1e7)
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: pose_var(1e-4), spline(dt_ns), dt_ns(dt_ns) {
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: pose_var(1e-4),
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lambda(1),
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min_lambda(1e-6),
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max_lambda(10),
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spline(dt_ns),
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dt_ns(dt_ns) {
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pose_var_inv = 1.0 / pose_var;
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// reasonable default values
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@ -360,45 +365,101 @@ class SplineOptimization {
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// auto t1 = std::chrono::high_resolution_clock::now();
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if (use_poses) {
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tbb::blocked_range<PoseDataIter> pose_range(pose_measurements.begin(),
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pose_measurements.end());
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tbb::blocked_range<PoseDataIter> pose_range(pose_measurements.begin(),
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pose_measurements.end());
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tbb::blocked_range<AprilgridCornersDataIter> april_range(
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aprilgrid_corners_measurements.begin(),
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aprilgrid_corners_measurements.end());
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tbb::blocked_range<MocapPoseDataIter> mocap_pose_range(
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mocap_measurements.begin(), mocap_measurements.end());
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tbb::blocked_range<AccelDataIter> accel_range(accel_measurements.begin(),
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accel_measurements.end());
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tbb::blocked_range<GyroDataIter> gyro_range(gyro_measurements.begin(),
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gyro_measurements.end());
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if (use_poses) {
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tbb::parallel_reduce(pose_range, lopt);
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// lopt(pose_range);
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}
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if (use_april_corners) {
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tbb::blocked_range<AprilgridCornersDataIter> april_range(
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aprilgrid_corners_measurements.begin(),
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aprilgrid_corners_measurements.end());
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tbb::parallel_reduce(april_range, lopt);
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// lopt(april_range);
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}
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if (use_mocap) {
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tbb::blocked_range<MocapPoseDataIter> mocap_pose_range(
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mocap_measurements.begin(), mocap_measurements.end());
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tbb::parallel_reduce(mocap_pose_range, lopt);
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// lopt(mocap_pose_range);
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}
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tbb::blocked_range<AccelDataIter> accel_range(accel_measurements.begin(),
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accel_measurements.end());
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tbb::parallel_reduce(accel_range, lopt);
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tbb::blocked_range<GyroDataIter> gyro_range(gyro_measurements.begin(),
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gyro_measurements.end());
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tbb::parallel_reduce(gyro_range, lopt);
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VectorX inc_full = -lopt.accum.solve();
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applyInc(inc_full, offset_cam_intrinsics);
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error = lopt.error;
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num_points = lopt.num_points;
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reprojection_error = lopt.reprojection_error;
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std::cout << "[LINEARIZE] Error: " << lopt.error << " num points "
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<< lopt.num_points << std::endl;
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bool step = false;
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int max_iter = 10;
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while (!step && max_iter > 0) {
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VectorX inc_full = -lopt.accum.solve(lambda);
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Calibration<Scalar> calib_backup = *calib;
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MocapCalibration<Scalar> mocap_calib_backup = *mocap_calib;
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SplineT spline_backup = spline;
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Vector3 g_backup = g;
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applyInc(inc_full, offset_cam_intrinsics);
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ComputeErrorSplineOpt eopt(opt_size, &spline, ccd);
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if (use_poses) {
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tbb::parallel_reduce(pose_range, eopt);
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}
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if (use_april_corners) {
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tbb::parallel_reduce(april_range, eopt);
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}
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if (use_mocap) {
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tbb::parallel_reduce(mocap_pose_range, eopt);
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}
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tbb::parallel_reduce(accel_range, eopt);
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tbb::parallel_reduce(gyro_range, eopt);
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if (eopt.error > lopt.error) {
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std::cout << "\t[REJECTED] lambda:" << lambda
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<< " Error: " << eopt.error << " num points "
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<< eopt.num_points << std::endl;
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lambda = std::min(max_lambda, 2 * lambda);
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spline = spline_backup;
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*calib = calib_backup;
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*mocap_calib = mocap_calib_backup;
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g = g_backup;
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} else {
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std::cout << "\t[ACCEPTED] lambda:" << lambda
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<< " Error: " << eopt.error << " num points "
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<< eopt.num_points << std::endl;
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lambda = std::max(min_lambda, lambda / 2);
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error = eopt.error;
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num_points = eopt.num_points;
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reprojection_error = eopt.reprojection_error;
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step = true;
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}
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max_iter--;
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}
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}
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}
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@ -461,6 +522,8 @@ class SplineOptimization {
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1e9 * inc_full[mocap_block_offset + 2 * POSE_SIZE + 1];
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}
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Scalar lambda, min_lambda, max_lambda;
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int64_t min_time_us, max_time_us;
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Eigen::deque<PoseData> pose_measurements;
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