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Added pure BA option

This commit is contained in:
Vladyslav Usenko 2019-08-14 11:31:12 +02:00
parent 77142f0c2a
commit fc0800514b
9 changed files with 81 additions and 6 deletions
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3
data/euroc_config.json
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@ -37,7 +37,8 @@
"config.mapper_bow_num_bits": 16,
"config.mapper_min_triangulation_dist": 0.07,
"config.mapper_no_factor_weights": false,
"config.mapper_use_lm": false,
"config.mapper_use_factors": true,
"config.mapper_use_lm": true,
"config.mapper_lm_lambda_min": 1e-32,
"config.mapper_lm_lambda_max": 1e3
}

45
data/euroc_config_no_factors.json Normal file
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@ -0,0 +1,45 @@
{
"value0": {
"config.optical_flow_type": "frame_to_frame",
"config.optical_flow_detection_grid_size": 50,
"config.optical_flow_max_recovered_dist2": 0.04,
"config.optical_flow_pattern": 51,
"config.optical_flow_max_iterations": 5,
"config.optical_flow_epipolar_error": 0.005,
"config.optical_flow_levels": 3,
"config.optical_flow_skip_frames": 1,
"config.vio_max_states": 3,
"config.vio_max_kfs": 7,
"config.vio_min_frames_after_kf": 5,
"config.vio_new_kf_keypoints_thresh": 0.7,
"config.vio_debug": false,
"config.vio_obs_std_dev": 0.5,
"config.vio_obs_huber_thresh": 1.0,
"config.vio_min_triangulation_dist": 0.05,
"config.vio_outlier_threshold": 3.0,
"config.vio_filter_iteration": 4,
"config.vio_max_iterations": 7,
"config.vio_enforce_realtime": false,
"config.vio_use_lm": false,
"config.vio_lm_lambda_min": 1e-32,
"config.vio_lm_lambda_max": 1e2,
"config.mapper_obs_std_dev": 0.25,
"config.mapper_obs_huber_thresh": 1.5,
"config.mapper_detection_num_points": 800,
"config.mapper_num_frames_to_match": 30,
"config.mapper_frames_to_match_threshold": 0.04,
"config.mapper_min_matches": 20,
"config.mapper_ransac_threshold": 5e-5,
"config.mapper_min_track_length": 5,
"config.mapper_max_hamming_distance": 70,
"config.mapper_second_best_test_ratio": 1.2,
"config.mapper_bow_num_bits": 16,
"config.mapper_min_triangulation_dist": 0.07,
"config.mapper_no_factor_weights": false,
"config.mapper_use_factors": false,
"config.mapper_use_lm": true,
"config.mapper_lm_lambda_min": 1e-32,
"config.mapper_lm_lambda_max": 1e3
}
}

3
data/euroc_config_no_weights.json
View File

@ -37,7 +37,8 @@
"config.mapper_bow_num_bits": 16,
"config.mapper_min_triangulation_dist": 0.07,
"config.mapper_no_factor_weights": true,
"config.mapper_use_lm": false,
"config.mapper_use_factors": true,
"config.mapper_use_lm": true,
"config.mapper_lm_lambda_min": 1e-32,
"config.mapper_lm_lambda_max": 1e3
}

1
data/tumvi_512_config.json
View File

@ -38,6 +38,7 @@
"config.mapper_bow_num_bits": 16,
"config.mapper_min_triangulation_dist": 0.07,
"config.mapper_no_factor_weights": false,
"config.mapper_use_factors": true,
"config.mapper_use_lm": false,
"config.mapper_lm_lambda_min": 1e-32,
"config.mapper_lm_lambda_max": 1e3

1
include/basalt/utils/vio_config.h
View File

@ -85,6 +85,7 @@ struct VioConfig {
int mapper_bow_num_bits;
double mapper_min_triangulation_dist;
bool mapper_no_factor_weights;
bool mapper_use_factors;
bool mapper_use_lm;
double mapper_lm_lambda_min;

16
scripts/eval_full/gen_results.py
View File

@ -31,6 +31,12 @@ pose_graph = {
'num_frames' : ['PG Num. KFs']
}
pure_ba = {
'ate' : ['PG RMS ATE [m]'],
'time' : ['PG Time [s]'],
'num_frames' : ['PG Num. KFs']
}
out_dir = sys.argv[1]
def load_data(x, prefix, key):
@ -52,6 +58,7 @@ for key in datasets[1:]:
load_data(vio, 'vio', key)
load_data(mapping, 'mapper', key)
load_data(pose_graph, 'mapper_no_weights', key)
load_data(pure_ba, 'mapper_no_factors', key)
row_format ="{:>17}" + "{:>13}" * (len(datasets)-1)
@ -80,3 +87,12 @@ print row_format.format(*pose_graph['ate'])
#print row_format.format(*pose_graph['time'])
print row_format.format(*pose_graph['num_frames'])
print '\nPure BA optimization (no factors from the recovery used)'
print row_format.format(*datasets_short)
print row_format.format(*pure_ba['ate'])
#print row_format.format(*pure_ba['time'])
print row_format.format(*pure_ba['num_frames'])

3
scripts/eval_full/run_evaluations.sh
View File

@ -24,6 +24,9 @@ for d in ${DATASETS[$CI_NODE_INDEX-1]}; do
basalt_mapper --show-gui 0 --cam-calib /usr/etc/basalt/euroc_eucm_calib.json --config-path /usr/etc/basalt/euroc_config_no_weights.json --marg-data eval_tmp_marg_data \
--result-path $folder_name/mapper_no_weights_$d
basalt_mapper --show-gui 0 --cam-calib /usr/etc/basalt/euroc_eucm_calib.json --config-path /usr/etc/basalt/euroc_config_no_factors.json --marg-data eval_tmp_marg_data \
--result-path $folder_name/mapper_no_factors_$d
rm -rf eval_tmp_marg_data
done

2
src/utils/vio_config.cpp
View File

@ -85,6 +85,7 @@ VioConfig::VioConfig() {
mapper_bow_num_bits = 16;
mapper_min_triangulation_dist = 0.07;
mapper_no_factor_weights = false;
mapper_use_factors = true;
mapper_use_lm = false;
mapper_lm_lambda_min = 1e-32;
@ -157,6 +158,7 @@ void serialize(Archive& ar, basalt::VioConfig& config) {
ar(CEREAL_NVP(config.mapper_bow_num_bits));
ar(CEREAL_NVP(config.mapper_min_triangulation_dist));
ar(CEREAL_NVP(config.mapper_no_factor_weights));
ar(CEREAL_NVP(config.mapper_use_factors));
ar(CEREAL_NVP(config.mapper_use_lm));
ar(CEREAL_NVP(config.mapper_lm_lambda_min));

13
src/vi_estimator/nfr_mapper.cpp
View File

@ -273,8 +273,11 @@ void NfrMapper::optimize(int num_iterations) {
rel_pose_factors.begin(), rel_pose_factors.end());
tbb::parallel_reduce(range, lopt);
tbb::parallel_reduce(range1, lopt);
tbb::parallel_reduce(range2, lopt);
if (config.mapper_use_factors) {
tbb::parallel_reduce(range1, lopt);
tbb::parallel_reduce(range2, lopt);
}
double error_total = rld_error + lopt.rel_error + lopt.roll_pitch_error;
@ -329,8 +332,10 @@ void NfrMapper::optimize(int num_iterations) {
double after_roll_pitch_error = 0;
computeError(after_update_vision_error);
computeRelPose(after_rel_error);
computeRollPitch(after_roll_pitch_error);
if (config.mapper_use_factors) {
computeRelPose(after_rel_error);
computeRollPitch(after_roll_pitch_error);
}
double after_error_total = after_update_vision_error + after_rel_error +
after_roll_pitch_error;