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Ivan
2022-06-28 10:36:24 +03:00
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*.pro
*.pro.user
*.pro.user*
build*
build-*
*.o
*.so
*.a
*.so.*
thirdparty/libzip-1.1.1

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[submodule "thirdparty/sse2neon"]
path = thirdparty/sse2neon
url = https://github.com/jratcliff63367/sse2neon.git

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# Default ignored files
/shelf/
/workspace.xml
# Datasource local storage ignored files
/dataSources/
/dataSources.local.xml
# Editor-based HTTP Client requests
/httpRequests/

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DSO

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<?xml version="1.0" encoding="UTF-8"?>
<module classpath="CMake" type="CPP_MODULE" version="4" />

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<?xml version="1.0" encoding="UTF-8"?>
<project version="4">
<component name="CMakeWorkspace" PROJECT_DIR="$PROJECT_DIR$" />
</project>

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<?xml version="1.0" encoding="UTF-8"?>
<project version="4">
<component name="ProjectModuleManager">
<modules>
<module fileurl="file://$PROJECT_DIR$/.idea/dso.iml" filepath="$PROJECT_DIR$/.idea/dso.iml" />
</modules>
</component>
</project>

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<?xml version="1.0" encoding="UTF-8"?>
<project version="4">
<component name="VcsDirectoryMappings">
<mapping directory="$PROJECT_DIR$" vcs="Git" />
<mapping directory="$PROJECT_DIR$/thirdparty/sse2neon" vcs="Git" />
</component>
</project>

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========= 16.11.2016 ==========
* Added Sample output wrapper IOWrapper/OutputWrapper/SampleOutputWrapper.h.
* Added extensive comments to IOWrapper/Output3DWrapper.h.
* Added support for multiple 3DOutputWrapper simulataneously.
* Added options "quiet=1" and "sampleoutput=1".
* Did some minor code cleaning.

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SET(PROJECT_NAME DSO)
PROJECT(${PROJECT_NAME})
CMAKE_MINIMUM_REQUIRED(VERSION 2.6)
#set(CMAKE_VERBOSE_MAKEFILE ON)
set(BUILD_TYPE Release)
#set(BUILD_TYPE RelWithDebInfo)
set(EXECUTABLE_OUTPUT_PATH bin)
set(LIBRARY_OUTPUT_PATH lib)
set(CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake)
# required libraries
find_package(SuiteParse REQUIRED)
find_package(Eigen3 REQUIRED)
find_package(Boost COMPONENTS system thread)
# optional libraries
find_package(LibZip QUIET)
set(Pangolin_DIR "/home/ivan/ivan/git/Work DriveCast/Pangolin-0.6/build/src")
#find_package(Pangolin 0.2 QUIET)
find_package(Pangolin)
set(OpenCV_DIR "/home/ivan/ivan/git/Work DriveCast/opencv-3.4.15/build")
find_package(OpenCV)
# flags
add_definitions("-DENABLE_SSE")
set(CMAKE_CXX_FLAGS
"${SSE_FLAGS} -O3 -g -std=c++0x -march=native"
# "${SSE_FLAGS} -O3 -g -std=c++0x -fno-omit-frame-pointer"
)
if (MSVC)
set (CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /EHsc")
endif (MSVC)
# Sources files
set(dso_SOURCE_FILES
${PROJECT_SOURCE_DIR}/src/FullSystem/FullSystem.cpp
${PROJECT_SOURCE_DIR}/src/FullSystem/FullSystemOptimize.cpp
${PROJECT_SOURCE_DIR}/src/FullSystem/FullSystemOptPoint.cpp
${PROJECT_SOURCE_DIR}/src/FullSystem/FullSystemDebugStuff.cpp
${PROJECT_SOURCE_DIR}/src/FullSystem/FullSystemMarginalize.cpp
${PROJECT_SOURCE_DIR}/src/FullSystem/Residuals.cpp
${PROJECT_SOURCE_DIR}/src/FullSystem/CoarseTracker.cpp
${PROJECT_SOURCE_DIR}/src/FullSystem/CoarseInitializer.cpp
${PROJECT_SOURCE_DIR}/src/FullSystem/ImmaturePoint.cpp
${PROJECT_SOURCE_DIR}/src/FullSystem/HessianBlocks.cpp
${PROJECT_SOURCE_DIR}/src/FullSystem/PixelSelector2.cpp
${PROJECT_SOURCE_DIR}/src/OptimizationBackend/EnergyFunctional.cpp
${PROJECT_SOURCE_DIR}/src/OptimizationBackend/AccumulatedTopHessian.cpp
${PROJECT_SOURCE_DIR}/src/OptimizationBackend/AccumulatedSCHessian.cpp
${PROJECT_SOURCE_DIR}/src/OptimizationBackend/EnergyFunctionalStructs.cpp
${PROJECT_SOURCE_DIR}/src/util/settings.cpp
${PROJECT_SOURCE_DIR}/src/util/Undistort.cpp
${PROJECT_SOURCE_DIR}/src/util/globalCalib.cpp
)
include_directories(
${PROJECT_SOURCE_DIR}/src
${PROJECT_SOURCE_DIR}/thirdparty/Sophus
${PROJECT_SOURCE_DIR}/thirdparty/sse2neon
${EIGEN3_INCLUDE_DIR}
)
# decide if we have pangolin
if (Pangolin_FOUND)
message("--- found PANGOLIN, compiling dso_pangolin library.")
include_directories( ${Pangolin_INCLUDE_DIRS} )
set(dso_pangolin_SOURCE_FILES
${PROJECT_SOURCE_DIR}/src/IOWrapper/Pangolin/KeyFrameDisplay.cpp
${PROJECT_SOURCE_DIR}/src/IOWrapper/Pangolin/PangolinDSOViewer.cpp)
set(HAS_PANGOLIN 1)
else ()
message("--- could not find PANGOLIN, not compiling dso_pangolin library.")
message(" this means there will be no 3D display / GUI available for dso_dataset.")
set(dso_pangolin_SOURCE_FILES )
set(HAS_PANGOLIN 0)
endif ()
# decide if we have openCV
if (OpenCV_FOUND)
message("--- found OpenCV, compiling dso_opencv library.")
include_directories( ${OpenCV_INCLUDE_DIRS} )
set(dso_opencv_SOURCE_FILES
${PROJECT_SOURCE_DIR}/src/IOWrapper/OpenCV/ImageDisplay_OpenCV.cpp
${PROJECT_SOURCE_DIR}/src/IOWrapper/OpenCV/ImageRW_OpenCV.cpp)
set(HAS_OPENCV 1)
else ()
message("--- could not find OpenCV, not compiling dso_opencv library.")
message(" this means there will be no image display, and image read / load functionality.")
set(dso_opencv_SOURCE_FILES
${PROJECT_SOURCE_DIR}/src/IOWrapper/ImageDisplay_dummy.cpp
${PROJECT_SOURCE_DIR}/src/IOWrapper/ImageRW_dummy.cpp)
set(HAS_OPENCV 0)
endif ()
# decide if we have ziplib.
if (LIBZIP_LIBRARY)
message("--- found ziplib (${LIBZIP_VERSION}), compiling with zip capability.")
add_definitions(-DHAS_ZIPLIB=1)
include_directories( ${LIBZIP_INCLUDE_DIR_ZIP} ${LIBZIP_INCLUDE_DIR_ZIPCONF} )
else()
message("--- not found ziplib (${LIBZIP_LIBRARY}), compiling without zip capability.")
set(LIBZIP_LIBRARY "")
endif()
# compile main library.
include_directories( ${CSPARSE_INCLUDE_DIR} ${CHOLMOD_INCLUDE_DIR})
add_library(dso ${dso_SOURCE_FILES} ${dso_opencv_SOURCE_FILES} ${dso_pangolin_SOURCE_FILES})
#set_property( TARGET dso APPEND_STRING PROPERTY COMPILE_FLAGS -Wall )
if (${CMAKE_SYSTEM_NAME} MATCHES "Darwin") # OSX
set(BOOST_THREAD_LIBRARY boost_thread-mt)
else()
set(BOOST_THREAD_LIBRARY boost_thread)
endif()
# build main executable (only if we have both OpenCV and Pangolin)
if (OpenCV_FOUND AND Pangolin_FOUND)
message("--- compiling dso_dataset.")
add_executable(dso_dataset ${PROJECT_SOURCE_DIR}/src/main_dso_pangolin.cpp )
target_link_libraries(dso_dataset dso boost_system cxsparse ${BOOST_THREAD_LIBRARY} ${LIBZIP_LIBRARY} ${Pangolin_LIBRARIES} ${OpenCV_LIBS})
else()
message("--- not building dso_dataset, since either don't have openCV or Pangolin.")
endif()

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# DSO: Direct Sparse Odometry
For more information see
[https://vision.in.tum.de/dso](https://vision.in.tum.de/dso)
### 1. Related Papers
* **Direct Sparse Odometry**, *J. Engel, V. Koltun, D. Cremers*, In arXiv:1607.02565, 2016
* **A Photometrically Calibrated Benchmark For Monocular Visual Odometry**, *J. Engel, V. Usenko, D. Cremers*, In arXiv:1607.02555, 2016
Get some datasets from [https://vision.in.tum.de/mono-dataset](https://vision.in.tum.de/mono-dataset) .
### 2. Installation
git clone https://github.com/JakobEngel/dso.git
#### 2.1 Required Dependencies
##### suitesparse and eigen3 (required).
Required. Install with
sudo apt-get install libsuitesparse-dev libeigen3-dev libboost-all-dev
#### 2.2 Optional Dependencies
##### OpenCV (highly recommended).
Used to read / write / display images.
OpenCV is **only** used in `IOWrapper/OpenCV/*`. Without OpenCV, respective
dummy functions from `IOWrapper/*_dummy.cpp` will be compiled into the library, which do nothing.
The main binary will not be created, since it is useless if it can't read the datasets from disk.
Feel free to implement your own version of these functions with your prefered library,
if you want to stay away from OpenCV.
Install with
sudo apt-get install libopencv-dev
##### Pangolin (highly recommended).
Used for 3D visualization & the GUI.
Pangolin is **only** used in `IOWrapper/Pangolin/*`. You can compile without Pangolin,
however then there is not going to be any visualization / GUI capability.
Feel free to implement your own version of `Output3DWrapper` with your preferred library,
and use it instead of `PangolinDSOViewer`
Install from [https://github.com/stevenlovegrove/Pangolin](https://github.com/stevenlovegrove/Pangolin)
##### ziplib (recommended).
Used to read datasets with images as .zip, as e.g. in the TUM monoVO dataset.
You can compile without this, however then you can only read images directly (i.e., have
to unzip the dataset image archives before loading them).
sudo apt-get install zlib1g-dev
cd dso/thirdparty
tar -zxvf libzip-1.1.1.tar.gz
cd libzip-1.1.1/
./configure
make
sudo make install
sudo cp lib/zipconf.h /usr/local/include/zipconf.h # (no idea why that is needed).
##### sse2neon (required for ARM builds).
After cloning, just run `git submodule update --init` to include this. It translates Intel-native SSE functions to ARM-native NEON functions during the compilation process.
#### 2.3 Build
cd dso
mkdir build
cd build
cmake ..
make -j4
this will compile a library `libdso.a`, which can be linked from external projects.
It will also build a binary `dso_dataset`, to run DSO on datasets. However, for this
OpenCV and Pangolin need to be installed.
### 3 Usage
Run on a dataset from [https://vision.in.tum.de/mono-dataset](https://vision.in.tum.de/mono-dataset) using
bin/dso_dataset \
files=XXXXX/sequence_XX/images.zip \
calib=XXXXX/sequence_XX/camera.txt \
gamma=XXXXX/sequence_XX/pcalib.txt \
vignette=XXXXX/sequence_XX/vignette.png \
preset=0 \
mode=0
See [https://github.com/JakobEngel/dso_ros](https://github.com/JakobEngel/dso_ros) for a minimal example on
how the library can be used from another project. It should be straight forward to implement extentions for
other camera drivers, to use DSO interactively without ROS.
#### 3.1 Dataset Format.
The format assumed is that of [https://vision.in.tum.de/mono-dataset](https://vision.in.tum.de/mono-dataset).
However, it should be easy to adapt it to your needs, if required. The binary is run with:
- `files=XXX` where XXX is either a folder or .zip archive containing images. They are sorted *alphabetically*. for .zip to work, need to comiple with ziplib support.
- `gamma=XXX` where XXX is a gamma calibration file, containing a single row with 256 values, mapping [0..255] to the respective irradiance value, i.e. containing the *discretized inverse response function*. See TUM monoVO dataset for an example.
- `vignette=XXX` where XXX is a monochrome 16bit or 8bit image containing the vignette as pixelwise attenuation factors. See TUM monoVO dataset for an example.
- `calib=XXX` where XXX is a geometric camera calibration file. See below.
##### Geometric Calibration File.
###### Calibration File for Pre-Rectified Images
Pinhole fx fy cx cy 0
in_width in_height
"crop" / "full" / "none" / "fx fy cx cy 0"
out_width out_height
###### Calibration File for FOV camera model:
FOV fx fy cx cy omega
in_width in_height
"crop" / "full" / "fx fy cx cy 0"
out_width out_height
###### Calibration File for Radio-Tangential camera model
RadTan fx fy cx cy k1 k2 r1 r2
in_width in_height
"crop" / "full" / "fx fy cx cy 0"
out_width out_height
###### Calibration File for Equidistant camera model
EquiDistant fx fy cx cy k1 k2 k3 k4
in_width in_height
"crop" / "full" / "fx fy cx cy 0"
out_width out_height
(note: for backwards-compatibility, "Pinhole", "FOV" and "RadTan" can be omitted). See the respective
`::distortCoordinates` implementation in `Undistorter.cpp` for the exact corresponding projection function.
Furthermore, it should be straight-forward to implement other camera models.
**Explanation:**
Across all models `fx fy cx cy` denotes the focal length / principal point **relative to the image width / height**,
i.e., DSO computes the camera matrix `K` as
K(0,0) = width * fx
K(1,1) = height * fy
K(0,2) = width * cx - 0.5
K(1,2) = height * cy - 0.5
For backwards-compatibility, if the given `cx` and `cy` are larger than 1, DSO assumes all four parameters to directly be the entries of K,
and ommits the above computation.
**That strange "0.5" offset:**
Internally, DSO uses the convention that the pixel at integer position (1,1) in the image, i.e. the pixel in the second row and second column,
contains the integral over the continuous image function from (0.5,0.5) to (1.5,1.5), i.e., approximates a "point-sample" of the
continuous image functions at (1.0, 1.0).
In turn, there seems to be no unifying convention across calibration toolboxes whether the pixel at integer position (1,1)
contains the integral over (0.5,0.5) to (1.5,1.5), or the integral over (1,1) to (2,2). The above conversion assumes that
the given calibration in the calibration file uses the latter convention, and thus applies the -0.5 correction.
Note that this also is taken into account when creating the scale-pyramid (see `globalCalib.cpp`).
**Rectification modes:**
For image rectification, DSO either supports rectification to a user-defined pinhole model (`fx fy cx cy 0`),
or has an option to automatically crop the image to the maximal rectangular, well-defined region (`crop`).
`full` will preserve the full original field of view and is mainly meant for debugging - it will create black
borders in undefined image regions, which DSO does NOT ignore (i.e., this option will generate additional
outliers along those borders, and corrupt the scale-pyramid).
#### 3.2 Commandline Options
there are many command line options available, see `main_dso_pangolin.cpp`. some examples include
- `mode=X`:
- `mode=0` use iff a photometric calibration exists (e.g. TUM monoVO dataset).
- `mode=1` use iff NO photometric calibration exists (e.g. ETH EuRoC MAV dataset).
- `mode=2` use iff images are not photometrically distorted (e.g. synthetic datasets).
- `preset=X`
- `preset=0`: default settings (2k pts etc.), not enforcing real-time execution
- `preset=1`: default settings (2k pts etc.), enforcing 1x real-time execution
- `preset=2`: fast settings (800 pts etc.), not enforcing real-time execution. WARNING: overwrites image resolution with 424 x 320.
- `preset=3`: fast settings (800 pts etc.), enforcing 5x real-time execution. WARNING: overwrites image resolution with 424 x 320.
- `nolog=1`: disable logging of eigenvalues etc. (good for performance)
- `reverse=1`: play sequence in reverse
- `nogui=1`: disable gui (good for performance)
- `nomt=1`: single-threaded execution
- `prefetch=1`: load into memory & rectify all images before running DSO.
- `start=X`: start at frame X
- `end=X`: end at frame X
- `speed=X`: force execution at X times real-time speed (0 = not enforcing real-time)
- `save=1`: save lots of images for video creation
- `quiet=1`: disable most console output (good for performance)
- `sampleoutput=1`: register a "SampleOutputWrapper", printing some sample output data to the commandline. meant as example.
#### 3.3 Runtime Options
Some parameters can be reconfigured from the Pangolin GUI at runtime. Feel free to add more.
#### 3.4 Accessing Data.
The easiest way to access the Data (poses, pointclouds, etc.) computed by DSO (in real-time)
is to create your own `Output3DWrapper`, and add it to the system, i.e., to `FullSystem.outputWrapper`.
The respective member functions will be called on various occations (e.g., when a new KF is created,
when a new frame is tracked, etc.), exposing the relevant data.
See `IOWrapper/Output3DWrapper.h` for a description of the different callbacks available,
and some basic notes on where to find which data in the used classes.
See `IOWrapper/OutputWrapper/SampleOutputWrapper.h` for an example implementation, which just prints
some example data to the commandline (use the options `sampleoutput=1 quiet=1` to see the result).
Note that these callbacks block the respective DSO thread, thus expensive computations should not
be performed in the callbacks, a better practice is to just copy over / publish / output the data you need.
Per default, `dso_dataset` writes all keyframe poses to a file `result.txt` at the end of a sequence,
using the TUM RGB-D / TUM monoVO format ([timestamp x y z qx qy qz qw] of the cameraToWorld transformation).
#### 3.5 Notes
- the initializer is very slow, and does not work very reliably. Maybe replace by your own way to get an initialization.
- see [https://github.com/JakobEngel/dso_ros](https://github.com/JakobEngel/dso_ros) for a minimal example project on how to use the library with your own input / output procedures.
- see `settings.cpp` for a LOT of settings parameters. Most of which you shouldn't touch.
- `setGlobalCalib(...)` needs to be called once before anything is initialized, and globally sets the camera intrinsics and video resolution for convenience. probably not the most portable way of doing this though.
### 4 General Notes for Good Results
#### Accurate Geometric Calibration
- Please have a look at Chapter 4.3 from the DSO paper, in particular Figure 20 (Geometric Noise). Direct approaches suffer a LOT from bad geometric calibrations: Geometric distortions of 1.5 pixel already reduce the accuracy by factor 10.
- **Do not use a rolling shutter camera**, the geometric distortions from a rolling shutter camera are huge. Even for high frame-rates (over 60fps).
- Note that the reprojection RMSE reported by most calibration tools is the reprojection RMSE on the "training data", i.e., overfitted to the the images you used for calibration. If it is low, that does not imply that your calibration is good, you may just have used insufficient images.
- try different camera / distortion models, not all lenses can be modelled by all models.
#### Photometric Calibration
Use a photometric calibration (e.g. using [https://github.com/tum-vision/mono_dataset_code](https://github.com/tum-vision/mono_dataset_code) ).
#### Translation vs. Rotation
DSO cannot do magic: if you rotate the camera too much without translation, it will fail. Since it is a pure visual odometry, it cannot recover by re-localizing, or track through strong rotations by using previously triangulated geometry.... everything that leaves the field of view is marginalized immediately.
#### Computation Speed
If your computer is slow, try to use "fast" settings. Or run DSO on a dataset, without enforcing real-time.
#### Initialization
The current initializer is not very good... it is very slow and occasionally fails.
Make sure, the initial camera motion is slow and "nice" (i.e., a lot of translation and
little rotation) during initialization.
Possibly replace by your own initializer.
### 5 License
DSO was developed at the Technical University of Munich and Intel.
The open-source version is licensed under the GNU General Public License
Version 3 (GPLv3).
For commercial purposes, we also offer a professional version, see
[http://vision.in.tum.de/dso](http://vision.in.tum.de/dso) for
details.

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/home/ivan/ivan/git/Work\ DriveCast/opencv-3.4.15/build/cv_cpu_config.h \
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CXX_INCLUDES = -I/home/ivan/ivan/git/work_drivecast2/SLAM/dso/src -I/home/ivan/ivan/git/work_drivecast2/SLAM/dso/thirdparty/Sophus -I/home/ivan/ivan/git/work_drivecast2/SLAM/dso/thirdparty/sse2neon -I/usr/include/suitesparse -isystem /usr/include/eigen3 -isystem "/home/ivan/ivan/git/Work DriveCast/Pangolin-0.6/include" -isystem "/home/ivan/ivan/git/Work DriveCast/Pangolin-0.6/build/src/include" -isystem "/home/ivan/ivan/git/Work DriveCast/opencv-3.4.15/build" -isystem "/home/ivan/ivan/git/Work DriveCast/opencv-3.4.15/include" -isystem "/home/ivan/ivan/git/Work DriveCast/opencv-3.4.15/include/opencv" -isystem "/home/ivan/ivan/git/Work DriveCast/opencv-3.4.15/modules/core/include" -isystem "/home/ivan/ivan/git/Work DriveCast/opencv-3.4.15/modules/flann/include" -isystem "/home/ivan/ivan/git/Work DriveCast/opencv-3.4.15/modules/imgproc/include" -isystem "/home/ivan/ivan/git/Work DriveCast/opencv-3.4.15/modules/ml/include" -isystem "/home/ivan/ivan/git/Work DriveCast/opencv-3.4.15/modules/photo/include" -isystem "/home/ivan/ivan/git/Work DriveCast/opencv-3.4.15/modules/video/include" -isystem "/home/ivan/ivan/git/Work DriveCast/opencv-3.4.15/modules/viz/include" -isystem "/home/ivan/ivan/git/Work DriveCast/opencv-3.4.15/modules/dnn/include" -isystem "/home/ivan/ivan/git/Work DriveCast/opencv-3.4.15/modules/features2d/include" -isystem "/home/ivan/ivan/git/Work DriveCast/opencv-3.4.15/modules/imgcodecs/include" -isystem "/home/ivan/ivan/git/Work DriveCast/opencv-3.4.15/modules/shape/include" -isystem "/home/ivan/ivan/git/Work DriveCast/opencv-3.4.15/modules/videoio/include" -isystem "/home/ivan/ivan/git/Work DriveCast/opencv-3.4.15/modules/calib3d/include" -isystem "/home/ivan/ivan/git/Work DriveCast/opencv-3.4.15/modules/highgui/include" -isystem "/home/ivan/ivan/git/Work DriveCast/opencv-3.4.15/modules/objdetect/include" -isystem "/home/ivan/ivan/git/Work DriveCast/opencv-3.4.15/modules/stitching/include" -isystem "/home/ivan/ivan/git/Work DriveCast/opencv-3.4.15/modules/superres/include" -isystem "/home/ivan/ivan/git/Work DriveCast/opencv-3.4.15/modules/ts/include" -isystem "/home/ivan/ivan/git/Work DriveCast/opencv-3.4.15/modules/videostab/include"
CXX_FLAGS = -O3 -g -std=c++0x -march=native -g

1
cmake-build-debug/CMakeFiles/dso_dataset.dir/link.txt Normal file
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/usr/bin/c++ -O3 -g -std=c++0x -march=native -g -rdynamic CMakeFiles/dso_dataset.dir/src/main_dso_pangolin.cpp.o -o bin/dso_dataset -Wl,-rpath,"/home/ivan/ivan/git/Work DriveCast/opencv-3.4.15/build/lib:/usr/local/lib:/home/ivan/ivan/git/Work DriveCast/Pangolin-0.6/build/src" lib/libdso.a -lboost_system -lcxsparse -lboost_thread /usr/local/lib/libzip.so "/home/ivan/ivan/git/Work DriveCast/Pangolin-0.6/build/src/libpangolin.so" "/home/ivan/ivan/git/Work DriveCast/opencv-3.4.15/build/lib/libopencv_dnn.so.3.4.15" "/home/ivan/ivan/git/Work DriveCast/opencv-3.4.15/build/lib/libopencv_highgui.so.3.4.15" "/home/ivan/ivan/git/Work DriveCast/opencv-3.4.15/build/lib/libopencv_ml.so.3.4.15" "/home/ivan/ivan/git/Work DriveCast/opencv-3.4.15/build/lib/libopencv_objdetect.so.3.4.15" "/home/ivan/ivan/git/Work DriveCast/opencv-3.4.15/build/lib/libopencv_shape.so.3.4.15" "/home/ivan/ivan/git/Work DriveCast/opencv-3.4.15/build/lib/libopencv_stitching.so.3.4.15" "/home/ivan/ivan/git/Work DriveCast/opencv-3.4.15/build/lib/libopencv_superres.so.3.4.15" "/home/ivan/ivan/git/Work DriveCast/opencv-3.4.15/build/lib/libopencv_videostab.so.3.4.15" "/home/ivan/ivan/git/Work DriveCast/opencv-3.4.15/build/lib/libopencv_viz.so.3.4.15" -lrt -lpthread -lOpenGL -lGLX -lGLU -lGLEW -lEGL -lSM -lICE -lX11 -lXext -lrt -lpthread -lOpenGL -lGLX -lGLU -lGLEW -lEGL -lSM -lICE -lX11 -lXext -ldc1394 -lOpenNI -lOpenNI2 -lpng -lz -ljpeg -ltiff -lIlmImf -lzstd -llz4 "/home/ivan/ivan/git/Work DriveCast/opencv-3.4.15/build/lib/libopencv_calib3d.so.3.4.15" "/home/ivan/ivan/git/Work DriveCast/opencv-3.4.15/build/lib/libopencv_features2d.so.3.4.15" "/home/ivan/ivan/git/Work DriveCast/opencv-3.4.15/build/lib/libopencv_flann.so.3.4.15" "/home/ivan/ivan/git/Work DriveCast/opencv-3.4.15/build/lib/libopencv_photo.so.3.4.15" "/home/ivan/ivan/git/Work DriveCast/opencv-3.4.15/build/lib/libopencv_video.so.3.4.15" "/home/ivan/ivan/git/Work DriveCast/opencv-3.4.15/build/lib/libopencv_videoio.so.3.4.15" "/home/ivan/ivan/git/Work DriveCast/opencv-3.4.15/build/lib/libopencv_imgcodecs.so.3.4.15" "/home/ivan/ivan/git/Work DriveCast/opencv-3.4.15/build/lib/libopencv_imgproc.so.3.4.15" "/home/ivan/ivan/git/Work DriveCast/opencv-3.4.15/build/lib/libopencv_core.so.3.4.15"

3
cmake-build-debug/CMakeFiles/dso_dataset.dir/progress.make Normal file
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@@ -0,0 +1,3 @@
CMAKE_PROGRESS_1 = 24
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1
cmake-build-debug/CMakeFiles/progress.marks Normal file
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452
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<?xml version="1.0" encoding="UTF-8"?>
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<Build>
<Target title="all">
<Option working_dir="/home/ivan/ivan/git/work_drivecast2/SLAM/dso/cmake-build-debug"/>
<Option type="4"/>
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<CompileFile command="/usr/bin/make -j4 -f &quot;/home/ivan/ivan/git/work_drivecast2/SLAM/dso/cmake-build-debug/Makefile&quot; VERBOSE=1 &quot;$file&quot;"/>
<Clean command="/usr/bin/make -j4 -f &quot;/home/ivan/ivan/git/work_drivecast2/SLAM/dso/cmake-build-debug/Makefile&quot; VERBOSE=1 clean"/>
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</MakeCommands>
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<Target title="rebuild_cache">
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@@ -0,0 +1,3 @@
Start testing: Jun 17 10:03 MSK
----------------------------------------------------------
End testing: Jun 17 10:03 MSK

BIN
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54
cmake-build-debug/cmake_install.cmake Normal file
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# - Try to find Eigen3 lib
#
# This module supports requiring a minimum version, e.g. you can do
# find_package(Eigen3 3.1.2)
# to require version 3.1.2 or newer of Eigen3.
#
# Once done this will define
#
# EIGEN3_FOUND - system has eigen lib with correct version
# EIGEN3_INCLUDE_DIR - the eigen include directory
# EIGEN3_VERSION - eigen version
# Copyright (c) 2006, 2007 Montel Laurent, <montel@kde.org>
# Copyright (c) 2008, 2009 Gael Guennebaud, <g.gael@free.fr>
# Copyright (c) 2009 Benoit Jacob <jacob.benoit.1@gmail.com>
# Redistribution and use is allowed according to the terms of the 2-clause BSD license.
if(NOT Eigen3_FIND_VERSION)
if(NOT Eigen3_FIND_VERSION_MAJOR)
set(Eigen3_FIND_VERSION_MAJOR 2)
endif(NOT Eigen3_FIND_VERSION_MAJOR)
if(NOT Eigen3_FIND_VERSION_MINOR)
set(Eigen3_FIND_VERSION_MINOR 91)
endif(NOT Eigen3_FIND_VERSION_MINOR)
if(NOT Eigen3_FIND_VERSION_PATCH)
set(Eigen3_FIND_VERSION_PATCH 0)
endif(NOT Eigen3_FIND_VERSION_PATCH)
set(Eigen3_FIND_VERSION "${Eigen3_FIND_VERSION_MAJOR}.${Eigen3_FIND_VERSION_MINOR}.${Eigen3_FIND_VERSION_PATCH}")
endif(NOT Eigen3_FIND_VERSION)
macro(_eigen3_check_version)
file(READ "${EIGEN3_INCLUDE_DIR}/Eigen/src/Core/util/Macros.h" _eigen3_version_header)
string(REGEX MATCH "define[ \t]+EIGEN_WORLD_VERSION[ \t]+([0-9]+)" _eigen3_world_version_match "${_eigen3_version_header}")
set(EIGEN3_WORLD_VERSION "${CMAKE_MATCH_1}")
string(REGEX MATCH "define[ \t]+EIGEN_MAJOR_VERSION[ \t]+([0-9]+)" _eigen3_major_version_match "${_eigen3_version_header}")
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string(REGEX MATCH "define[ \t]+EIGEN_MINOR_VERSION[ \t]+([0-9]+)" _eigen3_minor_version_match "${_eigen3_version_header}")
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set(EIGEN3_VERSION ${EIGEN3_WORLD_VERSION}.${EIGEN3_MAJOR_VERSION}.${EIGEN3_MINOR_VERSION})
if(${EIGEN3_VERSION} VERSION_LESS ${Eigen3_FIND_VERSION})
set(EIGEN3_VERSION_OK FALSE)
else(${EIGEN3_VERSION} VERSION_LESS ${Eigen3_FIND_VERSION})
set(EIGEN3_VERSION_OK TRUE)
endif(${EIGEN3_VERSION} VERSION_LESS ${Eigen3_FIND_VERSION})
if(NOT EIGEN3_VERSION_OK)
message(STATUS "Eigen3 version ${EIGEN3_VERSION} found in ${EIGEN3_INCLUDE_DIR}, "
"but at least version ${Eigen3_FIND_VERSION} is required")
endif(NOT EIGEN3_VERSION_OK)
endmacro(_eigen3_check_version)
if (EIGEN3_INCLUDE_DIR)
# in cache already
_eigen3_check_version()
set(EIGEN3_FOUND ${EIGEN3_VERSION_OK})
else (EIGEN3_INCLUDE_DIR)
find_path(EIGEN3_INCLUDE_DIR NAMES signature_of_eigen3_matrix_library
PATHS
${CMAKE_INSTALL_PREFIX}/include
${KDE4_INCLUDE_DIR}
PATH_SUFFIXES eigen3 eigen
)
if(EIGEN3_INCLUDE_DIR)
_eigen3_check_version()
endif(EIGEN3_INCLUDE_DIR)
include(FindPackageHandleStandardArgs)
find_package_handle_standard_args(Eigen3 DEFAULT_MSG EIGEN3_INCLUDE_DIR EIGEN3_VERSION_OK)
mark_as_advanced(EIGEN3_INCLUDE_DIR)
endif(EIGEN3_INCLUDE_DIR)

37
cmake/FindLibZip.cmake Normal file
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# Finds libzip.
#
# This module defines:
# LIBZIP_INCLUDE_DIR_ZIP
# LIBZIP_INCLUDE_DIR_ZIPCONF
# LIBZIP_LIBRARY
#
find_package(PkgConfig)
pkg_check_modules(PC_LIBZIP QUIET libzip)
find_path(LIBZIP_INCLUDE_DIR_ZIP
NAMES zip.h
HINTS ${PC_LIBZIP_INCLUDE_DIRS})
find_path(LIBZIP_INCLUDE_DIR_ZIPCONF
NAMES zipconf.h
HINTS ${PC_LIBZIP_INCLUDE_DIRS})
find_library(LIBZIP_LIBRARY
NAMES zip)
include(FindPackageHandleStandardArgs)
FIND_PACKAGE_HANDLE_STANDARD_ARGS(
LIBZIP DEFAULT_MSG
LIBZIP_LIBRARY LIBZIP_INCLUDE_DIR_ZIP LIBZIP_INCLUDE_DIR_ZIPCONF)
set(LIBZIP_VERSION 0)
if (LIBZIP_INCLUDE_DIR_ZIPCONF)
FILE(READ "${LIBZIP_INCLUDE_DIR_ZIPCONF}/zipconf.h" _LIBZIP_VERSION_CONTENTS)
if (_LIBZIP_VERSION_CONTENTS)
STRING(REGEX REPLACE ".*#define LIBZIP_VERSION \"([0-9.]+)\".*" "\\1" LIBZIP_VERSION "${_LIBZIP_VERSION_CONTENTS}")
endif ()
endif ()
set(LIBZIP_VERSION ${LIBZIP_VERSION} CACHE STRING "Version number of libzip")

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FIND_PATH(CHOLMOD_INCLUDE_DIR NAMES cholmod.h amd.h camd.h
PATHS
${SUITE_SPARSE_ROOT}/include
/usr/include/suitesparse
/usr/include/ufsparse
/opt/local/include/ufsparse
/usr/local/include/ufsparse
/sw/include/ufsparse
)
FIND_LIBRARY(CHOLMOD_LIBRARY NAMES cholmod
PATHS
${SUITE_SPARSE_ROOT}/lib
/usr/lib
/usr/local/lib
/opt/local/lib
/sw/lib
)
FIND_LIBRARY(AMD_LIBRARY NAMES SHARED NAMES amd
PATHS
${SUITE_SPARSE_ROOT}/lib
/usr/lib
/usr/local/lib
/opt/local/lib
/sw/lib
)
FIND_LIBRARY(CAMD_LIBRARY NAMES camd
PATHS
${SUITE_SPARSE_ROOT}/lib
/usr/lib
/usr/local/lib
/opt/local/lib
/sw/lib
)
FIND_LIBRARY(SUITESPARSECONFIG_LIBRARY NAMES suitesparseconfig
PATHS
${SUITE_SPARSE_ROOT}/lib
/usr/lib
/usr/local/lib
/opt/local/lib
/sw/lib
)
# Different platforms seemingly require linking against different sets of libraries
IF(CYGWIN)
FIND_PACKAGE(PkgConfig)
FIND_LIBRARY(COLAMD_LIBRARY NAMES colamd
PATHS
/usr/lib
/usr/local/lib
/opt/local/lib
/sw/lib
)
PKG_CHECK_MODULES(LAPACK lapack)
SET(CHOLMOD_LIBRARIES ${CHOLMOD_LIBRARY} ${AMD_LIBRARY} ${CAMD_LIBRARY} ${COLAMD_LIBRARY} ${CCOLAMD_LIBRARY} ${LAPACK_LIBRARIES})
# MacPorts build of the SparseSuite requires linking against extra libraries
ELSEIF(APPLE)
FIND_LIBRARY(COLAMD_LIBRARY NAMES colamd
PATHS
/usr/lib
/usr/local/lib
/opt/local/lib
/sw/lib
)
FIND_LIBRARY(CCOLAMD_LIBRARY NAMES ccolamd
PATHS
/usr/lib
/usr/local/lib
/opt/local/lib
/sw/lib
)
FIND_LIBRARY(METIS_LIBRARY NAMES metis
PATHS
/usr/lib
/usr/local/lib
/opt/local/lib
/sw/lib
)
SET(CHOLMOD_LIBRARIES ${CHOLMOD_LIBRARY} ${AMD_LIBRARY} ${CAMD_LIBRARY} ${COLAMD_LIBRARY} ${CCOLAMD_LIBRARY} ${METIS_LIBRARY} "-framework Accelerate")
ELSE(APPLE)
SET(CHOLMOD_LIBRARIES ${CHOLMOD_LIBRARY} ${AMD_LIBRARY})
ENDIF(CYGWIN)
IF(CHOLMOD_INCLUDE_DIR AND CHOLMOD_LIBRARIES)
SET(CHOLMOD_FOUND TRUE)
ELSE(CHOLMOD_INCLUDE_DIR AND CHOLMOD_LIBRARIES)
SET(CHOLMOD_FOUND FALSE)
ENDIF(CHOLMOD_INCLUDE_DIR AND CHOLMOD_LIBRARIES)
# Look for csparse; note the difference in the directory specifications!
FIND_PATH(CSPARSE_INCLUDE_DIR NAMES cs.h
PATHS
/usr/include/suitesparse
/usr/include
/opt/local/include
/usr/local/include
/sw/include
/usr/include/ufsparse
/opt/local/include/ufsparse
/usr/local/include/ufsparse
/sw/include/ufsparse
)
FIND_LIBRARY(CSPARSE_LIBRARY NAMES cxsparse
PATHS
/usr/lib
/usr/local/lib
/opt/local/lib
/sw/lib
)
IF(CSPARSE_INCLUDE_DIR AND CSPARSE_LIBRARY)
SET(CSPARSE_FOUND TRUE)
ELSE(CSPARSE_INCLUDE_DIR AND CSPARSE_LIBRARY)
SET(CSPARSE_FOUND FALSE)
ENDIF(CSPARSE_INCLUDE_DIR AND CSPARSE_LIBRARY)

1043
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src/FullSystem/CoarseInitializer.h Normal file
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/**
* This file is part of DSO.
*
* Copyright 2016 Technical University of Munich and Intel.
* Developed by Jakob Engel <engelj at in dot tum dot de>,
* for more information see <http://vision.in.tum.de/dso>.
* If you use this code, please cite the respective publications as
* listed on the above website.
*
* DSO 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.
*
* DSO 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 DSO. If not, see <http://www.gnu.org/licenses/>.
*/
#pragma once
#include "util/NumType.h"
#include "OptimizationBackend/MatrixAccumulators.h"
#include "IOWrapper/Output3DWrapper.h"
#include "util/settings.h"
#include "vector"
#include <math.h>
namespace dso
{
struct CalibHessian;
struct FrameHessian;
struct Pnt
{
public:
EIGEN_MAKE_ALIGNED_OPERATOR_NEW;
// index in jacobian. never changes (actually, there is no reason why).
float u,v;
// idepth / isgood / energy during optimization.
float idepth;
bool isGood;
Vec2f energy; // (UenergyPhotometric, energyRegularizer)
bool isGood_new;
float idepth_new;
Vec2f energy_new;
float iR;
float iRSumNum;
float lastHessian;
float lastHessian_new;
// max stepsize for idepth (corresponding to max. movement in pixel-space).
float maxstep;
// idx (x+y*w) of closest point one pyramid level above.
int parent;
float parentDist;
// idx (x+y*w) of up to 10 nearest points in pixel space.
int neighbours[10];
float neighboursDist[10];
float my_type;
float outlierTH;
};
class CoarseInitializer {
public:
EIGEN_MAKE_ALIGNED_OPERATOR_NEW;
CoarseInitializer(int w, int h);
~CoarseInitializer();
void setFirst( CalibHessian* HCalib, FrameHessian* newFrameHessian);
bool trackFrame(FrameHessian* newFrameHessian, std::vector<IOWrap::Output3DWrapper*> &wraps);
void calcTGrads(FrameHessian* newFrameHessian);
int frameID;
bool fixAffine;
bool printDebug;
Pnt* points[PYR_LEVELS];
int numPoints[PYR_LEVELS];
AffLight thisToNext_aff;
SE3 thisToNext;
FrameHessian* firstFrame;
FrameHessian* newFrame;
private:
Mat33 K[PYR_LEVELS];
Mat33 Ki[PYR_LEVELS];
double fx[PYR_LEVELS];
double fy[PYR_LEVELS];
double fxi[PYR_LEVELS];
double fyi[PYR_LEVELS];
double cx[PYR_LEVELS];
double cy[PYR_LEVELS];
double cxi[PYR_LEVELS];
double cyi[PYR_LEVELS];
int w[PYR_LEVELS];
int h[PYR_LEVELS];
void makeK(CalibHessian* HCalib);
bool snapped;
int snappedAt;
// pyramid images & levels on all levels
Eigen::Vector3f* dINew[PYR_LEVELS];
Eigen::Vector3f* dIFist[PYR_LEVELS];
Eigen::DiagonalMatrix<float, 8> wM;
// temporary buffers for H and b.
Vec10f* JbBuffer; // 0-7: sum(dd * dp). 8: sum(res*dd). 9: 1/(1+sum(dd*dd))=inverse hessian entry.
Vec10f* JbBuffer_new;
Accumulator9 acc9;
Accumulator9 acc9SC;
Vec3f dGrads[PYR_LEVELS];
float alphaK;
float alphaW;
float regWeight;
float couplingWeight;
Vec3f calcResAndGS(
int lvl,
Mat88f &H_out, Vec8f &b_out,
Mat88f &H_out_sc, Vec8f &b_out_sc,
const SE3 &refToNew, AffLight refToNew_aff,
bool plot);
Vec3f calcEC(int lvl); // returns OLD NERGY, NEW ENERGY, NUM TERMS.
void optReg(int lvl);
void propagateUp(int srcLvl);
void propagateDown(int srcLvl);
float rescale();
void resetPoints(int lvl);
void doStep(int lvl, float lambda, Vec8f inc);
void applyStep(int lvl);
void makeGradients(Eigen::Vector3f** data);
void debugPlot(int lvl, std::vector<IOWrap::Output3DWrapper*> &wraps);
void makeNN();
};
struct FLANNPointcloud
{
inline FLANNPointcloud() {num=0; points=0;}
inline FLANNPointcloud(int n, Pnt* p) : num(n), points(p) {}
int num;
Pnt* points;
inline size_t kdtree_get_point_count() const { return num; }
inline float kdtree_distance(const float *p1, const size_t idx_p2,size_t /*size*/) const
{
const float d0=p1[0]-points[idx_p2].u;
const float d1=p1[1]-points[idx_p2].v;
return d0*d0+d1*d1;
}
inline float kdtree_get_pt(const size_t idx, int dim) const
{
if (dim==0) return points[idx].u;
else return points[idx].v;
}
template <class BBOX>
bool kdtree_get_bbox(BBOX& /* bb */) const { return false; }
};
}

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/**
* This file is part of DSO.
*
* Copyright 2016 Technical University of Munich and Intel.
* Developed by Jakob Engel <engelj at in dot tum dot de>,
* for more information see <http://vision.in.tum.de/dso>.
* If you use this code, please cite the respective publications as
* listed on the above website.
*
* DSO 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.
*
* DSO 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 DSO. If not, see <http://www.gnu.org/licenses/>.
*/
#pragma once
#include "util/NumType.h"
#include "vector"
#include <math.h>
#include "util/settings.h"
#include "OptimizationBackend/MatrixAccumulators.h"
#include "IOWrapper/Output3DWrapper.h"
namespace dso
{
struct CalibHessian;
struct FrameHessian;
struct PointFrameResidual;
class CoarseTracker {
public:
EIGEN_MAKE_ALIGNED_OPERATOR_NEW;
CoarseTracker(int w, int h);
~CoarseTracker();
bool trackNewestCoarse(
FrameHessian* newFrameHessian,
SE3 &lastToNew_out, AffLight &aff_g2l_out,
int coarsestLvl, Vec5 minResForAbort,
IOWrap::Output3DWrapper* wrap=0);
void setCoarseTrackingRef(
std::vector<FrameHessian*> frameHessians);
void makeK(
CalibHessian* HCalib);
bool debugPrint, debugPlot;
Mat33f K[PYR_LEVELS];
Mat33f Ki[PYR_LEVELS];
float fx[PYR_LEVELS];
float fy[PYR_LEVELS];
float fxi[PYR_LEVELS];
float fyi[PYR_LEVELS];
float cx[PYR_LEVELS];
float cy[PYR_LEVELS];
float cxi[PYR_LEVELS];
float cyi[PYR_LEVELS];
int w[PYR_LEVELS];
int h[PYR_LEVELS];
void debugPlotIDepthMap(float* minID, float* maxID, std::vector<IOWrap::Output3DWrapper*> &wraps);
void debugPlotIDepthMapFloat(std::vector<IOWrap::Output3DWrapper*> &wraps);
FrameHessian* lastRef;
AffLight lastRef_aff_g2l;
FrameHessian* newFrame;
int refFrameID;
// act as pure ouptut
Vec5 lastResiduals;
Vec3 lastFlowIndicators;
double firstCoarseRMSE;
private:
void makeCoarseDepthL0(std::vector<FrameHessian*> frameHessians);
float* idepth[PYR_LEVELS];
float* weightSums[PYR_LEVELS];
float* weightSums_bak[PYR_LEVELS];
Vec6 calcResAndGS(int lvl, Mat88 &H_out, Vec8 &b_out, const SE3 &refToNew, AffLight aff_g2l, float cutoffTH);
Vec6 calcRes(int lvl, const SE3 &refToNew, AffLight aff_g2l, float cutoffTH);
void calcGSSSE(int lvl, Mat88 &H_out, Vec8 &b_out, const SE3 &refToNew, AffLight aff_g2l);
void calcGS(int lvl, Mat88 &H_out, Vec8 &b_out, const SE3 &refToNew, AffLight aff_g2l);
// pc buffers
float* pc_u[PYR_LEVELS];
float* pc_v[PYR_LEVELS];
float* pc_idepth[PYR_LEVELS];
float* pc_color[PYR_LEVELS];
int pc_n[PYR_LEVELS];
// warped buffers
float* buf_warped_idepth;
float* buf_warped_u;
float* buf_warped_v;
float* buf_warped_dx;
float* buf_warped_dy;
float* buf_warped_residual;
float* buf_warped_weight;
float* buf_warped_refColor;
int buf_warped_n;
std::vector<float*> ptrToDelete;
Accumulator9 acc;
};
class CoarseDistanceMap {
public:
EIGEN_MAKE_ALIGNED_OPERATOR_NEW;
CoarseDistanceMap(int w, int h);
~CoarseDistanceMap();
void makeDistanceMap(
std::vector<FrameHessian*> frameHessians,
FrameHessian* frame);
void makeInlierVotes(
std::vector<FrameHessian*> frameHessians);
void makeK( CalibHessian* HCalib);
float* fwdWarpedIDDistFinal;
Mat33f K[PYR_LEVELS];
Mat33f Ki[PYR_LEVELS];
float fx[PYR_LEVELS];
float fy[PYR_LEVELS];
float fxi[PYR_LEVELS];
float fyi[PYR_LEVELS];
float cx[PYR_LEVELS];
float cy[PYR_LEVELS];
float cxi[PYR_LEVELS];
float cyi[PYR_LEVELS];
int w[PYR_LEVELS];
int h[PYR_LEVELS];
void addIntoDistFinal(int u, int v);
private:
PointFrameResidual** coarseProjectionGrid;
int* coarseProjectionGridNum;
Eigen::Vector2i* bfsList1;
Eigen::Vector2i* bfsList2;
void growDistBFS(int bfsNum);
};
}

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/**
* This file is part of DSO.
*
* Copyright 2016 Technical University of Munich and Intel.
* Developed by Jakob Engel <engelj at in dot tum dot de>,
* for more information see <http://vision.in.tum.de/dso>.
* If you use this code, please cite the respective publications as
* listed on the above website.
*
* DSO 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.
*
* DSO 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 DSO. If not, see <http://www.gnu.org/licenses/>.
*/
#pragma once
#define MAX_ACTIVE_FRAMES 100
#include <deque>
#include "util/NumType.h"
#include "util/globalCalib.h"
#include "vector"
#include <iostream>
#include <fstream>
#include "util/NumType.h"
#include "FullSystem/Residuals.h"
#include "FullSystem/HessianBlocks.h"
#include "util/FrameShell.h"
#include "util/IndexThreadReduce.h"
#include "OptimizationBackend/EnergyFunctional.h"
#include "FullSystem/PixelSelector2.h"
#include <math.h>
namespace dso
{
namespace IOWrap
{
class Output3DWrapper;
}
class PixelSelector;
class PCSyntheticPoint;
class CoarseTracker;
struct FrameHessian;
struct PointHessian;
class CoarseInitializer;
struct ImmaturePointTemporaryResidual;
class ImageAndExposure;
class CoarseDistanceMap;
class EnergyFunctional;
template<typename T> inline void deleteOut(std::vector<T*> &v, const int i)
{
delete v[i];
v[i] = v.back();
v.pop_back();
}
template<typename T> inline void deleteOutPt(std::vector<T*> &v, const T* i)
{
delete i;
for(unsigned int k=0;k<v.size();k++)
if(v[k] == i)
{
v[k] = v.back();
v.pop_back();
}
}
template<typename T> inline void deleteOutOrder(std::vector<T*> &v, const int i)
{
delete v[i];
for(unsigned int k=i+1; k<v.size();k++)
v[k-1] = v[k];
v.pop_back();
}
template<typename T> inline void deleteOutOrder(std::vector<T*> &v, const T* element)
{
int i=-1;
for(unsigned int k=0; k<v.size();k++)
{
if(v[k] == element)
{
i=k;
break;
}
}
assert(i!=-1);
for(unsigned int k=i+1; k<v.size();k++)
v[k-1] = v[k];
v.pop_back();
delete element;
}
inline bool eigenTestNan(const MatXX &m, std::string msg)
{
bool foundNan = false;
for(int y=0;y<m.rows();y++)
for(int x=0;x<m.cols();x++)
{
if(!std::isfinite((double)m(y,x))) foundNan = true;
}
if(foundNan)
{
printf("NAN in %s:\n",msg.c_str());
std::cout << m << "\n\n";
}
return foundNan;
}
class FullSystem {
public:
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
FullSystem();
virtual ~FullSystem();
// adds a new frame, and creates point & residual structs.
void addActiveFrame(ImageAndExposure* image, int id);
// marginalizes a frame. drops / marginalizes points & residuals.
void marginalizeFrame(FrameHessian* frame);
void blockUntilMappingIsFinished();
float optimize(int mnumOptIts);
void printResult(std::string file);
void debugPlot(std::string name);
void printFrameLifetimes();
// contains pointers to active frames
std::vector<IOWrap::Output3DWrapper*> outputWrapper;
bool isLost;
bool initFailed;
bool initialized;
bool linearizeOperation;
void setGammaFunction(float* BInv);
void setOriginalCalib(const VecXf &originalCalib, int originalW, int originalH);
//Addition
FrameShell* getLastPose();
CalibHessian* getHCalib();
private:
CalibHessian Hcalib;
// opt single point
int optimizePoint(PointHessian* point, int minObs, bool flagOOB);
PointHessian* optimizeImmaturePoint(ImmaturePoint* point, int minObs, ImmaturePointTemporaryResidual* residuals);
double linAllPointSinle(PointHessian* point, float outlierTHSlack, bool plot);
// mainPipelineFunctions
Vec4 trackNewCoarse(FrameHessian* fh);
void traceNewCoarse(FrameHessian* fh);
void activatePoints();
void activatePointsMT();
void activatePointsOldFirst();
void flagPointsForRemoval();
void makeNewTraces(FrameHessian* newFrame, float* gtDepth);
void initializeFromInitializer(FrameHessian* newFrame);
void flagFramesForMarginalization(FrameHessian* newFH);
void removeOutliers();
// set precalc values.
void setPrecalcValues();
// solce. eventually migrate to ef.
void solveSystem(int iteration, double lambda);
Vec3 linearizeAll(bool fixLinearization);
bool doStepFromBackup(float stepfacC,float stepfacT,float stepfacR,float stepfacA,float stepfacD);
void backupState(bool backupLastStep);
void loadSateBackup();
double calcLEnergy();
double calcMEnergy();
void linearizeAll_Reductor(bool fixLinearization, std::vector<PointFrameResidual*>* toRemove, int min, int max, Vec10* stats, int tid);
void activatePointsMT_Reductor(std::vector<PointHessian*>* optimized,std::vector<ImmaturePoint*>* toOptimize,int min, int max, Vec10* stats, int tid);
void applyRes_Reductor(bool copyJacobians, int min, int max, Vec10* stats, int tid);
void printOptRes(const Vec3 &res, double resL, double resM, double resPrior, double LExact, float a, float b);
void debugPlotTracking();
std::vector<VecX> getNullspaces(
std::vector<VecX> &nullspaces_pose,
std::vector<VecX> &nullspaces_scale,
std::vector<VecX> &nullspaces_affA,
std::vector<VecX> &nullspaces_affB);
void setNewFrameEnergyTH();
void printLogLine();
void printEvalLine();
void printEigenValLine();
std::ofstream* calibLog;
std::ofstream* numsLog;
std::ofstream* errorsLog;
std::ofstream* eigenAllLog;
std::ofstream* eigenPLog;
std::ofstream* eigenALog;
std::ofstream* DiagonalLog;
std::ofstream* variancesLog;
std::ofstream* nullspacesLog;
std::ofstream* coarseTrackingLog;
// statistics
long int statistics_lastNumOptIts;
long int statistics_numDroppedPoints;
long int statistics_numActivatedPoints;
long int statistics_numCreatedPoints;
long int statistics_numForceDroppedResBwd;
long int statistics_numForceDroppedResFwd;
long int statistics_numMargResFwd;
long int statistics_numMargResBwd;
float statistics_lastFineTrackRMSE;
// =================== changed by tracker-thread. protected by trackMutex ============
boost::mutex trackMutex;
std::vector<FrameShell*> allFrameHistory;
CoarseInitializer* coarseInitializer;
Vec5 lastCoarseRMSE;
// ================== changed by mapper-thread. protected by mapMutex ===============
boost::mutex mapMutex;
std::vector<FrameShell*> allKeyFramesHistory;
EnergyFunctional* ef;
IndexThreadReduce<Vec10> treadReduce;
float* selectionMap;
PixelSelector* pixelSelector;
CoarseDistanceMap* coarseDistanceMap;
std::vector<FrameHessian*> frameHessians; // ONLY changed in marginalizeFrame and addFrame.
std::vector<PointFrameResidual*> activeResiduals;
float currentMinActDist;
std::vector<float> allResVec;
// mutex etc. for tracker exchange.
boost::mutex coarseTrackerSwapMutex; // if tracker sees that there is a new reference, tracker locks [coarseTrackerSwapMutex] and swaps the two.
CoarseTracker* coarseTracker_forNewKF; // set as as reference. protected by [coarseTrackerSwapMutex].
CoarseTracker* coarseTracker; // always used to track new frames. protected by [trackMutex].
float minIdJetVisTracker, maxIdJetVisTracker;
float minIdJetVisDebug, maxIdJetVisDebug;
// mutex for camToWorl's in shells (these are always in a good configuration).
boost::mutex shellPoseMutex;
/*
* tracking always uses the newest KF as reference.
*
*/
void makeKeyFrame( FrameHessian* fh);
void makeNonKeyFrame( FrameHessian* fh);
void deliverTrackedFrame(FrameHessian* fh, bool needKF);
void mappingLoop();
// tracking / mapping synchronization. All protected by [trackMapSyncMutex].
boost::mutex trackMapSyncMutex;
boost::condition_variable trackedFrameSignal;
boost::condition_variable mappedFrameSignal;
std::deque<FrameHessian*> unmappedTrackedFrames;
int needNewKFAfter; // Otherwise, a new KF is *needed that has ID bigger than [needNewKFAfter]*.
boost::thread mappingThread;
bool runMapping;
bool needToKetchupMapping;
int lastRefStopID;
};
}

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/**
* This file is part of DSO.
*
* Copyright 2016 Technical University of Munich and Intel.
* Developed by Jakob Engel <engelj at in dot tum dot de>,
* for more information see <http://vision.in.tum.de/dso>.
* If you use this code, please cite the respective publications as
* listed on the above website.
*
* DSO 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.
*
* DSO 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 DSO. If not, see <http://www.gnu.org/licenses/>.
*/
/*
* KFBuffer.cpp
*
* Created on: Jan 7, 2014
* Author: engelj
*/
#include "FullSystem/FullSystem.h"
#include "stdio.h"
#include "util/globalFuncs.h"
#include <Eigen/LU>
#include <algorithm>
#include "IOWrapper/ImageDisplay.h"
#include "IOWrapper/ImageRW.h"
#include "util/globalCalib.h"
#include <Eigen/SVD>
#include <Eigen/Eigenvalues>
#include <algorithm>
#include "FullSystem/ImmaturePoint.h"
namespace dso
{
void FullSystem::debugPlotTracking()
{
if(disableAllDisplay) return;
if(!setting_render_plotTrackingFull) return;
int wh = hG[0]*wG[0];
int idx=0;
for(FrameHessian* f : frameHessians)
{
std::vector<MinimalImageB3* > images;
// make images for all frames. will be deleted by the FrameHessian's destructor.
for(FrameHessian* f2 : frameHessians)
if(f2->debugImage == 0) f2->debugImage = new MinimalImageB3(wG[0], hG[0]);
for(FrameHessian* f2 : frameHessians)
{
MinimalImageB3* debugImage=f2->debugImage;
images.push_back(debugImage);
Eigen::Vector3f* fd = f2->dI;
Vec2 affL = AffLight::fromToVecExposure(f2->ab_exposure, f->ab_exposure, f2->aff_g2l(), f->aff_g2l());
for(int i=0;i<wh;i++)
{
// BRIGHTNESS TRANSFER
float colL = affL[0] * fd[i][0] + affL[1];
if(colL<0) colL=0; if(colL>255) colL =255;
debugImage->at(i) = Vec3b(colL, colL, colL);
}
}
for(PointHessian* ph : f->pointHessians)
{
assert(ph->status == PointHessian::ACTIVE);
if(ph->status == PointHessian::ACTIVE || ph->status == PointHessian::MARGINALIZED)
{
for(PointFrameResidual* r : ph->residuals)
r->debugPlot();
f->debugImage->setPixel9(ph->u+0.5, ph->v+0.5, makeRainbow3B(ph->idepth_scaled));
}
}
char buf[100];
snprintf(buf, 100, "IMG %d", idx);
IOWrap::displayImageStitch(buf, images);
idx++;
}
IOWrap::waitKey(0);
}
void FullSystem::debugPlot(std::string name)
{
if(disableAllDisplay) return;
if(!setting_render_renderWindowFrames) return;
std::vector<MinimalImageB3* > images;
float minID=0, maxID=0;
if((int)(freeDebugParam5+0.5f) == 7 || (debugSaveImages&&false))
{
std::vector<float> allID;
for(unsigned int f=0;f<frameHessians.size();f++)
{
for(PointHessian* ph : frameHessians[f]->pointHessians)
if(ph!=0) allID.push_back(ph->idepth_scaled);
for(PointHessian* ph : frameHessians[f]->pointHessiansMarginalized)
if(ph!=0) allID.push_back(ph->idepth_scaled);
for(PointHessian* ph : frameHessians[f]->pointHessiansOut)
if(ph!=0) allID.push_back(ph->idepth_scaled);
}
std::sort(allID.begin(), allID.end());
int n = allID.size()-1;
minID = allID[(int)(n*0.05)];
maxID = allID[(int)(n*0.95)];
// slowly adapt: change by maximum 10% of old span.
float maxChange = 0.1*(maxIdJetVisDebug - minIdJetVisDebug);
if(maxIdJetVisDebug < 0 || minIdJetVisDebug < 0 ) maxChange = 1e5;
if(minID < minIdJetVisDebug - maxChange)
minID = minIdJetVisDebug - maxChange;
if(minID > minIdJetVisDebug + maxChange)
minID = minIdJetVisDebug + maxChange;
if(maxID < maxIdJetVisDebug - maxChange)
maxID = maxIdJetVisDebug - maxChange;
if(maxID > maxIdJetVisDebug + maxChange)
maxID = maxIdJetVisDebug + maxChange;
maxIdJetVisDebug = maxID;
minIdJetVisDebug = minID;
}
int wh = hG[0]*wG[0];
for(unsigned int f=0;f<frameHessians.size();f++)
{
MinimalImageB3* img = new MinimalImageB3(wG[0],hG[0]);
images.push_back(img);
//float* fd = frameHessians[f]->I;
Eigen::Vector3f* fd = frameHessians[f]->dI;
for(int i=0;i<wh;i++)
{
int c = fd[i][0]*0.9f;
if(c>255) c=255;
img->at(i) = Vec3b(c,c,c);
}
if((int)(freeDebugParam5+0.5f) == 0)
{
for(PointHessian* ph : frameHessians[f]->pointHessians)
{
if(ph==0) continue;
img->setPixelCirc(ph->u+0.5f, ph->v+0.5f, makeRainbow3B(ph->idepth_scaled));
}
for(PointHessian* ph : frameHessians[f]->pointHessiansMarginalized)
{
if(ph==0) continue;
img->setPixelCirc(ph->u+0.5f, ph->v+0.5f, makeRainbow3B(ph->idepth_scaled));
}
for(PointHessian* ph : frameHessians[f]->pointHessiansOut)
img->setPixelCirc(ph->u+0.5f, ph->v+0.5f, Vec3b(255,255,255));
}
else if((int)(freeDebugParam5+0.5f) == 1)
{
for(PointHessian* ph : frameHessians[f]->pointHessians)
{
if(ph==0) continue;
img->setPixelCirc(ph->u+0.5f, ph->v+0.5f, makeRainbow3B(ph->idepth_scaled));
}
for(PointHessian* ph : frameHessians[f]->pointHessiansMarginalized)
img->setPixelCirc(ph->u+0.5f, ph->v+0.5f, Vec3b(0,0,0));
for(PointHessian* ph : frameHessians[f]->pointHessiansOut)
img->setPixelCirc(ph->u+0.5f, ph->v+0.5f, Vec3b(255,255,255));
}
else if((int)(freeDebugParam5+0.5f) == 2)
{
}
else if((int)(freeDebugParam5+0.5f) == 3)
{
for(ImmaturePoint* ph : frameHessians[f]->immaturePoints)
{
if(ph==0) continue;
if(ph->lastTraceStatus==ImmaturePointStatus::IPS_GOOD ||
ph->lastTraceStatus==ImmaturePointStatus::IPS_SKIPPED ||
ph->lastTraceStatus==ImmaturePointStatus::IPS_BADCONDITION)
{
if(!std::isfinite(ph->idepth_max))
img->setPixelCirc(ph->u+0.5f, ph->v+0.5f, Vec3b(0,0,0));
else
{
img->setPixelCirc(ph->u+0.5f, ph->v+0.5f, makeRainbow3B((ph->idepth_min + ph->idepth_max)*0.5f));
}
}
}
}
else if((int)(freeDebugParam5+0.5f) == 4)
{
for(ImmaturePoint* ph : frameHessians[f]->immaturePoints)
{
if(ph==0) continue;
if(ph->lastTraceStatus==ImmaturePointStatus::IPS_GOOD)
img->setPixelCirc(ph->u+0.5f, ph->v+0.5f, Vec3b(0,255,0));
if(ph->lastTraceStatus==ImmaturePointStatus::IPS_OOB)
img->setPixelCirc(ph->u+0.5f, ph->v+0.5f, Vec3b(255,0,0));
if(ph->lastTraceStatus==ImmaturePointStatus::IPS_OUTLIER)
img->setPixelCirc(ph->u+0.5f, ph->v+0.5f, Vec3b(0,0,255));
if(ph->lastTraceStatus==ImmaturePointStatus::IPS_SKIPPED)
img->setPixelCirc(ph->u+0.5f, ph->v+0.5f, Vec3b(255,255,0));
if(ph->lastTraceStatus==ImmaturePointStatus::IPS_BADCONDITION)
img->setPixelCirc(ph->u+0.5f, ph->v+0.5f, Vec3b(255,255,255));
if(ph->lastTraceStatus==ImmaturePointStatus::IPS_UNINITIALIZED)
img->setPixelCirc(ph->u+0.5f, ph->v+0.5f, Vec3b(0,0,0));
}
}
else if((int)(freeDebugParam5+0.5f) == 5)
{
for(ImmaturePoint* ph : frameHessians[f]->immaturePoints)
{
if(ph==0) continue;
if(ph->lastTraceStatus==ImmaturePointStatus::IPS_UNINITIALIZED) continue;
float d = freeDebugParam1 * (sqrtf(ph->quality)-1);
if(d<0) d=0;
if(d>1) d=1;
img->setPixelCirc(ph->u+0.5f, ph->v+0.5f, Vec3b(0,d*255,(1-d)*255));
}
}
else if((int)(freeDebugParam5+0.5f) == 6)
{
for(PointHessian* ph : frameHessians[f]->pointHessians)
{
if(ph==0) continue;
if(ph->my_type==0)
img->setPixelCirc(ph->u+0.5f, ph->v+0.5f, Vec3b(255,0,255));
if(ph->my_type==1)
img->setPixelCirc(ph->u+0.5f, ph->v+0.5f, Vec3b(255,0,0));
if(ph->my_type==2)
img->setPixelCirc(ph->u+0.5f, ph->v+0.5f, Vec3b(0,0,255));
if(ph->my_type==3)
img->setPixelCirc(ph->u+0.5f, ph->v+0.5f, Vec3b(0,255,255));
}
for(PointHessian* ph : frameHessians[f]->pointHessiansMarginalized)
{
if(ph==0) continue;
if(ph->my_type==0)
img->setPixelCirc(ph->u+0.5f, ph->v+0.5f, Vec3b(255,0,255));
if(ph->my_type==1)
img->setPixelCirc(ph->u+0.5f, ph->v+0.5f, Vec3b(255,0,0));
if(ph->my_type==2)
img->setPixelCirc(ph->u+0.5f, ph->v+0.5f, Vec3b(0,0,255));
if(ph->my_type==3)
img->setPixelCirc(ph->u+0.5f, ph->v+0.5f, Vec3b(0,255,255));
}
}
if((int)(freeDebugParam5+0.5f) == 7)
{
for(PointHessian* ph : frameHessians[f]->pointHessians)
{
img->setPixelCirc(ph->u+0.5f, ph->v+0.5f, makeJet3B((ph->idepth_scaled-minID) / ((maxID-minID))));
}
for(PointHessian* ph : frameHessians[f]->pointHessiansMarginalized)
{
if(ph==0) continue;
img->setPixelCirc(ph->u+0.5f, ph->v+0.5f, Vec3b(0,0,0));
}
}
}
IOWrap::displayImageStitch(name.c_str(), images);
IOWrap::waitKey(5);
for(unsigned int i=0;i<images.size();i++)
delete images[i];
if((debugSaveImages&&false))
{
for(unsigned int f=0;f<frameHessians.size();f++)
{
MinimalImageB3* img = new MinimalImageB3(wG[0],hG[0]);
Eigen::Vector3f* fd = frameHessians[f]->dI;
for(int i=0;i<wh;i++)
{
int c = fd[i][0]*0.9f;
if(c>255) c=255;
img->at(i) = Vec3b(c,c,c);
}
for(PointHessian* ph : frameHessians[f]->pointHessians)
{
img->setPixelCirc(ph->u+0.5f, ph->v+0.5f, makeJet3B((ph->idepth_scaled-minID) / ((maxID-minID))));
}
for(PointHessian* ph : frameHessians[f]->pointHessiansMarginalized)
{
if(ph==0) continue;
img->setPixelCirc(ph->u+0.5f, ph->v+0.5f, Vec3b(0,0,0));
}
char buf[1000];
snprintf(buf, 1000, "images_out/kf_%05d_%05d_%02d.png",
frameHessians.back()->shell->id, frameHessians.back()->frameID, f);
IOWrap::writeImage(buf,img);
delete img;
}
}
}
}

220
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/**
* This file is part of DSO.
*
* Copyright 2016 Technical University of Munich and Intel.
* Developed by Jakob Engel <engelj at in dot tum dot de>,
* for more information see <http://vision.in.tum.de/dso>.
* If you use this code, please cite the respective publications as
* listed on the above website.
*
* DSO 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.
*
* DSO 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 DSO. If not, see <http://www.gnu.org/licenses/>.
*/
/*
* KFBuffer.cpp
*
* Created on: Jan 7, 2014
* Author: engelj
*/
#include "FullSystem/FullSystem.h"
#include "stdio.h"
#include "util/globalFuncs.h"
#include <Eigen/LU>
#include <algorithm>
#include "IOWrapper/ImageDisplay.h"
#include "util/globalCalib.h"
#include <Eigen/SVD>
#include <Eigen/Eigenvalues>
#include "FullSystem/ResidualProjections.h"
#include "FullSystem/ImmaturePoint.h"
#include "OptimizationBackend/EnergyFunctional.h"
#include "OptimizationBackend/EnergyFunctionalStructs.h"
#include "IOWrapper/Output3DWrapper.h"
#include "FullSystem/CoarseTracker.h"
namespace dso
{
void FullSystem::flagFramesForMarginalization(FrameHessian* newFH)
{
if(setting_minFrameAge > setting_maxFrames)
{
for(int i=setting_maxFrames;i<(int)frameHessians.size();i++)
{
FrameHessian* fh = frameHessians[i-setting_maxFrames];
fh->flaggedForMarginalization = true;
}
return;
}
int flagged = 0;
// marginalize all frames that have not enough points.
for(int i=0;i<(int)frameHessians.size();i++)
{
FrameHessian* fh = frameHessians[i];
int in = fh->pointHessians.size() + fh->immaturePoints.size();
int out = fh->pointHessiansMarginalized.size() + fh->pointHessiansOut.size();
Vec2 refToFh=AffLight::fromToVecExposure(frameHessians.back()->ab_exposure, fh->ab_exposure,
frameHessians.back()->aff_g2l(), fh->aff_g2l());
if( (in < setting_minPointsRemaining *(in+out) || fabs(logf((float)refToFh[0])) > setting_maxLogAffFacInWindow)
&& ((int)frameHessians.size())-flagged > setting_minFrames)
{
// printf("MARGINALIZE frame %d, as only %'d/%'d points remaining (%'d %'d %'d %'d). VisInLast %'d / %'d. traces %d, activated %d!\n",
// fh->frameID, in, in+out,
// (int)fh->pointHessians.size(), (int)fh->immaturePoints.size(),
// (int)fh->pointHessiansMarginalized.size(), (int)fh->pointHessiansOut.size(),
// visInLast, outInLast,
// fh->statistics_tracesCreatedForThisFrame, fh->statistics_pointsActivatedForThisFrame);
fh->flaggedForMarginalization = true;
flagged++;
}
else
{
// printf("May Keep frame %d, as %'d/%'d points remaining (%'d %'d %'d %'d). VisInLast %'d / %'d. traces %d, activated %d!\n",
// fh->frameID, in, in+out,
// (int)fh->pointHessians.size(), (int)fh->immaturePoints.size(),
// (int)fh->pointHessiansMarginalized.size(), (int)fh->pointHessiansOut.size(),
// visInLast, outInLast,
// fh->statistics_tracesCreatedForThisFrame, fh->statistics_pointsActivatedForThisFrame);
}
}
// marginalize one.
if((int)frameHessians.size()-flagged >= setting_maxFrames)
{
double smallestScore = 1;
FrameHessian* toMarginalize=0;
FrameHessian* latest = frameHessians.back();
for(FrameHessian* fh : frameHessians)
{
if(fh->frameID > latest->frameID-setting_minFrameAge || fh->frameID == 0) continue;
//if(fh==frameHessians.front() == 0) continue;
double distScore = 0;
for(FrameFramePrecalc &ffh : fh->targetPrecalc)
{
if(ffh.target->frameID > latest->frameID-setting_minFrameAge+1 || ffh.target == ffh.host) continue;
distScore += 1/(1e-5+ffh.distanceLL);
}
distScore *= -sqrtf(fh->targetPrecalc.back().distanceLL);
if(distScore < smallestScore)
{
smallestScore = distScore;
toMarginalize = fh;
}
}
// printf("MARGINALIZE frame %d, as it is the closest (score %.2f)!\n",
// toMarginalize->frameID, smallestScore);
toMarginalize->flaggedForMarginalization = true;
flagged++;
}
// printf("FRAMES LEFT: ");
// for(FrameHessian* fh : frameHessians)
// printf("%d ", fh->frameID);
// printf("\n");
}
void FullSystem::marginalizeFrame(FrameHessian* frame)
{
// marginalize or remove all this frames points.
assert((int)frame->pointHessians.size()==0);
ef->marginalizeFrame(frame->efFrame);
// drop all observations of existing points in that frame.
for(FrameHessian* fh : frameHessians)
{
if(fh==frame) continue;
for(PointHessian* ph : fh->pointHessians)
{
for(unsigned int i=0;i<ph->residuals.size();i++)
{
PointFrameResidual* r = ph->residuals[i];
if(r->target == frame)
{
if(ph->lastResiduals[0].first == r)
ph->lastResiduals[0].first=0;
else if(ph->lastResiduals[1].first == r)
ph->lastResiduals[1].first=0;
if(r->host->frameID < r->target->frameID)
statistics_numForceDroppedResFwd++;
else
statistics_numForceDroppedResBwd++;
ef->dropResidual(r->efResidual);
deleteOut<PointFrameResidual>(ph->residuals,i);
break;
}
}
}
}
{
std::vector<FrameHessian*> v;
v.push_back(frame);
for(IOWrap::Output3DWrapper* ow : outputWrapper)
ow->publishKeyframes(v, true, &Hcalib);
}
frame->shell->marginalizedAt = frameHessians.back()->shell->id;
frame->shell->movedByOpt = frame->w2c_leftEps().norm();
deleteOutOrder<FrameHessian>(frameHessians, frame);
for(unsigned int i=0;i<frameHessians.size();i++)
frameHessians[i]->idx = i;
setPrecalcValues();
ef->setAdjointsF(&Hcalib);
}
}

209
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/**
* This file is part of DSO.
*
* Copyright 2016 Technical University of Munich and Intel.
* Developed by Jakob Engel <engelj at in dot tum dot de>,
* for more information see <http://vision.in.tum.de/dso>.
* If you use this code, please cite the respective publications as
* listed on the above website.
*
* DSO 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.
*
* DSO 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 DSO. If not, see <http://www.gnu.org/licenses/>.
*/
/*
* KFBuffer.cpp
*
* Created on: Jan 7, 2014
* Author: engelj
*/
#include "FullSystem/FullSystem.h"
#include "stdio.h"
#include "util/globalFuncs.h"
#include <Eigen/LU>
#include <algorithm>
#include "IOWrapper/ImageDisplay.h"
#include "util/globalCalib.h"
#include <Eigen/SVD>
#include <Eigen/Eigenvalues>
#include "FullSystem/ImmaturePoint.h"
#include "math.h"
namespace dso
{
PointHessian* FullSystem::optimizeImmaturePoint(
ImmaturePoint* point, int minObs,
ImmaturePointTemporaryResidual* residuals)
{
int nres = 0;
for(FrameHessian* fh : frameHessians)
{
if(fh != point->host)
{
residuals[nres].state_NewEnergy = residuals[nres].state_energy = 0;
residuals[nres].state_NewState = ResState::OUTLIER;
residuals[nres].state_state = ResState::IN;
residuals[nres].target = fh;
nres++;
}
}
assert(nres == ((int)frameHessians.size())-1);
bool print = false;//rand()%50==0;
float lastEnergy = 0;
float lastHdd=0;
float lastbd=0;
float currentIdepth=(point->idepth_max+point->idepth_min)*0.5f;
for(int i=0;i<nres;i++)
{
lastEnergy += point->linearizeResidual(&Hcalib, 1000, residuals+i,lastHdd, lastbd, currentIdepth);
residuals[i].state_state = residuals[i].state_NewState;
residuals[i].state_energy = residuals[i].state_NewEnergy;
}
if(!std::isfinite(lastEnergy) || lastHdd < setting_minIdepthH_act)
{
if(print)
printf("OptPoint: Not well-constrained (%d res, H=%.1f). E=%f. SKIP!\n",
nres, lastHdd, lastEnergy);
return 0;
}
if(print) printf("Activate point. %d residuals. H=%f. Initial Energy: %f. Initial Id=%f\n" ,
nres, lastHdd,lastEnergy,currentIdepth);
float lambda = 0.1;
for(int iteration=0;iteration<setting_GNItsOnPointActivation;iteration++)
{
float H = lastHdd;
H *= 1+lambda;
float step = (1.0/H) * lastbd;
float newIdepth = currentIdepth - step;
float newHdd=0; float newbd=0; float newEnergy=0;
for(int i=0;i<nres;i++)
newEnergy += point->linearizeResidual(&Hcalib, 1, residuals+i,newHdd, newbd, newIdepth);
if(!std::isfinite(lastEnergy) || newHdd < setting_minIdepthH_act)
{
if(print) printf("OptPoint: Not well-constrained (%d res, H=%.1f). E=%f. SKIP!\n",
nres,
newHdd,
lastEnergy);
return 0;
}
if(print) printf("%s %d (L %.2f) %s: %f -> %f (idepth %f)!\n",
(true || newEnergy < lastEnergy) ? "ACCEPT" : "REJECT",
iteration,
log10(lambda),
"",
lastEnergy, newEnergy, newIdepth);
if(newEnergy < lastEnergy)
{
currentIdepth = newIdepth;
lastHdd = newHdd;
lastbd = newbd;
lastEnergy = newEnergy;
for(int i=0;i<nres;i++)
{
residuals[i].state_state = residuals[i].state_NewState;
residuals[i].state_energy = residuals[i].state_NewEnergy;
}
lambda *= 0.5;
}
else
{
lambda *= 5;
}
if(fabsf(step) < 0.0001*currentIdepth)
break;
}
if(!std::isfinite(currentIdepth))
{
printf("MAJOR ERROR! point idepth is nan after initialization (%f).\n", currentIdepth);
return (PointHessian*)((long)(-1)); // yeah I'm like 99% sure this is OK on 32bit systems.
}
int numGoodRes=0;
for(int i=0;i<nres;i++)
if(residuals[i].state_state == ResState::IN) numGoodRes++;
if(numGoodRes < minObs)
{
if(print) printf("OptPoint: OUTLIER!\n");
return (PointHessian*)((long)(-1)); // yeah I'm like 99% sure this is OK on 32bit systems.
}
PointHessian* p = new PointHessian(point, &Hcalib);
if(!std::isfinite(p->energyTH)) {delete p; return (PointHessian*)((long)(-1));}
p->lastResiduals[0].first = 0;
p->lastResiduals[0].second = ResState::OOB;
p->lastResiduals[1].first = 0;
p->lastResiduals[1].second = ResState::OOB;
p->setIdepthZero(currentIdepth);
p->setIdepth(currentIdepth);
p->setPointStatus(PointHessian::ACTIVE);
for(int i=0;i<nres;i++)
if(residuals[i].state_state == ResState::IN)
{
PointFrameResidual* r = new PointFrameResidual(p, p->host, residuals[i].target);
r->state_NewEnergy = r->state_energy = 0;
r->state_NewState = ResState::OUTLIER;
r->setState(ResState::IN);
p->residuals.push_back(r);
if(r->target == frameHessians.back())
{
p->lastResiduals[0].first = r;
p->lastResiduals[0].second = ResState::IN;
}
else if(r->target == (frameHessians.size()<2 ? 0 : frameHessians[frameHessians.size()-2]))
{
p->lastResiduals[1].first = r;
p->lastResiduals[1].second = ResState::IN;
}
}
if(print) printf("point activated!\n");
statistics_numActivatedPoints++;
return p;
}
}

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/**
* This file is part of DSO.
*
* Copyright 2016 Technical University of Munich and Intel.
* Developed by Jakob Engel <engelj at in dot tum dot de>,
* for more information see <http://vision.in.tum.de/dso>.
* If you use this code, please cite the respective publications as
* listed on the above website.
*
* DSO 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.
*
* DSO 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 DSO. If not, see <http://www.gnu.org/licenses/>.
*/
#include "FullSystem/FullSystem.h"
#include "stdio.h"
#include "util/globalFuncs.h"
#include <Eigen/LU>
#include <algorithm>
#include "IOWrapper/ImageDisplay.h"
#include "util/globalCalib.h"
#include <Eigen/SVD>
#include <Eigen/Eigenvalues>
#include "FullSystem/ResidualProjections.h"
#include "OptimizationBackend/EnergyFunctional.h"
#include "OptimizationBackend/EnergyFunctionalStructs.h"
#include <cmath>
#include <algorithm>
namespace dso
{
void FullSystem::linearizeAll_Reductor(bool fixLinearization, std::vector<PointFrameResidual*>* toRemove, int min, int max, Vec10* stats, int tid)
{
for(int k=min;k<max;k++)
{
PointFrameResidual* r = activeResiduals[k];
(*stats)[0] += r->linearize(&Hcalib);
if(fixLinearization)
{
r->applyRes(true);
if(r->efResidual->isActive())
{
if(r->isNew)
{
PointHessian* p = r->point;
Vec3f ptp_inf = r->host->targetPrecalc[r->target->idx].PRE_KRKiTll * Vec3f(p->u,p->v, 1); // projected point assuming infinite depth.
Vec3f ptp = ptp_inf + r->host->targetPrecalc[r->target->idx].PRE_KtTll*p->idepth_scaled; // projected point with real depth.
float relBS = 0.01*((ptp_inf.head<2>() / ptp_inf[2])-(ptp.head<2>() / ptp[2])).norm(); // 0.01 = one pixel.
if(relBS > p->maxRelBaseline)
p->maxRelBaseline = relBS;
p->numGoodResiduals++;
}
}
else
{
toRemove[tid].push_back(activeResiduals[k]);
}
}
}
}
void FullSystem::applyRes_Reductor(bool copyJacobians, int min, int max, Vec10* stats, int tid)
{
for(int k=min;k<max;k++)
activeResiduals[k]->applyRes(true);
}
void FullSystem::setNewFrameEnergyTH()
{
// collect all residuals and make decision on TH.
allResVec.clear();
allResVec.reserve(activeResiduals.size()*2);
FrameHessian* newFrame = frameHessians.back();
for(PointFrameResidual* r : activeResiduals)
if(r->state_NewEnergyWithOutlier >= 0 && r->target == newFrame)
{
allResVec.push_back(r->state_NewEnergyWithOutlier);
}
if(allResVec.size()==0)
{
newFrame->frameEnergyTH = 12*12*patternNum;
return; // should never happen, but lets make sure.
}
int nthIdx = setting_frameEnergyTHN*allResVec.size();
assert(nthIdx < (int)allResVec.size());
assert(setting_frameEnergyTHN < 1);
std::nth_element(allResVec.begin(), allResVec.begin()+nthIdx, allResVec.end());
float nthElement = sqrtf(allResVec[nthIdx]);
newFrame->frameEnergyTH = nthElement*setting_frameEnergyTHFacMedian;
newFrame->frameEnergyTH = 26.0f*setting_frameEnergyTHConstWeight + newFrame->frameEnergyTH*(1-setting_frameEnergyTHConstWeight);
newFrame->frameEnergyTH = newFrame->frameEnergyTH*newFrame->frameEnergyTH;
newFrame->frameEnergyTH *= setting_overallEnergyTHWeight*setting_overallEnergyTHWeight;
//
// int good=0,bad=0;
// for(float f : allResVec) if(f<newFrame->frameEnergyTH) good++; else bad++;
// printf("EnergyTH: mean %f, median %f, result %f (in %d, out %d)! \n",
// meanElement, nthElement, sqrtf(newFrame->frameEnergyTH),
// good, bad);
}
Vec3 FullSystem::linearizeAll(bool fixLinearization)
{
double lastEnergyP = 0;
double lastEnergyR = 0;
double num = 0;
std::vector<PointFrameResidual*> toRemove[NUM_THREADS];
for(int i=0;i<NUM_THREADS;i++) toRemove[i].clear();
if(multiThreading)
{
treadReduce.reduce(boost::bind(&FullSystem::linearizeAll_Reductor, this, fixLinearization, toRemove, _1, _2, _3, _4), 0, activeResiduals.size(), 0);
lastEnergyP = treadReduce.stats[0];
}
else
{
Vec10 stats;
linearizeAll_Reductor(fixLinearization, toRemove, 0,activeResiduals.size(),&stats,0);
lastEnergyP = stats[0];
}
setNewFrameEnergyTH();
if(fixLinearization)
{
for(PointFrameResidual* r : activeResiduals)
{
PointHessian* ph = r->point;
if(ph->lastResiduals[0].first == r)
ph->lastResiduals[0].second = r->state_state;
else if(ph->lastResiduals[1].first == r)
ph->lastResiduals[1].second = r->state_state;
}
int nResRemoved=0;
for(int i=0;i<NUM_THREADS;i++)
{
for(PointFrameResidual* r : toRemove[i])
{
PointHessian* ph = r->point;
if(ph->lastResiduals[0].first == r)
ph->lastResiduals[0].first=0;
else if(ph->lastResiduals[1].first == r)
ph->lastResiduals[1].first=0;
for(unsigned int k=0; k<ph->residuals.size();k++)
if(ph->residuals[k] == r)
{
ef->dropResidual(r->efResidual);
deleteOut<PointFrameResidual>(ph->residuals,k);
nResRemoved++;
break;
}
}
}
//printf("FINAL LINEARIZATION: removed %d / %d residuals!\n", nResRemoved, (int)activeResiduals.size());
}
return Vec3(lastEnergyP, lastEnergyR, num);
}
// applies step to linearization point.
bool FullSystem::doStepFromBackup(float stepfacC,float stepfacT,float stepfacR,float stepfacA,float stepfacD)
{
// float meanStepC=0,meanStepP=0,meanStepD=0;
// meanStepC += Hcalib.step.norm();
Vec10 pstepfac;
pstepfac.segment<3>(0).setConstant(stepfacT);
pstepfac.segment<3>(3).setConstant(stepfacR);
pstepfac.segment<4>(6).setConstant(stepfacA);
float sumA=0, sumB=0, sumT=0, sumR=0, sumID=0, numID=0;
float sumNID=0;
if(setting_solverMode & SOLVER_MOMENTUM)
{
Hcalib.setValue(Hcalib.value_backup + Hcalib.step);
for(FrameHessian* fh : frameHessians)
{
Vec10 step = fh->step;
step.head<6>() += 0.5f*(fh->step_backup.head<6>());
fh->setState(fh->state_backup + step);
sumA += step[6]*step[6];
sumB += step[7]*step[7];
sumT += step.segment<3>(0).squaredNorm();
sumR += step.segment<3>(3).squaredNorm();
for(PointHessian* ph : fh->pointHessians)
{
float step = ph->step+0.5f*(ph->step_backup);
ph->setIdepth(ph->idepth_backup + step);
sumID += step*step;
sumNID += fabsf(ph->idepth_backup);
numID++;
ph->setIdepthZero(ph->idepth_backup + step);
}
}
}
else
{
Hcalib.setValue(Hcalib.value_backup + stepfacC*Hcalib.step);
for(FrameHessian* fh : frameHessians)
{
fh->setState(fh->state_backup + pstepfac.cwiseProduct(fh->step));
sumA += fh->step[6]*fh->step[6];
sumB += fh->step[7]*fh->step[7];
sumT += fh->step.segment<3>(0).squaredNorm();
sumR += fh->step.segment<3>(3).squaredNorm();
for(PointHessian* ph : fh->pointHessians)
{
ph->setIdepth(ph->idepth_backup + stepfacD*ph->step);
sumID += ph->step*ph->step;
sumNID += fabsf(ph->idepth_backup);
numID++;
ph->setIdepthZero(ph->idepth_backup + stepfacD*ph->step);
}
}
}
sumA /= frameHessians.size();
sumB /= frameHessians.size();
sumR /= frameHessians.size();
sumT /= frameHessians.size();
sumID /= numID;
sumNID /= numID;
if(!setting_debugout_runquiet)
printf("STEPS: A %.1f; B %.1f; R %.1f; T %.1f. \t",
sqrtf(sumA) / (0.0005*setting_thOptIterations),
sqrtf(sumB) / (0.00005*setting_thOptIterations),
sqrtf(sumR) / (0.00005*setting_thOptIterations),
sqrtf(sumT)*sumNID / (0.00005*setting_thOptIterations));
EFDeltaValid=false;
setPrecalcValues();
return sqrtf(sumA) < 0.0005*setting_thOptIterations &&
sqrtf(sumB) < 0.00005*setting_thOptIterations &&
sqrtf(sumR) < 0.00005*setting_thOptIterations &&
sqrtf(sumT)*sumNID < 0.00005*setting_thOptIterations;
//
// printf("mean steps: %f %f %f!\n",
// meanStepC, meanStepP, meanStepD);
}
// sets linearization point.
void FullSystem::backupState(bool backupLastStep)
{
if(setting_solverMode & SOLVER_MOMENTUM)
{
if(backupLastStep)
{
Hcalib.step_backup = Hcalib.step;
Hcalib.value_backup = Hcalib.value;
for(FrameHessian* fh : frameHessians)
{
fh->step_backup = fh->step;
fh->state_backup = fh->get_state();
for(PointHessian* ph : fh->pointHessians)
{
ph->idepth_backup = ph->idepth;
ph->step_backup = ph->step;
}
}
}
else
{
Hcalib.step_backup.setZero();
Hcalib.value_backup = Hcalib.value;
for(FrameHessian* fh : frameHessians)
{
fh->step_backup.setZero();
fh->state_backup = fh->get_state();
for(PointHessian* ph : fh->pointHessians)
{
ph->idepth_backup = ph->idepth;
ph->step_backup=0;
}
}
}
}
else
{
Hcalib.value_backup = Hcalib.value;
for(FrameHessian* fh : frameHessians)
{
fh->state_backup = fh->get_state();
for(PointHessian* ph : fh->pointHessians)
ph->idepth_backup = ph->idepth;
}
}
}
// sets linearization point.
void FullSystem::loadSateBackup()
{
Hcalib.setValue(Hcalib.value_backup);
for(FrameHessian* fh : frameHessians)
{
fh->setState(fh->state_backup);
for(PointHessian* ph : fh->pointHessians)
{
ph->setIdepth(ph->idepth_backup);
ph->setIdepthZero(ph->idepth_backup);
}
}
EFDeltaValid=false;
setPrecalcValues();
}
double FullSystem::calcMEnergy()
{
if(setting_forceAceptStep) return 0;
// calculate (x-x0)^T * [2b + H * (x-x0)] for everything saved in L.
//ef->makeIDX();
//ef->setDeltaF(&Hcalib);
return ef->calcMEnergyF();
}
void FullSystem::printOptRes(const Vec3 &res, double resL, double resM, double resPrior, double LExact, float a, float b)
{
printf("A(%f)=(AV %.3f). Num: A(%'d) + M(%'d); ab %f %f!\n",
res[0],
sqrtf((float)(res[0] / (patternNum*ef->resInA))),
ef->resInA,
ef->resInM,
a,
b
);
}
float FullSystem::optimize(int mnumOptIts)
{
if(frameHessians.size() < 2) return 0;
if(frameHessians.size() < 3) mnumOptIts = 20;
if(frameHessians.size() < 4) mnumOptIts = 15;
// get statistics and active residuals.
activeResiduals.clear();
int numPoints = 0;
int numLRes = 0;
for(FrameHessian* fh : frameHessians)
for(PointHessian* ph : fh->pointHessians)
{
for(PointFrameResidual* r : ph->residuals)
{
if(!r->efResidual->isLinearized)
{
activeResiduals.push_back(r);
r->resetOOB();
}
else
numLRes++;
}
numPoints++;
}
if(!setting_debugout_runquiet)
printf("OPTIMIZE %d pts, %d active res, %d lin res!\n",ef->nPoints,(int)activeResiduals.size(), numLRes);
Vec3 lastEnergy = linearizeAll(false);
double lastEnergyL = calcLEnergy();
double lastEnergyM = calcMEnergy();
if(multiThreading)
treadReduce.reduce(boost::bind(&FullSystem::applyRes_Reductor, this, true, _1, _2, _3, _4), 0, activeResiduals.size(), 50);
else
applyRes_Reductor(true,0,activeResiduals.size(),0,0);
if(!setting_debugout_runquiet)
{
printf("Initial Error \t");
printOptRes(lastEnergy, lastEnergyL, lastEnergyM, 0, 0, frameHessians.back()->aff_g2l().a, frameHessians.back()->aff_g2l().b);
}
debugPlotTracking();
double lambda = 1e-1;
float stepsize=1;
VecX previousX = VecX::Constant(CPARS+ 8*frameHessians.size(), NAN);
for(int iteration=0;iteration<mnumOptIts;iteration++)
{
// solve!
backupState(iteration!=0);
//solveSystemNew(0);
solveSystem(iteration, lambda);
double incDirChange = (1e-20 + previousX.dot(ef->lastX)) / (1e-20 + previousX.norm() * ef->lastX.norm());
previousX = ef->lastX;
if(std::isfinite(incDirChange) && (setting_solverMode & SOLVER_STEPMOMENTUM))
{
float newStepsize = exp(incDirChange*1.4);
if(incDirChange<0 && stepsize>1) stepsize=1;
stepsize = sqrtf(sqrtf(newStepsize*stepsize*stepsize*stepsize));
if(stepsize > 2) stepsize=2;
if(stepsize <0.25) stepsize=0.25;
}
bool canbreak = doStepFromBackup(stepsize,stepsize,stepsize,stepsize,stepsize);
// eval new energy!
Vec3 newEnergy = linearizeAll(false);
double newEnergyL = calcLEnergy();
double newEnergyM = calcMEnergy();
if(!setting_debugout_runquiet)
{
printf("%s %d (L %.2f, dir %.2f, ss %.1f): \t",
(newEnergy[0] + newEnergy[1] + newEnergyL + newEnergyM <
lastEnergy[0] + lastEnergy[1] + lastEnergyL + lastEnergyM) ? "ACCEPT" : "REJECT",
iteration,
log10(lambda),
incDirChange,
stepsize);
printOptRes(newEnergy, newEnergyL, newEnergyM , 0, 0, frameHessians.back()->aff_g2l().a, frameHessians.back()->aff_g2l().b);
}
if(setting_forceAceptStep || (newEnergy[0] + newEnergy[1] + newEnergyL + newEnergyM <
lastEnergy[0] + lastEnergy[1] + lastEnergyL + lastEnergyM))
{
if(multiThreading)
treadReduce.reduce(boost::bind(&FullSystem::applyRes_Reductor, this, true, _1, _2, _3, _4), 0, activeResiduals.size(), 50);
else
applyRes_Reductor(true,0,activeResiduals.size(),0,0);
lastEnergy = newEnergy;
lastEnergyL = newEnergyL;
lastEnergyM = newEnergyM;
lambda *= 0.25;
}
else
{
loadSateBackup();
lastEnergy = linearizeAll(false);
lastEnergyL = calcLEnergy();
lastEnergyM = calcMEnergy();
lambda *= 1e2;
}
if(canbreak && iteration >= setting_minOptIterations) break;
}
Vec10 newStateZero = Vec10::Zero();
newStateZero.segment<2>(6) = frameHessians.back()->get_state().segment<2>(6);
frameHessians.back()->setEvalPT(frameHessians.back()->PRE_worldToCam,
newStateZero);
EFDeltaValid=false;
EFAdjointsValid=false;
ef->setAdjointsF(&Hcalib);
setPrecalcValues();
lastEnergy = linearizeAll(true);
if(!std::isfinite((double)lastEnergy[0]) || !std::isfinite((double)lastEnergy[1]) || !std::isfinite((double)lastEnergy[2]))
{
printf("KF Tracking failed: LOST!\n");
isLost=true;
}
statistics_lastFineTrackRMSE = sqrtf((float)(lastEnergy[0] / (patternNum*ef->resInA)));
if(calibLog != 0)
{
(*calibLog) << Hcalib.value_scaled.transpose() <<
" " << frameHessians.back()->get_state_scaled().transpose() <<
" " << sqrtf((float)(lastEnergy[0] / (patternNum*ef->resInA))) <<
" " << ef->resInM << "\n";
calibLog->flush();
}
{
boost::unique_lock<boost::mutex> crlock(shellPoseMutex);
for(FrameHessian* fh : frameHessians)
{
fh->shell->camToWorld = fh->PRE_camToWorld;
fh->shell->aff_g2l = fh->aff_g2l();
}
}
debugPlotTracking();
return sqrtf((float)(lastEnergy[0] / (patternNum*ef->resInA)));
}
void FullSystem::solveSystem(int iteration, double lambda)
{
ef->lastNullspaces_forLogging = getNullspaces(
ef->lastNullspaces_pose,
ef->lastNullspaces_scale,
ef->lastNullspaces_affA,
ef->lastNullspaces_affB);
ef->solveSystemF(iteration, lambda,&Hcalib);
}
double FullSystem::calcLEnergy()
{
if(setting_forceAceptStep) return 0;
double Ef = ef->calcLEnergyF_MT();
return Ef;
}
void FullSystem::removeOutliers()
{
int numPointsDropped=0;
for(FrameHessian* fh : frameHessians)
{
for(unsigned int i=0;i<fh->pointHessians.size();i++)
{
PointHessian* ph = fh->pointHessians[i];
if(ph==0) continue;
if(ph->residuals.size() == 0)
{
fh->pointHessiansOut.push_back(ph);
ph->efPoint->stateFlag = EFPointStatus::PS_DROP;
fh->pointHessians[i] = fh->pointHessians.back();
fh->pointHessians.pop_back();
i--;
numPointsDropped++;
}
}
}
ef->dropPointsF();
}
std::vector<VecX> FullSystem::getNullspaces(
std::vector<VecX> &nullspaces_pose,
std::vector<VecX> &nullspaces_scale,
std::vector<VecX> &nullspaces_affA,
std::vector<VecX> &nullspaces_affB)
{
nullspaces_pose.clear();
nullspaces_scale.clear();
nullspaces_affA.clear();
nullspaces_affB.clear();
int n=CPARS+frameHessians.size()*8;
std::vector<VecX> nullspaces_x0_pre;
for(int i=0;i<6;i++)
{
VecX nullspace_x0(n);
nullspace_x0.setZero();
for(FrameHessian* fh : frameHessians)
{
nullspace_x0.segment<6>(CPARS+fh->idx*8) = fh->nullspaces_pose.col(i);
nullspace_x0.segment<3>(CPARS+fh->idx*8) *= SCALE_XI_TRANS_INVERSE;
nullspace_x0.segment<3>(CPARS+fh->idx*8+3) *= SCALE_XI_ROT_INVERSE;
}
nullspaces_x0_pre.push_back(nullspace_x0);
nullspaces_pose.push_back(nullspace_x0);
}
for(int i=0;i<2;i++)
{
VecX nullspace_x0(n);
nullspace_x0.setZero();
for(FrameHessian* fh : frameHessians)
{
nullspace_x0.segment<2>(CPARS+fh->idx*8+6) = fh->nullspaces_affine.col(i).head<2>();
nullspace_x0[CPARS+fh->idx*8+6] *= SCALE_A_INVERSE;
nullspace_x0[CPARS+fh->idx*8+7] *= SCALE_B_INVERSE;
}
nullspaces_x0_pre.push_back(nullspace_x0);
if(i==0) nullspaces_affA.push_back(nullspace_x0);
if(i==1) nullspaces_affB.push_back(nullspace_x0);
}
VecX nullspace_x0(n);
nullspace_x0.setZero();
for(FrameHessian* fh : frameHessians)
{
nullspace_x0.segment<6>(CPARS+fh->idx*8) = fh->nullspaces_scale;
nullspace_x0.segment<3>(CPARS+fh->idx*8) *= SCALE_XI_TRANS_INVERSE;
nullspace_x0.segment<3>(CPARS+fh->idx*8+3) *= SCALE_XI_ROT_INVERSE;
}
nullspaces_x0_pre.push_back(nullspace_x0);
nullspaces_scale.push_back(nullspace_x0);
return nullspaces_x0_pre;
}
}

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/**
* This file is part of DSO.
*
* Copyright 2016 Technical University of Munich and Intel.
* Developed by Jakob Engel <engelj at in dot tum dot de>,
* for more information see <http://vision.in.tum.de/dso>.
* If you use this code, please cite the respective publications as
* listed on the above website.
*
* DSO 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.
*
* DSO 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 DSO. If not, see <http://www.gnu.org/licenses/>.
*/
#include "FullSystem/HessianBlocks.h"
#include "util/FrameShell.h"
#include "FullSystem/ImmaturePoint.h"
#include "OptimizationBackend/EnergyFunctionalStructs.h"
namespace dso
{
PointHessian::PointHessian(const ImmaturePoint* const rawPoint, CalibHessian* Hcalib)
{
instanceCounter++;
host = rawPoint->host;
hasDepthPrior=false;
idepth_hessian=0;
maxRelBaseline=0;
numGoodResiduals=0;
// set static values & initialization.
u = rawPoint->u;
v = rawPoint->v;
assert(std::isfinite(rawPoint->idepth_max));
//idepth_init = rawPoint->idepth_GT;
my_type = rawPoint->my_type;
setIdepthScaled((rawPoint->idepth_max + rawPoint->idepth_min)*0.5);
setPointStatus(PointHessian::INACTIVE);
int n = patternNum;
memcpy(color, rawPoint->color, sizeof(float)*n);
memcpy(weights, rawPoint->weights, sizeof(float)*n);
energyTH = rawPoint->energyTH;
efPoint=0;
}
void PointHessian::release()
{
for(unsigned int i=0;i<residuals.size();i++) delete residuals[i];
residuals.clear();
}
void FrameHessian::setStateZero(const Vec10 &state_zero)
{
assert(state_zero.head<6>().squaredNorm() < 1e-20);
this->state_zero = state_zero;
for(int i=0;i<6;i++)
{
Vec6 eps; eps.setZero(); eps[i] = 1e-3;
SE3 EepsP = Sophus::SE3::exp(eps);
SE3 EepsM = Sophus::SE3::exp(-eps);
SE3 w2c_leftEps_P_x0 = (get_worldToCam_evalPT() * EepsP) * get_worldToCam_evalPT().inverse();
SE3 w2c_leftEps_M_x0 = (get_worldToCam_evalPT() * EepsM) * get_worldToCam_evalPT().inverse();
nullspaces_pose.col(i) = (w2c_leftEps_P_x0.log() - w2c_leftEps_M_x0.log())/(2e-3);
}
//nullspaces_pose.topRows<3>() *= SCALE_XI_TRANS_INVERSE;
//nullspaces_pose.bottomRows<3>() *= SCALE_XI_ROT_INVERSE;
// scale change
SE3 w2c_leftEps_P_x0 = (get_worldToCam_evalPT());
w2c_leftEps_P_x0.translation() *= 1.00001;
w2c_leftEps_P_x0 = w2c_leftEps_P_x0 * get_worldToCam_evalPT().inverse();
SE3 w2c_leftEps_M_x0 = (get_worldToCam_evalPT());
w2c_leftEps_M_x0.translation() /= 1.00001;
w2c_leftEps_M_x0 = w2c_leftEps_M_x0 * get_worldToCam_evalPT().inverse();
nullspaces_scale = (w2c_leftEps_P_x0.log() - w2c_leftEps_M_x0.log())/(2e-3);
nullspaces_affine.setZero();
nullspaces_affine.topLeftCorner<2,1>() = Vec2(1,0);
assert(ab_exposure > 0);
nullspaces_affine.topRightCorner<2,1>() = Vec2(0, expf(aff_g2l_0().a)*ab_exposure);
};
void FrameHessian::release()
{
// DELETE POINT
// DELETE RESIDUAL
for(unsigned int i=0;i<pointHessians.size();i++) delete pointHessians[i];
for(unsigned int i=0;i<pointHessiansMarginalized.size();i++) delete pointHessiansMarginalized[i];
for(unsigned int i=0;i<pointHessiansOut.size();i++) delete pointHessiansOut[i];
for(unsigned int i=0;i<immaturePoints.size();i++) delete immaturePoints[i];
pointHessians.clear();
pointHessiansMarginalized.clear();
pointHessiansOut.clear();
immaturePoints.clear();
}
void FrameHessian::makeImages(float* color, CalibHessian* HCalib)
{
for(int i=0;i<pyrLevelsUsed;i++)
{
dIp[i] = new Eigen::Vector3f[wG[i]*hG[i]];
absSquaredGrad[i] = new float[wG[i]*hG[i]];
}
dI = dIp[0];
// make d0
int w=wG[0];
int h=hG[0];
for(int i=0;i<w*h;i++)
dI[i][0] = color[i];
for(int lvl=0; lvl<pyrLevelsUsed; lvl++)
{
int wl = wG[lvl], hl = hG[lvl];
Eigen::Vector3f* dI_l = dIp[lvl];
float* dabs_l = absSquaredGrad[lvl];
if(lvl>0)
{
int lvlm1 = lvl-1;
int wlm1 = wG[lvlm1];
Eigen::Vector3f* dI_lm = dIp[lvlm1];
for(int y=0;y<hl;y++)
for(int x=0;x<wl;x++)
{
dI_l[x + y*wl][0] = 0.25f * (dI_lm[2*x + 2*y*wlm1][0] +
dI_lm[2*x+1 + 2*y*wlm1][0] +
dI_lm[2*x + 2*y*wlm1+wlm1][0] +
dI_lm[2*x+1 + 2*y*wlm1+wlm1][0]);
}
}
for(int idx=wl;idx < wl*(hl-1);idx++)
{
float dx = 0.5f*(dI_l[idx+1][0] - dI_l[idx-1][0]);
float dy = 0.5f*(dI_l[idx+wl][0] - dI_l[idx-wl][0]);
if(!std::isfinite(dx)) dx=0;
if(!std::isfinite(dy)) dy=0;
dI_l[idx][1] = dx;
dI_l[idx][2] = dy;
dabs_l[idx] = dx*dx+dy*dy;
if(setting_gammaWeightsPixelSelect==1 && HCalib!=0)
{
float gw = HCalib->getBGradOnly((float)(dI_l[idx][0]));
dabs_l[idx] *= gw*gw; // convert to gradient of original color space (before removing response).
}
}
}
}
void FrameFramePrecalc::set(FrameHessian* host, FrameHessian* target, CalibHessian* HCalib )
{
this->host = host;
this->target = target;
SE3 leftToLeft_0 = target->get_worldToCam_evalPT() * host->get_worldToCam_evalPT().inverse();
PRE_RTll_0 = (leftToLeft_0.rotationMatrix()).cast<float>();
PRE_tTll_0 = (leftToLeft_0.translation()).cast<float>();
SE3 leftToLeft = target->PRE_worldToCam * host->PRE_camToWorld;
PRE_RTll = (leftToLeft.rotationMatrix()).cast<float>();
PRE_tTll = (leftToLeft.translation()).cast<float>();
distanceLL = leftToLeft.translation().norm();
Mat33f K = Mat33f::Zero();
K(0,0) = HCalib->fxl();
K(1,1) = HCalib->fyl();
K(0,2) = HCalib->cxl();
K(1,2) = HCalib->cyl();
K(2,2) = 1;
PRE_KRKiTll = K * PRE_RTll * K.inverse();
PRE_RKiTll = PRE_RTll * K.inverse();
PRE_KtTll = K * PRE_tTll;
PRE_aff_mode = AffLight::fromToVecExposure(host->ab_exposure, target->ab_exposure, host->aff_g2l(), target->aff_g2l()).cast<float>();
PRE_b0_mode = host->aff_g2l_0().b;
}
}

505
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/**
* This file is part of DSO.
*
* Copyright 2016 Technical University of Munich and Intel.
* Developed by Jakob Engel <engelj at in dot tum dot de>,
* for more information see <http://vision.in.tum.de/dso>.
* If you use this code, please cite the respective publications as
* listed on the above website.
*
* DSO 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.
*
* DSO 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 DSO. If not, see <http://www.gnu.org/licenses/>.
*/
#pragma once
#define MAX_ACTIVE_FRAMES 100
#include "util/globalCalib.h"
#include "vector"
#include <iostream>
#include <fstream>
#include "util/NumType.h"
#include "FullSystem/Residuals.h"
#include "util/ImageAndExposure.h"
namespace dso
{
inline Vec2 affFromTo(const Vec2 &from, const Vec2 &to) // contains affine parameters as XtoWorld.
{
return Vec2(from[0] / to[0], (from[1] - to[1]) / to[0]);
}
struct FrameHessian;
struct PointHessian;
class ImmaturePoint;
class FrameShell;
class EFFrame;
class EFPoint;
#define SCALE_IDEPTH 1.0f // scales internal value to idepth.
#define SCALE_XI_ROT 1.0f
#define SCALE_XI_TRANS 0.5f
#define SCALE_F 50.0f
#define SCALE_C 50.0f
#define SCALE_W 1.0f
#define SCALE_A 10.0f
#define SCALE_B 1000.0f
#define SCALE_IDEPTH_INVERSE (1.0f / SCALE_IDEPTH)
#define SCALE_XI_ROT_INVERSE (1.0f / SCALE_XI_ROT)
#define SCALE_XI_TRANS_INVERSE (1.0f / SCALE_XI_TRANS)
#define SCALE_F_INVERSE (1.0f / SCALE_F)
#define SCALE_C_INVERSE (1.0f / SCALE_C)
#define SCALE_W_INVERSE (1.0f / SCALE_W)
#define SCALE_A_INVERSE (1.0f / SCALE_A)
#define SCALE_B_INVERSE (1.0f / SCALE_B)
struct FrameFramePrecalc
{
EIGEN_MAKE_ALIGNED_OPERATOR_NEW;
// static values
static int instanceCounter;
FrameHessian* host; // defines row
FrameHessian* target; // defines column
// precalc values
Mat33f PRE_RTll;
Mat33f PRE_KRKiTll;
Mat33f PRE_RKiTll;
Mat33f PRE_RTll_0;
Vec2f PRE_aff_mode;
float PRE_b0_mode;
Vec3f PRE_tTll;
Vec3f PRE_KtTll;
Vec3f PRE_tTll_0;
float distanceLL;
inline ~FrameFramePrecalc() {}
inline FrameFramePrecalc() {host=target=0;}
void set(FrameHessian* host, FrameHessian* target, CalibHessian* HCalib);
};
struct FrameHessian
{
EIGEN_MAKE_ALIGNED_OPERATOR_NEW;
EFFrame* efFrame;
// constant info & pre-calculated values
//DepthImageWrap* frame;
FrameShell* shell;
Eigen::Vector3f* dI; // trace, fine tracking. Used for direction select (not for gradient histograms etc.)
Eigen::Vector3f* dIp[PYR_LEVELS]; // coarse tracking / coarse initializer. NAN in [0] only.
float* absSquaredGrad[PYR_LEVELS]; // only used for pixel select (histograms etc.). no NAN.
int frameID; // incremental ID for keyframes only!
static int instanceCounter;
int idx;
// Photometric Calibration Stuff
float frameEnergyTH; // set dynamically depending on tracking residual
float ab_exposure;
bool flaggedForMarginalization;
std::vector<PointHessian*> pointHessians; // contains all ACTIVE points.
std::vector<PointHessian*> pointHessiansMarginalized; // contains all MARGINALIZED points (= fully marginalized, usually because point went OOB.)
std::vector<PointHessian*> pointHessiansOut; // contains all OUTLIER points (= discarded.).
std::vector<ImmaturePoint*> immaturePoints; // contains all OUTLIER points (= discarded.).
Mat66 nullspaces_pose;
Mat42 nullspaces_affine;
Vec6 nullspaces_scale;
// variable info.
SE3 worldToCam_evalPT;
Vec10 state_zero;
Vec10 state_scaled;
Vec10 state; // [0-5: worldToCam-leftEps. 6-7: a,b]
Vec10 step;
Vec10 step_backup;
Vec10 state_backup;
EIGEN_STRONG_INLINE const SE3 &get_worldToCam_evalPT() const {return worldToCam_evalPT;}
EIGEN_STRONG_INLINE const Vec10 &get_state_zero() const {return state_zero;}
EIGEN_STRONG_INLINE const Vec10 &get_state() const {return state;}
EIGEN_STRONG_INLINE const Vec10 &get_state_scaled() const {return state_scaled;}
EIGEN_STRONG_INLINE const Vec10 get_state_minus_stateZero() const {return get_state() - get_state_zero();}
// precalc values
SE3 PRE_worldToCam;
SE3 PRE_camToWorld;
std::vector<FrameFramePrecalc,Eigen::aligned_allocator<FrameFramePrecalc>> targetPrecalc;
MinimalImageB3* debugImage;
inline Vec6 w2c_leftEps() const {return get_state_scaled().head<6>();}
inline AffLight aff_g2l() const {return AffLight(get_state_scaled()[6], get_state_scaled()[7]);}
inline AffLight aff_g2l_0() const {return AffLight(get_state_zero()[6]*SCALE_A, get_state_zero()[7]*SCALE_B);}
void setStateZero(const Vec10 &state_zero);
inline void setState(const Vec10 &state)
{
this->state = state;
state_scaled.segment<3>(0) = SCALE_XI_TRANS * state.segment<3>(0);
state_scaled.segment<3>(3) = SCALE_XI_ROT * state.segment<3>(3);
state_scaled[6] = SCALE_A * state[6];
state_scaled[7] = SCALE_B * state[7];
state_scaled[8] = SCALE_A * state[8];
state_scaled[9] = SCALE_B * state[9];
PRE_worldToCam = SE3::exp(w2c_leftEps()) * get_worldToCam_evalPT();
PRE_camToWorld = PRE_worldToCam.inverse();
//setCurrentNullspace();
};
inline void setStateScaled(const Vec10 &state_scaled)
{
this->state_scaled = state_scaled;
state.segment<3>(0) = SCALE_XI_TRANS_INVERSE * state_scaled.segment<3>(0);
state.segment<3>(3) = SCALE_XI_ROT_INVERSE * state_scaled.segment<3>(3);
state[6] = SCALE_A_INVERSE * state_scaled[6];
state[7] = SCALE_B_INVERSE * state_scaled[7];
state[8] = SCALE_A_INVERSE * state_scaled[8];
state[9] = SCALE_B_INVERSE * state_scaled[9];
PRE_worldToCam = SE3::exp(w2c_leftEps()) * get_worldToCam_evalPT();
PRE_camToWorld = PRE_worldToCam.inverse();
//setCurrentNullspace();
};
inline void setEvalPT(const SE3 &worldToCam_evalPT, const Vec10 &state)
{
this->worldToCam_evalPT = worldToCam_evalPT;
setState(state);
setStateZero(state);
};
inline void setEvalPT_scaled(const SE3 &worldToCam_evalPT, const AffLight &aff_g2l)
{
Vec10 initial_state = Vec10::Zero();
initial_state[6] = aff_g2l.a;
initial_state[7] = aff_g2l.b;
this->worldToCam_evalPT = worldToCam_evalPT;
setStateScaled(initial_state);
setStateZero(this->get_state());
};
void release();
inline ~FrameHessian()
{
assert(efFrame==0);
release(); instanceCounter--;
for(int i=0;i<pyrLevelsUsed;i++)
{
delete[] dIp[i];
delete[] absSquaredGrad[i];
}
if(debugImage != 0) delete debugImage;
};
inline FrameHessian()
{
instanceCounter++;
flaggedForMarginalization=false;
frameID = -1;
efFrame = 0;
frameEnergyTH = 8*8*patternNum;
debugImage=0;
};
void makeImages(float* color, CalibHessian* HCalib);
inline Vec10 getPrior()
{
Vec10 p = Vec10::Zero();
if(frameID==0)
{
p.head<3>() = Vec3::Constant(setting_initialTransPrior);
p.segment<3>(3) = Vec3::Constant(setting_initialRotPrior);
if(setting_solverMode & SOLVER_REMOVE_POSEPRIOR) p.head<6>().setZero();
p[6] = setting_initialAffAPrior;
p[7] = setting_initialAffBPrior;
}
else
{
if(setting_affineOptModeA < 0)
p[6] = setting_initialAffAPrior;
else
p[6] = setting_affineOptModeA;
if(setting_affineOptModeB < 0)
p[7] = setting_initialAffBPrior;
else
p[7] = setting_affineOptModeB;
}
p[8] = setting_initialAffAPrior;
p[9] = setting_initialAffBPrior;
return p;
}
inline Vec10 getPriorZero()
{
return Vec10::Zero();
}
};
struct CalibHessian
{
EIGEN_MAKE_ALIGNED_OPERATOR_NEW;
static int instanceCounter;
VecC value_zero;
VecC value_scaled;
VecCf value_scaledf;
VecCf value_scaledi;
VecC value;
VecC step;
VecC step_backup;
VecC value_backup;
VecC value_minus_value_zero;
inline ~CalibHessian() {instanceCounter--;}
inline CalibHessian()
{
VecC initial_value = VecC::Zero();
initial_value[0] = fxG[0];
initial_value[1] = fyG[0];
initial_value[2] = cxG[0];
initial_value[3] = cyG[0];
setValueScaled(initial_value);
value_zero = value;
value_minus_value_zero.setZero();
instanceCounter++;
for(int i=0;i<256;i++)
Binv[i] = B[i] = i; // set gamma function to identity
};
// normal mode: use the optimized parameters everywhere!
inline float& fxl() {return value_scaledf[0];}
inline float& fyl() {return value_scaledf[1];}
inline float& cxl() {return value_scaledf[2];}
inline float& cyl() {return value_scaledf[3];}
inline float& fxli() {return value_scaledi[0];}
inline float& fyli() {return value_scaledi[1];}
inline float& cxli() {return value_scaledi[2];}
inline float& cyli() {return value_scaledi[3];}
inline void setValue(const VecC &value)
{
// [0-3: Kl, 4-7: Kr, 8-12: l2r]
this->value = value;
value_scaled[0] = SCALE_F * value[0];
value_scaled[1] = SCALE_F * value[1];
value_scaled[2] = SCALE_C * value[2];
value_scaled[3] = SCALE_C * value[3];
this->value_scaledf = this->value_scaled.cast<float>();
this->value_scaledi[0] = 1.0f / this->value_scaledf[0];
this->value_scaledi[1] = 1.0f / this->value_scaledf[1];
this->value_scaledi[2] = - this->value_scaledf[2] / this->value_scaledf[0];
this->value_scaledi[3] = - this->value_scaledf[3] / this->value_scaledf[1];
this->value_minus_value_zero = this->value - this->value_zero;
};
inline void setValueScaled(const VecC &value_scaled)
{
this->value_scaled = value_scaled;
this->value_scaledf = this->value_scaled.cast<float>();
value[0] = SCALE_F_INVERSE * value_scaled[0];
value[1] = SCALE_F_INVERSE * value_scaled[1];
value[2] = SCALE_C_INVERSE * value_scaled[2];
value[3] = SCALE_C_INVERSE * value_scaled[3];
this->value_minus_value_zero = this->value - this->value_zero;
this->value_scaledi[0] = 1.0f / this->value_scaledf[0];
this->value_scaledi[1] = 1.0f / this->value_scaledf[1];
this->value_scaledi[2] = - this->value_scaledf[2] / this->value_scaledf[0];
this->value_scaledi[3] = - this->value_scaledf[3] / this->value_scaledf[1];
};
float Binv[256];
float B[256];
EIGEN_STRONG_INLINE float getBGradOnly(float color)
{
int c = color+0.5f;
if(c<5) c=5;
if(c>250) c=250;
return B[c+1]-B[c];
}
EIGEN_STRONG_INLINE float getBInvGradOnly(float color)
{
int c = color+0.5f;
if(c<5) c=5;
if(c>250) c=250;
return Binv[c+1]-Binv[c];
}
};
// hessian component associated with one point.
struct PointHessian
{
EIGEN_MAKE_ALIGNED_OPERATOR_NEW;
static int instanceCounter;
EFPoint* efPoint;
// static values
float color[MAX_RES_PER_POINT]; // colors in host frame
float weights[MAX_RES_PER_POINT]; // host-weights for respective residuals.
float u,v;
int idx;
float energyTH;
FrameHessian* host;
bool hasDepthPrior;
float my_type;
float idepth_scaled;
float idepth_zero_scaled;
float idepth_zero;
float idepth;
float step;
float step_backup;
float idepth_backup;
float nullspaces_scale;
float idepth_hessian;
float maxRelBaseline;
int numGoodResiduals;
enum PtStatus {ACTIVE=0, INACTIVE, OUTLIER, OOB, MARGINALIZED};
PtStatus status;
inline void setPointStatus(PtStatus s) {status=s;}
inline void setIdepth(float idepth) {
this->idepth = idepth;
this->idepth_scaled = SCALE_IDEPTH * idepth;
}
inline void setIdepthScaled(float idepth_scaled) {
this->idepth = SCALE_IDEPTH_INVERSE * idepth_scaled;
this->idepth_scaled = idepth_scaled;
}
inline void setIdepthZero(float idepth) {
idepth_zero = idepth;
idepth_zero_scaled = SCALE_IDEPTH * idepth;
nullspaces_scale = -(idepth*1.001 - idepth/1.001)*500;
}
std::vector<PointFrameResidual*> residuals; // only contains good residuals (not OOB and not OUTLIER). Arbitrary order.
std::pair<PointFrameResidual*, ResState> lastResiduals[2]; // contains information about residuals to the last two (!) frames. ([0] = latest, [1] = the one before).
void release();
PointHessian(const ImmaturePoint* const rawPoint, CalibHessian* Hcalib);
inline ~PointHessian() {assert(efPoint==0); release(); instanceCounter--;}
inline bool isOOB(const std::vector<FrameHessian*>& toKeep, const std::vector<FrameHessian*>& toMarg) const
{
int visInToMarg = 0;
for(PointFrameResidual* r : residuals)
{
if(r->state_state != ResState::IN) continue;
for(FrameHessian* k : toMarg)
if(r->target == k) visInToMarg++;
}
if((int)residuals.size() >= setting_minGoodActiveResForMarg &&
numGoodResiduals > setting_minGoodResForMarg+10 &&
(int)residuals.size()-visInToMarg < setting_minGoodActiveResForMarg)
return true;
if(lastResiduals[0].second == ResState::OOB) return true;
if(residuals.size() < 2) return false;
if(lastResiduals[0].second == ResState::OUTLIER && lastResiduals[1].second == ResState::OUTLIER) return true;
return false;
}
inline bool isInlierNew()
{
return (int)residuals.size() >= setting_minGoodActiveResForMarg
&& numGoodResiduals >= setting_minGoodResForMarg;
}
};
}

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src/FullSystem/ImmaturePoint.cpp Normal file
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@@ -0,0 +1,547 @@
/**
* This file is part of DSO.
*
* Copyright 2016 Technical University of Munich and Intel.
* Developed by Jakob Engel <engelj at in dot tum dot de>,
* for more information see <http://vision.in.tum.de/dso>.
* If you use this code, please cite the respective publications as
* listed on the above website.
*
* DSO 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.
*
* DSO 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 DSO. If not, see <http://www.gnu.org/licenses/>.
*/
#include "FullSystem/ImmaturePoint.h"
#include "util/FrameShell.h"
#include "FullSystem/ResidualProjections.h"
namespace dso
{
ImmaturePoint::ImmaturePoint(int u_, int v_, FrameHessian* host_, float type, CalibHessian* HCalib)
: u(u_), v(v_), host(host_), my_type(type), idepth_min(0), idepth_max(NAN), lastTraceStatus(IPS_UNINITIALIZED)
{
gradH.setZero();
for(int idx=0;idx<patternNum;idx++)
{
int dx = patternP[idx][0];
int dy = patternP[idx][1];
Vec3f ptc = getInterpolatedElement33BiLin(host->dI, u+dx, v+dy,wG[0]);
color[idx] = ptc[0];
if(!std::isfinite(color[idx])) {energyTH=NAN; return;}
gradH += ptc.tail<2>() * ptc.tail<2>().transpose();
weights[idx] = sqrtf(setting_outlierTHSumComponent / (setting_outlierTHSumComponent + ptc.tail<2>().squaredNorm()));
}
energyTH = patternNum*setting_outlierTH;
energyTH *= setting_overallEnergyTHWeight*setting_overallEnergyTHWeight;
idepth_GT=0;
quality=10000;
}
ImmaturePoint::~ImmaturePoint()
{
}
/*
* returns
* * OOB -> point is optimized and marginalized
* * UPDATED -> point has been updated.
* * SKIP -> point has not been updated.
*/
ImmaturePointStatus ImmaturePoint::traceOn(FrameHessian* frame,const Mat33f &hostToFrame_KRKi, const Vec3f &hostToFrame_Kt, const Vec2f& hostToFrame_affine, CalibHessian* HCalib, bool debugPrint)
{
if(lastTraceStatus == ImmaturePointStatus::IPS_OOB) return lastTraceStatus;
debugPrint = false;//rand()%100==0;
float maxPixSearch = (wG[0]+hG[0])*setting_maxPixSearch;
if(debugPrint)
printf("trace pt (%.1f %.1f) from frame %d to %d. Range %f -> %f. t %f %f %f!\n",
u,v,
host->shell->id, frame->shell->id,
idepth_min, idepth_max,
hostToFrame_Kt[0],hostToFrame_Kt[1],hostToFrame_Kt[2]);
// const float stepsize = 1.0; // stepsize for initial discrete search.
// const int GNIterations = 3; // max # GN iterations
// const float GNThreshold = 0.1; // GN stop after this stepsize.
// const float extraSlackOnTH = 1.2; // for energy-based outlier check, be slightly more relaxed by this factor.
// const float slackInterval = 0.8; // if pixel-interval is smaller than this, leave it be.
// const float minImprovementFactor = 2; // if pixel-interval is smaller than this, leave it be.
// ============== project min and max. return if one of them is OOB ===================
Vec3f pr = hostToFrame_KRKi * Vec3f(u,v, 1);
Vec3f ptpMin = pr + hostToFrame_Kt*idepth_min;
float uMin = ptpMin[0] / ptpMin[2];
float vMin = ptpMin[1] / ptpMin[2];
if(!(uMin > 4 && vMin > 4 && uMin < wG[0]-5 && vMin < hG[0]-5))
{
if(debugPrint) printf("OOB uMin %f %f - %f %f %f (id %f-%f)!\n",
u,v,uMin, vMin, ptpMin[2], idepth_min, idepth_max);
lastTraceUV = Vec2f(-1,-1);
lastTracePixelInterval=0;
return lastTraceStatus = ImmaturePointStatus::IPS_OOB;
}
float dist;
float uMax;
float vMax;
Vec3f ptpMax;
if(std::isfinite(idepth_max))
{
ptpMax = pr + hostToFrame_Kt*idepth_max;
uMax = ptpMax[0] / ptpMax[2];
vMax = ptpMax[1] / ptpMax[2];
if(!(uMax > 4 && vMax > 4 && uMax < wG[0]-5 && vMax < hG[0]-5))
{
if(debugPrint) printf("OOB uMax %f %f - %f %f!\n",u,v, uMax, vMax);
lastTraceUV = Vec2f(-1,-1);
lastTracePixelInterval=0;
return lastTraceStatus = ImmaturePointStatus::IPS_OOB;
}
// ============== check their distance. everything below 2px is OK (-> skip). ===================
dist = (uMin-uMax)*(uMin-uMax) + (vMin-vMax)*(vMin-vMax);
dist = sqrtf(dist);
if(dist < setting_trace_slackInterval)
{
if(debugPrint)
printf("TOO CERTAIN ALREADY (dist %f)!\n", dist);
lastTraceUV = Vec2f(uMax+uMin, vMax+vMin)*0.5;
lastTracePixelInterval=dist;
return lastTraceStatus = ImmaturePointStatus::IPS_SKIPPED;
}
assert(dist>0);
}
else
{
dist = maxPixSearch;
// project to arbitrary depth to get direction.
ptpMax = pr + hostToFrame_Kt*0.01;
uMax = ptpMax[0] / ptpMax[2];
vMax = ptpMax[1] / ptpMax[2];
// direction.
float dx = uMax-uMin;
float dy = vMax-vMin;
float d = 1.0f / sqrtf(dx*dx+dy*dy);
// set to [setting_maxPixSearch].
uMax = uMin + dist*dx*d;
vMax = vMin + dist*dy*d;
// may still be out!
if(!(uMax > 4 && vMax > 4 && uMax < wG[0]-5 && vMax < hG[0]-5))
{
if(debugPrint) printf("OOB uMax-coarse %f %f %f!\n", uMax, vMax, ptpMax[2]);
lastTraceUV = Vec2f(-1,-1);
lastTracePixelInterval=0;
return lastTraceStatus = ImmaturePointStatus::IPS_OOB;
}
assert(dist>0);
}
// set OOB if scale change too big.
if(!(idepth_min<0 || (ptpMin[2]>0.75 && ptpMin[2]<1.5)))
{
if(debugPrint) printf("OOB SCALE %f %f %f!\n", uMax, vMax, ptpMin[2]);
lastTraceUV = Vec2f(-1,-1);
lastTracePixelInterval=0;
return lastTraceStatus = ImmaturePointStatus::IPS_OOB;
}
// ============== compute error-bounds on result in pixel. if the new interval is not at least 1/2 of the old, SKIP ===================
float dx = setting_trace_stepsize*(uMax-uMin);
float dy = setting_trace_stepsize*(vMax-vMin);
float a = (Vec2f(dx,dy).transpose() * gradH * Vec2f(dx,dy));
float b = (Vec2f(dy,-dx).transpose() * gradH * Vec2f(dy,-dx));
float errorInPixel = 0.2f + 0.2f * (a+b) / a;
if(errorInPixel*setting_trace_minImprovementFactor > dist && std::isfinite(idepth_max))
{
if(debugPrint)
printf("NO SIGNIFICANT IMPROVMENT (%f)!\n", errorInPixel);
lastTraceUV = Vec2f(uMax+uMin, vMax+vMin)*0.5;
lastTracePixelInterval=dist;
return lastTraceStatus = ImmaturePointStatus::IPS_BADCONDITION;
}
if(errorInPixel >10) errorInPixel=10;
// ============== do the discrete search ===================
dx /= dist;
dy /= dist;
if(debugPrint)
printf("trace pt (%.1f %.1f) from frame %d to %d. Range %f (%.1f %.1f) -> %f (%.1f %.1f)! ErrorInPixel %.1f!\n",
u,v,
host->shell->id, frame->shell->id,
idepth_min, uMin, vMin,
idepth_max, uMax, vMax,
errorInPixel
);
if(dist>maxPixSearch)
{
uMax = uMin + maxPixSearch*dx;
vMax = vMin + maxPixSearch*dy;
dist = maxPixSearch;
}
int numSteps = 1.9999f + dist / setting_trace_stepsize;
Mat22f Rplane = hostToFrame_KRKi.topLeftCorner<2,2>();
float randShift = uMin*1000-floorf(uMin*1000);
float ptx = uMin-randShift*dx;
float pty = vMin-randShift*dy;
Vec2f rotatetPattern[MAX_RES_PER_POINT];
for(int idx=0;idx<patternNum;idx++)
rotatetPattern[idx] = Rplane * Vec2f(patternP[idx][0], patternP[idx][1]);
if(!std::isfinite(dx) || !std::isfinite(dy))
{
//printf("COUGHT INF / NAN dxdy (%f %f)!\n", dx, dx);
lastTracePixelInterval=0;
lastTraceUV = Vec2f(-1,-1);
return lastTraceStatus = ImmaturePointStatus::IPS_OOB;
}
float errors[100];
float bestU=0, bestV=0, bestEnergy=1e10;
int bestIdx=-1;
if(numSteps >= 100) numSteps = 99;
for(int i=0;i<numSteps;i++)
{
float energy=0;
for(int idx=0;idx<patternNum;idx++)
{
float hitColor = getInterpolatedElement31(frame->dI,
(float)(ptx+rotatetPattern[idx][0]),
(float)(pty+rotatetPattern[idx][1]),
wG[0]);
if(!std::isfinite(hitColor)) {energy+=1e5; continue;}
float residual = hitColor - (float)(hostToFrame_affine[0] * color[idx] + hostToFrame_affine[1]);
float hw = fabs(residual) < setting_huberTH ? 1 : setting_huberTH / fabs(residual);
energy += hw *residual*residual*(2-hw);
}
if(debugPrint)
printf("step %.1f %.1f (id %f): energy = %f!\n",
ptx, pty, 0.0f, energy);
errors[i] = energy;
if(energy < bestEnergy)
{
bestU = ptx; bestV = pty; bestEnergy = energy; bestIdx = i;
}
ptx+=dx;
pty+=dy;
}
// find best score outside a +-2px radius.
float secondBest=1e10;
for(int i=0;i<numSteps;i++)
{
if((i < bestIdx-setting_minTraceTestRadius || i > bestIdx+setting_minTraceTestRadius) && errors[i] < secondBest)
secondBest = errors[i];
}
float newQuality = secondBest / bestEnergy;
if(newQuality < quality || numSteps > 10) quality = newQuality;
// ============== do GN optimization ===================
float uBak=bestU, vBak=bestV, gnstepsize=1, stepBack=0;
if(setting_trace_GNIterations>0) bestEnergy = 1e5;
int gnStepsGood=0, gnStepsBad=0;
for(int it=0;it<setting_trace_GNIterations;it++)
{
float H = 1, b=0, energy=0;
for(int idx=0;idx<patternNum;idx++)
{
Vec3f hitColor = getInterpolatedElement33(frame->dI,
(float)(bestU+rotatetPattern[idx][0]),
(float)(bestV+rotatetPattern[idx][1]),wG[0]);
if(!std::isfinite((float)hitColor[0])) {energy+=1e5; continue;}
float residual = hitColor[0] - (hostToFrame_affine[0] * color[idx] + hostToFrame_affine[1]);
float dResdDist = dx*hitColor[1] + dy*hitColor[2];
float hw = fabs(residual) < setting_huberTH ? 1 : setting_huberTH / fabs(residual);
H += hw*dResdDist*dResdDist;
b += hw*residual*dResdDist;
energy += weights[idx]*weights[idx]*hw *residual*residual*(2-hw);
}
if(energy > bestEnergy)
{
gnStepsBad++;
// do a smaller step from old point.
stepBack*=0.5;
bestU = uBak + stepBack*dx;
bestV = vBak + stepBack*dy;
if(debugPrint)
printf("GN BACK %d: E %f, H %f, b %f. id-step %f. UV %f %f -> %f %f.\n",
it, energy, H, b, stepBack,
uBak, vBak, bestU, bestV);
}
else
{
gnStepsGood++;
float step = -gnstepsize*b/H;
if(step < -0.5) step = -0.5;
else if(step > 0.5) step=0.5;
if(!std::isfinite(step)) step=0;
uBak=bestU;
vBak=bestV;
stepBack=step;
bestU += step*dx;
bestV += step*dy;
bestEnergy = energy;
if(debugPrint)
printf("GN step %d: E %f, H %f, b %f. id-step %f. UV %f %f -> %f %f.\n",
it, energy, H, b, step,
uBak, vBak, bestU, bestV);
}
if(fabsf(stepBack) < setting_trace_GNThreshold) break;
}
// ============== detect energy-based outlier. ===================
// float absGrad0 = getInterpolatedElement(frame->absSquaredGrad[0],bestU, bestV, wG[0]);
// float absGrad1 = getInterpolatedElement(frame->absSquaredGrad[1],bestU*0.5-0.25, bestV*0.5-0.25, wG[1]);
// float absGrad2 = getInterpolatedElement(frame->absSquaredGrad[2],bestU*0.25-0.375, bestV*0.25-0.375, wG[2]);
if(!(bestEnergy < energyTH*setting_trace_extraSlackOnTH))
// || (absGrad0*areaGradientSlackFactor < host->frameGradTH
// && absGrad1*areaGradientSlackFactor < host->frameGradTH*0.75f
// && absGrad2*areaGradientSlackFactor < host->frameGradTH*0.50f))
{
if(debugPrint)
printf("OUTLIER!\n");
lastTracePixelInterval=0;
lastTraceUV = Vec2f(-1,-1);
if(lastTraceStatus == ImmaturePointStatus::IPS_OUTLIER)
return lastTraceStatus = ImmaturePointStatus::IPS_OOB;
else
return lastTraceStatus = ImmaturePointStatus::IPS_OUTLIER;
}
// ============== set new interval ===================
if(dx*dx>dy*dy)
{
idepth_min = (pr[2]*(bestU-errorInPixel*dx) - pr[0]) / (hostToFrame_Kt[0] - hostToFrame_Kt[2]*(bestU-errorInPixel*dx));
idepth_max = (pr[2]*(bestU+errorInPixel*dx) - pr[0]) / (hostToFrame_Kt[0] - hostToFrame_Kt[2]*(bestU+errorInPixel*dx));
}
else
{
idepth_min = (pr[2]*(bestV-errorInPixel*dy) - pr[1]) / (hostToFrame_Kt[1] - hostToFrame_Kt[2]*(bestV-errorInPixel*dy));
idepth_max = (pr[2]*(bestV+errorInPixel*dy) - pr[1]) / (hostToFrame_Kt[1] - hostToFrame_Kt[2]*(bestV+errorInPixel*dy));
}
if(idepth_min > idepth_max) std::swap<float>(idepth_min, idepth_max);
if(!std::isfinite(idepth_min) || !std::isfinite(idepth_max) || (idepth_max<0))
{
//printf("COUGHT INF / NAN minmax depth (%f %f)!\n", idepth_min, idepth_max);
lastTracePixelInterval=0;
lastTraceUV = Vec2f(-1,-1);
return lastTraceStatus = ImmaturePointStatus::IPS_OUTLIER;
}
lastTracePixelInterval=2*errorInPixel;
lastTraceUV = Vec2f(bestU, bestV);
return lastTraceStatus = ImmaturePointStatus::IPS_GOOD;
}
float ImmaturePoint::getdPixdd(
CalibHessian * HCalib,
ImmaturePointTemporaryResidual* tmpRes,
float idepth)
{
FrameFramePrecalc* precalc = &(host->targetPrecalc[tmpRes->target->idx]);
const Vec3f &PRE_tTll = precalc->PRE_tTll;
float drescale, u=0, v=0, new_idepth;
float Ku, Kv;
Vec3f KliP;
projectPoint(this->u,this->v, idepth, 0, 0,HCalib,
precalc->PRE_RTll,PRE_tTll, drescale, u, v, Ku, Kv, KliP, new_idepth);
float dxdd = (PRE_tTll[0]-PRE_tTll[2]*u)*HCalib->fxl();
float dydd = (PRE_tTll[1]-PRE_tTll[2]*v)*HCalib->fyl();
return drescale*sqrtf(dxdd*dxdd + dydd*dydd);
}
float ImmaturePoint::calcResidual(
CalibHessian * HCalib, const float outlierTHSlack,
ImmaturePointTemporaryResidual* tmpRes,
float idepth)
{
FrameFramePrecalc* precalc = &(host->targetPrecalc[tmpRes->target->idx]);
float energyLeft=0;
const Eigen::Vector3f* dIl = tmpRes->target->dI;
const Mat33f &PRE_KRKiTll = precalc->PRE_KRKiTll;
const Vec3f &PRE_KtTll = precalc->PRE_KtTll;
Vec2f affLL = precalc->PRE_aff_mode;
for(int idx=0;idx<patternNum;idx++)
{
float Ku, Kv;
if(!projectPoint(this->u+patternP[idx][0], this->v+patternP[idx][1], idepth, PRE_KRKiTll, PRE_KtTll, Ku, Kv))
{return 1e10;}
Vec3f hitColor = (getInterpolatedElement33(dIl, Ku, Kv, wG[0]));
if(!std::isfinite((float)hitColor[0])) {return 1e10;}
//if(benchmarkSpecialOption==5) hitColor = (getInterpolatedElement13BiCub(tmpRes->target->I, Ku, Kv, wG[0]));
float residual = hitColor[0] - (affLL[0] * color[idx] + affLL[1]);
float hw = fabsf(residual) < setting_huberTH ? 1 : setting_huberTH / fabsf(residual);
energyLeft += weights[idx]*weights[idx]*hw *residual*residual*(2-hw);
}
if(energyLeft > energyTH*outlierTHSlack)
{
energyLeft = energyTH*outlierTHSlack;
}
return energyLeft;
}
double ImmaturePoint::linearizeResidual(
CalibHessian * HCalib, const float outlierTHSlack,
ImmaturePointTemporaryResidual* tmpRes,
float &Hdd, float &bd,
float idepth)
{
if(tmpRes->state_state == ResState::OOB)
{ tmpRes->state_NewState = ResState::OOB; return tmpRes->state_energy; }
FrameFramePrecalc* precalc = &(host->targetPrecalc[tmpRes->target->idx]);
// check OOB due to scale angle change.
float energyLeft=0;
const Eigen::Vector3f* dIl = tmpRes->target->dI;
const Mat33f &PRE_RTll = precalc->PRE_RTll;
const Vec3f &PRE_tTll = precalc->PRE_tTll;
//const float * const Il = tmpRes->target->I;
Vec2f affLL = precalc->PRE_aff_mode;
for(int idx=0;idx<patternNum;idx++)
{
int dx = patternP[idx][0];
int dy = patternP[idx][1];
float drescale, u, v, new_idepth;
float Ku, Kv;
Vec3f KliP;
if(!projectPoint(this->u,this->v, idepth, dx, dy,HCalib,
PRE_RTll,PRE_tTll, drescale, u, v, Ku, Kv, KliP, new_idepth))
{tmpRes->state_NewState = ResState::OOB; return tmpRes->state_energy;}
Vec3f hitColor = (getInterpolatedElement33(dIl, Ku, Kv, wG[0]));
if(!std::isfinite((float)hitColor[0])) {tmpRes->state_NewState = ResState::OOB; return tmpRes->state_energy;}
float residual = hitColor[0] - (affLL[0] * color[idx] + affLL[1]);
float hw = fabsf(residual) < setting_huberTH ? 1 : setting_huberTH / fabsf(residual);
energyLeft += weights[idx]*weights[idx]*hw *residual*residual*(2-hw);
// depth derivatives.
float dxInterp = hitColor[1]*HCalib->fxl();
float dyInterp = hitColor[2]*HCalib->fyl();
float d_idepth = derive_idepth(PRE_tTll, u, v, dx, dy, dxInterp, dyInterp, drescale);
hw *= weights[idx]*weights[idx];
Hdd += (hw*d_idepth)*d_idepth;
bd += (hw*residual)*d_idepth;
}
if(energyLeft > energyTH*outlierTHSlack)
{
energyLeft = energyTH*outlierTHSlack;
tmpRes->state_NewState = ResState::OUTLIER;
}
else
{
tmpRes->state_NewState = ResState::IN;
}
tmpRes->state_NewEnergy = energyLeft;
return energyLeft;
}
}

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/**
* This file is part of DSO.
*
* Copyright 2016 Technical University of Munich and Intel.
* Developed by Jakob Engel <engelj at in dot tum dot de>,
* for more information see <http://vision.in.tum.de/dso>.
* If you use this code, please cite the respective publications as
* listed on the above website.
*
* DSO 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.
*
* DSO 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 DSO. If not, see <http://www.gnu.org/licenses/>.
*/
#pragma once
#include "util/NumType.h"
#include "FullSystem/HessianBlocks.h"
namespace dso
{
struct ImmaturePointTemporaryResidual
{
public:
ResState state_state;
double state_energy;
ResState state_NewState;
double state_NewEnergy;
FrameHessian* target;
};
enum ImmaturePointStatus {
IPS_GOOD=0, // traced well and good
IPS_OOB, // OOB: end tracking & marginalize!
IPS_OUTLIER, // energy too high: if happens again: outlier!
IPS_SKIPPED, // traced well and good (but not actually traced).
IPS_BADCONDITION, // not traced because of bad condition.
IPS_UNINITIALIZED}; // not even traced once.
class ImmaturePoint
{
public:
EIGEN_MAKE_ALIGNED_OPERATOR_NEW;
// static values
float color[MAX_RES_PER_POINT];
float weights[MAX_RES_PER_POINT];
Mat22f gradH;
Vec2f gradH_ev;
Mat22f gradH_eig;
float energyTH;
float u,v;
FrameHessian* host;
int idxInImmaturePoints;
float quality;
float my_type;
float idepth_min;
float idepth_max;
ImmaturePoint(int u_, int v_, FrameHessian* host_, float type, CalibHessian* HCalib);
~ImmaturePoint();
ImmaturePointStatus traceOn(FrameHessian* frame, const Mat33f &hostToFrame_KRKi, const Vec3f &hostToFrame_Kt, const Vec2f &hostToFrame_affine, CalibHessian* HCalib, bool debugPrint=false);
ImmaturePointStatus lastTraceStatus;
Vec2f lastTraceUV;
float lastTracePixelInterval;
float idepth_GT;
double linearizeResidual(
CalibHessian * HCalib, const float outlierTHSlack,
ImmaturePointTemporaryResidual* tmpRes,
float &Hdd, float &bd,
float idepth);
float getdPixdd(
CalibHessian * HCalib,
ImmaturePointTemporaryResidual* tmpRes,
float idepth);
float calcResidual(
CalibHessian * HCalib, const float outlierTHSlack,
ImmaturePointTemporaryResidual* tmpRes,
float idepth);
private:
};
}

256
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/**
* This file is part of DSO.
*
* Copyright 2016 Technical University of Munich and Intel.
* Developed by Jakob Engel <engelj at in dot tum dot de>,
* for more information see <http://vision.in.tum.de/dso>.
* If you use this code, please cite the respective publications as
* listed on the above website.
*
* DSO 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.
*
* DSO 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 DSO. If not, see <http://www.gnu.org/licenses/>.
*/
#pragma once
#include "util/NumType.h"
namespace dso
{
const float minUseGrad_pixsel = 10;
template<int pot>
inline int gridMaxSelection(Eigen::Vector3f* grads, bool* map_out, int w, int h, float THFac)
{
memset(map_out, 0, sizeof(bool)*w*h);
int numGood = 0;
for(int y=1;y<h-pot;y+=pot)
{
for(int x=1;x<w-pot;x+=pot)
{
int bestXXID = -1;
int bestYYID = -1;
int bestXYID = -1;
int bestYXID = -1;
float bestXX=0, bestYY=0, bestXY=0, bestYX=0;
Eigen::Vector3f* grads0 = grads+x+y*w;
for(int dx=0;dx<pot;dx++)
for(int dy=0;dy<pot;dy++)
{
int idx = dx+dy*w;
Eigen::Vector3f g=grads0[idx];
float sqgd = g.tail<2>().squaredNorm();
float TH = THFac*minUseGrad_pixsel * (0.75f);
if(sqgd > TH*TH)
{
float agx = fabs((float)g[1]);
if(agx > bestXX) {bestXX=agx; bestXXID=idx;}
float agy = fabs((float)g[2]);
if(agy > bestYY) {bestYY=agy; bestYYID=idx;}
float gxpy = fabs((float)(g[1]-g[2]));
if(gxpy > bestXY) {bestXY=gxpy; bestXYID=idx;}
float gxmy = fabs((float)(g[1]+g[2]));
if(gxmy > bestYX) {bestYX=gxmy; bestYXID=idx;}
}
}
bool* map0 = map_out+x+y*w;
if(bestXXID>=0)
{
if(!map0[bestXXID])
numGood++;
map0[bestXXID] = true;
}
if(bestYYID>=0)
{
if(!map0[bestYYID])
numGood++;
map0[bestYYID] = true;
}
if(bestXYID>=0)
{
if(!map0[bestXYID])
numGood++;
map0[bestXYID] = true;
}
if(bestYXID>=0)
{
if(!map0[bestYXID])
numGood++;
map0[bestYXID] = true;
}
}
}
return numGood;
}
inline int gridMaxSelection(Eigen::Vector3f* grads, bool* map_out, int w, int h, int pot, float THFac)
{
memset(map_out, 0, sizeof(bool)*w*h);
int numGood = 0;
for(int y=1;y<h-pot;y+=pot)
{
for(int x=1;x<w-pot;x+=pot)
{
int bestXXID = -1;
int bestYYID = -1;
int bestXYID = -1;
int bestYXID = -1;
float bestXX=0, bestYY=0, bestXY=0, bestYX=0;
Eigen::Vector3f* grads0 = grads+x+y*w;
for(int dx=0;dx<pot;dx++)
for(int dy=0;dy<pot;dy++)
{
int idx = dx+dy*w;
Eigen::Vector3f g=grads0[idx];
float sqgd = g.tail<2>().squaredNorm();
float TH = THFac*minUseGrad_pixsel * (0.75f);
if(sqgd > TH*TH)
{
float agx = fabs((float)g[1]);
if(agx > bestXX) {bestXX=agx; bestXXID=idx;}
float agy = fabs((float)g[2]);
if(agy > bestYY) {bestYY=agy; bestYYID=idx;}
float gxpy = fabs((float)(g[1]-g[2]));
if(gxpy > bestXY) {bestXY=gxpy; bestXYID=idx;}
float gxmy = fabs((float)(g[1]+g[2]));
if(gxmy > bestYX) {bestYX=gxmy; bestYXID=idx;}
}
}
bool* map0 = map_out+x+y*w;
if(bestXXID>=0)
{
if(!map0[bestXXID])
numGood++;
map0[bestXXID] = true;
}
if(bestYYID>=0)
{
if(!map0[bestYYID])
numGood++;
map0[bestYYID] = true;
}
if(bestXYID>=0)
{
if(!map0[bestXYID])
numGood++;
map0[bestXYID] = true;
}
if(bestYXID>=0)
{
if(!map0[bestYXID])
numGood++;
map0[bestYXID] = true;
}
}
}
return numGood;
}
inline int makePixelStatus(Eigen::Vector3f* grads, bool* map, int w, int h, float desiredDensity, int recsLeft=5, float THFac = 1)
{
if(sparsityFactor < 1) sparsityFactor = 1;
int numGoodPoints;
if(sparsityFactor==1) numGoodPoints = gridMaxSelection<1>(grads, map, w, h, THFac);
else if(sparsityFactor==2) numGoodPoints = gridMaxSelection<2>(grads, map, w, h, THFac);
else if(sparsityFactor==3) numGoodPoints = gridMaxSelection<3>(grads, map, w, h, THFac);
else if(sparsityFactor==4) numGoodPoints = gridMaxSelection<4>(grads, map, w, h, THFac);
else if(sparsityFactor==5) numGoodPoints = gridMaxSelection<5>(grads, map, w, h, THFac);
else if(sparsityFactor==6) numGoodPoints = gridMaxSelection<6>(grads, map, w, h, THFac);
else if(sparsityFactor==7) numGoodPoints = gridMaxSelection<7>(grads, map, w, h, THFac);
else if(sparsityFactor==8) numGoodPoints = gridMaxSelection<8>(grads, map, w, h, THFac);
else if(sparsityFactor==9) numGoodPoints = gridMaxSelection<9>(grads, map, w, h, THFac);
else if(sparsityFactor==10) numGoodPoints = gridMaxSelection<10>(grads, map, w, h, THFac);
else if(sparsityFactor==11) numGoodPoints = gridMaxSelection<11>(grads, map, w, h, THFac);
else numGoodPoints = gridMaxSelection(grads, map, w, h, sparsityFactor, THFac);
/*
* #points is approximately proportional to sparsityFactor^2.
*/
float quotia = numGoodPoints / (float)(desiredDensity);
int newSparsity = (sparsityFactor * sqrtf(quotia))+0.7f;
if(newSparsity < 1) newSparsity=1;
float oldTHFac = THFac;
if(newSparsity==1 && sparsityFactor==1) THFac = 0.5;
if((abs(newSparsity-sparsityFactor) < 1 && THFac==oldTHFac) ||
( quotia > 0.8 && 1.0f / quotia > 0.8) ||
recsLeft == 0)
{
// printf(" \n");
//all good
sparsityFactor = newSparsity;
return numGoodPoints;
}
else
{
// printf(" -> re-evaluate! \n");
// re-evaluate.
sparsityFactor = newSparsity;
return makePixelStatus(grads, map, w,h, desiredDensity, recsLeft-1, THFac);
}
}
}

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/**
* This file is part of DSO.
*
* Copyright 2016 Technical University of Munich and Intel.
* Developed by Jakob Engel <engelj at in dot tum dot de>,
* for more information see <http://vision.in.tum.de/dso>.
* If you use this code, please cite the respective publications as
* listed on the above website.
*
* DSO 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.
*
* DSO 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 DSO. If not, see <http://www.gnu.org/licenses/>.
*/
#include "FullSystem/PixelSelector2.h"
//
#include "util/NumType.h"
#include "IOWrapper/ImageDisplay.h"
#include "util/globalCalib.h"
#include "FullSystem/HessianBlocks.h"
#include "util/globalFuncs.h"
namespace dso
{
PixelSelector::PixelSelector(int w, int h)
{
randomPattern = new unsigned char[w*h];
std::srand(3141592); // want to be deterministic.
for(int i=0;i<w*h;i++) randomPattern[i] = rand() & 0xFF;
currentPotential=3;
gradHist = new int[100*(1+w/32)*(1+h/32)];
ths = new float[(w/32)*(h/32)+100];
thsSmoothed = new float[(w/32)*(h/32)+100];
allowFast=false;
gradHistFrame=0;
}
PixelSelector::~PixelSelector()
{
delete[] randomPattern;
delete[] gradHist;
delete[] ths;
delete[] thsSmoothed;
}
int computeHistQuantil(int* hist, float below)
{
int th = hist[0]*below+0.5f;
for(int i=0;i<90;i++)
{
th -= hist[i+1];
if(th<0) return i;
}
return 90;
}
void PixelSelector::makeHists(const FrameHessian* const fh)
{
gradHistFrame = fh;
float * mapmax0 = fh->absSquaredGrad[0];
int w = wG[0];
int h = hG[0];
int w32 = w/32;
int h32 = h/32;
thsStep = w32;
for(int y=0;y<h32;y++)
for(int x=0;x<w32;x++)
{
float* map0 = mapmax0+32*x+32*y*w;
int* hist0 = gradHist;// + 50*(x+y*w32);
memset(hist0,0,sizeof(int)*50);
for(int j=0;j<32;j++) for(int i=0;i<32;i++)
{
int it = i+32*x;
int jt = j+32*y;
if(it>w-2 || jt>h-2 || it<1 || jt<1) continue;
int g = sqrtf(map0[i+j*w]);
if(g>48) g=48;
hist0[g+1]++;
hist0[0]++;
}
ths[x+y*w32] = computeHistQuantil(hist0,setting_minGradHistCut) + setting_minGradHistAdd;
}
for(int y=0;y<h32;y++)
for(int x=0;x<w32;x++)
{
float sum=0,num=0;
if(x>0)
{
if(y>0) {num++; sum+=ths[x-1+(y-1)*w32];}
if(y<h32-1) {num++; sum+=ths[x-1+(y+1)*w32];}
num++; sum+=ths[x-1+(y)*w32];
}
if(x<w32-1)
{
if(y>0) {num++; sum+=ths[x+1+(y-1)*w32];}
if(y<h32-1) {num++; sum+=ths[x+1+(y+1)*w32];}
num++; sum+=ths[x+1+(y)*w32];
}
if(y>0) {num++; sum+=ths[x+(y-1)*w32];}
if(y<h32-1) {num++; sum+=ths[x+(y+1)*w32];}
num++; sum+=ths[x+y*w32];
thsSmoothed[x+y*w32] = (sum/num) * (sum/num);
}
}
int PixelSelector::makeMaps(
const FrameHessian* const fh,
float* map_out, float density, int recursionsLeft, bool plot, float thFactor)
{
float numHave=0;
float numWant=density;
float quotia;
int idealPotential = currentPotential;
// if(setting_pixelSelectionUseFast>0 && allowFast)
// {
// memset(map_out, 0, sizeof(float)*wG[0]*hG[0]);
// std::vector<cv::KeyPoint> pts;
// cv::Mat img8u(hG[0],wG[0],CV_8U);
// for(int i=0;i<wG[0]*hG[0];i++)
// {
// float v = fh->dI[i][0]*0.8;
// img8u.at<uchar>(i) = (!std::isfinite(v) || v>255) ? 255 : v;
// }
// cv::FAST(img8u, pts, setting_pixelSelectionUseFast, true);
// for(unsigned int i=0;i<pts.size();i++)
// {
// int x = pts[i].pt.x+0.5;
// int y = pts[i].pt.y+0.5;
// map_out[x+y*wG[0]]=1;
// numHave++;
// }
//
// printf("FAST selection: got %f / %f!\n", numHave, numWant);
// quotia = numWant / numHave;
// }
// else
{
// the number of selected pixels behaves approximately as
// K / (pot+1)^2, where K is a scene-dependent constant.
// we will allow sub-selecting pixels by up to a quotia of 0.25, otherwise we will re-select.
if(fh != gradHistFrame) makeHists(fh);
// select!
Eigen::Vector3i n = this->select(fh, map_out,currentPotential, thFactor);
// sub-select!
numHave = n[0]+n[1]+n[2];
quotia = numWant / numHave;
// by default we want to over-sample by 40% just to be sure.
float K = numHave * (currentPotential+1) * (currentPotential+1);
idealPotential = sqrtf(K/numWant)-1; // round down.
if(idealPotential<1) idealPotential=1;
if( recursionsLeft>0 && quotia > 1.25 && currentPotential>1)
{
//re-sample to get more points!
// potential needs to be smaller
if(idealPotential>=currentPotential)
idealPotential = currentPotential-1;
// printf("PixelSelector: have %.2f%%, need %.2f%%. RESAMPLE with pot %d -> %d.\n",
// 100*numHave/(float)(wG[0]*hG[0]),
// 100*numWant/(float)(wG[0]*hG[0]),
// currentPotential,
// idealPotential);
currentPotential = idealPotential;
return makeMaps(fh,map_out, density, recursionsLeft-1, plot,thFactor);
}
else if(recursionsLeft>0 && quotia < 0.25)
{
// re-sample to get less points!
if(idealPotential<=currentPotential)
idealPotential = currentPotential+1;
// printf("PixelSelector: have %.2f%%, need %.2f%%. RESAMPLE with pot %d -> %d.\n",
// 100*numHave/(float)(wG[0]*hG[0]),
// 100*numWant/(float)(wG[0]*hG[0]),
// currentPotential,
// idealPotential);
currentPotential = idealPotential;
return makeMaps(fh,map_out, density, recursionsLeft-1, plot,thFactor);
}
}
int numHaveSub = numHave;
if(quotia < 0.95)
{
int wh=wG[0]*hG[0];
int rn=0;
unsigned char charTH = 255*quotia;
for(int i=0;i<wh;i++)
{
if(map_out[i] != 0)
{
if(randomPattern[rn] > charTH )
{
map_out[i]=0;
numHaveSub--;
}
rn++;
}
}
}
// printf("PixelSelector: have %.2f%%, need %.2f%%. KEEPCURR with pot %d -> %d. Subsampled to %.2f%%\n",
// 100*numHave/(float)(wG[0]*hG[0]),
// 100*numWant/(float)(wG[0]*hG[0]),
// currentPotential,
// idealPotential,
// 100*numHaveSub/(float)(wG[0]*hG[0]));
currentPotential = idealPotential;
if(plot)
{
int w = wG[0];
int h = hG[0];
MinimalImageB3 img(w,h);
for(int i=0;i<w*h;i++)
{
float c = fh->dI[i][0]*0.7;
if(c>255) c=255;
img.at(i) = Vec3b(c,c,c);
}
IOWrap::displayImage("Selector Image", &img);
for(int y=0; y<h;y++)
for(int x=0;x<w;x++)
{
int i=x+y*w;
if(map_out[i] == 1)
img.setPixelCirc(x,y,Vec3b(0,255,0));
else if(map_out[i] == 2)
img.setPixelCirc(x,y,Vec3b(255,0,0));
else if(map_out[i] == 4)
img.setPixelCirc(x,y,Vec3b(0,0,255));
}
IOWrap::displayImage("Selector Pixels", &img);
}
return numHaveSub;
}
Eigen::Vector3i PixelSelector::select(const FrameHessian* const fh,
float* map_out, int pot, float thFactor)
{
Eigen::Vector3f const * const map0 = fh->dI;
float * mapmax0 = fh->absSquaredGrad[0];
float * mapmax1 = fh->absSquaredGrad[1];
float * mapmax2 = fh->absSquaredGrad[2];
int w = wG[0];
int w1 = wG[1];
int w2 = wG[2];
int h = hG[0];
const Vec2f directions[16] = {
Vec2f(0, 1.0000),
Vec2f(0.3827, 0.9239),
Vec2f(0.1951, 0.9808),
Vec2f(0.9239, 0.3827),
Vec2f(0.7071, 0.7071),
Vec2f(0.3827, -0.9239),
Vec2f(0.8315, 0.5556),
Vec2f(0.8315, -0.5556),
Vec2f(0.5556, -0.8315),
Vec2f(0.9808, 0.1951),
Vec2f(0.9239, -0.3827),
Vec2f(0.7071, -0.7071),
Vec2f(0.5556, 0.8315),
Vec2f(0.9808, -0.1951),
Vec2f(1.0000, 0.0000),
Vec2f(0.1951, -0.9808)};
memset(map_out,0,w*h*sizeof(PixelSelectorStatus));
float dw1 = setting_gradDownweightPerLevel;
float dw2 = dw1*dw1;
int n3=0, n2=0, n4=0;
for(int y4=0;y4<h;y4+=(4*pot)) for(int x4=0;x4<w;x4+=(4*pot))
{
int my3 = std::min((4*pot), h-y4);
int mx3 = std::min((4*pot), w-x4);
int bestIdx4=-1; float bestVal4=0;
Vec2f dir4 = directions[randomPattern[n2] & 0xF];
for(int y3=0;y3<my3;y3+=(2*pot)) for(int x3=0;x3<mx3;x3+=(2*pot))
{
int x34 = x3+x4;
int y34 = y3+y4;
int my2 = std::min((2*pot), h-y34);
int mx2 = std::min((2*pot), w-x34);
int bestIdx3=-1; float bestVal3=0;
Vec2f dir3 = directions[randomPattern[n2] & 0xF];
for(int y2=0;y2<my2;y2+=pot) for(int x2=0;x2<mx2;x2+=pot)
{
int x234 = x2+x34;
int y234 = y2+y34;
int my1 = std::min(pot, h-y234);
int mx1 = std::min(pot, w-x234);
int bestIdx2=-1; float bestVal2=0;
Vec2f dir2 = directions[randomPattern[n2] & 0xF];
for(int y1=0;y1<my1;y1+=1) for(int x1=0;x1<mx1;x1+=1)
{
assert(x1+x234 < w);
assert(y1+y234 < h);
int idx = x1+x234 + w*(y1+y234);
int xf = x1+x234;
int yf = y1+y234;
if(xf<4 || xf>=w-5 || yf<4 || yf>h-4) continue;
float pixelTH0 = thsSmoothed[(xf>>5) + (yf>>5) * thsStep];
float pixelTH1 = pixelTH0*dw1;
float pixelTH2 = pixelTH1*dw2;
float ag0 = mapmax0[idx];
if(ag0 > pixelTH0*thFactor)
{
Vec2f ag0d = map0[idx].tail<2>();
float dirNorm = fabsf((float)(ag0d.dot(dir2)));
if(!setting_selectDirectionDistribution) dirNorm = ag0;
if(dirNorm > bestVal2)
{ bestVal2 = dirNorm; bestIdx2 = idx; bestIdx3 = -2; bestIdx4 = -2;}
}
if(bestIdx3==-2) continue;
float ag1 = mapmax1[(int)(xf*0.5f+0.25f) + (int)(yf*0.5f+0.25f)*w1];
if(ag1 > pixelTH1*thFactor)
{
Vec2f ag0d = map0[idx].tail<2>();
float dirNorm = fabsf((float)(ag0d.dot(dir3)));
if(!setting_selectDirectionDistribution) dirNorm = ag1;
if(dirNorm > bestVal3)
{ bestVal3 = dirNorm; bestIdx3 = idx; bestIdx4 = -2;}
}
if(bestIdx4==-2) continue;
float ag2 = mapmax2[(int)(xf*0.25f+0.125) + (int)(yf*0.25f+0.125)*w2];
if(ag2 > pixelTH2*thFactor)
{
Vec2f ag0d = map0[idx].tail<2>();
float dirNorm = fabsf((float)(ag0d.dot(dir4)));
if(!setting_selectDirectionDistribution) dirNorm = ag2;
if(dirNorm > bestVal4)
{ bestVal4 = dirNorm; bestIdx4 = idx; }
}
}
if(bestIdx2>0)
{
map_out[bestIdx2] = 1;
bestVal3 = 1e10;
n2++;
}
}
if(bestIdx3>0)
{
map_out[bestIdx3] = 2;
bestVal4 = 1e10;
n3++;
}
}
if(bestIdx4>0)
{
map_out[bestIdx4] = 4;
n4++;
}
}
return Eigen::Vector3i(n2,n3,n4);
}
}

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/**
* This file is part of DSO.
*
* Copyright 2016 Technical University of Munich and Intel.
* Developed by Jakob Engel <engelj at in dot tum dot de>,
* for more information see <http://vision.in.tum.de/dso>.
* If you use this code, please cite the respective publications as
* listed on the above website.
*
* DSO 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.
*
* DSO 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 DSO. If not, see <http://www.gnu.org/licenses/>.
*/
#pragma once
#include "util/NumType.h"
namespace dso
{
enum PixelSelectorStatus {PIXSEL_VOID=0, PIXSEL_1, PIXSEL_2, PIXSEL_3};
class FrameHessian;
class PixelSelector
{
public:
EIGEN_MAKE_ALIGNED_OPERATOR_NEW;
int makeMaps(
const FrameHessian* const fh,
float* map_out, float density, int recursionsLeft=1, bool plot=false, float thFactor=1);
PixelSelector(int w, int h);
~PixelSelector();
int currentPotential;
bool allowFast;
void makeHists(const FrameHessian* const fh);
private:
Eigen::Vector3i select(const FrameHessian* const fh,
float* map_out, int pot, float thFactor=1);
unsigned char* randomPattern;
int* gradHist;
float* ths;
float* thsSmoothed;
int thsStep;
const FrameHessian* gradHistFrame;
};
}

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/**
* This file is part of DSO.
*
* Copyright 2016 Technical University of Munich and Intel.
* Developed by Jakob Engel <engelj at in dot tum dot de>,
* for more information see <http://vision.in.tum.de/dso>.
* If you use this code, please cite the respective publications as
* listed on the above website.
*
* DSO 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.
*
* DSO 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 DSO. If not, see <http://www.gnu.org/licenses/>.
*/
#pragma once
#include "util/NumType.h"
#include "FullSystem/FullSystem.h"
#include "FullSystem/HessianBlocks.h"
#include "util/settings.h"
namespace dso
{
EIGEN_STRONG_INLINE float derive_idepth(
const Vec3f &t, const float &u, const float &v,
const int &dx, const int &dy, const float &dxInterp,
const float &dyInterp, const float &drescale)
{
return (dxInterp*drescale * (t[0]-t[2]*u)
+ dyInterp*drescale * (t[1]-t[2]*v))*SCALE_IDEPTH;
}
EIGEN_STRONG_INLINE bool projectPoint(
const float &u_pt,const float &v_pt,
const float &idepth,
const Mat33f &KRKi, const Vec3f &Kt,
float &Ku, float &Kv)
{
Vec3f ptp = KRKi * Vec3f(u_pt,v_pt, 1) + Kt*idepth;
Ku = ptp[0] / ptp[2];
Kv = ptp[1] / ptp[2];
return Ku>1.1f && Kv>1.1f && Ku<wM3G && Kv<hM3G;
}
EIGEN_STRONG_INLINE bool projectPoint(
const float &u_pt,const float &v_pt,
const float &idepth,
const int &dx, const int &dy,
CalibHessian* const &HCalib,
const Mat33f &R, const Vec3f &t,
float &drescale, float &u, float &v,
float &Ku, float &Kv, Vec3f &KliP, float &new_idepth)
{
KliP = Vec3f(
(u_pt+dx-HCalib->cxl())*HCalib->fxli(),
(v_pt+dy-HCalib->cyl())*HCalib->fyli(),
1);
Vec3f ptp = R * KliP + t*idepth;
drescale = 1.0f/ptp[2];
new_idepth = idepth*drescale;
if(!(drescale>0)) return false;
u = ptp[0] * drescale;
v = ptp[1] * drescale;
Ku = u*HCalib->fxl() + HCalib->cxl();
Kv = v*HCalib->fyl() + HCalib->cyl();
return Ku>1.1f && Kv>1.1f && Ku<wM3G && Kv<hM3G;
}
}

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/**
* This file is part of DSO.
*
* Copyright 2016 Technical University of Munich and Intel.
* Developed by Jakob Engel <engelj at in dot tum dot de>,
* for more information see <http://vision.in.tum.de/dso>.
* If you use this code, please cite the respective publications as
* listed on the above website.
*
* DSO 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.
*
* DSO 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 DSO. If not, see <http://www.gnu.org/licenses/>.
*/
/*
* KFBuffer.cpp
*
* Created on: Jan 7, 2014
* Author: engelj
*/
#include "FullSystem/FullSystem.h"
#include "stdio.h"
#include "util/globalFuncs.h"
#include <Eigen/LU>
#include <algorithm>
#include "IOWrapper/ImageDisplay.h"
#include "util/globalCalib.h"
#include <Eigen/SVD>
#include <Eigen/Eigenvalues>
#include "FullSystem/ResidualProjections.h"
#include "OptimizationBackend/EnergyFunctional.h"
#include "OptimizationBackend/EnergyFunctionalStructs.h"
#include "FullSystem/HessianBlocks.h"
namespace dso
{
int PointFrameResidual::instanceCounter = 0;
long runningResID=0;
PointFrameResidual::PointFrameResidual(){assert(false); instanceCounter++;}
PointFrameResidual::~PointFrameResidual(){assert(efResidual==0); instanceCounter--; delete J;}
PointFrameResidual::PointFrameResidual(PointHessian* point_, FrameHessian* host_, FrameHessian* target_) :
point(point_),
host(host_),
target(target_)
{
efResidual=0;
instanceCounter++;
resetOOB();
J = new RawResidualJacobian();
assert(((long)J)%16==0);
isNew=true;
}
double PointFrameResidual::linearize(CalibHessian* HCalib)
{
state_NewEnergyWithOutlier=-1;
if(state_state == ResState::OOB)
{ state_NewState = ResState::OOB; return state_energy; }
FrameFramePrecalc* precalc = &(host->targetPrecalc[target->idx]);
float energyLeft=0;
const Eigen::Vector3f* dIl = target->dI;
//const float* const Il = target->I;
const Mat33f &PRE_KRKiTll = precalc->PRE_KRKiTll;
const Vec3f &PRE_KtTll = precalc->PRE_KtTll;
const Mat33f &PRE_RTll_0 = precalc->PRE_RTll_0;
const Vec3f &PRE_tTll_0 = precalc->PRE_tTll_0;
const float * const color = point->color;
const float * const weights = point->weights;
Vec2f affLL = precalc->PRE_aff_mode;
float b0 = precalc->PRE_b0_mode;
Vec6f d_xi_x, d_xi_y;
Vec4f d_C_x, d_C_y;
float d_d_x, d_d_y;
{
float drescale, u, v, new_idepth;
float Ku, Kv;
Vec3f KliP;
if(!projectPoint(point->u, point->v, point->idepth_zero_scaled, 0, 0,HCalib,
PRE_RTll_0,PRE_tTll_0, drescale, u, v, Ku, Kv, KliP, new_idepth))
{ state_NewState = ResState::OOB; return state_energy; }
centerProjectedTo = Vec3f(Ku, Kv, new_idepth);
// diff d_idepth
d_d_x = drescale * (PRE_tTll_0[0]-PRE_tTll_0[2]*u)*SCALE_IDEPTH*HCalib->fxl();
d_d_y = drescale * (PRE_tTll_0[1]-PRE_tTll_0[2]*v)*SCALE_IDEPTH*HCalib->fyl();
// diff calib
d_C_x[2] = drescale*(PRE_RTll_0(2,0)*u-PRE_RTll_0(0,0));
d_C_x[3] = HCalib->fxl() * drescale*(PRE_RTll_0(2,1)*u-PRE_RTll_0(0,1)) * HCalib->fyli();
d_C_x[0] = KliP[0]*d_C_x[2];
d_C_x[1] = KliP[1]*d_C_x[3];
d_C_y[2] = HCalib->fyl() * drescale*(PRE_RTll_0(2,0)*v-PRE_RTll_0(1,0)) * HCalib->fxli();
d_C_y[3] = drescale*(PRE_RTll_0(2,1)*v-PRE_RTll_0(1,1));
d_C_y[0] = KliP[0]*d_C_y[2];
d_C_y[1] = KliP[1]*d_C_y[3];
d_C_x[0] = (d_C_x[0]+u)*SCALE_F;
d_C_x[1] *= SCALE_F;
d_C_x[2] = (d_C_x[2]+1)*SCALE_C;
d_C_x[3] *= SCALE_C;
d_C_y[0] *= SCALE_F;
d_C_y[1] = (d_C_y[1]+v)*SCALE_F;
d_C_y[2] *= SCALE_C;
d_C_y[3] = (d_C_y[3]+1)*SCALE_C;
d_xi_x[0] = new_idepth*HCalib->fxl();
d_xi_x[1] = 0;
d_xi_x[2] = -new_idepth*u*HCalib->fxl();
d_xi_x[3] = -u*v*HCalib->fxl();
d_xi_x[4] = (1+u*u)*HCalib->fxl();
d_xi_x[5] = -v*HCalib->fxl();
d_xi_y[0] = 0;
d_xi_y[1] = new_idepth*HCalib->fyl();
d_xi_y[2] = -new_idepth*v*HCalib->fyl();
d_xi_y[3] = -(1+v*v)*HCalib->fyl();
d_xi_y[4] = u*v*HCalib->fyl();
d_xi_y[5] = u*HCalib->fyl();
}
{
J->Jpdxi[0] = d_xi_x;
J->Jpdxi[1] = d_xi_y;
J->Jpdc[0] = d_C_x;
J->Jpdc[1] = d_C_y;
J->Jpdd[0] = d_d_x;
J->Jpdd[1] = d_d_y;
}
float JIdxJIdx_00=0, JIdxJIdx_11=0, JIdxJIdx_10=0;
float JabJIdx_00=0, JabJIdx_01=0, JabJIdx_10=0, JabJIdx_11=0;
float JabJab_00=0, JabJab_01=0, JabJab_11=0;
float wJI2_sum = 0;
for(int idx=0;idx<patternNum;idx++)
{
float Ku, Kv;
if(!projectPoint(point->u+patternP[idx][0], point->v+patternP[idx][1], point->idepth_scaled, PRE_KRKiTll, PRE_KtTll, Ku, Kv))
{ state_NewState = ResState::OOB; return state_energy; }
projectedTo[idx][0] = Ku;
projectedTo[idx][1] = Kv;
Vec3f hitColor = (getInterpolatedElement33(dIl, Ku, Kv, wG[0]));
float residual = hitColor[0] - (float)(affLL[0] * color[idx] + affLL[1]);
float drdA = (color[idx]-b0);
if(!std::isfinite((float)hitColor[0]))
{ state_NewState = ResState::OOB; return state_energy; }
float w = sqrtf(setting_outlierTHSumComponent / (setting_outlierTHSumComponent + hitColor.tail<2>().squaredNorm()));
w = 0.5f*(w + weights[idx]);
float hw = fabsf(residual) < setting_huberTH ? 1 : setting_huberTH / fabsf(residual);
energyLeft += w*w*hw *residual*residual*(2-hw);
{
if(hw < 1) hw = sqrtf(hw);
hw = hw*w;
hitColor[1]*=hw;
hitColor[2]*=hw;
J->resF[idx] = residual*hw;
J->JIdx[0][idx] = hitColor[1];
J->JIdx[1][idx] = hitColor[2];
J->JabF[0][idx] = drdA*hw;
J->JabF[1][idx] = hw;
JIdxJIdx_00+=hitColor[1]*hitColor[1];
JIdxJIdx_11+=hitColor[2]*hitColor[2];
JIdxJIdx_10+=hitColor[1]*hitColor[2];
JabJIdx_00+= drdA*hw * hitColor[1];
JabJIdx_01+= drdA*hw * hitColor[2];
JabJIdx_10+= hw * hitColor[1];
JabJIdx_11+= hw * hitColor[2];
JabJab_00+= drdA*drdA*hw*hw;
JabJab_01+= drdA*hw*hw;
JabJab_11+= hw*hw;
wJI2_sum += hw*hw*(hitColor[1]*hitColor[1]+hitColor[2]*hitColor[2]);
if(setting_affineOptModeA < 0) J->JabF[0][idx]=0;
if(setting_affineOptModeB < 0) J->JabF[1][idx]=0;
}
}
J->JIdx2(0,0) = JIdxJIdx_00;
J->JIdx2(0,1) = JIdxJIdx_10;
J->JIdx2(1,0) = JIdxJIdx_10;
J->JIdx2(1,1) = JIdxJIdx_11;
J->JabJIdx(0,0) = JabJIdx_00;
J->JabJIdx(0,1) = JabJIdx_01;
J->JabJIdx(1,0) = JabJIdx_10;
J->JabJIdx(1,1) = JabJIdx_11;
J->Jab2(0,0) = JabJab_00;
J->Jab2(0,1) = JabJab_01;
J->Jab2(1,0) = JabJab_01;
J->Jab2(1,1) = JabJab_11;
state_NewEnergyWithOutlier = energyLeft;
if(energyLeft > std::max<float>(host->frameEnergyTH, target->frameEnergyTH) || wJI2_sum < 2)
{
energyLeft = std::max<float>(host->frameEnergyTH, target->frameEnergyTH);
state_NewState = ResState::OUTLIER;
}
else
{
state_NewState = ResState::IN;
}
state_NewEnergy = energyLeft;
return energyLeft;
}
void PointFrameResidual::debugPlot()
{
if(state_state==ResState::OOB) return;
Vec3b cT = Vec3b(0,0,0);
if(freeDebugParam5==0)
{
float rT = 20*sqrt(state_energy/9);
if(rT<0) rT=0; if(rT>255)rT=255;
cT = Vec3b(0,255-rT,rT);
}
else
{
if(state_state == ResState::IN) cT = Vec3b(255,0,0);
else if(state_state == ResState::OOB) cT = Vec3b(255,255,0);
else if(state_state == ResState::OUTLIER) cT = Vec3b(0,0,255);
else cT = Vec3b(255,255,255);
}
for(int i=0;i<patternNum;i++)
{
if((projectedTo[i][0] > 2 && projectedTo[i][1] > 2 && projectedTo[i][0] < wG[0]-3 && projectedTo[i][1] < hG[0]-3 ))
target->debugImage->setPixel1((float)projectedTo[i][0], (float)projectedTo[i][1],cT);
}
}
void PointFrameResidual::applyRes(bool copyJacobians)
{
if(copyJacobians)
{
if(state_state == ResState::OOB)
{
assert(!efResidual->isActiveAndIsGoodNEW);
return; // can never go back from OOB
}
if(state_NewState == ResState::IN)// && )
{
efResidual->isActiveAndIsGoodNEW=true;
efResidual->takeDataF();
}
else
{
efResidual->isActiveAndIsGoodNEW=false;
}
}
setState(state_NewState);
state_energy = state_NewEnergy;
}
}

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/**
* This file is part of DSO.
*
* Copyright 2016 Technical University of Munich and Intel.
* Developed by Jakob Engel <engelj at in dot tum dot de>,
* for more information see <http://vision.in.tum.de/dso>.
* If you use this code, please cite the respective publications as
* listed on the above website.
*
* DSO 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.
*
* DSO 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 DSO. If not, see <http://www.gnu.org/licenses/>.
*/
#pragma once
#include "util/globalCalib.h"
#include "vector"
#include "util/NumType.h"
#include <iostream>
#include <fstream>
#include "util/globalFuncs.h"
#include "OptimizationBackend/RawResidualJacobian.h"
namespace dso
{
class PointHessian;
class FrameHessian;
class CalibHessian;
class EFResidual;
enum ResLocation {ACTIVE=0, LINEARIZED, MARGINALIZED, NONE};
enum ResState {IN=0, OOB, OUTLIER};
struct FullJacRowT
{
Eigen::Vector2f projectedTo[MAX_RES_PER_POINT];
};
class PointFrameResidual
{
public:
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
EFResidual* efResidual;
static int instanceCounter;
ResState state_state;
double state_energy;
ResState state_NewState;
double state_NewEnergy;
double state_NewEnergyWithOutlier;
void setState(ResState s) {state_state = s;}
PointHessian* point;
FrameHessian* host;
FrameHessian* target;
RawResidualJacobian* J;
bool isNew;
Eigen::Vector2f projectedTo[MAX_RES_PER_POINT];
Vec3f centerProjectedTo;
~PointFrameResidual();
PointFrameResidual();
PointFrameResidual(PointHessian* point_, FrameHessian* host_, FrameHessian* target_);
double linearize(CalibHessian* HCalib);
void resetOOB()
{
state_NewEnergy = state_energy = 0;
state_NewState = ResState::OUTLIER;
setState(ResState::IN);
};
void applyRes( bool copyJacobians);
void debugPlot();
void printRows(std::vector<VecX> &v, VecX &r, int nFrames, int nPoints, int M, int res);
};
}

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/**
* This file is part of DSO.
*
* Copyright 2016 Technical University of Munich and Intel.
* Developed by Jakob Engel <engelj at in dot tum dot de>,
* for more information see <http://vision.in.tum.de/dso>.
* If you use this code, please cite the respective publications as
* listed on the above website.
*
* DSO 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.
*
* DSO 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 DSO. If not, see <http://www.gnu.org/licenses/>.
*/
#pragma once
#include <vector>
#include "util/NumType.h"
#include "util/MinimalImage.h"
namespace dso
{
namespace IOWrap
{
void displayImage(const char* windowName, const MinimalImageB* img, bool autoSize = false);
void displayImage(const char* windowName, const MinimalImageB3* img, bool autoSize = false);
void displayImage(const char* windowName, const MinimalImageF* img, bool autoSize = false);
void displayImage(const char* windowName, const MinimalImageF3* img, bool autoSize = false);
void displayImage(const char* windowName, const MinimalImageB16* img, bool autoSize = false);
void displayImageStitch(const char* windowName, const std::vector<MinimalImageB*> images, int cc=0, int rc=0);
void displayImageStitch(const char* windowName, const std::vector<MinimalImageB3*> images, int cc=0, int rc=0);
void displayImageStitch(const char* windowName, const std::vector<MinimalImageF*> images, int cc=0, int rc=0);
void displayImageStitch(const char* windowName, const std::vector<MinimalImageF3*> images, int cc=0, int rc=0);
int waitKey(int milliseconds);
void closeAllWindows();
}
}

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/**
* This file is part of DSO.
*
* Copyright 2016 Technical University of Munich and Intel.
* Developed by Jakob Engel <engelj at in dot tum dot de>,
* for more information see <http://vision.in.tum.de/dso>.
* If you use this code, please cite the respective publications as
* listed on the above website.
*
* DSO 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.
*
* DSO 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 DSO. If not, see <http://www.gnu.org/licenses/>.
*/
#include "IOWrapper/ImageDisplay.h"
namespace dso
{
namespace IOWrap
{
void displayImage(const char* windowName, const MinimalImageB* img, bool autoSize) {};
void displayImage(const char* windowName, const MinimalImageB3* img, bool autoSize) {};
void displayImage(const char* windowName, const MinimalImageF* img, bool autoSize) {};
void displayImage(const char* windowName, const MinimalImageF3* img, bool autoSize) {};
void displayImage(const char* windowName, const MinimalImageB16* img, bool autoSize) {};
void displayImageStitch(const char* windowName, const std::vector<MinimalImageB*> images, int cc, int rc) {};
void displayImageStitch(const char* windowName, const std::vector<MinimalImageB3*> images, int cc, int rc) {};
void displayImageStitch(const char* windowName, const std::vector<MinimalImageF*> images, int cc, int rc) {};
void displayImageStitch(const char* windowName, const std::vector<MinimalImageF3*> images, int cc, int rc) {};
int waitKey(int milliseconds) {return 0;};
void closeAllWindows() {};
}
}

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/**
* This file is part of DSO.
*
* Copyright 2016 Technical University of Munich and Intel.
* Developed by Jakob Engel <engelj at in dot tum dot de>,
* for more information see <http://vision.in.tum.de/dso>.
* If you use this code, please cite the respective publications as
* listed on the above website.
*
* DSO 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.
*
* DSO 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 DSO. If not, see <http://www.gnu.org/licenses/>.
*/
#pragma once
#include "util/NumType.h"
#include "util/MinimalImage.h"
namespace dso
{
namespace IOWrap
{
MinimalImageB* readImageBW_8U(std::string filename);
MinimalImageB3* readImageRGB_8U(std::string filename);
MinimalImage<unsigned short>* readImageBW_16U(std::string filename);
MinimalImageB* readStreamBW_8U(char* data, int numBytes);
void writeImage(std::string filename, MinimalImageB* img);
void writeImage(std::string filename, MinimalImageB3* img);
void writeImage(std::string filename, MinimalImageF* img);
void writeImage(std::string filename, MinimalImageF3* img);
}
}

46
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/**
* This file is part of DSO.
*
* Copyright 2016 Technical University of Munich and Intel.
* Developed by Jakob Engel <engelj at in dot tum dot de>,
* for more information see <http://vision.in.tum.de/dso>.
* If you use this code, please cite the respective publications as
* listed on the above website.
*
* DSO 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.
*
* DSO 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 DSO. If not, see <http://www.gnu.org/licenses/>.
*/
#include "IOWrapper/ImageRW.h"
namespace dso
{
namespace IOWrap
{
MinimalImageB* readImageBW_8U(std::string filename) {printf("not implemented. bye!\n"); return 0;};
MinimalImageB3* readImageRGB_8U(std::string filename) {printf("not implemented. bye!\n"); return 0;};
MinimalImage<unsigned short>* readImageBW_16U(std::string filename) {printf("not implemented. bye!\n"); return 0;};
MinimalImageB* readStreamBW_8U(char* data, int numBytes) {printf("not implemented. bye!\n"); return 0;};
void writeImage(std::string filename, MinimalImageB* img) {};
void writeImage(std::string filename, MinimalImageB3* img) {};
void writeImage(std::string filename, MinimalImageF* img) {};
void writeImage(std::string filename, MinimalImageF3* img) {};
}
}

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/**
* This file is part of DSO.
*
* Copyright 2016 Technical University of Munich and Intel.
* Developed by Jakob Engel <engelj at in dot tum dot de>,
* for more information see <http://vision.in.tum.de/dso>.
* If you use this code, please cite the respective publications as
* listed on the above website.
*
* DSO 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.
*
* DSO 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 DSO. If not, see <http://www.gnu.org/licenses/>.
*/
#include "IOWrapper/ImageDisplay.h"
#include <opencv2/highgui/highgui.hpp>
#include <string>
#include <unordered_set>
#include <boost/thread.hpp>
#include "util/settings.h"
namespace dso
{
namespace IOWrap
{
std::unordered_set<std::string> openWindows;
boost::mutex openCVdisplayMutex;
void displayImage(const char* windowName, const cv::Mat& image, bool autoSize)
{
if(disableAllDisplay) return;
boost::unique_lock<boost::mutex> lock(openCVdisplayMutex);
if(!autoSize)
{
if(openWindows.find(windowName) == openWindows.end())
{
cv::namedWindow(windowName, cv::WINDOW_NORMAL);
cv::resizeWindow(windowName, image.cols, image.rows);
openWindows.insert(windowName);
}
}
cv::imshow(windowName, image);
}
void displayImageStitch(const char* windowName, const std::vector<cv::Mat*> images, int cc, int rc)
{
if(disableAllDisplay) return;
if(images.size() == 0) return;
// get dimensions.
int w = images[0]->cols;
int h = images[0]->rows;
int num = std::max((int)setting_maxFrames, (int)images.size());
// get optimal dimensions.
int bestCC = 0;
float bestLoss = 1e10;
for(int cc=1;cc<10;cc++)
{
int ww = w * cc;
int hh = h * ((num+cc-1)/cc);
float wLoss = ww/16.0f;
float hLoss = hh/10.0f;
float loss = std::max(wLoss, hLoss);
if(loss < bestLoss)
{
bestLoss = loss;
bestCC = cc;
}
}
int bestRC = ((num+bestCC-1)/bestCC);
if(cc != 0)
{
bestCC = cc;
bestRC= rc;
}
cv::Mat stitch = cv::Mat(bestRC*h, bestCC*w, images[0]->type());
stitch.setTo(0);
for(int i=0;i<(int)images.size() && i < bestCC*bestRC;i++)
{
int c = i%bestCC;
int r = i/bestCC;
cv::Mat roi = stitch(cv::Rect(c*w, r*h, w,h));
images[i]->copyTo(roi);
}
displayImage(windowName, stitch, false);
}
void displayImage(const char* windowName, const MinimalImageB* img, bool autoSize)
{
displayImage(windowName, cv::Mat(img->h, img->w, CV_8U, img->data), autoSize);
}
void displayImage(const char* windowName, const MinimalImageB3* img, bool autoSize)
{
displayImage(windowName, cv::Mat(img->h, img->w, CV_8UC3, img->data), autoSize);
}
void displayImage(const char* windowName, const MinimalImageF* img, bool autoSize)
{
displayImage(windowName, cv::Mat(img->h, img->w, CV_32F, img->data)*(1/254.0f), autoSize);
}
void displayImage(const char* windowName, const MinimalImageF3* img, bool autoSize)
{
displayImage(windowName, cv::Mat(img->h, img->w, CV_32FC3, img->data)*(1/254.0f), autoSize);
}
void displayImage(const char* windowName, const MinimalImageB16* img, bool autoSize)
{
displayImage(windowName, cv::Mat(img->h, img->w, CV_16U, img->data), autoSize);
}
void displayImageStitch(const char* windowName, const std::vector<MinimalImageB*> images, int cc, int rc)
{
std::vector<cv::Mat*> imagesCV;
for(size_t i=0; i < images.size();i++)
imagesCV.push_back(new cv::Mat(images[i]->h, images[i]->w, CV_8U, images[i]->data));
displayImageStitch(windowName, imagesCV, cc, rc);
for(size_t i=0; i < images.size();i++)
delete imagesCV[i];
}
void displayImageStitch(const char* windowName, const std::vector<MinimalImageB3*> images, int cc, int rc)
{
std::vector<cv::Mat*> imagesCV;
for(size_t i=0; i < images.size();i++)
imagesCV.push_back(new cv::Mat(images[i]->h, images[i]->w, CV_8UC3, images[i]->data));
displayImageStitch(windowName, imagesCV, cc, rc);
for(size_t i=0; i < images.size();i++)
delete imagesCV[i];
}
void displayImageStitch(const char* windowName, const std::vector<MinimalImageF*> images, int cc, int rc)
{
std::vector<cv::Mat*> imagesCV;
for(size_t i=0; i < images.size();i++)
imagesCV.push_back(new cv::Mat(images[i]->h, images[i]->w, CV_32F, images[i]->data));
displayImageStitch(windowName, imagesCV, cc, rc);
for(size_t i=0; i < images.size();i++)
delete imagesCV[i];
}
void displayImageStitch(const char* windowName, const std::vector<MinimalImageF3*> images, int cc, int rc)
{
std::vector<cv::Mat*> imagesCV;
for(size_t i=0; i < images.size();i++)
imagesCV.push_back(new cv::Mat(images[i]->h, images[i]->w, CV_32FC3, images[i]->data));
displayImageStitch(windowName, imagesCV, cc, rc);
for(size_t i=0; i < images.size();i++)
delete imagesCV[i];
}
int waitKey(int milliseconds)
{
if(disableAllDisplay) return 0;
boost::unique_lock<boost::mutex> lock(openCVdisplayMutex);
return cv::waitKey(milliseconds);
}
void closeAllWindows()
{
if(disableAllDisplay) return;
boost::unique_lock<boost::mutex> lock(openCVdisplayMutex);
cv::destroyAllWindows();
openWindows.clear();
}
}
}

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/**
* This file is part of DSO.
*
* Copyright 2016 Technical University of Munich and Intel.
* Developed by Jakob Engel <engelj at in dot tum dot de>,
* for more information see <http://vision.in.tum.de/dso>.
* If you use this code, please cite the respective publications as
* listed on the above website.
*
* DSO 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.
*
* DSO 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 DSO. If not, see <http://www.gnu.org/licenses/>.
*/
#include "IOWrapper/ImageRW.h"
#include <opencv2/highgui/highgui.hpp>
namespace dso
{
namespace IOWrap
{
MinimalImageB* readImageBW_8U(std::string filename)
{
cv::Mat m = cv::imread(filename, CV_LOAD_IMAGE_GRAYSCALE);
if(m.rows*m.cols==0)
{
printf("cv::imread could not read image %s! this may segfault. \n", filename.c_str());
return 0;
}
if(m.type() != CV_8U)
{
printf("cv::imread did something strange! this may segfault. \n");
return 0;
}
MinimalImageB* img = new MinimalImageB(m.cols, m.rows);
memcpy(img->data, m.data, m.rows*m.cols);
return img;
}
MinimalImageB3* readImageRGB_8U(std::string filename)
{
cv::Mat m = cv::imread(filename, CV_LOAD_IMAGE_COLOR);
if(m.rows*m.cols==0)
{
printf("cv::imread could not read image %s! this may segfault. \n", filename.c_str());
return 0;
}
if(m.type() != CV_8UC3)
{
printf("cv::imread did something strange! this may segfault. \n");
return 0;
}
MinimalImageB3* img = new MinimalImageB3(m.cols, m.rows);
memcpy(img->data, m.data, 3*m.rows*m.cols);
return img;
}
MinimalImage<unsigned short>* readImageBW_16U(std::string filename)
{
cv::Mat m = cv::imread(filename, CV_LOAD_IMAGE_UNCHANGED);
if(m.rows*m.cols==0)
{
printf("cv::imread could not read image %s! this may segfault. \n", filename.c_str());
return 0;
}
if(m.type() != CV_16U)
{
printf("readImageBW_16U called on image that is not a 16bit grayscale image. this may segfault. \n");
return 0;
}
MinimalImage<unsigned short>* img = new MinimalImage<unsigned short>(m.cols, m.rows);
memcpy(img->data, m.data, 2*m.rows*m.cols);
return img;
}
MinimalImageB* readStreamBW_8U(char* data, int numBytes)
{
cv::Mat m = cv::imdecode(cv::Mat(numBytes,1,CV_8U, data), CV_LOAD_IMAGE_GRAYSCALE);
if(m.rows*m.cols==0)
{
printf("cv::imdecode could not read stream (%d bytes)! this may segfault. \n", numBytes);
return 0;
}
if(m.type() != CV_8U)
{
printf("cv::imdecode did something strange! this may segfault. \n");
return 0;
}
MinimalImageB* img = new MinimalImageB(m.cols, m.rows);
memcpy(img->data, m.data, m.rows*m.cols);
return img;
}
void writeImage(std::string filename, MinimalImageB* img)
{
cv::imwrite(filename, cv::Mat(img->h, img->w, CV_8U, img->data));
}
void writeImage(std::string filename, MinimalImageB3* img)
{
cv::imwrite(filename, cv::Mat(img->h, img->w, CV_8UC3, img->data));
}
void writeImage(std::string filename, MinimalImageF* img)
{
cv::imwrite(filename, cv::Mat(img->h, img->w, CV_32F, img->data));
}
void writeImage(std::string filename, MinimalImageF3* img)
{
cv::imwrite(filename, cv::Mat(img->h, img->w, CV_32FC3, img->data));
}
}
}

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/**
* This file is part of DSO.
*
* Copyright 2016 Technical University of Munich and Intel.
* Developed by Jakob Engel <engelj at in dot tum dot de>,
* for more information see <http://vision.in.tum.de/dso>.
* If you use this code, please cite the respective publications as
* listed on the above website.
*
* DSO 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.
*
* DSO 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 DSO. If not, see <http://www.gnu.org/licenses/>.
*/
#pragma once
#include <vector>
#include <string>
#include "util/NumType.h"
#include "util/MinimalImage.h"
#include "map"
namespace cv {
class Mat;
}
namespace dso
{
class FrameHessian;
class CalibHessian;
class FrameShell;
namespace IOWrap
{
/* ======================= Some typical usecases: ===============
*
* (1) always get the pose of the most recent frame:
* -> Implement [publishCamPose].
*
* (2) always get the depthmap of the most recent keyframe
* -> Implement [pushDepthImageFloat] (use inverse depth in [image], and pose / frame information from [KF]).
*
* (3) accumulate final model
* -> Implement [publishKeyframes] (skip for final!=false), and accumulate frames.
*
* (4) get evolving model in real-time
* -> Implement [publishKeyframes] (update all frames for final==false).
*
*
*
*
* ==================== How to use the structs: ===================
* [FrameShell]: minimal struct kept for each frame ever tracked.
* ->camToWorld = camera to world transformation
* ->poseValid = false if [camToWorld] is invalid (only happens for frames during initialization).
* ->trackingRef = Shell of the frame this frame was tracked on.
* ->id = ID of that frame, starting with 0 for the very first frame.
*
* ->incoming_id = ID passed into [addActiveFrame( ImageAndExposure* image, int id )].
* ->timestamp = timestamp passed into [addActiveFrame( ImageAndExposure* image, int id )] as image.timestamp.
*
* [FrameHessian]
* ->immaturePoints: contains points that have not been "activated" (they do however have a depth initialization).
* ->pointHessians: contains active points.
* ->pointHessiansMarginalized: contains marginalized points.
* ->pointHessiansOut: contains outlier points.
*
* ->frameID: incremental ID for keyframes only.
* ->shell: corresponding [FrameShell] struct.
*
*
* [CalibHessian]
* ->fxl(), fyl(), cxl(), cyl(): get optimized, most recent (pinhole) camera intrinsics.
*
*
* [PointHessian]
* ->u,v: pixel-coordinates of point.
* ->idepth_scaled: inverse depth of point.
* DO NOT USE [idepth], since it may be scaled with [SCALE_IDEPTH] ... however that is currently set to 1 so never mind.
* ->host: pointer to host-frame of point.
* ->status: current status of point (ACTIVE=0, INACTIVE, OUTLIER, OOB, MARGINALIZED)
* ->numGoodResiduals: number of non-outlier residuals supporting this point (approximate).
* ->maxRelBaseline: value roughly proportional to the relative baseline this point was observed with (0 = no baseline).
* points for which this value is low are badly contrained.
* ->idepth_hessian: hessian value (inverse variance) of inverse depth.
*
* [ImmaturePoint]
* ->u,v: pixel-coordinates of point.
* ->idepth_min, idepth_max: the initialization sais that the inverse depth of this point is very likely
* between these two thresholds (their mean being the best guess)
* ->host: pointer to host-frame of point.
*/
class Output3DWrapper
{
public:
Output3DWrapper() {}
virtual ~Output3DWrapper() {}
/* Usage:
* Called once after each new Keyframe is inserted & optimized.
* [connectivity] contains for each frame-frame pair the number of [0] active residuals in between them,
* and [1] the number of marginalized reisduals between them.
* frame-frame pairs are encoded as HASH_IDX = [(int)hostFrameKFID << 32 + (int)targetFrameKFID].
* the [***frameKFID] used for hashing correspond to the [FrameHessian]->frameID.
*
* Calling:
* Always called, no overhead if not used.
*/
virtual void publishGraph(const std::map<uint64_t,Eigen::Vector2i, std::less<uint64_t>, Eigen::aligned_allocator<std::pair<const uint64_t, Eigen::Vector2i> > > &connectivity) {}
/* Usage:
* Called after each new Keyframe is inserted & optimized, with all keyframes that were part of the active window during
* that optimization in [frames] (with final=false). Use to access the new frame pose and points.
* Also called just before a frame is marginalized (with final=true) with only that frame in [frames]; at that point,
* no further updates will ever occur to it's optimized values (pose & idepth values of it's points).
*
* If you want always all most recent values for all frames, just use the [final=false] calls.
* If you only want to get the final model, but don't care about it being delay-free, only use the
* [final=true] calls, to save compute.
*
* Calling:
* Always called, negligible overhead if not used.
*/
virtual void publishKeyframes(std::vector<FrameHessian*> &frames, bool final, CalibHessian* HCalib) {}
/* Usage:
* Called once for each tracked frame, with the real-time, low-delay frame pose.
*
* Calling:
* Always called, no overhead if not used.
*/
virtual void publishCamPose(FrameShell* frame, CalibHessian* HCalib) {}
/* Usage:
* Called once for each new frame, before it is tracked (i.e., it doesn't have a pose yet).
*
* Calling:
* Always called, no overhead if not used.
*/
virtual void pushLiveFrame(FrameHessian* image) {}
/* called once after a new keyframe is created, with the color-coded, forward-warped inverse depthmap for that keyframe,
* which is used for initial alignment of future frames. Meant for visualization.
*
* Calling:
* Needs to prepare the depth image, so it is only called if [needPushDepthImage()] returned true.
*/
virtual void pushDepthImage(MinimalImageB3* image) {}
virtual bool needPushDepthImage() {return false;}
/* Usage:
* called once after a new keyframe is created, with the forward-warped inverse depthmap for that keyframe.
* (<= 0 for pixels without inv. depth value, >0 for pixels with inv. depth value)
*
* Calling:
* Always called, almost no overhead if not used.
*/
virtual void pushDepthImageFloat(MinimalImageF* image, FrameHessian* KF ) {}
/* call on finish */
virtual void join() {}
/* call on reset */
virtual void reset() {}
};
}
}

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/**
* This file is part of DSO.
*
* Copyright 2016 Technical University of Munich and Intel.
* Developed by Jakob Engel <engelj at in dot tum dot de>,
* for more information see <http://vision.in.tum.de/dso>.
* If you use this code, please cite the respective publications as
* listed on the above website.
*
* DSO 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.
*
* DSO 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 DSO. If not, see <http://www.gnu.org/licenses/>.
*/
#pragma once
#include "boost/thread.hpp"
#include "util/MinimalImage.h"
#include "IOWrapper/Output3DWrapper.h"
#include "FullSystem/HessianBlocks.h"
#include "util/FrameShell.h"
namespace dso
{
class FrameHessian;
class CalibHessian;
class FrameShell;
namespace IOWrap
{
class SampleOutputWrapper : public Output3DWrapper
{
public:
inline SampleOutputWrapper()
{
printf("OUT: Created SampleOutputWrapper\n");
}
virtual ~SampleOutputWrapper()
{
printf("OUT: Destroyed SampleOutputWrapper\n");
}
virtual void publishGraph(const std::map<uint64_t, Eigen::Vector2i, std::less<uint64_t>, Eigen::aligned_allocator<std::pair<const uint64_t, Eigen::Vector2i>>> &connectivity) override
{
printf("OUT: got graph with %d edges\n", (int)connectivity.size());
int maxWrite = 5;
for(const std::pair<uint64_t,Eigen::Vector2i> &p : connectivity)
{
int idHost = p.first>>32;
int idTarget = p.first & ((uint64_t)0xFFFFFFFF);
printf("OUT: Example Edge %d -> %d has %d active and %d marg residuals\n", idHost, idTarget, p.second[0], p.second[1]);
maxWrite--;
if(maxWrite==0) break;
}
}
virtual void publishKeyframes( std::vector<FrameHessian*> &frames, bool final, CalibHessian* HCalib) override
{
for(FrameHessian* f : frames)
{
printf("OUT: KF %d (%s) (id %d, tme %f): %d active, %d marginalized, %d immature points. CameraToWorld:\n",
f->frameID,
final ? "final" : "non-final",
f->shell->incoming_id,
f->shell->timestamp,
(int)f->pointHessians.size(), (int)f->pointHessiansMarginalized.size(), (int)f->immaturePoints.size());
std::cout << f->shell->camToWorld.matrix3x4() << "\n";
int maxWrite = 5;
for(PointHessian* p : f->pointHessians)
{
printf("OUT: Example Point x=%.1f, y=%.1f, idepth=%f, idepth std.dev. %f, %d inlier-residuals\n",
p->u, p->v, p->idepth_scaled, sqrt(1.0f / p->idepth_hessian), p->numGoodResiduals );
maxWrite--;
if(maxWrite==0) break;
}
}
}
virtual void publishCamPose(FrameShell* frame, CalibHessian* HCalib) override
{
printf("OUT: Current Frame %d (time %f, internal ID %d). CameraToWorld:\n",
frame->incoming_id,
frame->timestamp,
frame->id);
std::cout << frame->camToWorld.matrix3x4() << "\n";
}
virtual void pushLiveFrame(FrameHessian* image) override
{
// can be used to get the raw image / intensity pyramid.
}
virtual void pushDepthImage(MinimalImageB3* image) override
{
// can be used to get the raw image with depth overlay.
}
virtual bool needPushDepthImage() override
{
return false;
}
virtual void pushDepthImageFloat(MinimalImageF* image, FrameHessian* KF ) override
{
printf("OUT: Predicted depth for KF %d (id %d, time %f, internal frame-ID %d). CameraToWorld:\n",
KF->frameID,
KF->shell->incoming_id,
KF->shell->timestamp,
KF->shell->id);
std::cout << KF->shell->camToWorld.matrix3x4() << "\n";
int maxWrite = 5;
for(int y=0;y<image->h;y++)
{
for(int x=0;x<image->w;x++)
{
if(image->at(x,y) <= 0) continue;
printf("OUT: Example Idepth at pixel (%d,%d): %f.\n", x,y,image->at(x,y));
maxWrite--;
if(maxWrite==0) break;
}
if(maxWrite==0) break;
}
}
};
}
}

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/**
* This file is part of DSO.
*
* Copyright 2016 Technical University of Munich and Intel.
* Developed by Jakob Engel <engelj at in dot tum dot de>,
* for more information see <http://vision.in.tum.de/dso>.
* If you use this code, please cite the respective publications as
* listed on the above website.
*
* DSO 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.
*
* DSO 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 DSO. If not, see <http://www.gnu.org/licenses/>.
*/
#include <stdio.h>
#include "util/settings.h"
//#include <GL/glx.h>
//#include <GL/gl.h>
//#include <GL/glu.h>
#include <pangolin/pangolin.h>
#include "KeyFrameDisplay.h"
#include "FullSystem/HessianBlocks.h"
#include "FullSystem/ImmaturePoint.h"
#include "util/FrameShell.h"
namespace dso
{
namespace IOWrap
{
KeyFrameDisplay::KeyFrameDisplay()
{
originalInputSparse = 0;
numSparseBufferSize=0;
numSparsePoints=0;
id = 0;
active= true;
camToWorld = SE3();
needRefresh=true;
my_scaledTH =1e10;
my_absTH = 1e10;
my_displayMode = 1;
my_minRelBS = 0;
my_sparsifyFactor = 1;
numGLBufferPoints=0;
bufferValid = false;
}
void KeyFrameDisplay::setFromF(FrameShell* frame, CalibHessian* HCalib)
{
id = frame->id;
fx = HCalib->fxl();
fy = HCalib->fyl();
cx = HCalib->cxl();
cy = HCalib->cyl();
width = wG[0];
height = hG[0];
fxi = 1/fx;
fyi = 1/fy;
cxi = -cx / fx;
cyi = -cy / fy;
camToWorld = frame->camToWorld;
needRefresh=true;
}
void KeyFrameDisplay::setFromKF(FrameHessian* fh, CalibHessian* HCalib)
{
setFromF(fh->shell, HCalib);
// add all traces, inlier and outlier points.
int npoints = fh->immaturePoints.size() +
fh->pointHessians.size() +
fh->pointHessiansMarginalized.size() +
fh->pointHessiansOut.size();
if(numSparseBufferSize < npoints)
{
if(originalInputSparse != 0) delete originalInputSparse;
numSparseBufferSize = npoints+100;
originalInputSparse = new InputPointSparse<MAX_RES_PER_POINT>[numSparseBufferSize];
}
InputPointSparse<MAX_RES_PER_POINT>* pc = originalInputSparse;
numSparsePoints=0;
for(ImmaturePoint* p : fh->immaturePoints)
{
for(int i=0;i<patternNum;i++)
pc[numSparsePoints].color[i] = p->color[i];
pc[numSparsePoints].u = p->u;
pc[numSparsePoints].v = p->v;
pc[numSparsePoints].idpeth = (p->idepth_max+p->idepth_min)*0.5f;
pc[numSparsePoints].idepth_hessian = 1000;
pc[numSparsePoints].relObsBaseline = 0;
pc[numSparsePoints].numGoodRes = 1;
pc[numSparsePoints].status = 0;
numSparsePoints++;
}
for(PointHessian* p : fh->pointHessians)
{
for(int i=0;i<patternNum;i++)
pc[numSparsePoints].color[i] = p->color[i];
pc[numSparsePoints].u = p->u;
pc[numSparsePoints].v = p->v;
pc[numSparsePoints].idpeth = p->idepth_scaled;
pc[numSparsePoints].relObsBaseline = p->maxRelBaseline;
pc[numSparsePoints].idepth_hessian = p->idepth_hessian;
pc[numSparsePoints].numGoodRes = 0;
pc[numSparsePoints].status=1;
numSparsePoints++;
}
for(PointHessian* p : fh->pointHessiansMarginalized)
{
for(int i=0;i<patternNum;i++)
pc[numSparsePoints].color[i] = p->color[i];
pc[numSparsePoints].u = p->u;
pc[numSparsePoints].v = p->v;
pc[numSparsePoints].idpeth = p->idepth_scaled;
pc[numSparsePoints].relObsBaseline = p->maxRelBaseline;
pc[numSparsePoints].idepth_hessian = p->idepth_hessian;
pc[numSparsePoints].numGoodRes = 0;
pc[numSparsePoints].status=2;
numSparsePoints++;
}
for(PointHessian* p : fh->pointHessiansOut)
{
for(int i=0;i<patternNum;i++)
pc[numSparsePoints].color[i] = p->color[i];
pc[numSparsePoints].u = p->u;
pc[numSparsePoints].v = p->v;
pc[numSparsePoints].idpeth = p->idepth_scaled;
pc[numSparsePoints].relObsBaseline = p->maxRelBaseline;
pc[numSparsePoints].idepth_hessian = p->idepth_hessian;
pc[numSparsePoints].numGoodRes = 0;
pc[numSparsePoints].status=3;
numSparsePoints++;
}
assert(numSparsePoints <= npoints);
camToWorld = fh->PRE_camToWorld;
needRefresh=true;
}
KeyFrameDisplay::~KeyFrameDisplay()
{
if(originalInputSparse != 0)
delete[] originalInputSparse;
}
bool KeyFrameDisplay::refreshPC(bool canRefresh, float scaledTH, float absTH, int mode, float minBS, int sparsity)
{
if(canRefresh)
{
needRefresh = needRefresh ||
my_scaledTH != scaledTH ||
my_absTH != absTH ||
my_displayMode != mode ||
my_minRelBS != minBS ||
my_sparsifyFactor != sparsity;
}
if(!needRefresh) return false;
needRefresh=false;
my_scaledTH = scaledTH;
my_absTH = absTH;
my_displayMode = mode;
my_minRelBS = minBS;
my_sparsifyFactor = sparsity;
// if there are no vertices, done!
if(numSparsePoints == 0)
return false;
// make data
Vec3f* tmpVertexBuffer = new Vec3f[numSparsePoints*patternNum];
Vec3b* tmpColorBuffer = new Vec3b[numSparsePoints*patternNum];
int vertexBufferNumPoints=0;
for(int i=0;i<numSparsePoints;i++)
{
/* display modes:
* my_displayMode==0 - all pts, color-coded
* my_displayMode==1 - normal points
* my_displayMode==2 - active only
* my_displayMode==3 - nothing
*/
if(my_displayMode==1 && originalInputSparse[i].status != 1 && originalInputSparse[i].status!= 2) continue;
if(my_displayMode==2 && originalInputSparse[i].status != 1) continue;
if(my_displayMode>2) continue;
if(originalInputSparse[i].idpeth < 0) continue;
float depth = 1.0f / originalInputSparse[i].idpeth;
float depth4 = depth*depth; depth4*= depth4;
float var = (1.0f / (originalInputSparse[i].idepth_hessian+0.01));
if(var * depth4 > my_scaledTH)
continue;
if(var > my_absTH)
continue;
if(originalInputSparse[i].relObsBaseline < my_minRelBS)
continue;
for(int pnt=0;pnt<patternNum;pnt++)
{
if(my_sparsifyFactor > 1 && rand()%my_sparsifyFactor != 0) continue;
int dx = patternP[pnt][0];
int dy = patternP[pnt][1];
tmpVertexBuffer[vertexBufferNumPoints][0] = ((originalInputSparse[i].u+dx)*fxi + cxi) * depth;
tmpVertexBuffer[vertexBufferNumPoints][1] = ((originalInputSparse[i].v+dy)*fyi + cyi) * depth;
tmpVertexBuffer[vertexBufferNumPoints][2] = depth*(1 + 2*fxi * (rand()/(float)RAND_MAX-0.5f));
if(my_displayMode==0)
{
if(originalInputSparse[i].status==0)
{
tmpColorBuffer[vertexBufferNumPoints][0] = 0;
tmpColorBuffer[vertexBufferNumPoints][1] = 255;
tmpColorBuffer[vertexBufferNumPoints][2] = 255;
}
else if(originalInputSparse[i].status==1)
{
tmpColorBuffer[vertexBufferNumPoints][0] = 0;
tmpColorBuffer[vertexBufferNumPoints][1] = 255;
tmpColorBuffer[vertexBufferNumPoints][2] = 0;
}
else if(originalInputSparse[i].status==2)
{
tmpColorBuffer[vertexBufferNumPoints][0] = 0;
tmpColorBuffer[vertexBufferNumPoints][1] = 0;
tmpColorBuffer[vertexBufferNumPoints][2] = 255;
}
else if(originalInputSparse[i].status==3)
{
tmpColorBuffer[vertexBufferNumPoints][0] = 255;
tmpColorBuffer[vertexBufferNumPoints][1] = 0;
tmpColorBuffer[vertexBufferNumPoints][2] = 0;
}
else
{
tmpColorBuffer[vertexBufferNumPoints][0] = 255;
tmpColorBuffer[vertexBufferNumPoints][1] = 255;
tmpColorBuffer[vertexBufferNumPoints][2] = 255;
}
}
else
{
tmpColorBuffer[vertexBufferNumPoints][0] = originalInputSparse[i].color[pnt];
tmpColorBuffer[vertexBufferNumPoints][1] = originalInputSparse[i].color[pnt];
tmpColorBuffer[vertexBufferNumPoints][2] = originalInputSparse[i].color[pnt];
}
vertexBufferNumPoints++;
assert(vertexBufferNumPoints <= numSparsePoints*patternNum);
}
}
if(vertexBufferNumPoints==0)
{
delete[] tmpColorBuffer;
delete[] tmpVertexBuffer;
return true;
}
numGLBufferGoodPoints = vertexBufferNumPoints;
if(numGLBufferGoodPoints > numGLBufferPoints)
{
numGLBufferPoints = vertexBufferNumPoints*1.3;
vertexBuffer.Reinitialise(pangolin::GlArrayBuffer, numGLBufferPoints, GL_FLOAT, 3, GL_DYNAMIC_DRAW );
colorBuffer.Reinitialise(pangolin::GlArrayBuffer, numGLBufferPoints, GL_UNSIGNED_BYTE, 3, GL_DYNAMIC_DRAW );
}
vertexBuffer.Upload(tmpVertexBuffer, sizeof(float)*3*numGLBufferGoodPoints, 0);
colorBuffer.Upload(tmpColorBuffer, sizeof(unsigned char)*3*numGLBufferGoodPoints, 0);
bufferValid=true;
delete[] tmpColorBuffer;
delete[] tmpVertexBuffer;
return true;
}
void KeyFrameDisplay::drawCam(float lineWidth, float* color, float sizeFactor)
{
if(width == 0)
return;
float sz=sizeFactor;
glPushMatrix();
Sophus::Matrix4f m = camToWorld.matrix().cast<float>();
glMultMatrixf((GLfloat*)m.data());
if(color == 0)
{
glColor3f(1,0,0);
}
else
glColor3f(color[0],color[1],color[2]);
glLineWidth(lineWidth);
glBegin(GL_LINES);
glVertex3f(0,0,0);
glVertex3f(sz*(0-cx)/fx,sz*(0-cy)/fy,sz);
glVertex3f(0,0,0);
glVertex3f(sz*(0-cx)/fx,sz*(height-1-cy)/fy,sz);
glVertex3f(0,0,0);
glVertex3f(sz*(width-1-cx)/fx,sz*(height-1-cy)/fy,sz);
glVertex3f(0,0,0);
glVertex3f(sz*(width-1-cx)/fx,sz*(0-cy)/fy,sz);
glVertex3f(sz*(width-1-cx)/fx,sz*(0-cy)/fy,sz);
glVertex3f(sz*(width-1-cx)/fx,sz*(height-1-cy)/fy,sz);
glVertex3f(sz*(width-1-cx)/fx,sz*(height-1-cy)/fy,sz);
glVertex3f(sz*(0-cx)/fx,sz*(height-1-cy)/fy,sz);
glVertex3f(sz*(0-cx)/fx,sz*(height-1-cy)/fy,sz);
glVertex3f(sz*(0-cx)/fx,sz*(0-cy)/fy,sz);
glVertex3f(sz*(0-cx)/fx,sz*(0-cy)/fy,sz);
glVertex3f(sz*(width-1-cx)/fx,sz*(0-cy)/fy,sz);
glEnd();
glPopMatrix();
}
void KeyFrameDisplay::drawPC(float pointSize)
{
if(!bufferValid || numGLBufferGoodPoints==0)
return;
glDisable(GL_LIGHTING);
glPushMatrix();
Sophus::Matrix4f m = camToWorld.matrix().cast<float>();
glMultMatrixf((GLfloat*)m.data());
glPointSize(pointSize);
colorBuffer.Bind();
glColorPointer(colorBuffer.count_per_element, colorBuffer.datatype, 0, 0);
glEnableClientState(GL_COLOR_ARRAY);
vertexBuffer.Bind();
glVertexPointer(vertexBuffer.count_per_element, vertexBuffer.datatype, 0, 0);
glEnableClientState(GL_VERTEX_ARRAY);
glDrawArrays(GL_POINTS, 0, numGLBufferGoodPoints);
glDisableClientState(GL_VERTEX_ARRAY);
vertexBuffer.Unbind();
glDisableClientState(GL_COLOR_ARRAY);
colorBuffer.Unbind();
glPopMatrix();
}
}
}

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/**
* This file is part of DSO.
*
* Copyright 2016 Technical University of Munich and Intel.
* Developed by Jakob Engel <engelj at in dot tum dot de>,
* for more information see <http://vision.in.tum.de/dso>.
* If you use this code, please cite the respective publications as
* listed on the above website.
*
* DSO 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.
*
* DSO 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 DSO. If not, see <http://www.gnu.org/licenses/>.
*/
#pragma once
#undef Success
#include <Eigen/Core>
#include "util/NumType.h"
#include <pangolin/pangolin.h>
#include <sstream>
#include <fstream>
namespace dso
{
class CalibHessian;
class FrameHessian;
class FrameShell;
namespace IOWrap
{
template<int ppp>
struct InputPointSparse
{
float u;
float v;
float idpeth;
float idepth_hessian;
float relObsBaseline;
int numGoodRes;
unsigned char color[ppp];
unsigned char status;
};
struct MyVertex
{
float point[3];
unsigned char color[4];
};
// stores a pointcloud associated to a Keyframe.
class KeyFrameDisplay
{
public:
EIGEN_MAKE_ALIGNED_OPERATOR_NEW;
KeyFrameDisplay();
~KeyFrameDisplay();
// copies points from KF over to internal buffer,
// keeping some additional information so we can render it differently.
void setFromKF(FrameHessian* fh, CalibHessian* HCalib);
// copies points from KF over to internal buffer,
// keeping some additional information so we can render it differently.
void setFromF(FrameShell* fs, CalibHessian* HCalib);
// copies & filters internal data to GL buffer for rendering. if nothing to do: does nothing.
bool refreshPC(bool canRefresh, float scaledTH, float absTH, int mode, float minBS, int sparsity);
// renders cam & pointcloud.
void drawCam(float lineWidth = 1, float* color = 0, float sizeFactor=1);
void drawPC(float pointSize);
int id;
bool active;
SE3 camToWorld;
inline bool operator < (const KeyFrameDisplay& other) const
{
return (id < other.id);
}
private:
float fx,fy,cx,cy;
float fxi,fyi,cxi,cyi;
int width, height;
float my_scaledTH, my_absTH, my_scale;
int my_sparsifyFactor;
int my_displayMode;
float my_minRelBS;
bool needRefresh;
int numSparsePoints;
int numSparseBufferSize;
InputPointSparse<MAX_RES_PER_POINT>* originalInputSparse;
bool bufferValid;
int numGLBufferPoints;
int numGLBufferGoodPoints;
pangolin::GlBuffer vertexBuffer;
pangolin::GlBuffer colorBuffer;
};
}
}

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/**
* This file is part of DSO.
*
* Copyright 2016 Technical University of Munich and Intel.
* Developed by Jakob Engel <engelj at in dot tum dot de>,
* for more information see <http://vision.in.tum.de/dso>.
* If you use this code, please cite the respective publications as
* listed on the above website.
*
* DSO 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.
*
* DSO 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 DSO. If not, see <http://www.gnu.org/licenses/>.
*/
#include "PangolinDSOViewer.h"
#include "KeyFrameDisplay.h"
#include "util/settings.h"
#include "util/globalCalib.h"
#include "FullSystem/HessianBlocks.h"
#include "FullSystem/FullSystem.h"
#include "FullSystem/ImmaturePoint.h"
namespace dso
{
namespace IOWrap
{
bool isRotationMatrix(const cv::Mat &R)
{
cv::Mat Rt;
cv::transpose(R, Rt);
cv::Mat shouldBeIdentity = Rt * R;
cv::Mat I = cv::Mat::eye(3,3, shouldBeIdentity.type());
return cv::norm(I, shouldBeIdentity) < 1e-6;
}
Eigen::Vector3d rot2rvec(Eigen::Matrix<double, 3, 3>& Mat, bool changeAngleSign){
// Continue the convertion here.
// Convert from matrix to axis-angle representation.
double angle = acos( (Mat.trace() - 1) / 2 );
Eigen::Vector3d vec = {Mat(2, 1) - Mat(1, 2), Mat(0, 2) - Mat(2, 0), Mat(1, 0) - Mat(0, 1)};
// The unit vector
Eigen::Vector3d axis = {( 1.0 / 2.0 * sin(angle) ) * vec(0), ( 1.0 / 2.0 * sin(angle) ) * vec(1), ( 1.0 / 2.0 * sin(angle) ) * vec(2)};
Eigen::Vector3d rvec;
if (changeAngleSign){
rvec = -angle * axis;
}
else{
rvec = angle * axis;
}
return rvec;
};
void drawLine(int x, int y, int z){
glLineWidth(10);
glBegin(GL_LINES);
glVertex3f((float)x,(float)y,(float)z);
glVertex3f((float)x,(float)y,(float)z+1);
glEnd();
}
void drawCube(float x, float y, float z){
glColor3f(0, 1, 0);
glLineWidth(5);
// glColor3ui(133, 247, 208);
glBegin(GL_LINES);
// Bottom
// glColor3ui(133, 247, 208);
glVertex3f(x, y, z);
glVertex3f(x, y+1, z);
// glColor3ui(253, 59, 86);
glVertex3f(x, y, z);
glVertex3f(x+1, y, z);
// glColor3ui(147, 175, 215);
glVertex3f(x, y+1, z);
glVertex3f(x+1, y+1, z);
// glColor3ui(80, 209, 168);
glVertex3f(x+1, y, z);
glVertex3f(x+1, y+1, z);
// Top
// glColor3ui(154, 13, 88);
glVertex3f(x, y, z+1);
glVertex3f(x, y+1, z+1);
// glColor3ui(253, 59, 86);
glVertex3f(x, y, z+1);
glVertex3f(x+1, y, z+1);
// glColor3ui(5, 26, 72);
glVertex3f(x, y+1, z+1);
glVertex3f(x+1, y+1, z+1);
// glColor3ui(72, 182, 8);
glVertex3f(x+1, y, z+1);
glVertex3f(x+1, y+1, z+1);
// Sides
// glColor3ui(28, 122, 71);
glVertex3f(x, y, z);
glVertex3f(x, y, z+1);
// glColor3ui(244, 207, 185);
glVertex3f(x, y+1, z);
glVertex3f(x, y+1, z+1);
// glColor3ui(88, 153, 225);
glVertex3f(x+1, y, z);
glVertex3f(x+1, y, z+1);
// glColor3ui(184, 151, 253);
glVertex3f(x+1, y+1, z);
glVertex3f(x+1, y+1, z+1);
glEnd();
}
PangolinDSOViewer::PangolinDSOViewer(int w, int h, bool startRunThread)
{
this->w = w;
this->h = h;
running=true;
{
boost::unique_lock<boost::mutex> lk(openImagesMutex);
internalVideoImg = new MinimalImageB3(w,h);
internalKFImg = new MinimalImageB3(w,h);
internalResImg = new MinimalImageB3(w,h);
videoImgChanged=kfImgChanged=resImgChanged=true;
internalVideoImg->setBlack();
internalKFImg->setBlack();
internalResImg->setBlack();
}
{
currentCam = new KeyFrameDisplay();
}
needReset = false;
if(startRunThread)
runThread = boost::thread(&PangolinDSOViewer::run, this);
}
PangolinDSOViewer::~PangolinDSOViewer()
{
close();
runThread.join();
}
void PangolinDSOViewer::run()
{
printf("START PANGOLIN!\n");
pangolin::CreateWindowAndBind("Main",2*w,2*h);
const int UI_WIDTH = 180;
glEnable(GL_DEPTH_TEST);
// 3D visualization
pangolin::OpenGlRenderState Visualization3D_camera(
pangolin::ProjectionMatrix(w,h,400,400,w/2,h/2,0.1,1000),
pangolin::ModelViewLookAt(-0,-5,-10, 0,0,0, pangolin::AxisNegY)
);
pangolin::View& Visualization3D_display = pangolin::CreateDisplay()
.SetBounds(0.0, 1.0, pangolin::Attach::Pix(UI_WIDTH), 1.0, -w/(float)h)
.SetHandler(new pangolin::Handler3D(Visualization3D_camera));
// 3 images
pangolin::View& d_kfDepth = pangolin::Display("imgKFDepth")
.SetAspect(w/(float)h);
pangolin::View& d_video = pangolin::Display("imgVideo")
.SetAspect(w/(float)h);
pangolin::View& d_residual = pangolin::Display("imgResidual")
.SetAspect(w/(float)h);
pangolin::GlTexture texKFDepth(w,h,GL_RGB,false,0,GL_RGB,GL_UNSIGNED_BYTE);
pangolin::GlTexture texVideo(w,h,GL_RGB,false,0,GL_RGB,GL_UNSIGNED_BYTE);
pangolin::GlTexture texResidual(w,h,GL_RGB,false,0,GL_RGB,GL_UNSIGNED_BYTE);
pangolin::CreateDisplay()
.SetBounds(0.0, 0.3, pangolin::Attach::Pix(UI_WIDTH), 1.0)
.SetLayout(pangolin::LayoutEqual)
.AddDisplay(d_kfDepth)
.AddDisplay(d_video)
.AddDisplay(d_residual);
// parameter reconfigure gui
pangolin::CreatePanel("ui").SetBounds(0.0, 1.0, 0.0, pangolin::Attach::Pix(UI_WIDTH));
pangolin::Var<int> settings_pointCloudMode("ui.PC_mode",1,1,4,false);
pangolin::Var<bool> settings_showKFCameras("ui.KFCam",false,true);
pangolin::Var<bool> settings_showCurrentCamera("ui.CurrCam",true,true);
pangolin::Var<bool> settings_showTrajectory("ui.Trajectory",true,true);
pangolin::Var<bool> settings_showFullTrajectory("ui.FullTrajectory",false,true);
pangolin::Var<bool> settings_showActiveConstraints("ui.ActiveConst",true,true);
pangolin::Var<bool> settings_showAllConstraints("ui.AllConst",false,true);
// Added by Ivan Podmogilnyi 17.02.2022
pangolin::Var<bool> ifDrawCube("ui.drawCube", false, true);
pangolin::Var<bool> changeAngleSign("ui.ChangeAngleSign", false, true);
pangolin::Var<double> xSkew("ui.x", 0, -100, 100);
pangolin::Var<double> ySkew("ui.y", 0, -100, 100);
pangolin::Var<double> zSkew("ui.z", 0, -100, 100);
//End of append by Ivan
pangolin::Var<bool> settings_show3D("ui.show3D",true,true);
pangolin::Var<bool> settings_showLiveDepth("ui.showDepth",true,true);
pangolin::Var<bool> settings_showLiveVideo("ui.showVideo",true,true);
pangolin::Var<bool> settings_showLiveResidual("ui.showResidual",false,true);
pangolin::Var<bool> settings_showFramesWindow("ui.showFramesWindow",false,true);
pangolin::Var<bool> settings_showFullTracking("ui.showFullTracking",false,true);
pangolin::Var<bool> settings_showCoarseTracking("ui.showCoarseTracking",false,true);
pangolin::Var<int> settings_sparsity("ui.sparsity",1,1,20,false);
pangolin::Var<double> settings_scaledVarTH("ui.relVarTH",0.001,1e-10,1e10, true);
pangolin::Var<double> settings_absVarTH("ui.absVarTH",0.001,1e-10,1e10, true);
pangolin::Var<double> settings_minRelBS("ui.minRelativeBS",0.1,0,1, false);
pangolin::Var<bool> settings_resetButton("ui.Reset",false,false);
pangolin::Var<int> settings_nPts("ui.activePoints",setting_desiredPointDensity, 50,5000, false);
pangolin::Var<int> settings_nCandidates("ui.pointCandidates",setting_desiredImmatureDensity, 50,5000, false);
pangolin::Var<int> settings_nMaxFrames("ui.maxFrames",setting_maxFrames, 4,10, false);
pangolin::Var<double> settings_kfFrequency("ui.kfFrequency",setting_kfGlobalWeight,0.1,3, false);
pangolin::Var<double> settings_gradHistAdd("ui.minGradAdd",setting_minGradHistAdd,0,15, false);
pangolin::Var<double> settings_trackFps("ui.Track fps",0,0,0,false);
pangolin::Var<double> settings_mapFps("ui.KF fps",0,0,0,false);
// Obtaining the calibration matrix
cv::Mat K = cv::Mat::eye(3, 3, cv::DataType<double>::type);
CalibHessian hcalib = *Hcalib;
std::cout << "Hessian calib" << std::endl;
K.at<double>(0,0) = 190.978477;
std::cout << "fx: " << K.at<double>(0, 0);
K.at<double>(1,1) = 190.973307;
std::cout << "fy: " << K.at<double>(1, 1);
K.at<double>(0,2) = 254.931706;
std::cout << "cx: " << K.at<double>(0, 2);
K.at<double>(1,2) = 256.897442;
std::cout << "cy: " << K.at<double> (1, 2);
// Obtaining the distortion coefficients
std::vector<double> distCoeffs(5);
distCoeffs[0] = 0.003482389402;
distCoeffs[1] = 0.000715034845;
distCoeffs[2] = -0.002053236141;
distCoeffs[3] = 0.000202936736;
distCoeffs[4] = 0;
// Default hooks for exiting (Esc) and fullscreen (tab).
while( !pangolin::ShouldQuit() && running )
{
// Clear entire screen
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
if(setting_render_display3D)
{
// Activate efficiently by object
Visualization3D_display.Activate(Visualization3D_camera);
boost::unique_lock<boost::mutex> lk3d(model3DMutex);
//pangolin::glDrawColouredCube();
// 17.02.2022 Added by Ivan Podmogilnyi.
//drawLine(xSkew, ySkew, zSkew);
if (ifDrawCube){
drawCube(xSkew, ySkew, zSkew);
std::cout << "draw cube in pangolin success";
cv::Point3d point1 = {xSkew, ySkew, zSkew};
cv::Point3d point2 = {xSkew, ySkew+1, zSkew};
cv::Point3d point3 = {xSkew+1, ySkew, zSkew};
cv::Point3d point4 = {xSkew+1, ySkew+1, zSkew};
cv::Point3d point5 = {xSkew, ySkew, zSkew+1};
cv::Point3d point6 = {xSkew, ySkew+1, zSkew+1};
cv::Point3d point7 = {xSkew+1, ySkew, zSkew+1};
cv::Point3d point8 = {xSkew+1, ySkew+1, zSkew+1};
cv::Vec3b color1 = {133, 247, 208};
cv::Vec3b color2 = {253, 59, 86};
cv::Vec3b color3 = {147, 175, 215};
cv::Vec3b color4 = {80, 209, 168};
cv::Vec3b color5 = {154, 13, 88};
cv::Vec3b color6 = {253, 59, 86};
cv::Vec3b color7 = {5, 26, 72};
cv::Vec3b color8 = {72, 182, 8};
cv::Vec3b color9 = {28, 122, 71};
cv::Vec3b color10 = {88, 153, 225};
cv::Vec3b color11 = {184, 151, 253};
cv::Vec3b color12 = {244, 207, 185};
std::vector<cv::Point3d> objectPoints = {point1, point2, point3, point4, point5, point6, point7, point8};
std::vector<cv::Point2d> imagePoints;
auto s = lastPose;
std::cout << "getting last pose success" << std::endl;
if (s != nullptr){
bool write = true;
if(!s->poseValid) {
write=false;
}
std::cout << "is pose valid? " << write << std::endl;
// Obtaining the current camera pose
Eigen::Matrix<double, 3, 3> rotMat = s->camToWorld.so3().matrix();
Eigen::Vector3d rvec = rot2rvec(rotMat, changeAngleSign);
std::vector<double> rVec(rvec.data(), rvec.data() + rvec.rows() * rvec.cols());
Eigen::Vector3d tvec = s->camToWorld.translation();
std::vector<double> tVec(tvec.data(), tvec.data() + tvec.rows() * tvec.cols());
// Projecting points
cv::projectPoints(objectPoints, rVec, tVec, K, distCoeffs, imagePoints);
cv::Mat image(h, w, CV_16UC3);
// cv::cvtColor(image, image, cv::COLOR_BGR2RGB);
// Getting the current image.
openImagesMutex.lock();
for(int i=0;i<h;i++){
for (int j=0;j<w;j++){
image.at<cv::Vec3b>(i, j)[0] = internalVideoImg->data[i*w + j][0];
image.at<cv::Vec3b>(i, j)[1] = internalVideoImg->data[i*w + j][1];
image.at<cv::Vec3b>(i, j)[2] = internalVideoImg->data[i*w + j][2];
}
}
openImagesMutex.unlock();
// Drawing the line on the image
// cv::line(image, imagePoints[0], imagePoints[1], color1, 5);
// cv::line(image, imagePoints[0], imagePoints[2], color2, 5);
// cv::line(image, imagePoints[1], imagePoints[3], color3, 5);
// cv::line(image, imagePoints[2], imagePoints[3], color4, 5);
// cv::line(image, imagePoints[4], imagePoints[5], color5, 5);
// cv::line(image, imagePoints[4], imagePoints[6], color6, 5);
// cv::line(image, imagePoints[5], imagePoints[7], color7, 5);
// cv::line(image, imagePoints[6], imagePoints[7], color8, 5);
// cv::line(image, imagePoints[0], imagePoints[4], color9, 5);
// cv::line(image, imagePoints[1], imagePoints[5], color10, 5);
// cv::line(image, imagePoints[2], imagePoints[6], color11, 5);
// cv::line(image, imagePoints[3], imagePoints[7], color12, 5);
cv::line(image, imagePoints[0], imagePoints[1], color1, 2);
cv::line(image, imagePoints[0], imagePoints[2], color1, 2);
cv::line(image, imagePoints[1], imagePoints[3], color1, 2);
cv::line(image, imagePoints[2], imagePoints[3], color1, 2);
cv::line(image, imagePoints[4], imagePoints[5], color1, 2);
cv::line(image, imagePoints[4], imagePoints[6], color1, 2);
cv::line(image, imagePoints[5], imagePoints[7], color1, 2);
cv::line(image, imagePoints[6], imagePoints[7], color1, 2);
cv::line(image, imagePoints[0], imagePoints[4], color1, 2);
cv::line(image, imagePoints[1], imagePoints[5], color1, 2);
cv::line(image, imagePoints[2], imagePoints[6], color1, 2);
cv::line(image, imagePoints[3], imagePoints[7], color1, 2);
// Updating the current image and updating the inner image.
openImagesMutex.lock();
for(int i=0;i<h;i++){
for(int j=0;j<w;j++){
internalVideoImg->data[i*w + j][0] = image.at<Vec3b>(i, j)[0];
internalVideoImg->data[i*w + j][1] = image.at<Vec3b>(i, j)[1];
internalVideoImg->data[i*w + j][2] = image.at<Vec3b>(i, j)[2];
}
}
// texVideo.Upload(internalVideoImg->data,GL_BGR,GL_UNSIGNED_BYTE);
openImagesMutex.unlock();
}
}
int refreshed=0;
for(KeyFrameDisplay* fh : keyframes)
{
float blue[3] = {0,0,1};
if(this->settings_showKFCameras) fh->drawCam(1,blue,0.1);
refreshed += (int)(fh->refreshPC(refreshed < 10, this->settings_scaledVarTH, this->settings_absVarTH,
this->settings_pointCloudMode, this->settings_minRelBS, this->settings_sparsity));
fh->drawPC(1);
}
if(this->settings_showCurrentCamera) currentCam->drawCam(2,0,0.2);
drawConstraints();
lk3d.unlock();
}
openImagesMutex.lock();
if(videoImgChanged) texVideo.Upload(internalVideoImg->data,GL_BGR,GL_UNSIGNED_BYTE);
if(kfImgChanged) texKFDepth.Upload(internalKFImg->data,GL_BGR,GL_UNSIGNED_BYTE);
if(resImgChanged) texResidual.Upload(internalResImg->data,GL_BGR,GL_UNSIGNED_BYTE);
videoImgChanged=kfImgChanged=resImgChanged=false;
openImagesMutex.unlock();
// update fps counters
{
openImagesMutex.lock();
float sd=0;
for(float d : lastNMappingMs) sd+=d;
settings_mapFps=lastNMappingMs.size()*1000.0f / sd;
openImagesMutex.unlock();
}
{
model3DMutex.lock();
float sd=0;
for(float d : lastNTrackingMs) sd+=d;
settings_trackFps = lastNTrackingMs.size()*1000.0f / sd;
model3DMutex.unlock();
}
if(setting_render_displayVideo)
{
d_video.Activate();
glColor4f(1.0f,1.0f,1.0f,1.0f);
texVideo.RenderToViewportFlipY();
}
if(setting_render_displayDepth)
{
d_kfDepth.Activate();
glColor4f(1.0f,1.0f,1.0f,1.0f);
texKFDepth.RenderToViewportFlipY();
}
if(setting_render_displayResidual)
{
d_residual.Activate();
glColor4f(1.0f,1.0f,1.0f,1.0f);
texResidual.RenderToViewportFlipY();
}
// update parameters
this->settings_pointCloudMode = settings_pointCloudMode.Get();
this->settings_showActiveConstraints = settings_showActiveConstraints.Get();
this->settings_showAllConstraints = settings_showAllConstraints.Get();
this->settings_showCurrentCamera = settings_showCurrentCamera.Get();
this->settings_showKFCameras = settings_showKFCameras.Get();
this->settings_showTrajectory = settings_showTrajectory.Get();
this->settings_showFullTrajectory = settings_showFullTrajectory.Get();
setting_render_display3D = settings_show3D.Get();
setting_render_displayDepth = settings_showLiveDepth.Get();
setting_render_displayVideo = settings_showLiveVideo.Get();
setting_render_displayResidual = settings_showLiveResidual.Get();
setting_render_renderWindowFrames = settings_showFramesWindow.Get();
setting_render_plotTrackingFull = settings_showFullTracking.Get();
setting_render_displayCoarseTrackingFull = settings_showCoarseTracking.Get();
this->settings_absVarTH = settings_absVarTH.Get();
this->settings_scaledVarTH = settings_scaledVarTH.Get();
this->settings_minRelBS = settings_minRelBS.Get();
this->settings_sparsity = settings_sparsity.Get();
setting_desiredPointDensity = settings_nPts.Get();
setting_desiredImmatureDensity = settings_nCandidates.Get();
setting_maxFrames = settings_nMaxFrames.Get();
setting_kfGlobalWeight = settings_kfFrequency.Get();
setting_minGradHistAdd = settings_gradHistAdd.Get();
if(settings_resetButton.Get())
{
printf("RESET!\n");
settings_resetButton.Reset();
setting_fullResetRequested = true;
}
// Swap frames and Process Events
pangolin::FinishFrame();
if(needReset) reset_internal();
}
printf("QUIT Pangolin thread!\n");
printf("I'll just kill the whole process.\nSo Long, and Thanks for All the Fish!\n");
exit(1);
}
void PangolinDSOViewer::close()
{
running = false;
}
void PangolinDSOViewer::join()
{
runThread.join();
printf("JOINED Pangolin thread!\n");
}
void PangolinDSOViewer::reset()
{
needReset = true;
}
void PangolinDSOViewer::reset_internal()
{
model3DMutex.lock();
for(size_t i=0; i<keyframes.size();i++) delete keyframes[i];
keyframes.clear();
allFramePoses.clear();
keyframesByKFID.clear();
connections.clear();
model3DMutex.unlock();
openImagesMutex.lock();
internalVideoImg->setBlack();
internalKFImg->setBlack();
internalResImg->setBlack();
videoImgChanged= kfImgChanged= resImgChanged=true;
openImagesMutex.unlock();
needReset = false;
}
void PangolinDSOViewer::drawConstraints()
{
if(settings_showAllConstraints)
{
// draw constraints
glLineWidth(1);
glBegin(GL_LINES);
glColor3f(0,1,0);
glBegin(GL_LINES);
for(unsigned int i=0;i<connections.size();i++)
{
if(connections[i].to == 0 || connections[i].from==0) continue;
int nAct = connections[i].bwdAct + connections[i].fwdAct;
int nMarg = connections[i].bwdMarg + connections[i].fwdMarg;
if(nAct==0 && nMarg>0 )
{
Sophus::Vector3f t = connections[i].from->camToWorld.translation().cast<float>();
glVertex3f((GLfloat) t[0],(GLfloat) t[1], (GLfloat) t[2]);
t = connections[i].to->camToWorld.translation().cast<float>();
glVertex3f((GLfloat) t[0],(GLfloat) t[1], (GLfloat) t[2]);
}
}
glEnd();
}
if(settings_showActiveConstraints)
{
glLineWidth(3);
glColor3f(0,0,1);
glBegin(GL_LINES);
for(unsigned int i=0;i<connections.size();i++)
{
if(connections[i].to == 0 || connections[i].from==0) continue;
int nAct = connections[i].bwdAct + connections[i].fwdAct;
if(nAct>0)
{
Sophus::Vector3f t = connections[i].from->camToWorld.translation().cast<float>();
glVertex3f((GLfloat) t[0],(GLfloat) t[1], (GLfloat) t[2]);
t = connections[i].to->camToWorld.translation().cast<float>();
glVertex3f((GLfloat) t[0],(GLfloat) t[1], (GLfloat) t[2]);
}
}
glEnd();
}
if(settings_showTrajectory)
{
float colorRed[3] = {1,0,0};
glColor3f(colorRed[0],colorRed[1],colorRed[2]);
glLineWidth(3);
glBegin(GL_LINE_STRIP);
for(unsigned int i=0;i<keyframes.size();i++)
{
glVertex3f((float)keyframes[i]->camToWorld.translation()[0],
(float)keyframes[i]->camToWorld.translation()[1],
(float)keyframes[i]->camToWorld.translation()[2]);
}
glEnd();
}
if(settings_showFullTrajectory)
{
float colorGreen[3] = {0,1,0};
glColor3f(colorGreen[0],colorGreen[1],colorGreen[2]);
glLineWidth(3);
glBegin(GL_LINE_STRIP);
for(unsigned int i=0;i<allFramePoses.size();i++)
{
glVertex3f((float)allFramePoses[i][0],
(float)allFramePoses[i][1],
(float)allFramePoses[i][2]);
}
glEnd();
}
}
void PangolinDSOViewer::publishGraph(const std::map<uint64_t, Eigen::Vector2i, std::less<uint64_t>, Eigen::aligned_allocator<std::pair<const uint64_t, Eigen::Vector2i>>> &connectivity)
{
if(!setting_render_display3D) return;
if(disableAllDisplay) return;
model3DMutex.lock();
connections.resize(connectivity.size());
int runningID=0;
int totalActFwd=0, totalActBwd=0, totalMargFwd=0, totalMargBwd=0;
for(std::pair<uint64_t,Eigen::Vector2i> p : connectivity)
{
int host = (int)(p.first >> 32);
int target = (int)(p.first & (uint64_t)0xFFFFFFFF);
assert(host >= 0 && target >= 0);
if(host == target)
{
assert(p.second[0] == 0 && p.second[1] == 0);
continue;
}
if(host > target) continue;
connections[runningID].from = keyframesByKFID.count(host) == 0 ? 0 : keyframesByKFID[host];
connections[runningID].to = keyframesByKFID.count(target) == 0 ? 0 : keyframesByKFID[target];
connections[runningID].fwdAct = p.second[0];
connections[runningID].fwdMarg = p.second[1];
totalActFwd += p.second[0];
totalMargFwd += p.second[1];
uint64_t inverseKey = (((uint64_t)target) << 32) + ((uint64_t)host);
Eigen::Vector2i st = connectivity.at(inverseKey);
connections[runningID].bwdAct = st[0];
connections[runningID].bwdMarg = st[1];
totalActBwd += st[0];
totalMargBwd += st[1];
runningID++;
}
model3DMutex.unlock();
}
void PangolinDSOViewer::publishKeyframes(
std::vector<FrameHessian*> &frames,
bool final,
CalibHessian* HCalib)
{
if(!setting_render_display3D) return;
if(disableAllDisplay) return;
boost::unique_lock<boost::mutex> lk(model3DMutex);
for(FrameHessian* fh : frames)
{
if(keyframesByKFID.find(fh->frameID) == keyframesByKFID.end())
{
KeyFrameDisplay* kfd = new KeyFrameDisplay();
keyframesByKFID[fh->frameID] = kfd;
keyframes.push_back(kfd);
}
keyframesByKFID[fh->frameID]->setFromKF(fh, HCalib);
}
}
void PangolinDSOViewer::publishCamPose(FrameShell* frame,
CalibHessian* HCalib)
{
if(!setting_render_display3D) return;
if(disableAllDisplay) return;
boost::unique_lock<boost::mutex> lk(model3DMutex);
struct timeval time_now;
gettimeofday(&time_now, NULL);
lastNTrackingMs.push_back(((time_now.tv_sec-last_track.tv_sec)*1000.0f + (time_now.tv_usec-last_track.tv_usec)/1000.0f));
if(lastNTrackingMs.size() > 10) lastNTrackingMs.pop_front();
last_track = time_now;
if(!setting_render_display3D) return;
currentCam->setFromF(frame, HCalib);
allFramePoses.push_back(frame->camToWorld.translation().cast<float>());
}
void PangolinDSOViewer::pushLiveFrame(FrameHessian* image)
{
if(!setting_render_displayVideo) return;
if(disableAllDisplay) return;
boost::unique_lock<boost::mutex> lk(openImagesMutex);
for(int i=0;i<w*h;i++)
internalVideoImg->data[i][0] =
internalVideoImg->data[i][1] =
internalVideoImg->data[i][2] =
image->dI[i][0]*0.8 > 255.0f ? 255.0 : image->dI[i][0]*0.8;
videoImgChanged=true;
}
bool PangolinDSOViewer::needPushDepthImage()
{
return setting_render_displayDepth;
}
void PangolinDSOViewer::pushDepthImage(MinimalImageB3* image)
{
if(!setting_render_displayDepth) return;
if(disableAllDisplay) return;
boost::unique_lock<boost::mutex> lk(openImagesMutex);
struct timeval time_now;
gettimeofday(&time_now, NULL);
lastNMappingMs.push_back(((time_now.tv_sec-last_map.tv_sec)*1000.0f + (time_now.tv_usec-last_map.tv_usec)/1000.0f));
if(lastNMappingMs.size() > 10) lastNMappingMs.pop_front();
last_map = time_now;
memcpy(internalKFImg->data, image->data, w*h*3);
kfImgChanged=true;
}
}
}

154
src/IOWrapper/Pangolin/PangolinDSOViewer.h Normal file
View File

@@ -0,0 +1,154 @@
/**
* This file is part of DSO.
*
* Copyright 2016 Technical University of Munich and Intel.
* Developed by Jakob Engel <engelj at in dot tum dot de>,
* for more information see <http://vision.in.tum.de/dso>.
* If you use this code, please cite the respective publications as
* listed on the above website.
*
* DSO 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.
*
* DSO 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 DSO. If not, see <http://www.gnu.org/licenses/>.
*/
#pragma once
#include <pangolin/pangolin.h>
#include "boost/thread.hpp"
#include "util/MinimalImage.h"
#include "IOWrapper/Output3DWrapper.h"
#include <map>
#include <deque>
#include "opencv2/core/core.hpp"
#include "opencv2/imgproc/imgproc.hpp"
#include "opencv2/calib3d/calib3d.hpp"
#include "opencv2/highgui/highgui.hpp"
namespace dso
{
class FrameHessian;
class CalibHessian;
class FrameShell;
namespace IOWrap
{
class KeyFrameDisplay;
struct GraphConnection
{
KeyFrameDisplay* from;
KeyFrameDisplay* to;
int fwdMarg, bwdMarg, fwdAct, bwdAct;
};
class PangolinDSOViewer : public Output3DWrapper
{
public:
EIGEN_MAKE_ALIGNED_OPERATOR_NEW;
PangolinDSOViewer(int w, int h, bool startRunThread=true);
virtual ~PangolinDSOViewer();
void run();
void close();
void addImageToDisplay(std::string name, MinimalImageB3* image);
void clearAllImagesToDisplay();
// ==================== Output3DWrapper Functionality ======================
virtual void publishGraph(const std::map<uint64_t, Eigen::Vector2i, std::less<uint64_t>, Eigen::aligned_allocator<std::pair<const uint64_t, Eigen::Vector2i>>> &connectivity) override;
virtual void publishKeyframes( std::vector<FrameHessian*> &frames, bool final, CalibHessian* HCalib) override;
virtual void publishCamPose(FrameShell* frame, CalibHessian* HCalib) override;
virtual void pushLiveFrame(FrameHessian* image) override;
virtual void pushDepthImage(MinimalImageB3* image) override;
virtual bool needPushDepthImage() override;
virtual void join() override;
virtual void reset() override;
//Append
FrameShell* lastPose = nullptr;
CalibHessian* Hcalib = nullptr;
private:
bool needReset;
void reset_internal();
void drawConstraints();
boost::thread runThread;
bool running;
int w,h;
// images rendering
boost::mutex openImagesMutex;
MinimalImageB3* internalVideoImg;
MinimalImageB3* internalKFImg;
MinimalImageB3* internalResImg;
bool videoImgChanged, kfImgChanged, resImgChanged;
// 3D model rendering
boost::mutex model3DMutex;
KeyFrameDisplay* currentCam;
std::vector<KeyFrameDisplay*> keyframes;
std::vector<Vec3f,Eigen::aligned_allocator<Vec3f>> allFramePoses;
std::map<int, KeyFrameDisplay*> keyframesByKFID;
std::vector<GraphConnection,Eigen::aligned_allocator<GraphConnection>> connections;
// render settings
bool settings_showKFCameras;
bool settings_showCurrentCamera;
bool settings_showTrajectory;
bool settings_showFullTrajectory;
bool settings_showActiveConstraints;
bool settings_showAllConstraints;
float settings_scaledVarTH;
float settings_absVarTH;
int settings_pointCloudMode;
float settings_minRelBS;
int settings_sparsity;
// timings
struct timeval last_track;
struct timeval last_map;
std::deque<float> lastNTrackingMs;
std::deque<float> lastNMappingMs;
};
}
}

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/**
* This file is part of DSO.
*
* Copyright 2016 Technical University of Munich and Intel.
* Developed by Jakob Engel <engelj at in dot tum dot de>,
* for more information see <http://vision.in.tum.de/dso>.
* If you use this code, please cite the respective publications as
* listed on the above website.
*
* DSO 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.
*
* DSO 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 DSO. If not, see <http://www.gnu.org/licenses/>.
*/
#include "OptimizationBackend/AccumulatedSCHessian.h"
#include "OptimizationBackend/EnergyFunctional.h"
#include "OptimizationBackend/EnergyFunctionalStructs.h"
#include "FullSystem/HessianBlocks.h"
namespace dso
{
void AccumulatedSCHessianSSE::addPoint(EFPoint* p, bool shiftPriorToZero, int tid)
{
int ngoodres = 0;
for(EFResidual* r : p->residualsAll) if(r->isActive()) ngoodres++;
if(ngoodres==0)
{
p->HdiF=0;
p->bdSumF=0;
p->data->idepth_hessian=0;
p->data->maxRelBaseline=0;
return;
}
float H = p->Hdd_accAF+p->Hdd_accLF+p->priorF;
if(H < 1e-10) H = 1e-10;
p->data->idepth_hessian=H;
p->HdiF = 1.0 / H;
p->bdSumF = p->bd_accAF + p->bd_accLF;
if(shiftPriorToZero) p->bdSumF += p->priorF*p->deltaF;
VecCf Hcd = p->Hcd_accAF + p->Hcd_accLF;
accHcc[tid].update(Hcd,Hcd,p->HdiF);
accbc[tid].update(Hcd, p->bdSumF * p->HdiF);
assert(std::isfinite((float)(p->HdiF)));
int nFrames2 = nframes[tid]*nframes[tid];
for(EFResidual* r1 : p->residualsAll)
{
if(!r1->isActive()) continue;
int r1ht = r1->hostIDX + r1->targetIDX*nframes[tid];
for(EFResidual* r2 : p->residualsAll)
{
if(!r2->isActive()) continue;
accD[tid][r1ht+r2->targetIDX*nFrames2].update(r1->JpJdF, r2->JpJdF, p->HdiF);
}
accE[tid][r1ht].update(r1->JpJdF, Hcd, p->HdiF);
accEB[tid][r1ht].update(r1->JpJdF,p->HdiF*p->bdSumF);
}
}
void AccumulatedSCHessianSSE::stitchDoubleInternal(
MatXX* H, VecX* b, EnergyFunctional const * const EF,
int min, int max, Vec10* stats, int tid)
{
int toAggregate = NUM_THREADS;
if(tid == -1) { toAggregate = 1; tid = 0; } // special case: if we dont do multithreading, dont aggregate.
if(min==max) return;
int nf = nframes[0];
int nframes2 = nf*nf;
for(int k=min;k<max;k++)
{
int i = k%nf;
int j = k/nf;
int iIdx = CPARS+i*8;
int jIdx = CPARS+j*8;
int ijIdx = i+nf*j;
Mat8C Hpc = Mat8C::Zero();
Vec8 bp = Vec8::Zero();
for(int tid2=0;tid2 < toAggregate;tid2++)
{
accE[tid2][ijIdx].finish();
accEB[tid2][ijIdx].finish();
Hpc += accE[tid2][ijIdx].A1m.cast<double>();
bp += accEB[tid2][ijIdx].A1m.cast<double>();
}
H[tid].block<8,CPARS>(iIdx,0) += EF->adHost[ijIdx] * Hpc;
H[tid].block<8,CPARS>(jIdx,0) += EF->adTarget[ijIdx] * Hpc;
b[tid].segment<8>(iIdx) += EF->adHost[ijIdx] * bp;
b[tid].segment<8>(jIdx) += EF->adTarget[ijIdx] * bp;
for(int k=0;k<nf;k++)
{
int kIdx = CPARS+k*8;
int ijkIdx = ijIdx + k*nframes2;
int ikIdx = i+nf*k;
Mat88 accDM = Mat88::Zero();
for(int tid2=0;tid2 < toAggregate;tid2++)
{
accD[tid2][ijkIdx].finish();
if(accD[tid2][ijkIdx].num == 0) continue;
accDM += accD[tid2][ijkIdx].A1m.cast<double>();
}
H[tid].block<8,8>(iIdx, iIdx) += EF->adHost[ijIdx] * accDM * EF->adHost[ikIdx].transpose();
H[tid].block<8,8>(jIdx, kIdx) += EF->adTarget[ijIdx] * accDM * EF->adTarget[ikIdx].transpose();
H[tid].block<8,8>(jIdx, iIdx) += EF->adTarget[ijIdx] * accDM * EF->adHost[ikIdx].transpose();
H[tid].block<8,8>(iIdx, kIdx) += EF->adHost[ijIdx] * accDM * EF->adTarget[ikIdx].transpose();
}
}
if(min==0)
{
for(int tid2=0;tid2 < toAggregate;tid2++)
{
accHcc[tid2].finish();
accbc[tid2].finish();
H[tid].topLeftCorner<CPARS,CPARS>() += accHcc[tid2].A1m.cast<double>();
b[tid].head<CPARS>() += accbc[tid2].A1m.cast<double>();
}
}
// // ----- new: copy transposed parts for calibration only.
// for(int h=0;h<nf;h++)
// {
// int hIdx = 4+h*8;
// H.block<4,8>(0,hIdx).noalias() = H.block<8,4>(hIdx,0).transpose();
// }
}
void AccumulatedSCHessianSSE::stitchDouble(MatXX &H, VecX &b, EnergyFunctional const * const EF, int tid)
{
int nf = nframes[0];
int nframes2 = nf*nf;
H = MatXX::Zero(nf*8+CPARS, nf*8+CPARS);
b = VecX::Zero(nf*8+CPARS);
for(int i=0;i<nf;i++)
for(int j=0;j<nf;j++)
{
int iIdx = CPARS+i*8;
int jIdx = CPARS+j*8;
int ijIdx = i+nf*j;
accE[tid][ijIdx].finish();
accEB[tid][ijIdx].finish();
Mat8C accEM = accE[tid][ijIdx].A1m.cast<double>();
Vec8 accEBV = accEB[tid][ijIdx].A1m.cast<double>();
H.block<8,CPARS>(iIdx,0) += EF->adHost[ijIdx] * accEM;
H.block<8,CPARS>(jIdx,0) += EF->adTarget[ijIdx] * accEM;
b.segment<8>(iIdx) += EF->adHost[ijIdx] * accEBV;
b.segment<8>(jIdx) += EF->adTarget[ijIdx] * accEBV;
for(int k=0;k<nf;k++)
{
int kIdx = CPARS+k*8;
int ijkIdx = ijIdx + k*nframes2;
int ikIdx = i+nf*k;
accD[tid][ijkIdx].finish();
if(accD[tid][ijkIdx].num == 0) continue;
Mat88 accDM = accD[tid][ijkIdx].A1m.cast<double>();
H.block<8,8>(iIdx, iIdx) += EF->adHost[ijIdx] * accDM * EF->adHost[ikIdx].transpose();
H.block<8,8>(jIdx, kIdx) += EF->adTarget[ijIdx] * accDM * EF->adTarget[ikIdx].transpose();
H.block<8,8>(jIdx, iIdx) += EF->adTarget[ijIdx] * accDM * EF->adHost[ikIdx].transpose();
H.block<8,8>(iIdx, kIdx) += EF->adHost[ijIdx] * accDM * EF->adTarget[ikIdx].transpose();
}
}
accHcc[tid].finish();
accbc[tid].finish();
H.topLeftCorner<CPARS,CPARS>() = accHcc[tid].A1m.cast<double>();
b.head<CPARS>() = accbc[tid].A1m.cast<double>();
// ----- new: copy transposed parts for calibration only.
for(int h=0;h<nf;h++)
{
int hIdx = CPARS+h*8;
H.block<CPARS,8>(0,hIdx).noalias() = H.block<8,CPARS>(hIdx,0).transpose();
}
}
}

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/**
* This file is part of DSO.
*
* Copyright 2016 Technical University of Munich and Intel.
* Developed by Jakob Engel <engelj at in dot tum dot de>,
* for more information see <http://vision.in.tum.de/dso>.
* If you use this code, please cite the respective publications as
* listed on the above website.
*
* DSO 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.
*
* DSO 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 DSO. If not, see <http://www.gnu.org/licenses/>.
*/
#pragma once
#include "util/NumType.h"
#include "util/IndexThreadReduce.h"
#include "OptimizationBackend/MatrixAccumulators.h"
#include "vector"
#include <math.h>
namespace dso
{
class EFPoint;
class EnergyFunctional;
class AccumulatedSCHessianSSE
{
public:
EIGEN_MAKE_ALIGNED_OPERATOR_NEW;
inline AccumulatedSCHessianSSE()
{
for(int i=0;i<NUM_THREADS;i++)
{
accE[i]=0;
accEB[i]=0;
accD[i]=0;
nframes[i]=0;
}
};
inline ~AccumulatedSCHessianSSE()
{
for(int i=0;i<NUM_THREADS;i++)
{
if(accE[i] != 0) delete[] accE[i];
if(accEB[i] != 0) delete[] accEB[i];
if(accD[i] != 0) delete[] accD[i];
}
};
inline void setZero(int n, int min=0, int max=1, Vec10* stats=0, int tid=0)
{
if(n != nframes[tid])
{
if(accE[tid] != 0) delete[] accE[tid];
if(accEB[tid] != 0) delete[] accEB[tid];
if(accD[tid] != 0) delete[] accD[tid];
accE[tid] = new AccumulatorXX<8,CPARS>[n*n];
accEB[tid] = new AccumulatorX<8>[n*n];
accD[tid] = new AccumulatorXX<8,8>[n*n*n];
}
accbc[tid].initialize();
accHcc[tid].initialize();
for(int i=0;i<n*n;i++)
{
accE[tid][i].initialize();
accEB[tid][i].initialize();
for(int j=0;j<n;j++)
accD[tid][i*n+j].initialize();
}
nframes[tid]=n;
}
void stitchDouble(MatXX &H_sc, VecX &b_sc, EnergyFunctional const * const EF, int tid=0);
void addPoint(EFPoint* p, bool shiftPriorToZero, int tid=0);
void stitchDoubleMT(IndexThreadReduce<Vec10>* red, MatXX &H, VecX &b, EnergyFunctional const * const EF, bool MT)
{
// sum up, splitting by bock in square.
if(MT)
{
MatXX Hs[NUM_THREADS];
VecX bs[NUM_THREADS];
for(int i=0;i<NUM_THREADS;i++)
{
assert(nframes[0] == nframes[i]);
Hs[i] = MatXX::Zero(nframes[0]*8+CPARS, nframes[0]*8+CPARS);
bs[i] = VecX::Zero(nframes[0]*8+CPARS);
}
red->reduce(boost::bind(&AccumulatedSCHessianSSE::stitchDoubleInternal,
this,Hs, bs, EF, _1, _2, _3, _4), 0, nframes[0]*nframes[0], 0);
// sum up results
H = Hs[0];
b = bs[0];
for(int i=1;i<NUM_THREADS;i++)
{
H.noalias() += Hs[i];
b.noalias() += bs[i];
}
}
else
{
H = MatXX::Zero(nframes[0]*8+CPARS, nframes[0]*8+CPARS);
b = VecX::Zero(nframes[0]*8+CPARS);
stitchDoubleInternal(&H, &b, EF,0,nframes[0]*nframes[0],0,-1);
}
// make diagonal by copying over parts.
for(int h=0;h<nframes[0];h++)
{
int hIdx = CPARS+h*8;
H.block<CPARS,8>(0,hIdx).noalias() = H.block<8,CPARS>(hIdx,0).transpose();
}
}
AccumulatorXX<8,CPARS>* accE[NUM_THREADS];
AccumulatorX<8>* accEB[NUM_THREADS];
AccumulatorXX<8,8>* accD[NUM_THREADS];
AccumulatorXX<CPARS,CPARS> accHcc[NUM_THREADS];
AccumulatorX<CPARS> accbc[NUM_THREADS];
int nframes[NUM_THREADS];
void addPointsInternal(
std::vector<EFPoint*>* points, bool shiftPriorToZero,
int min=0, int max=1, Vec10* stats=0, int tid=0)
{
for(int i=min;i<max;i++) addPoint((*points)[i],shiftPriorToZero,tid);
}
private:
void stitchDoubleInternal(
MatXX* H, VecX* b, EnergyFunctional const * const EF,
int min, int max, Vec10* stats, int tid);
};
}

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/**
* This file is part of DSO.
*
* Copyright 2016 Technical University of Munich and Intel.
* Developed by Jakob Engel <engelj at in dot tum dot de>,
* for more information see <http://vision.in.tum.de/dso>.
* If you use this code, please cite the respective publications as
* listed on the above website.
*
* DSO 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.
*
* DSO 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 DSO. If not, see <http://www.gnu.org/licenses/>.
*/
#include "OptimizationBackend/AccumulatedTopHessian.h"
#include "OptimizationBackend/EnergyFunctional.h"
#include "OptimizationBackend/EnergyFunctionalStructs.h"
#include <iostream>
#if !defined(__SSE3__) && !defined(__SSE2__) && !defined(__SSE1__)
#include "SSE2NEON.h"
#endif
namespace dso
{
template<int mode>
void AccumulatedTopHessianSSE::addPoint(EFPoint* p, EnergyFunctional const * const ef, int tid) // 0 = active, 1 = linearized, 2=marginalize
{
assert(mode==0 || mode==1 || mode==2);
VecCf dc = ef->cDeltaF;
float dd = p->deltaF;
float bd_acc=0;
float Hdd_acc=0;
VecCf Hcd_acc = VecCf::Zero();
for(EFResidual* r : p->residualsAll)
{
if(mode==0)
{
if(r->isLinearized || !r->isActive()) continue;
}
if(mode==1)
{
if(!r->isLinearized || !r->isActive()) continue;
}
if(mode==2)
{
if(!r->isActive()) continue;
assert(r->isLinearized);
}
RawResidualJacobian* rJ = r->J;
int htIDX = r->hostIDX + r->targetIDX*nframes[tid];
Mat18f dp = ef->adHTdeltaF[htIDX];
VecNRf resApprox;
if(mode==0)
resApprox = rJ->resF;
if(mode==2)
resApprox = r->res_toZeroF;
if(mode==1)
{
// compute Jp*delta
__m128 Jp_delta_x = _mm_set1_ps(rJ->Jpdxi[0].dot(dp.head<6>())+rJ->Jpdc[0].dot(dc)+rJ->Jpdd[0]*dd);
__m128 Jp_delta_y = _mm_set1_ps(rJ->Jpdxi[1].dot(dp.head<6>())+rJ->Jpdc[1].dot(dc)+rJ->Jpdd[1]*dd);
__m128 delta_a = _mm_set1_ps((float)(dp[6]));
__m128 delta_b = _mm_set1_ps((float)(dp[7]));
for(int i=0;i<patternNum;i+=4)
{
// PATTERN: rtz = resF - [JI*Jp Ja]*delta.
__m128 rtz = _mm_load_ps(((float*)&r->res_toZeroF)+i);
rtz = _mm_add_ps(rtz,_mm_mul_ps(_mm_load_ps(((float*)(rJ->JIdx))+i),Jp_delta_x));
rtz = _mm_add_ps(rtz,_mm_mul_ps(_mm_load_ps(((float*)(rJ->JIdx+1))+i),Jp_delta_y));
rtz = _mm_add_ps(rtz,_mm_mul_ps(_mm_load_ps(((float*)(rJ->JabF))+i),delta_a));
rtz = _mm_add_ps(rtz,_mm_mul_ps(_mm_load_ps(((float*)(rJ->JabF+1))+i),delta_b));
_mm_store_ps(((float*)&resApprox)+i, rtz);
}
}
// need to compute JI^T * r, and Jab^T * r. (both are 2-vectors).
Vec2f JI_r(0,0);
Vec2f Jab_r(0,0);
float rr=0;
for(int i=0;i<patternNum;i++)
{
JI_r[0] += resApprox[i] *rJ->JIdx[0][i];
JI_r[1] += resApprox[i] *rJ->JIdx[1][i];
Jab_r[0] += resApprox[i] *rJ->JabF[0][i];
Jab_r[1] += resApprox[i] *rJ->JabF[1][i];
rr += resApprox[i]*resApprox[i];
}
acc[tid][htIDX].update(
rJ->Jpdc[0].data(), rJ->Jpdxi[0].data(),
rJ->Jpdc[1].data(), rJ->Jpdxi[1].data(),
rJ->JIdx2(0,0),rJ->JIdx2(0,1),rJ->JIdx2(1,1));
acc[tid][htIDX].updateBotRight(
rJ->Jab2(0,0), rJ->Jab2(0,1), Jab_r[0],
rJ->Jab2(1,1), Jab_r[1],rr);
acc[tid][htIDX].updateTopRight(
rJ->Jpdc[0].data(), rJ->Jpdxi[0].data(),
rJ->Jpdc[1].data(), rJ->Jpdxi[1].data(),
rJ->JabJIdx(0,0), rJ->JabJIdx(0,1),
rJ->JabJIdx(1,0), rJ->JabJIdx(1,1),
JI_r[0], JI_r[1]);
Vec2f Ji2_Jpdd = rJ->JIdx2 * rJ->Jpdd;
bd_acc += JI_r[0]*rJ->Jpdd[0] + JI_r[1]*rJ->Jpdd[1];
Hdd_acc += Ji2_Jpdd.dot(rJ->Jpdd);
Hcd_acc += rJ->Jpdc[0]*Ji2_Jpdd[0] + rJ->Jpdc[1]*Ji2_Jpdd[1];
nres[tid]++;
}
if(mode==0)
{
p->Hdd_accAF = Hdd_acc;
p->bd_accAF = bd_acc;
p->Hcd_accAF = Hcd_acc;
}
if(mode==1 || mode==2)
{
p->Hdd_accLF = Hdd_acc;
p->bd_accLF = bd_acc;
p->Hcd_accLF = Hcd_acc;
}
if(mode==2)
{
p->Hcd_accAF.setZero();
p->Hdd_accAF = 0;
p->bd_accAF = 0;
}
}
template void AccumulatedTopHessianSSE::addPoint<0>(EFPoint* p, EnergyFunctional const * const ef, int tid);
template void AccumulatedTopHessianSSE::addPoint<1>(EFPoint* p, EnergyFunctional const * const ef, int tid);
template void AccumulatedTopHessianSSE::addPoint<2>(EFPoint* p, EnergyFunctional const * const ef, int tid);
void AccumulatedTopHessianSSE::stitchDouble(MatXX &H, VecX &b, EnergyFunctional const * const EF, bool usePrior, bool useDelta, int tid)
{
H = MatXX::Zero(nframes[tid]*8+CPARS, nframes[tid]*8+CPARS);
b = VecX::Zero(nframes[tid]*8+CPARS);
for(int h=0;h<nframes[tid];h++)
for(int t=0;t<nframes[tid];t++)
{
int hIdx = CPARS+h*8;
int tIdx = CPARS+t*8;
int aidx = h+nframes[tid]*t;
acc[tid][aidx].finish();
if(acc[tid][aidx].num==0) continue;
MatPCPC accH = acc[tid][aidx].H.cast<double>();
H.block<8,8>(hIdx, hIdx).noalias() += EF->adHost[aidx] * accH.block<8,8>(CPARS,CPARS) * EF->adHost[aidx].transpose();
H.block<8,8>(tIdx, tIdx).noalias() += EF->adTarget[aidx] * accH.block<8,8>(CPARS,CPARS) * EF->adTarget[aidx].transpose();
H.block<8,8>(hIdx, tIdx).noalias() += EF->adHost[aidx] * accH.block<8,8>(CPARS,CPARS) * EF->adTarget[aidx].transpose();
H.block<8,CPARS>(hIdx,0).noalias() += EF->adHost[aidx] * accH.block<8,CPARS>(CPARS,0);
H.block<8,CPARS>(tIdx,0).noalias() += EF->adTarget[aidx] * accH.block<8,CPARS>(CPARS,0);
H.topLeftCorner<CPARS,CPARS>().noalias() += accH.block<CPARS,CPARS>(0,0);
b.segment<8>(hIdx).noalias() += EF->adHost[aidx] * accH.block<8,1>(CPARS,8+CPARS);
b.segment<8>(tIdx).noalias() += EF->adTarget[aidx] * accH.block<8,1>(CPARS,8+CPARS);
b.head<CPARS>().noalias() += accH.block<CPARS,1>(0,8+CPARS);
}
// ----- new: copy transposed parts.
for(int h=0;h<nframes[tid];h++)
{
int hIdx = CPARS+h*8;
H.block<CPARS,8>(0,hIdx).noalias() = H.block<8,CPARS>(hIdx,0).transpose();
for(int t=h+1;t<nframes[tid];t++)
{
int tIdx = CPARS+t*8;
H.block<8,8>(hIdx, tIdx).noalias() += H.block<8,8>(tIdx, hIdx).transpose();
H.block<8,8>(tIdx, hIdx).noalias() = H.block<8,8>(hIdx, tIdx).transpose();
}
}
if(usePrior)
{
assert(useDelta);
H.diagonal().head<CPARS>() += EF->cPrior;
b.head<CPARS>() += EF->cPrior.cwiseProduct(EF->cDeltaF.cast<double>());
for(int h=0;h<nframes[tid];h++)
{
H.diagonal().segment<8>(CPARS+h*8) += EF->frames[h]->prior;
b.segment<8>(CPARS+h*8) += EF->frames[h]->prior.cwiseProduct(EF->frames[h]->delta_prior);
}
}
}
void AccumulatedTopHessianSSE::stitchDoubleInternal(
MatXX* H, VecX* b, EnergyFunctional const * const EF, bool usePrior,
int min, int max, Vec10* stats, int tid)
{
int toAggregate = NUM_THREADS;
if(tid == -1) { toAggregate = 1; tid = 0; } // special case: if we dont do multithreading, dont aggregate.
if(min==max) return;
for(int k=min;k<max;k++)
{
int h = k%nframes[0];
int t = k/nframes[0];
int hIdx = CPARS+h*8;
int tIdx = CPARS+t*8;
int aidx = h+nframes[0]*t;
assert(aidx == k);
MatPCPC accH = MatPCPC::Zero();
for(int tid2=0;tid2 < toAggregate;tid2++)
{
acc[tid2][aidx].finish();
if(acc[tid2][aidx].num==0) continue;
accH += acc[tid2][aidx].H.cast<double>();
}
H[tid].block<8,8>(hIdx, hIdx).noalias() += EF->adHost[aidx] * accH.block<8,8>(CPARS,CPARS) * EF->adHost[aidx].transpose();
H[tid].block<8,8>(tIdx, tIdx).noalias() += EF->adTarget[aidx] * accH.block<8,8>(CPARS,CPARS) * EF->adTarget[aidx].transpose();
H[tid].block<8,8>(hIdx, tIdx).noalias() += EF->adHost[aidx] * accH.block<8,8>(CPARS,CPARS) * EF->adTarget[aidx].transpose();
H[tid].block<8,CPARS>(hIdx,0).noalias() += EF->adHost[aidx] * accH.block<8,CPARS>(CPARS,0);
H[tid].block<8,CPARS>(tIdx,0).noalias() += EF->adTarget[aidx] * accH.block<8,CPARS>(CPARS,0);
H[tid].topLeftCorner<CPARS,CPARS>().noalias() += accH.block<CPARS,CPARS>(0,0);
b[tid].segment<8>(hIdx).noalias() += EF->adHost[aidx] * accH.block<8,1>(CPARS,CPARS+8);
b[tid].segment<8>(tIdx).noalias() += EF->adTarget[aidx] * accH.block<8,1>(CPARS,CPARS+8);
b[tid].head<CPARS>().noalias() += accH.block<CPARS,1>(0,CPARS+8);
}
// only do this on one thread.
if(min==0 && usePrior)
{
H[tid].diagonal().head<CPARS>() += EF->cPrior;
b[tid].head<CPARS>() += EF->cPrior.cwiseProduct(EF->cDeltaF.cast<double>());
for(int h=0;h<nframes[tid];h++)
{
H[tid].diagonal().segment<8>(CPARS+h*8) += EF->frames[h]->prior;
b[tid].segment<8>(CPARS+h*8) += EF->frames[h]->prior.cwiseProduct(EF->frames[h]->delta_prior);
}
}
}
}

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/**
* This file is part of DSO.
*
* Copyright 2016 Technical University of Munich and Intel.
* Developed by Jakob Engel <engelj at in dot tum dot de>,
* for more information see <http://vision.in.tum.de/dso>.
* If you use this code, please cite the respective publications as
* listed on the above website.
*
* DSO 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.
*
* DSO 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 DSO. If not, see <http://www.gnu.org/licenses/>.
*/
#pragma once
#include "util/NumType.h"
#include "OptimizationBackend/MatrixAccumulators.h"
#include "vector"
#include <math.h>
#include "util/IndexThreadReduce.h"
namespace dso
{
class EFPoint;
class EnergyFunctional;
class AccumulatedTopHessianSSE
{
public:
EIGEN_MAKE_ALIGNED_OPERATOR_NEW;
inline AccumulatedTopHessianSSE()
{
for(int tid=0;tid < NUM_THREADS; tid++)
{
nres[tid]=0;
acc[tid]=0;
nframes[tid]=0;
}
};
inline ~AccumulatedTopHessianSSE()
{
for(int tid=0;tid < NUM_THREADS; tid++)
{
if(acc[tid] != 0) delete[] acc[tid];
}
};
inline void setZero(int nFrames, int min=0, int max=1, Vec10* stats=0, int tid=0)
{
if(nFrames != nframes[tid])
{
if(acc[tid] != 0) delete[] acc[tid];
#if USE_XI_MODEL
acc[tid] = new Accumulator14[nFrames*nFrames];
#else
acc[tid] = new AccumulatorApprox[nFrames*nFrames];
#endif
}
for(int i=0;i<nFrames*nFrames;i++)
{ acc[tid][i].initialize(); }
nframes[tid]=nFrames;
nres[tid]=0;
}
void stitchDouble(MatXX &H, VecX &b, EnergyFunctional const * const EF, bool usePrior, bool useDelta, int tid=0);
template<int mode> void addPoint(EFPoint* p, EnergyFunctional const * const ef, int tid=0);
void stitchDoubleMT(IndexThreadReduce<Vec10>* red, MatXX &H, VecX &b, EnergyFunctional const * const EF, bool usePrior, bool MT)
{
// sum up, splitting by bock in square.
if(MT)
{
MatXX Hs[NUM_THREADS];
VecX bs[NUM_THREADS];
for(int i=0;i<NUM_THREADS;i++)
{
assert(nframes[0] == nframes[i]);
Hs[i] = MatXX::Zero(nframes[0]*8+CPARS, nframes[0]*8+CPARS);
bs[i] = VecX::Zero(nframes[0]*8+CPARS);
}
red->reduce(boost::bind(&AccumulatedTopHessianSSE::stitchDoubleInternal,
this,Hs, bs, EF, usePrior, _1, _2, _3, _4), 0, nframes[0]*nframes[0], 0);
// sum up results
H = Hs[0];
b = bs[0];
for(int i=1;i<NUM_THREADS;i++)
{
H.noalias() += Hs[i];
b.noalias() += bs[i];
nres[0] += nres[i];
}
}
else
{
H = MatXX::Zero(nframes[0]*8+CPARS, nframes[0]*8+CPARS);
b = VecX::Zero(nframes[0]*8+CPARS);
stitchDoubleInternal(&H, &b, EF, usePrior,0,nframes[0]*nframes[0],0,-1);
}
// make diagonal by copying over parts.
for(int h=0;h<nframes[0];h++)
{
int hIdx = CPARS+h*8;
H.block<CPARS,8>(0,hIdx).noalias() = H.block<8,CPARS>(hIdx,0).transpose();
for(int t=h+1;t<nframes[0];t++)
{
int tIdx = CPARS+t*8;
H.block<8,8>(hIdx, tIdx).noalias() += H.block<8,8>(tIdx, hIdx).transpose();
H.block<8,8>(tIdx, hIdx).noalias() = H.block<8,8>(hIdx, tIdx).transpose();
}
}
}
int nframes[NUM_THREADS];
EIGEN_ALIGN16 AccumulatorApprox* acc[NUM_THREADS];
int nres[NUM_THREADS];
template<int mode> void addPointsInternal(
std::vector<EFPoint*>* points, EnergyFunctional const * const ef,
int min=0, int max=1, Vec10* stats=0, int tid=0)
{
for(int i=min;i<max;i++) addPoint<mode>((*points)[i],ef,tid);
}
private:
void stitchDoubleInternal(
MatXX* H, VecX* b, EnergyFunctional const * const EF, bool usePrior,
int min, int max, Vec10* stats, int tid);
};
}

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/**
* This file is part of DSO.
*
* Copyright 2016 Technical University of Munich and Intel.
* Developed by Jakob Engel <engelj at in dot tum dot de>,
* for more information see <http://vision.in.tum.de/dso>.
* If you use this code, please cite the respective publications as
* listed on the above website.
*
* DSO 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.
*
* DSO 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 DSO. If not, see <http://www.gnu.org/licenses/>.
*/
#include "OptimizationBackend/EnergyFunctional.h"
#include "OptimizationBackend/EnergyFunctionalStructs.h"
#include "FullSystem/FullSystem.h"
#include "FullSystem/HessianBlocks.h"
#include "FullSystem/Residuals.h"
#include "OptimizationBackend/AccumulatedSCHessian.h"
#include "OptimizationBackend/AccumulatedTopHessian.h"
#if !defined(__SSE3__) && !defined(__SSE2__) && !defined(__SSE1__)
#include "SSE2NEON.h"
#endif
namespace dso
{
bool EFAdjointsValid = false;
bool EFIndicesValid = false;
bool EFDeltaValid = false;
void EnergyFunctional::setAdjointsF(CalibHessian* Hcalib)
{
if(adHost != 0) delete[] adHost;
if(adTarget != 0) delete[] adTarget;
adHost = new Mat88[nFrames*nFrames];
adTarget = new Mat88[nFrames*nFrames];
for(int h=0;h<nFrames;h++)
for(int t=0;t<nFrames;t++)
{
FrameHessian* host = frames[h]->data;
FrameHessian* target = frames[t]->data;
SE3 hostToTarget = target->get_worldToCam_evalPT() * host->get_worldToCam_evalPT().inverse();
Mat88 AH = Mat88::Identity();
Mat88 AT = Mat88::Identity();
AH.topLeftCorner<6,6>() = -hostToTarget.Adj().transpose();
AT.topLeftCorner<6,6>() = Mat66::Identity();
Vec2f affLL = AffLight::fromToVecExposure(host->ab_exposure, target->ab_exposure, host->aff_g2l_0(), target->aff_g2l_0()).cast<float>();
AT(6,6) = -affLL[0];
AH(6,6) = affLL[0];
AT(7,7) = -1;
AH(7,7) = affLL[0];
AH.block<3,8>(0,0) *= SCALE_XI_TRANS;
AH.block<3,8>(3,0) *= SCALE_XI_ROT;
AH.block<1,8>(6,0) *= SCALE_A;
AH.block<1,8>(7,0) *= SCALE_B;
AT.block<3,8>(0,0) *= SCALE_XI_TRANS;
AT.block<3,8>(3,0) *= SCALE_XI_ROT;
AT.block<1,8>(6,0) *= SCALE_A;
AT.block<1,8>(7,0) *= SCALE_B;
adHost[h+t*nFrames] = AH;
adTarget[h+t*nFrames] = AT;
}
cPrior = VecC::Constant(setting_initialCalibHessian);
if(adHostF != 0) delete[] adHostF;
if(adTargetF != 0) delete[] adTargetF;
adHostF = new Mat88f[nFrames*nFrames];
adTargetF = new Mat88f[nFrames*nFrames];
for(int h=0;h<nFrames;h++)
for(int t=0;t<nFrames;t++)
{
adHostF[h+t*nFrames] = adHost[h+t*nFrames].cast<float>();
adTargetF[h+t*nFrames] = adTarget[h+t*nFrames].cast<float>();
}
cPriorF = cPrior.cast<float>();
EFAdjointsValid = true;
}
EnergyFunctional::EnergyFunctional()
{
adHost=0;
adTarget=0;
red=0;
adHostF=0;
adTargetF=0;
adHTdeltaF=0;
nFrames = nResiduals = nPoints = 0;
HM = MatXX::Zero(CPARS,CPARS);
bM = VecX::Zero(CPARS);
accSSE_top_L = new AccumulatedTopHessianSSE();
accSSE_top_A = new AccumulatedTopHessianSSE();
accSSE_bot = new AccumulatedSCHessianSSE();
resInA = resInL = resInM = 0;
currentLambda=0;
}
EnergyFunctional::~EnergyFunctional()
{
for(EFFrame* f : frames)
{
for(EFPoint* p : f->points)
{
for(EFResidual* r : p->residualsAll)
{
r->data->efResidual=0;
delete r;
}
p->data->efPoint=0;
delete p;
}
f->data->efFrame=0;
delete f;
}
if(adHost != 0) delete[] adHost;
if(adTarget != 0) delete[] adTarget;
if(adHostF != 0) delete[] adHostF;
if(adTargetF != 0) delete[] adTargetF;
if(adHTdeltaF != 0) delete[] adHTdeltaF;
delete accSSE_top_L;
delete accSSE_top_A;
delete accSSE_bot;
}
void EnergyFunctional::setDeltaF(CalibHessian* HCalib)
{
if(adHTdeltaF != 0) delete[] adHTdeltaF;
adHTdeltaF = new Mat18f[nFrames*nFrames];
for(int h=0;h<nFrames;h++)
for(int t=0;t<nFrames;t++)
{
int idx = h+t*nFrames;
adHTdeltaF[idx] = frames[h]->data->get_state_minus_stateZero().head<8>().cast<float>().transpose() * adHostF[idx]
+frames[t]->data->get_state_minus_stateZero().head<8>().cast<float>().transpose() * adTargetF[idx];
}
cDeltaF = HCalib->value_minus_value_zero.cast<float>();
for(EFFrame* f : frames)
{
f->delta = f->data->get_state_minus_stateZero().head<8>();
f->delta_prior = (f->data->get_state() - f->data->getPriorZero()).head<8>();
for(EFPoint* p : f->points)
p->deltaF = p->data->idepth-p->data->idepth_zero;
}
EFDeltaValid = true;
}
// accumulates & shifts L.
void EnergyFunctional::accumulateAF_MT(MatXX &H, VecX &b, bool MT)
{
if(MT)
{
red->reduce(boost::bind(&AccumulatedTopHessianSSE::setZero, accSSE_top_A, nFrames, _1, _2, _3, _4), 0, 0, 0);
red->reduce(boost::bind(&AccumulatedTopHessianSSE::addPointsInternal<0>,
accSSE_top_A, &allPoints, this, _1, _2, _3, _4), 0, allPoints.size(), 50);
accSSE_top_A->stitchDoubleMT(red,H,b,this,false,true);
resInA = accSSE_top_A->nres[0];
}
else
{
accSSE_top_A->setZero(nFrames);
for(EFFrame* f : frames)
for(EFPoint* p : f->points)
accSSE_top_A->addPoint<0>(p,this);
accSSE_top_A->stitchDoubleMT(red,H,b,this,false,false);
resInA = accSSE_top_A->nres[0];
}
}
// accumulates & shifts L.
void EnergyFunctional::accumulateLF_MT(MatXX &H, VecX &b, bool MT)
{
if(MT)
{
red->reduce(boost::bind(&AccumulatedTopHessianSSE::setZero, accSSE_top_L, nFrames, _1, _2, _3, _4), 0, 0, 0);
red->reduce(boost::bind(&AccumulatedTopHessianSSE::addPointsInternal<1>,
accSSE_top_L, &allPoints, this, _1, _2, _3, _4), 0, allPoints.size(), 50);
accSSE_top_L->stitchDoubleMT(red,H,b,this,true,true);
resInL = accSSE_top_L->nres[0];
}
else
{
accSSE_top_L->setZero(nFrames);
for(EFFrame* f : frames)
for(EFPoint* p : f->points)
accSSE_top_L->addPoint<1>(p,this);
accSSE_top_L->stitchDoubleMT(red,H,b,this,true,false);
resInL = accSSE_top_L->nres[0];
}
}
void EnergyFunctional::accumulateSCF_MT(MatXX &H, VecX &b, bool MT)
{
if(MT)
{
red->reduce(boost::bind(&AccumulatedSCHessianSSE::setZero, accSSE_bot, nFrames, _1, _2, _3, _4), 0, 0, 0);
red->reduce(boost::bind(&AccumulatedSCHessianSSE::addPointsInternal,
accSSE_bot, &allPoints, true, _1, _2, _3, _4), 0, allPoints.size(), 50);
accSSE_bot->stitchDoubleMT(red,H,b,this,true);
}
else
{
accSSE_bot->setZero(nFrames);
for(EFFrame* f : frames)
for(EFPoint* p : f->points)
accSSE_bot->addPoint(p, true);
accSSE_bot->stitchDoubleMT(red, H, b,this,false);
}
}
void EnergyFunctional::resubstituteF_MT(VecX x, CalibHessian* HCalib, bool MT)
{
assert(x.size() == CPARS+nFrames*8);
VecXf xF = x.cast<float>();
HCalib->step = - x.head<CPARS>();
Mat18f* xAd = new Mat18f[nFrames*nFrames];
VecCf cstep = xF.head<CPARS>();
for(EFFrame* h : frames)
{
h->data->step.head<8>() = - x.segment<8>(CPARS+8*h->idx);
h->data->step.tail<2>().setZero();
for(EFFrame* t : frames)
xAd[nFrames*h->idx + t->idx] = xF.segment<8>(CPARS+8*h->idx).transpose() * adHostF[h->idx+nFrames*t->idx]
+ xF.segment<8>(CPARS+8*t->idx).transpose() * adTargetF[h->idx+nFrames*t->idx];
}
if(MT)
red->reduce(boost::bind(&EnergyFunctional::resubstituteFPt,
this, cstep, xAd, _1, _2, _3, _4), 0, allPoints.size(), 50);
else
resubstituteFPt(cstep, xAd, 0, allPoints.size(), 0,0);
delete[] xAd;
}
void EnergyFunctional::resubstituteFPt(
const VecCf &xc, Mat18f* xAd, int min, int max, Vec10* stats, int tid)
{
for(int k=min;k<max;k++)
{
EFPoint* p = allPoints[k];
int ngoodres = 0;
for(EFResidual* r : p->residualsAll) if(r->isActive()) ngoodres++;
if(ngoodres==0)
{
p->data->step = 0;
continue;
}
float b = p->bdSumF;
b -= xc.dot(p->Hcd_accAF + p->Hcd_accLF);
for(EFResidual* r : p->residualsAll)
{
if(!r->isActive()) continue;
b -= xAd[r->hostIDX*nFrames + r->targetIDX] * r->JpJdF;
}
p->data->step = - b*p->HdiF;
assert(std::isfinite(p->data->step));
}
}
double EnergyFunctional::calcMEnergyF()
{
assert(EFDeltaValid);
assert(EFAdjointsValid);
assert(EFIndicesValid);
VecX delta = getStitchedDeltaF();
return delta.dot(2*bM + HM*delta);
}
void EnergyFunctional::calcLEnergyPt(int min, int max, Vec10* stats, int tid)
{
Accumulator11 E;
E.initialize();
VecCf dc = cDeltaF;
for(int i=min;i<max;i++)
{
EFPoint* p = allPoints[i];
float dd = p->deltaF;
for(EFResidual* r : p->residualsAll)
{
if(!r->isLinearized || !r->isActive()) continue;
Mat18f dp = adHTdeltaF[r->hostIDX+nFrames*r->targetIDX];
RawResidualJacobian* rJ = r->J;
// compute Jp*delta
float Jp_delta_x_1 = rJ->Jpdxi[0].dot(dp.head<6>())
+rJ->Jpdc[0].dot(dc)
+rJ->Jpdd[0]*dd;
float Jp_delta_y_1 = rJ->Jpdxi[1].dot(dp.head<6>())
+rJ->Jpdc[1].dot(dc)
+rJ->Jpdd[1]*dd;
__m128 Jp_delta_x = _mm_set1_ps(Jp_delta_x_1);
__m128 Jp_delta_y = _mm_set1_ps(Jp_delta_y_1);
__m128 delta_a = _mm_set1_ps((float)(dp[6]));
__m128 delta_b = _mm_set1_ps((float)(dp[7]));
for(int i=0;i+3<patternNum;i+=4)
{
// PATTERN: E = (2*res_toZeroF + J*delta) * J*delta.
__m128 Jdelta = _mm_mul_ps(_mm_load_ps(((float*)(rJ->JIdx))+i),Jp_delta_x);
Jdelta = _mm_add_ps(Jdelta,_mm_mul_ps(_mm_load_ps(((float*)(rJ->JIdx+1))+i),Jp_delta_y));
Jdelta = _mm_add_ps(Jdelta,_mm_mul_ps(_mm_load_ps(((float*)(rJ->JabF))+i),delta_a));
Jdelta = _mm_add_ps(Jdelta,_mm_mul_ps(_mm_load_ps(((float*)(rJ->JabF+1))+i),delta_b));
__m128 r0 = _mm_load_ps(((float*)&r->res_toZeroF)+i);
r0 = _mm_add_ps(r0,r0);
r0 = _mm_add_ps(r0,Jdelta);
Jdelta = _mm_mul_ps(Jdelta,r0);
E.updateSSENoShift(Jdelta);
}
for(int i=((patternNum>>2)<<2); i < patternNum; i++)
{
float Jdelta = rJ->JIdx[0][i]*Jp_delta_x_1 + rJ->JIdx[1][i]*Jp_delta_y_1 +
rJ->JabF[0][i]*dp[6] + rJ->JabF[1][i]*dp[7];
E.updateSingleNoShift((float)(Jdelta * (Jdelta + 2*r->res_toZeroF[i])));
}
}
E.updateSingle(p->deltaF*p->deltaF*p->priorF);
}
E.finish();
(*stats)[0] += E.A;
}
double EnergyFunctional::calcLEnergyF_MT()
{
assert(EFDeltaValid);
assert(EFAdjointsValid);
assert(EFIndicesValid);
double E = 0;
for(EFFrame* f : frames)
E += f->delta_prior.cwiseProduct(f->prior).dot(f->delta_prior);
E += cDeltaF.cwiseProduct(cPriorF).dot(cDeltaF);
red->reduce(boost::bind(&EnergyFunctional::calcLEnergyPt,
this, _1, _2, _3, _4), 0, allPoints.size(), 50);
return E+red->stats[0];
}
EFResidual* EnergyFunctional::insertResidual(PointFrameResidual* r)
{
EFResidual* efr = new EFResidual(r, r->point->efPoint, r->host->efFrame, r->target->efFrame);
efr->idxInAll = r->point->efPoint->residualsAll.size();
r->point->efPoint->residualsAll.push_back(efr);
connectivityMap[(((uint64_t)efr->host->frameID) << 32) + ((uint64_t)efr->target->frameID)][0]++;
nResiduals++;
r->efResidual = efr;
return efr;
}
EFFrame* EnergyFunctional::insertFrame(FrameHessian* fh, CalibHessian* Hcalib)
{
EFFrame* eff = new EFFrame(fh);
eff->idx = frames.size();
frames.push_back(eff);
nFrames++;
fh->efFrame = eff;
assert(HM.cols() == 8*nFrames+CPARS-8);
bM.conservativeResize(8*nFrames+CPARS);
HM.conservativeResize(8*nFrames+CPARS,8*nFrames+CPARS);
bM.tail<8>().setZero();
HM.rightCols<8>().setZero();
HM.bottomRows<8>().setZero();
EFIndicesValid = false;
EFAdjointsValid=false;
EFDeltaValid=false;
setAdjointsF(Hcalib);
makeIDX();
for(EFFrame* fh2 : frames)
{
connectivityMap[(((uint64_t)eff->frameID) << 32) + ((uint64_t)fh2->frameID)] = Eigen::Vector2i(0,0);
if(fh2 != eff)
connectivityMap[(((uint64_t)fh2->frameID) << 32) + ((uint64_t)eff->frameID)] = Eigen::Vector2i(0,0);
}
return eff;
}
EFPoint* EnergyFunctional::insertPoint(PointHessian* ph)
{
EFPoint* efp = new EFPoint(ph, ph->host->efFrame);
efp->idxInPoints = ph->host->efFrame->points.size();
ph->host->efFrame->points.push_back(efp);
nPoints++;
ph->efPoint = efp;
EFIndicesValid = false;
return efp;
}
void EnergyFunctional::dropResidual(EFResidual* r)
{
EFPoint* p = r->point;
assert(r == p->residualsAll[r->idxInAll]);
p->residualsAll[r->idxInAll] = p->residualsAll.back();
p->residualsAll[r->idxInAll]->idxInAll = r->idxInAll;
p->residualsAll.pop_back();
if(r->isActive())
r->host->data->shell->statistics_goodResOnThis++;
else
r->host->data->shell->statistics_outlierResOnThis++;
connectivityMap[(((uint64_t)r->host->frameID) << 32) + ((uint64_t)r->target->frameID)][0]--;
nResiduals--;
r->data->efResidual=0;
delete r;
}
void EnergyFunctional::marginalizeFrame(EFFrame* fh)
{
assert(EFDeltaValid);
assert(EFAdjointsValid);
assert(EFIndicesValid);
assert((int)fh->points.size()==0);
int ndim = nFrames*8+CPARS-8;// new dimension
int odim = nFrames*8+CPARS;// old dimension
// VecX eigenvaluesPre = HM.eigenvalues().real();
// std::sort(eigenvaluesPre.data(), eigenvaluesPre.data()+eigenvaluesPre.size());
//
if((int)fh->idx != (int)frames.size()-1)
{
int io = fh->idx*8+CPARS; // index of frame to move to end
int ntail = 8*(nFrames-fh->idx-1);
assert((io+8+ntail) == nFrames*8+CPARS);
Vec8 bTmp = bM.segment<8>(io);
VecX tailTMP = bM.tail(ntail);
bM.segment(io,ntail) = tailTMP;
bM.tail<8>() = bTmp;
MatXX HtmpCol = HM.block(0,io,odim,8);
MatXX rightColsTmp = HM.rightCols(ntail);
HM.block(0,io,odim,ntail) = rightColsTmp;
HM.rightCols(8) = HtmpCol;
MatXX HtmpRow = HM.block(io,0,8,odim);
MatXX botRowsTmp = HM.bottomRows(ntail);
HM.block(io,0,ntail,odim) = botRowsTmp;
HM.bottomRows(8) = HtmpRow;
}
// // marginalize. First add prior here, instead of to active.
HM.bottomRightCorner<8,8>().diagonal() += fh->prior;
bM.tail<8>() += fh->prior.cwiseProduct(fh->delta_prior);
// std::cout << std::setprecision(16) << "HMPre:\n" << HM << "\n\n";
VecX SVec = (HM.diagonal().cwiseAbs()+VecX::Constant(HM.cols(), 10)).cwiseSqrt();
VecX SVecI = SVec.cwiseInverse();
// std::cout << std::setprecision(16) << "SVec: " << SVec.transpose() << "\n\n";
// std::cout << std::setprecision(16) << "SVecI: " << SVecI.transpose() << "\n\n";
// scale!
MatXX HMScaled = SVecI.asDiagonal() * HM * SVecI.asDiagonal();
VecX bMScaled = SVecI.asDiagonal() * bM;
// invert bottom part!
Mat88 hpi = HMScaled.bottomRightCorner<8,8>();
hpi = 0.5f*(hpi+hpi);
hpi = hpi.inverse();
hpi = 0.5f*(hpi+hpi);
// schur-complement!
MatXX bli = HMScaled.bottomLeftCorner(8,ndim).transpose() * hpi;
HMScaled.topLeftCorner(ndim,ndim).noalias() -= bli * HMScaled.bottomLeftCorner(8,ndim);
bMScaled.head(ndim).noalias() -= bli*bMScaled.tail<8>();
//unscale!
HMScaled = SVec.asDiagonal() * HMScaled * SVec.asDiagonal();
bMScaled = SVec.asDiagonal() * bMScaled;
// set.
HM = 0.5*(HMScaled.topLeftCorner(ndim,ndim) + HMScaled.topLeftCorner(ndim,ndim).transpose());
bM = bMScaled.head(ndim);
// remove from vector, without changing the order!
for(unsigned int i=fh->idx; i+1<frames.size();i++)
{
frames[i] = frames[i+1];
frames[i]->idx = i;
}
frames.pop_back();
nFrames--;
fh->data->efFrame=0;
assert((int)frames.size()*8+CPARS == (int)HM.rows());
assert((int)frames.size()*8+CPARS == (int)HM.cols());
assert((int)frames.size()*8+CPARS == (int)bM.size());
assert((int)frames.size() == (int)nFrames);
// VecX eigenvaluesPost = HM.eigenvalues().real();
// std::sort(eigenvaluesPost.data(), eigenvaluesPost.data()+eigenvaluesPost.size());
// std::cout << std::setprecision(16) << "HMPost:\n" << HM << "\n\n";
// std::cout << "EigPre:: " << eigenvaluesPre.transpose() << "\n";
// std::cout << "EigPost: " << eigenvaluesPost.transpose() << "\n";
EFIndicesValid = false;
EFAdjointsValid=false;
EFDeltaValid=false;
makeIDX();
delete fh;
}
void EnergyFunctional::marginalizePointsF()
{
assert(EFDeltaValid);
assert(EFAdjointsValid);
assert(EFIndicesValid);
allPointsToMarg.clear();
for(EFFrame* f : frames)
{
for(int i=0;i<(int)f->points.size();i++)
{
EFPoint* p = f->points[i];
if(p->stateFlag == EFPointStatus::PS_MARGINALIZE)
{
p->priorF *= setting_idepthFixPriorMargFac;
for(EFResidual* r : p->residualsAll)
if(r->isActive())
connectivityMap[(((uint64_t)r->host->frameID) << 32) + ((uint64_t)r->target->frameID)][1]++;
allPointsToMarg.push_back(p);
}
}
}
accSSE_bot->setZero(nFrames);
accSSE_top_A->setZero(nFrames);
for(EFPoint* p : allPointsToMarg)
{
accSSE_top_A->addPoint<2>(p,this);
accSSE_bot->addPoint(p,false);
removePoint(p);
}
MatXX M, Msc;
VecX Mb, Mbsc;
accSSE_top_A->stitchDouble(M,Mb,this,false,false);
accSSE_bot->stitchDouble(Msc,Mbsc,this);
resInM+= accSSE_top_A->nres[0];
MatXX H = M-Msc;
VecX b = Mb-Mbsc;
if(setting_solverMode & SOLVER_ORTHOGONALIZE_POINTMARG)
{
// have a look if prior is there.
bool haveFirstFrame = false;
for(EFFrame* f : frames) if(f->frameID==0) haveFirstFrame=true;
if(!haveFirstFrame)
orthogonalize(&b, &H);
}
HM += setting_margWeightFac*H;
bM += setting_margWeightFac*b;
if(setting_solverMode & SOLVER_ORTHOGONALIZE_FULL)
orthogonalize(&bM, &HM);
EFIndicesValid = false;
makeIDX();
}
void EnergyFunctional::dropPointsF()
{
for(EFFrame* f : frames)
{
for(int i=0;i<(int)f->points.size();i++)
{
EFPoint* p = f->points[i];
if(p->stateFlag == EFPointStatus::PS_DROP)
{
removePoint(p);
i--;
}
}
}
EFIndicesValid = false;
makeIDX();
}
void EnergyFunctional::removePoint(EFPoint* p)
{
for(EFResidual* r : p->residualsAll)
dropResidual(r);
EFFrame* h = p->host;
h->points[p->idxInPoints] = h->points.back();
h->points[p->idxInPoints]->idxInPoints = p->idxInPoints;
h->points.pop_back();
nPoints--;
p->data->efPoint = 0;
EFIndicesValid = false;
delete p;
}
void EnergyFunctional::orthogonalize(VecX* b, MatXX* H)
{
// VecX eigenvaluesPre = H.eigenvalues().real();
// std::sort(eigenvaluesPre.data(), eigenvaluesPre.data()+eigenvaluesPre.size());
// std::cout << "EigPre:: " << eigenvaluesPre.transpose() << "\n";
// decide to which nullspaces to orthogonalize.
std::vector<VecX> ns;
ns.insert(ns.end(), lastNullspaces_pose.begin(), lastNullspaces_pose.end());
ns.insert(ns.end(), lastNullspaces_scale.begin(), lastNullspaces_scale.end());
// if(setting_affineOptModeA <= 0)
// ns.insert(ns.end(), lastNullspaces_affA.begin(), lastNullspaces_affA.end());
// if(setting_affineOptModeB <= 0)
// ns.insert(ns.end(), lastNullspaces_affB.begin(), lastNullspaces_affB.end());
// make Nullspaces matrix
MatXX N(ns[0].rows(), ns.size());
for(unsigned int i=0;i<ns.size();i++)
N.col(i) = ns[i].normalized();
// compute Npi := N * (N' * N)^-1 = pseudo inverse of N.
Eigen::JacobiSVD<MatXX> svdNN(N, Eigen::ComputeThinU | Eigen::ComputeThinV);
VecX SNN = svdNN.singularValues();
double minSv = 1e10, maxSv = 0;
for(int i=0;i<SNN.size();i++)
{
if(SNN[i] < minSv) minSv = SNN[i];
if(SNN[i] > maxSv) maxSv = SNN[i];
}
for(int i=0;i<SNN.size();i++)
{ if(SNN[i] > setting_solverModeDelta*maxSv) SNN[i] = 1.0 / SNN[i]; else SNN[i] = 0; }
MatXX Npi = svdNN.matrixU() * SNN.asDiagonal() * svdNN.matrixV().transpose(); // [dim] x 9.
MatXX NNpiT = N*Npi.transpose(); // [dim] x [dim].
MatXX NNpiTS = 0.5*(NNpiT + NNpiT.transpose()); // = N * (N' * N)^-1 * N'.
if(b!=0) *b -= NNpiTS * *b;
if(H!=0) *H -= NNpiTS * *H * NNpiTS;
// std::cout << std::setprecision(16) << "Orth SV: " << SNN.reverse().transpose() << "\n";
// VecX eigenvaluesPost = H.eigenvalues().real();
// std::sort(eigenvaluesPost.data(), eigenvaluesPost.data()+eigenvaluesPost.size());
// std::cout << "EigPost:: " << eigenvaluesPost.transpose() << "\n";
}
void EnergyFunctional::solveSystemF(int iteration, double lambda, CalibHessian* HCalib)
{
if(setting_solverMode & SOLVER_USE_GN) lambda=0;
if(setting_solverMode & SOLVER_FIX_LAMBDA) lambda = 1e-5;
assert(EFDeltaValid);
assert(EFAdjointsValid);
assert(EFIndicesValid);
MatXX HL_top, HA_top, H_sc;
VecX bL_top, bA_top, bM_top, b_sc;
accumulateAF_MT(HA_top, bA_top,multiThreading);
accumulateLF_MT(HL_top, bL_top,multiThreading);
accumulateSCF_MT(H_sc, b_sc,multiThreading);
bM_top = (bM+ HM * getStitchedDeltaF());
MatXX HFinal_top;
VecX bFinal_top;
if(setting_solverMode & SOLVER_ORTHOGONALIZE_SYSTEM)
{
// have a look if prior is there.
bool haveFirstFrame = false;
for(EFFrame* f : frames) if(f->frameID==0) haveFirstFrame=true;
MatXX HT_act = HL_top + HA_top - H_sc;
VecX bT_act = bL_top + bA_top - b_sc;
if(!haveFirstFrame)
orthogonalize(&bT_act, &HT_act);
HFinal_top = HT_act + HM;
bFinal_top = bT_act + bM_top;
lastHS = HFinal_top;
lastbS = bFinal_top;
for(int i=0;i<8*nFrames+CPARS;i++) HFinal_top(i,i) *= (1+lambda);
}
else
{
HFinal_top = HL_top + HM + HA_top;
bFinal_top = bL_top + bM_top + bA_top - b_sc;
lastHS = HFinal_top - H_sc;
lastbS = bFinal_top;
for(int i=0;i<8*nFrames+CPARS;i++) HFinal_top(i,i) *= (1+lambda);
HFinal_top -= H_sc * (1.0f/(1+lambda));
}
VecX x;
if(setting_solverMode & SOLVER_SVD)
{
VecX SVecI = HFinal_top.diagonal().cwiseSqrt().cwiseInverse();
MatXX HFinalScaled = SVecI.asDiagonal() * HFinal_top * SVecI.asDiagonal();
VecX bFinalScaled = SVecI.asDiagonal() * bFinal_top;
Eigen::JacobiSVD<MatXX> svd(HFinalScaled, Eigen::ComputeThinU | Eigen::ComputeThinV);
VecX S = svd.singularValues();
double minSv = 1e10, maxSv = 0;
for(int i=0;i<S.size();i++)
{
if(S[i] < minSv) minSv = S[i];
if(S[i] > maxSv) maxSv = S[i];
}
VecX Ub = svd.matrixU().transpose()*bFinalScaled;
int setZero=0;
for(int i=0;i<Ub.size();i++)
{
if(S[i] < setting_solverModeDelta*maxSv)
{ Ub[i] = 0; setZero++; }
if((setting_solverMode & SOLVER_SVD_CUT7) && (i >= Ub.size()-7))
{ Ub[i] = 0; setZero++; }
else Ub[i] /= S[i];
}
x = SVecI.asDiagonal() * svd.matrixV() * Ub;
}
else
{
VecX SVecI = (HFinal_top.diagonal()+VecX::Constant(HFinal_top.cols(), 10)).cwiseSqrt().cwiseInverse();
MatXX HFinalScaled = SVecI.asDiagonal() * HFinal_top * SVecI.asDiagonal();
x = SVecI.asDiagonal() * HFinalScaled.ldlt().solve(SVecI.asDiagonal() * bFinal_top);// SVec.asDiagonal() * svd.matrixV() * Ub;
}
if((setting_solverMode & SOLVER_ORTHOGONALIZE_X) || (iteration >= 2 && (setting_solverMode & SOLVER_ORTHOGONALIZE_X_LATER)))
{
VecX xOld = x;
orthogonalize(&x, 0);
}
lastX = x;
//resubstituteF(x, HCalib);
currentLambda= lambda;
resubstituteF_MT(x, HCalib,multiThreading);
currentLambda=0;
}
void EnergyFunctional::makeIDX()
{
for(unsigned int idx=0;idx<frames.size();idx++)
frames[idx]->idx = idx;
allPoints.clear();
for(EFFrame* f : frames)
for(EFPoint* p : f->points)
{
allPoints.push_back(p);
for(EFResidual* r : p->residualsAll)
{
r->hostIDX = r->host->idx;
r->targetIDX = r->target->idx;
}
}
EFIndicesValid=true;
}
VecX EnergyFunctional::getStitchedDeltaF() const
{
VecX d = VecX(CPARS+nFrames*8); d.head<CPARS>() = cDeltaF.cast<double>();
for(int h=0;h<nFrames;h++) d.segment<8>(CPARS+8*h) = frames[h]->delta;
return d;
}
}

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/**
* This file is part of DSO.
*
* Copyright 2016 Technical University of Munich and Intel.
* Developed by Jakob Engel <engelj at in dot tum dot de>,
* for more information see <http://vision.in.tum.de/dso>.
* If you use this code, please cite the respective publications as
* listed on the above website.
*
* DSO 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.
*
* DSO 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 DSO. If not, see <http://www.gnu.org/licenses/>.
*/
#pragma once
#include "util/NumType.h"
#include "util/IndexThreadReduce.h"
#include "vector"
#include <math.h>
#include "map"
namespace dso
{
class PointFrameResidual;
class CalibHessian;
class FrameHessian;
class PointHessian;
class EFResidual;
class EFPoint;
class EFFrame;
class EnergyFunctional;
class AccumulatedTopHessian;
class AccumulatedTopHessianSSE;
class AccumulatedSCHessian;
class AccumulatedSCHessianSSE;
extern bool EFAdjointsValid;
extern bool EFIndicesValid;
extern bool EFDeltaValid;
class EnergyFunctional {
public:
EIGEN_MAKE_ALIGNED_OPERATOR_NEW;
friend class EFFrame;
friend class EFPoint;
friend class EFResidual;
friend class AccumulatedTopHessian;
friend class AccumulatedTopHessianSSE;
friend class AccumulatedSCHessian;
friend class AccumulatedSCHessianSSE;
EnergyFunctional();
~EnergyFunctional();
EFResidual* insertResidual(PointFrameResidual* r);
EFFrame* insertFrame(FrameHessian* fh, CalibHessian* Hcalib);
EFPoint* insertPoint(PointHessian* ph);
void dropResidual(EFResidual* r);
void marginalizeFrame(EFFrame* fh);
void removePoint(EFPoint* ph);
void marginalizePointsF();
void dropPointsF();
void solveSystemF(int iteration, double lambda, CalibHessian* HCalib);
double calcMEnergyF();
double calcLEnergyF_MT();
void makeIDX();
void setDeltaF(CalibHessian* HCalib);
void setAdjointsF(CalibHessian* Hcalib);
std::vector<EFFrame*> frames;
int nPoints, nFrames, nResiduals;
MatXX HM;
VecX bM;
int resInA, resInL, resInM;
MatXX lastHS;
VecX lastbS;
VecX lastX;
std::vector<VecX> lastNullspaces_forLogging;
std::vector<VecX> lastNullspaces_pose;
std::vector<VecX> lastNullspaces_scale;
std::vector<VecX> lastNullspaces_affA;
std::vector<VecX> lastNullspaces_affB;
IndexThreadReduce<Vec10>* red;
std::map<uint64_t,
Eigen::Vector2i,
std::less<uint64_t>,
Eigen::aligned_allocator<std::pair<const uint64_t, Eigen::Vector2i>>
> connectivityMap;
private:
VecX getStitchedDeltaF() const;
void resubstituteF_MT(VecX x, CalibHessian* HCalib, bool MT);
void resubstituteFPt(const VecCf &xc, Mat18f* xAd, int min, int max, Vec10* stats, int tid);
void accumulateAF_MT(MatXX &H, VecX &b, bool MT);
void accumulateLF_MT(MatXX &H, VecX &b, bool MT);
void accumulateSCF_MT(MatXX &H, VecX &b, bool MT);
void calcLEnergyPt(int min, int max, Vec10* stats, int tid);
void orthogonalize(VecX* b, MatXX* H);
Mat18f* adHTdeltaF;
Mat88* adHost;
Mat88* adTarget;
Mat88f* adHostF;
Mat88f* adTargetF;
VecC cPrior;
VecCf cDeltaF;
VecCf cPriorF;
AccumulatedTopHessianSSE* accSSE_top_L;
AccumulatedTopHessianSSE* accSSE_top_A;
AccumulatedSCHessianSSE* accSSE_bot;
std::vector<EFPoint*> allPoints;
std::vector<EFPoint*> allPointsToMarg;
float currentLambda;
};
}

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/**
* This file is part of DSO.
*
* Copyright 2016 Technical University of Munich and Intel.
* Developed by Jakob Engel <engelj at in dot tum dot de>,
* for more information see <http://vision.in.tum.de/dso>.
* If you use this code, please cite the respective publications as
* listed on the above website.
*
* DSO 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.
*
* DSO 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 DSO. If not, see <http://www.gnu.org/licenses/>.
*/
#include "OptimizationBackend/EnergyFunctionalStructs.h"
#include "OptimizationBackend/EnergyFunctional.h"
#include "FullSystem/FullSystem.h"
#include "FullSystem/HessianBlocks.h"
#include "FullSystem/Residuals.h"
#if !defined(__SSE3__) && !defined(__SSE2__) && !defined(__SSE1__)
#include "SSE2NEON.h"
#endif
namespace dso
{
void EFResidual::takeDataF()
{
std::swap<RawResidualJacobian*>(J, data->J);
Vec2f JI_JI_Jd = J->JIdx2 * J->Jpdd;
for(int i=0;i<6;i++)
JpJdF[i] = J->Jpdxi[0][i]*JI_JI_Jd[0] + J->Jpdxi[1][i] * JI_JI_Jd[1];
JpJdF.segment<2>(6) = J->JabJIdx*J->Jpdd;
}
void EFFrame::takeData()
{
prior = data->getPrior().head<8>();
delta = data->get_state_minus_stateZero().head<8>();
delta_prior = (data->get_state() - data->getPriorZero()).head<8>();
// Vec10 state_zero = data->get_state_zero();
// state_zero.segment<3>(0) = SCALE_XI_TRANS * state_zero.segment<3>(0);
// state_zero.segment<3>(3) = SCALE_XI_ROT * state_zero.segment<3>(3);
// state_zero[6] = SCALE_A * state_zero[6];
// state_zero[7] = SCALE_B * state_zero[7];
// state_zero[8] = SCALE_A * state_zero[8];
// state_zero[9] = SCALE_B * state_zero[9];
//
// std::cout << "state_zero: " << state_zero.transpose() << "\n";
assert(data->frameID != -1);
frameID = data->frameID;
}
void EFPoint::takeData()
{
priorF = data->hasDepthPrior ? setting_idepthFixPrior*SCALE_IDEPTH*SCALE_IDEPTH : 0;
if(setting_solverMode & SOLVER_REMOVE_POSEPRIOR) priorF=0;
deltaF = data->idepth-data->idepth_zero;
}
void EFResidual::fixLinearizationF(EnergyFunctional* ef)
{
Vec8f dp = ef->adHTdeltaF[hostIDX+ef->nFrames*targetIDX];
// compute Jp*delta
__m128 Jp_delta_x = _mm_set1_ps(J->Jpdxi[0].dot(dp.head<6>())
+J->Jpdc[0].dot(ef->cDeltaF)
+J->Jpdd[0]*point->deltaF);
__m128 Jp_delta_y = _mm_set1_ps(J->Jpdxi[1].dot(dp.head<6>())
+J->Jpdc[1].dot(ef->cDeltaF)
+J->Jpdd[1]*point->deltaF);
__m128 delta_a = _mm_set1_ps((float)(dp[6]));
__m128 delta_b = _mm_set1_ps((float)(dp[7]));
for(int i=0;i<patternNum;i+=4)
{
// PATTERN: rtz = resF - [JI*Jp Ja]*delta.
__m128 rtz = _mm_load_ps(((float*)&J->resF)+i);
rtz = _mm_sub_ps(rtz,_mm_mul_ps(_mm_load_ps(((float*)(J->JIdx))+i),Jp_delta_x));
rtz = _mm_sub_ps(rtz,_mm_mul_ps(_mm_load_ps(((float*)(J->JIdx+1))+i),Jp_delta_y));
rtz = _mm_sub_ps(rtz,_mm_mul_ps(_mm_load_ps(((float*)(J->JabF))+i),delta_a));
rtz = _mm_sub_ps(rtz,_mm_mul_ps(_mm_load_ps(((float*)(J->JabF+1))+i),delta_b));
_mm_store_ps(((float*)&res_toZeroF)+i, rtz);
}
isLinearized = true;
}
}

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/**
* This file is part of DSO.
*
* Copyright 2016 Technical University of Munich and Intel.
* Developed by Jakob Engel <engelj at in dot tum dot de>,
* for more information see <http://vision.in.tum.de/dso>.
* If you use this code, please cite the respective publications as
* listed on the above website.
*
* DSO 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.
*
* DSO 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 DSO. If not, see <http://www.gnu.org/licenses/>.
*/
#pragma once
#include "util/NumType.h"
#include "vector"
#include <math.h>
#include "OptimizationBackend/RawResidualJacobian.h"
namespace dso
{
class PointFrameResidual;
class CalibHessian;
class FrameHessian;
class PointHessian;
class EFResidual;
class EFPoint;
class EFFrame;
class EnergyFunctional;
class EFResidual
{
public:
EIGEN_MAKE_ALIGNED_OPERATOR_NEW;
inline EFResidual(PointFrameResidual* org, EFPoint* point_, EFFrame* host_, EFFrame* target_) :
data(org), point(point_), host(host_), target(target_)
{
isLinearized=false;
isActiveAndIsGoodNEW=false;
J = new RawResidualJacobian();
assert(((long)this)%16==0);
assert(((long)J)%16==0);
}
inline ~EFResidual()
{
delete J;
}
void takeDataF();
void fixLinearizationF(EnergyFunctional* ef);
// structural pointers
PointFrameResidual* data;
int hostIDX, targetIDX;
EFPoint* point;
EFFrame* host;
EFFrame* target;
int idxInAll;
RawResidualJacobian* J;
VecNRf res_toZeroF;
Vec8f JpJdF;
// status.
bool isLinearized;
// if residual is not OOB & not OUTLIER & should be used during accumulations
bool isActiveAndIsGoodNEW;
inline const bool &isActive() const {return isActiveAndIsGoodNEW;}
};
enum EFPointStatus {PS_GOOD=0, PS_MARGINALIZE, PS_DROP};
class EFPoint
{
public:
EIGEN_MAKE_ALIGNED_OPERATOR_NEW;
EFPoint(PointHessian* d, EFFrame* host_) : data(d),host(host_)
{
takeData();
stateFlag=EFPointStatus::PS_GOOD;
}
void takeData();
PointHessian* data;
float priorF;
float deltaF;
// constant info (never changes in-between).
int idxInPoints;
EFFrame* host;
// contains all residuals.
std::vector<EFResidual*> residualsAll;
float bdSumF;
float HdiF;
float Hdd_accLF;
VecCf Hcd_accLF;
float bd_accLF;
float Hdd_accAF;
VecCf Hcd_accAF;
float bd_accAF;
EFPointStatus stateFlag;
};
class EFFrame
{
public:
EIGEN_MAKE_ALIGNED_OPERATOR_NEW;
EFFrame(FrameHessian* d) : data(d)
{
takeData();
}
void takeData();
Vec8 prior; // prior hessian (diagonal)
Vec8 delta_prior; // = state-state_prior (E_prior = (delta_prior)' * diag(prior) * (delta_prior)
Vec8 delta; // state - state_zero.
std::vector<EFPoint*> points;
FrameHessian* data;
int idx; // idx in frames.
int frameID;
};
}

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/**
* This file is part of DSO.
*
* Copyright 2016 Technical University of Munich and Intel.
* Developed by Jakob Engel <engelj at in dot tum dot de>,
* for more information see <http://vision.in.tum.de/dso>.
* If you use this code, please cite the respective publications as
* listed on the above website.
*
* DSO 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.
*
* DSO 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 DSO. If not, see <http://www.gnu.org/licenses/>.
*/
#pragma once
#include "util/NumType.h"
namespace dso
{
struct RawResidualJacobian
{
EIGEN_MAKE_ALIGNED_OPERATOR_NEW;
// ================== new structure: save independently =============.
VecNRf resF;
// the two rows of d[x,y]/d[xi].
Vec6f Jpdxi[2]; // 2x6
// the two rows of d[x,y]/d[C].
VecCf Jpdc[2]; // 2x4
// the two rows of d[x,y]/d[idepth].
Vec2f Jpdd; // 2x1
// the two columns of d[r]/d[x,y].
VecNRf JIdx[2]; // 9x2
// = the two columns of d[r] / d[ab]
VecNRf JabF[2]; // 9x2
// = JIdx^T * JIdx (inner product). Only as a shorthand.
Mat22f JIdx2; // 2x2
// = Jab^T * JIdx (inner product). Only as a shorthand.
Mat22f JabJIdx; // 2x2
// = Jab^T * Jab (inner product). Only as a shorthand.
Mat22f Jab2; // 2x2
};
}

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