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Optimizer.cc
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Optimizer.cc
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/**
* This file is part of ORB-SLAM3
*
* Copyright (C) 2017-2020 Carlos Campos, Richard Elvira, Juan J. Gómez Rodríguez, José M.M. Montiel and Juan D. Tardós, University of Zaragoza.
* Copyright (C) 2014-2016 Raúl Mur-Artal, José M.M. Montiel and Juan D. Tardós, University of Zaragoza.
*
* ORB-SLAM3 is free software: you can redistribute it and/or modify it under the terms of the GNU General Public
* License as published by the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* ORB-SLAM3 is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even
* the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License along with ORB-SLAM3.
* If not, see <http://www.gnu.org/licenses/>.
*/
#include "Optimizer.h"
#include <complex>
#include <Eigen/StdVector>
#include <Eigen/Sparse>
#include <Eigen/Dense>
#include <unsupported/Eigen/MatrixFunctions>
#include "Thirdparty/g2o/g2o/core/sparse_block_matrix.h"
#include "Thirdparty/g2o/g2o/core/block_solver.h"
#include "Thirdparty/g2o/g2o/core/optimization_algorithm_levenberg.h"
#include "Thirdparty/g2o/g2o/core/optimization_algorithm_gauss_newton.h"
#include "Thirdparty/g2o/g2o/solvers/linear_solver_eigen.h"
#include "Thirdparty/g2o/g2o/types/types_six_dof_expmap.h"
#include "Thirdparty/g2o/g2o/core/robust_kernel_impl.h"
#include "Thirdparty/g2o/g2o/solvers/linear_solver_dense.h"
#include "G2oTypes.h"
#include "Converter.h"
#include<mutex>
#include "OptimizableTypes.h"
namespace ORB_SLAM3
{
bool sortByVal(const pair<MapPoint*, int> &a, const pair<MapPoint*, int> &b)
{
return (a.second < b.second);
}
void Optimizer::GlobalBundleAdjustemnt(Map* pMap, int nIterations, bool* pbStopFlag, const unsigned long nLoopKF, const bool bRobust)
{
vector<KeyFrame*> vpKFs = pMap->GetAllKeyFrames();
vector<MapPoint*> vpMP = pMap->GetAllMapPoints();
BundleAdjustment(vpKFs,vpMP,nIterations,pbStopFlag, nLoopKF, bRobust);
}
void Optimizer::BundleAdjustment(const vector<KeyFrame *> &vpKFs, const vector<MapPoint *> &vpMP,
int nIterations, bool* pbStopFlag, const unsigned long nLoopKF, const bool bRobust)
{
vector<bool> vbNotIncludedMP;
vbNotIncludedMP.resize(vpMP.size());
Map* pMap = vpKFs[0]->GetMap();
g2o::SparseOptimizer optimizer;
g2o::BlockSolver_6_3::LinearSolverType * linearSolver;
linearSolver = new g2o::LinearSolverEigen<g2o::BlockSolver_6_3::PoseMatrixType>();
g2o::BlockSolver_6_3 * solver_ptr = new g2o::BlockSolver_6_3(linearSolver);
g2o::OptimizationAlgorithmLevenberg* solver = new g2o::OptimizationAlgorithmLevenberg(solver_ptr);
optimizer.setAlgorithm(solver);
optimizer.setVerbose(false);
if(pbStopFlag)
optimizer.setForceStopFlag(pbStopFlag);
long unsigned int maxKFid = 0;
const int nExpectedSize = (vpKFs.size())*vpMP.size();
vector<ORB_SLAM3::EdgeSE3ProjectXYZ*> vpEdgesMono;
vpEdgesMono.reserve(nExpectedSize);
vector<ORB_SLAM3::EdgeSE3ProjectXYZToBody*> vpEdgesBody;
vpEdgesBody.reserve(nExpectedSize);
vector<KeyFrame*> vpEdgeKFMono;
vpEdgeKFMono.reserve(nExpectedSize);
vector<KeyFrame*> vpEdgeKFBody;
vpEdgeKFBody.reserve(nExpectedSize);
vector<MapPoint*> vpMapPointEdgeMono;
vpMapPointEdgeMono.reserve(nExpectedSize);
vector<MapPoint*> vpMapPointEdgeBody;
vpMapPointEdgeBody.reserve(nExpectedSize);
vector<g2o::EdgeStereoSE3ProjectXYZ*> vpEdgesStereo;
vpEdgesStereo.reserve(nExpectedSize);
vector<KeyFrame*> vpEdgeKFStereo;
vpEdgeKFStereo.reserve(nExpectedSize);
vector<MapPoint*> vpMapPointEdgeStereo;
vpMapPointEdgeStereo.reserve(nExpectedSize);
// Set KeyFrame vertices
for(size_t i=0; i<vpKFs.size(); i++)
{
KeyFrame* pKF = vpKFs[i];
if(pKF->isBad())
continue;
g2o::VertexSE3Expmap * vSE3 = new g2o::VertexSE3Expmap();
vSE3->setEstimate(Converter::toSE3Quat(pKF->GetPose()));
vSE3->setId(pKF->mnId);
vSE3->setFixed(pKF->mnId==pMap->GetInitKFid());
optimizer.addVertex(vSE3);
if(pKF->mnId>maxKFid)
maxKFid=pKF->mnId;
//cout << "KF id: " << pKF->mnId << endl;
}
const float thHuber2D = sqrt(5.99);
const float thHuber3D = sqrt(7.815);
// Set MapPoint vertices
//cout << "start inserting MPs" << endl;
for(size_t i=0; i<vpMP.size(); i++)
{
MapPoint* pMP = vpMP[i];
if(pMP->isBad())
continue;
g2o::VertexSBAPointXYZ* vPoint = new g2o::VertexSBAPointXYZ();
vPoint->setEstimate(Converter::toVector3d(pMP->GetWorldPos()));
const int id = pMP->mnId+maxKFid+1;
vPoint->setId(id);
vPoint->setMarginalized(true);
optimizer.addVertex(vPoint);
const map<KeyFrame*,tuple<int,int>> observations = pMP->GetObservations();
int nEdges = 0;
//SET EDGES
for(map<KeyFrame*,tuple<int,int>>::const_iterator mit=observations.begin(); mit!=observations.end(); mit++)
{
KeyFrame* pKF = mit->first;
if(pKF->isBad() || pKF->mnId>maxKFid)
continue;
if(optimizer.vertex(id) == NULL || optimizer.vertex(pKF->mnId) == NULL)
continue;
nEdges++;
const int leftIndex = get<0>(mit->second);
if(leftIndex != -1 && pKF->mvuRight[get<0>(mit->second)]<0)
{
const cv::KeyPoint &kpUn = pKF->mvKeysUn[leftIndex];
Eigen::Matrix<double,2,1> obs;
obs << kpUn.pt.x, kpUn.pt.y;
ORB_SLAM3::EdgeSE3ProjectXYZ* e = new ORB_SLAM3::EdgeSE3ProjectXYZ();
e->setVertex(0, dynamic_cast<g2o::OptimizableGraph::Vertex*>(optimizer.vertex(id)));
e->setVertex(1, dynamic_cast<g2o::OptimizableGraph::Vertex*>(optimizer.vertex(pKF->mnId)));
e->setMeasurement(obs);
const float &invSigma2 = pKF->mvInvLevelSigma2[kpUn.octave];
e->setInformation(Eigen::Matrix2d::Identity()*invSigma2);
if(bRobust)
{
g2o::RobustKernelHuber* rk = new g2o::RobustKernelHuber;
e->setRobustKernel(rk);
rk->setDelta(thHuber2D);
}
e->pCamera = pKF->mpCamera;
optimizer.addEdge(e);
vpEdgesMono.push_back(e);
vpEdgeKFMono.push_back(pKF);
vpMapPointEdgeMono.push_back(pMP);
}
else if(leftIndex != -1 && pKF->mvuRight[leftIndex] >= 0) //Stereo observation
{
const cv::KeyPoint &kpUn = pKF->mvKeysUn[leftIndex];
Eigen::Matrix<double,3,1> obs;
const float kp_ur = pKF->mvuRight[get<0>(mit->second)];
obs << kpUn.pt.x, kpUn.pt.y, kp_ur;
g2o::EdgeStereoSE3ProjectXYZ* e = new g2o::EdgeStereoSE3ProjectXYZ();
e->setVertex(0, dynamic_cast<g2o::OptimizableGraph::Vertex*>(optimizer.vertex(id)));
e->setVertex(1, dynamic_cast<g2o::OptimizableGraph::Vertex*>(optimizer.vertex(pKF->mnId)));
e->setMeasurement(obs);
const float &invSigma2 = pKF->mvInvLevelSigma2[kpUn.octave];
Eigen::Matrix3d Info = Eigen::Matrix3d::Identity()*invSigma2;
e->setInformation(Info);
if(bRobust)
{
g2o::RobustKernelHuber* rk = new g2o::RobustKernelHuber;
e->setRobustKernel(rk);
rk->setDelta(thHuber3D);
}
e->fx = pKF->fx;
e->fy = pKF->fy;
e->cx = pKF->cx;
e->cy = pKF->cy;
e->bf = pKF->mbf;
optimizer.addEdge(e);
vpEdgesStereo.push_back(e);
vpEdgeKFStereo.push_back(pKF);
vpMapPointEdgeStereo.push_back(pMP);
}
if(pKF->mpCamera2){
int rightIndex = get<1>(mit->second);
if(rightIndex != -1 && rightIndex < pKF->mvKeysRight.size()){
rightIndex -= pKF->NLeft;
Eigen::Matrix<double,2,1> obs;
cv::KeyPoint kp = pKF->mvKeysRight[rightIndex];
obs << kp.pt.x, kp.pt.y;
ORB_SLAM3::EdgeSE3ProjectXYZToBody *e = new ORB_SLAM3::EdgeSE3ProjectXYZToBody();
e->setVertex(0, dynamic_cast<g2o::OptimizableGraph::Vertex*>(optimizer.vertex(id)));
e->setVertex(1, dynamic_cast<g2o::OptimizableGraph::Vertex*>(optimizer.vertex(pKF->mnId)));
e->setMeasurement(obs);
const float &invSigma2 = pKF->mvInvLevelSigma2[kp.octave];
e->setInformation(Eigen::Matrix2d::Identity()*invSigma2);
g2o::RobustKernelHuber* rk = new g2o::RobustKernelHuber;
e->setRobustKernel(rk);
rk->setDelta(thHuber2D);
e->mTrl = Converter::toSE3Quat(pKF->mTrl);
e->pCamera = pKF->mpCamera2;
optimizer.addEdge(e);
vpEdgesBody.push_back(e);
vpEdgeKFBody.push_back(pKF);
vpMapPointEdgeBody.push_back(pMP);
}
}
}
if(nEdges==0)
{
optimizer.removeVertex(vPoint);
vbNotIncludedMP[i]=true;
}
else
{
vbNotIncludedMP[i]=false;
}
}
//cout << "end inserting MPs" << endl;
// Optimize!
optimizer.setVerbose(false);
optimizer.initializeOptimization();
optimizer.optimize(nIterations);
Verbose::PrintMess("BA: End of the optimization", Verbose::VERBOSITY_NORMAL);
// Recover optimized data
//Keyframes
for(size_t i=0; i<vpKFs.size(); i++)
{
KeyFrame* pKF = vpKFs[i];
if(pKF->isBad())
continue;
g2o::VertexSE3Expmap* vSE3 = static_cast<g2o::VertexSE3Expmap*>(optimizer.vertex(pKF->mnId));
g2o::SE3Quat SE3quat = vSE3->estimate();
if(nLoopKF==pMap->GetOriginKF()->mnId)
{
pKF->SetPose(Converter::toCvMat(SE3quat));
}
else
{
/*if(!vSE3->fixed())
{
//cout << "KF " << pKF->mnId << ": " << endl;
pKF->mHessianPose = cv::Mat(6, 6, CV_64F);
pKF->mbHasHessian = true;
for(int r=0; r<6; ++r)
{
for(int c=0; c<6; ++c)
{
//cout << vSE3->hessian(r, c) << ", ";
pKF->mHessianPose.at<double>(r, c) = vSE3->hessian(r, c);
}
//cout << endl;
}
}*/
pKF->mTcwGBA.create(4,4,CV_32F);
Converter::toCvMat(SE3quat).copyTo(pKF->mTcwGBA);
pKF->mnBAGlobalForKF = nLoopKF;
cv::Mat mTwc = pKF->GetPoseInverse();
cv::Mat mTcGBA_c = pKF->mTcwGBA * mTwc;
cv::Vec3d vector_dist = mTcGBA_c.rowRange(0, 3).col(3);
double dist = cv::norm(vector_dist);
if(dist > 1)
{
int numMonoBadPoints = 0, numMonoOptPoints = 0;
int numStereoBadPoints = 0, numStereoOptPoints = 0;
vector<MapPoint*> vpMonoMPsOpt, vpStereoMPsOpt;
for(size_t i=0, iend=vpEdgesMono.size(); i<iend;i++)
{
ORB_SLAM3::EdgeSE3ProjectXYZ* e = vpEdgesMono[i];
MapPoint* pMP = vpMapPointEdgeMono[i];
KeyFrame* pKFedge = vpEdgeKFMono[i];
if(pKF != pKFedge)
{
continue;
}
if(pMP->isBad())
continue;
if(e->chi2()>5.991 || !e->isDepthPositive())
{
numMonoBadPoints++;
}
else
{
numMonoOptPoints++;
vpMonoMPsOpt.push_back(pMP);
}
}
for(size_t i=0, iend=vpEdgesStereo.size(); i<iend;i++)
{
g2o::EdgeStereoSE3ProjectXYZ* e = vpEdgesStereo[i];
MapPoint* pMP = vpMapPointEdgeStereo[i];
KeyFrame* pKFedge = vpEdgeKFMono[i];
if(pKF != pKFedge)
{
continue;
}
if(pMP->isBad())
continue;
if(e->chi2()>7.815 || !e->isDepthPositive())
{
numStereoBadPoints++;
}
else
{
numStereoOptPoints++;
vpStereoMPsOpt.push_back(pMP);
}
}
Verbose::PrintMess("GBA: KF " + to_string(pKF->mnId) + " had been moved " + to_string(dist) + " meters", Verbose::VERBOSITY_DEBUG);
Verbose::PrintMess("--Number of observations: " + to_string(numMonoOptPoints) + " in mono and " + to_string(numStereoOptPoints) + " in stereo", Verbose::VERBOSITY_DEBUG);
Verbose::PrintMess("--Number of discarded observations: " + to_string(numMonoBadPoints) + " in mono and " + to_string(numStereoBadPoints) + " in stereo", Verbose::VERBOSITY_DEBUG);
}
}
}
Verbose::PrintMess("BA: KFs updated", Verbose::VERBOSITY_DEBUG);
//Points
for(size_t i=0; i<vpMP.size(); i++)
{
if(vbNotIncludedMP[i])
continue;
MapPoint* pMP = vpMP[i];
if(pMP->isBad())
continue;
g2o::VertexSBAPointXYZ* vPoint = static_cast<g2o::VertexSBAPointXYZ*>(optimizer.vertex(pMP->mnId+maxKFid+1));
if(nLoopKF==pMap->GetOriginKF()->mnId)
{
pMP->SetWorldPos(Converter::toCvMat(vPoint->estimate()));
pMP->UpdateNormalAndDepth();
}
else
{
pMP->mPosGBA.create(3,1,CV_32F);
Converter::toCvMat(vPoint->estimate()).copyTo(pMP->mPosGBA);
pMP->mnBAGlobalForKF = nLoopKF;
}
}
}
void Optimizer::FullInertialBA(Map *pMap, int its, const bool bFixLocal, const long unsigned int nLoopId, bool *pbStopFlag, bool bInit, float priorG, float priorA, Eigen::VectorXd *vSingVal, bool *bHess)
{
long unsigned int maxKFid = pMap->GetMaxKFid();
const vector<KeyFrame*> vpKFs = pMap->GetAllKeyFrames();
const vector<MapPoint*> vpMPs = pMap->GetAllMapPoints();
// Setup optimizer
g2o::SparseOptimizer optimizer;
g2o::BlockSolverX::LinearSolverType * linearSolver;
linearSolver = new g2o::LinearSolverEigen<g2o::BlockSolverX::PoseMatrixType>();
g2o::BlockSolverX * solver_ptr = new g2o::BlockSolverX(linearSolver);
g2o::OptimizationAlgorithmLevenberg* solver = new g2o::OptimizationAlgorithmLevenberg(solver_ptr);
solver->setUserLambdaInit(1e-5);
optimizer.setAlgorithm(solver);
optimizer.setVerbose(false);
if(pbStopFlag)
optimizer.setForceStopFlag(pbStopFlag);
int nNonFixed = 0;
// Set KeyFrame vertices
KeyFrame* pIncKF;
for(size_t i=0; i<vpKFs.size(); i++)
{
KeyFrame* pKFi = vpKFs[i];
if(pKFi->mnId>maxKFid)
continue;
VertexPose * VP = new VertexPose(pKFi);
VP->setId(pKFi->mnId);
pIncKF=pKFi;
bool bFixed = false;
if(bFixLocal)
{
bFixed = (pKFi->mnBALocalForKF>=(maxKFid-1)) || (pKFi->mnBAFixedForKF>=(maxKFid-1));
if(!bFixed)
nNonFixed++;
VP->setFixed(bFixed);
}
optimizer.addVertex(VP);
if(pKFi->bImu)
{
VertexVelocity* VV = new VertexVelocity(pKFi);
VV->setId(maxKFid+3*(pKFi->mnId)+1);
VV->setFixed(bFixed);
optimizer.addVertex(VV);
if (!bInit)
{
VertexGyroBias* VG = new VertexGyroBias(pKFi);
VG->setId(maxKFid+3*(pKFi->mnId)+2);
VG->setFixed(bFixed);
optimizer.addVertex(VG);
VertexAccBias* VA = new VertexAccBias(pKFi);
VA->setId(maxKFid+3*(pKFi->mnId)+3);
VA->setFixed(bFixed);
optimizer.addVertex(VA);
}
}
}
if (bInit)
{
VertexGyroBias* VG = new VertexGyroBias(pIncKF);
VG->setId(4*maxKFid+2);
VG->setFixed(false);
optimizer.addVertex(VG);
VertexAccBias* VA = new VertexAccBias(pIncKF);
VA->setId(4*maxKFid+3);
VA->setFixed(false);
optimizer.addVertex(VA);
}
if(bFixLocal)
{
if(nNonFixed<3)
return;
}
// IMU links
for(size_t i=0;i<vpKFs.size();i++)
{
KeyFrame* pKFi = vpKFs[i];
if(!pKFi->mPrevKF)
{
Verbose::PrintMess("NOT INERTIAL LINK TO PREVIOUS FRAME!", Verbose::VERBOSITY_NORMAL);
continue;
}
if(pKFi->mPrevKF && pKFi->mnId<=maxKFid)
{
if(pKFi->isBad() || pKFi->mPrevKF->mnId>maxKFid)
continue;
if(pKFi->bImu && pKFi->mPrevKF->bImu)
{
pKFi->mpImuPreintegrated->SetNewBias(pKFi->mPrevKF->GetImuBias());
g2o::HyperGraph::Vertex* VP1 = optimizer.vertex(pKFi->mPrevKF->mnId);
g2o::HyperGraph::Vertex* VV1 = optimizer.vertex(maxKFid+3*(pKFi->mPrevKF->mnId)+1);
g2o::HyperGraph::Vertex* VG1;
g2o::HyperGraph::Vertex* VA1;
g2o::HyperGraph::Vertex* VG2;
g2o::HyperGraph::Vertex* VA2;
if (!bInit)
{
VG1 = optimizer.vertex(maxKFid+3*(pKFi->mPrevKF->mnId)+2);
VA1 = optimizer.vertex(maxKFid+3*(pKFi->mPrevKF->mnId)+3);
VG2 = optimizer.vertex(maxKFid+3*(pKFi->mnId)+2);
VA2 = optimizer.vertex(maxKFid+3*(pKFi->mnId)+3);
}
else
{
VG1 = optimizer.vertex(4*maxKFid+2);
VA1 = optimizer.vertex(4*maxKFid+3);
}
g2o::HyperGraph::Vertex* VP2 = optimizer.vertex(pKFi->mnId);
g2o::HyperGraph::Vertex* VV2 = optimizer.vertex(maxKFid+3*(pKFi->mnId)+1);
if (!bInit)
{
if(!VP1 || !VV1 || !VG1 || !VA1 || !VP2 || !VV2 || !VG2 || !VA2)
{
cout << "Error" << VP1 << ", "<< VV1 << ", "<< VG1 << ", "<< VA1 << ", " << VP2 << ", " << VV2 << ", "<< VG2 << ", "<< VA2 <<endl;
continue;
}
}
else
{
if(!VP1 || !VV1 || !VG1 || !VA1 || !VP2 || !VV2)
{
cout << "Error" << VP1 << ", "<< VV1 << ", "<< VG1 << ", "<< VA1 << ", " << VP2 << ", " << VV2 <<endl;
continue;
}
}
EdgeInertial* ei = new EdgeInertial(pKFi->mpImuPreintegrated);
ei->setVertex(0,dynamic_cast<g2o::OptimizableGraph::Vertex*>(VP1));
ei->setVertex(1,dynamic_cast<g2o::OptimizableGraph::Vertex*>(VV1));
ei->setVertex(2,dynamic_cast<g2o::OptimizableGraph::Vertex*>(VG1));
ei->setVertex(3,dynamic_cast<g2o::OptimizableGraph::Vertex*>(VA1));
ei->setVertex(4,dynamic_cast<g2o::OptimizableGraph::Vertex*>(VP2));
ei->setVertex(5,dynamic_cast<g2o::OptimizableGraph::Vertex*>(VV2));
g2o::RobustKernelHuber* rki = new g2o::RobustKernelHuber;
ei->setRobustKernel(rki);
rki->setDelta(sqrt(16.92));
optimizer.addEdge(ei);
if (!bInit)
{
EdgeGyroRW* egr= new EdgeGyroRW();
egr->setVertex(0,VG1);
egr->setVertex(1,VG2);
cv::Mat cvInfoG = pKFi->mpImuPreintegrated->C.rowRange(9,12).colRange(9,12).inv(cv::DECOMP_SVD);
Eigen::Matrix3d InfoG;
for(int r=0;r<3;r++)
for(int c=0;c<3;c++)
InfoG(r,c)=cvInfoG.at<float>(r,c);
egr->setInformation(InfoG);
egr->computeError();
optimizer.addEdge(egr);
EdgeAccRW* ear = new EdgeAccRW();
ear->setVertex(0,VA1);
ear->setVertex(1,VA2);
cv::Mat cvInfoA = pKFi->mpImuPreintegrated->C.rowRange(12,15).colRange(12,15).inv(cv::DECOMP_SVD);
Eigen::Matrix3d InfoA;
for(int r=0;r<3;r++)
for(int c=0;c<3;c++)
InfoA(r,c)=cvInfoA.at<float>(r,c);
ear->setInformation(InfoA);
ear->computeError();
optimizer.addEdge(ear);
}
}
else
{
cout << pKFi->mnId << " or " << pKFi->mPrevKF->mnId << " no imu" << endl;
}
}
}
if (bInit)
{
g2o::HyperGraph::Vertex* VG = optimizer.vertex(4*maxKFid+2);
g2o::HyperGraph::Vertex* VA = optimizer.vertex(4*maxKFid+3);
// Add prior to comon biases
EdgePriorAcc* epa = new EdgePriorAcc(cv::Mat::zeros(3,1,CV_32F));
epa->setVertex(0,dynamic_cast<g2o::OptimizableGraph::Vertex*>(VA));
double infoPriorA = priorA; //
epa->setInformation(infoPriorA*Eigen::Matrix3d::Identity());
optimizer.addEdge(epa);
EdgePriorGyro* epg = new EdgePriorGyro(cv::Mat::zeros(3,1,CV_32F));
epg->setVertex(0,dynamic_cast<g2o::OptimizableGraph::Vertex*>(VG));
double infoPriorG = priorG; //
epg->setInformation(infoPriorG*Eigen::Matrix3d::Identity());
optimizer.addEdge(epg);
}
const float thHuberMono = sqrt(5.991);
const float thHuberStereo = sqrt(7.815);
const unsigned long iniMPid = maxKFid*5;
vector<bool> vbNotIncludedMP(vpMPs.size(),false);
for(size_t i=0; i<vpMPs.size(); i++)
{
MapPoint* pMP = vpMPs[i];
g2o::VertexSBAPointXYZ* vPoint = new g2o::VertexSBAPointXYZ();
vPoint->setEstimate(Converter::toVector3d(pMP->GetWorldPos()));
unsigned long id = pMP->mnId+iniMPid+1;
vPoint->setId(id);
vPoint->setMarginalized(true);
optimizer.addVertex(vPoint);
const map<KeyFrame*,tuple<int,int>> observations = pMP->GetObservations();
bool bAllFixed = true;
//Set edges
for(map<KeyFrame*,tuple<int,int>>::const_iterator mit=observations.begin(), mend=observations.end(); mit!=mend; mit++)
{
KeyFrame* pKFi = mit->first;
if(pKFi->mnId>maxKFid)
continue;
if(!pKFi->isBad())
{
const int leftIndex = get<0>(mit->second);
cv::KeyPoint kpUn;
if(leftIndex != -1 && pKFi->mvuRight[get<0>(mit->second)]<0) // Monocular observation
{
kpUn = pKFi->mvKeysUn[leftIndex];
Eigen::Matrix<double,2,1> obs;
obs << kpUn.pt.x, kpUn.pt.y;
EdgeMono* e = new EdgeMono(0);
g2o::OptimizableGraph::Vertex* VP = dynamic_cast<g2o::OptimizableGraph::Vertex*>(optimizer.vertex(pKFi->mnId));
if(bAllFixed)
if(!VP->fixed())
bAllFixed=false;
e->setVertex(0, dynamic_cast<g2o::OptimizableGraph::Vertex*>(optimizer.vertex(id)));
e->setVertex(1, VP);
e->setMeasurement(obs);
const float invSigma2 = pKFi->mvInvLevelSigma2[kpUn.octave];
e->setInformation(Eigen::Matrix2d::Identity()*invSigma2);
g2o::RobustKernelHuber* rk = new g2o::RobustKernelHuber;
e->setRobustKernel(rk);
rk->setDelta(thHuberMono);
optimizer.addEdge(e);
}
else if(leftIndex != -1 && pKFi->mvuRight[leftIndex] >= 0) // stereo observation
{
kpUn = pKFi->mvKeysUn[leftIndex];
const float kp_ur = pKFi->mvuRight[leftIndex];
Eigen::Matrix<double,3,1> obs;
obs << kpUn.pt.x, kpUn.pt.y, kp_ur;
EdgeStereo* e = new EdgeStereo(0);
g2o::OptimizableGraph::Vertex* VP = dynamic_cast<g2o::OptimizableGraph::Vertex*>(optimizer.vertex(pKFi->mnId));
if(bAllFixed)
if(!VP->fixed())
bAllFixed=false;
e->setVertex(0, dynamic_cast<g2o::OptimizableGraph::Vertex*>(optimizer.vertex(id)));
e->setVertex(1, VP);
e->setMeasurement(obs);
const float invSigma2 = pKFi->mvInvLevelSigma2[kpUn.octave];
e->setInformation(Eigen::Matrix3d::Identity()*invSigma2);
g2o::RobustKernelHuber* rk = new g2o::RobustKernelHuber;
e->setRobustKernel(rk);
rk->setDelta(thHuberStereo);
optimizer.addEdge(e);
}
if(pKFi->mpCamera2){ // Monocular right observation
int rightIndex = get<1>(mit->second);
if(rightIndex != -1 && rightIndex < pKFi->mvKeysRight.size()){
rightIndex -= pKFi->NLeft;
Eigen::Matrix<double,2,1> obs;
kpUn = pKFi->mvKeysRight[rightIndex];
obs << kpUn.pt.x, kpUn.pt.y;
EdgeMono *e = new EdgeMono(1);
g2o::OptimizableGraph::Vertex* VP = dynamic_cast<g2o::OptimizableGraph::Vertex*>(optimizer.vertex(pKFi->mnId));
if(bAllFixed)
if(!VP->fixed())
bAllFixed=false;
e->setVertex(0, dynamic_cast<g2o::OptimizableGraph::Vertex*>(optimizer.vertex(id)));
e->setVertex(1, VP);
e->setMeasurement(obs);
const float invSigma2 = pKFi->mvInvLevelSigma2[kpUn.octave];
e->setInformation(Eigen::Matrix2d::Identity()*invSigma2);
g2o::RobustKernelHuber* rk = new g2o::RobustKernelHuber;
e->setRobustKernel(rk);
rk->setDelta(thHuberMono);
optimizer.addEdge(e);
}
}
}
}
if(bAllFixed)
{
optimizer.removeVertex(vPoint);
vbNotIncludedMP[i]=true;
}
}
if(pbStopFlag)
if(*pbStopFlag)
return;
optimizer.initializeOptimization();
optimizer.optimize(its);
// Recover optimized data
//Keyframes
for(size_t i=0; i<vpKFs.size(); i++)
{
KeyFrame* pKFi = vpKFs[i];
if(pKFi->mnId>maxKFid)
continue;
VertexPose* VP = static_cast<VertexPose*>(optimizer.vertex(pKFi->mnId));
if(nLoopId==0)
{
cv::Mat Tcw = Converter::toCvSE3(VP->estimate().Rcw[0], VP->estimate().tcw[0]);
pKFi->SetPose(Tcw);
}
else
{
pKFi->mTcwGBA = cv::Mat::eye(4,4,CV_32F);
Converter::toCvMat(VP->estimate().Rcw[0]).copyTo(pKFi->mTcwGBA.rowRange(0,3).colRange(0,3));
Converter::toCvMat(VP->estimate().tcw[0]).copyTo(pKFi->mTcwGBA.rowRange(0,3).col(3));
pKFi->mnBAGlobalForKF = nLoopId;
}
if(pKFi->bImu)
{
VertexVelocity* VV = static_cast<VertexVelocity*>(optimizer.vertex(maxKFid+3*(pKFi->mnId)+1));
if(nLoopId==0)
{
pKFi->SetVelocity(Converter::toCvMat(VV->estimate()));
}
else
{
pKFi->mVwbGBA = Converter::toCvMat(VV->estimate());
}
VertexGyroBias* VG;
VertexAccBias* VA;
if (!bInit)
{
VG = static_cast<VertexGyroBias*>(optimizer.vertex(maxKFid+3*(pKFi->mnId)+2));
VA = static_cast<VertexAccBias*>(optimizer.vertex(maxKFid+3*(pKFi->mnId)+3));
}
else
{
VG = static_cast<VertexGyroBias*>(optimizer.vertex(4*maxKFid+2));
VA = static_cast<VertexAccBias*>(optimizer.vertex(4*maxKFid+3));
}
Vector6d vb;
vb << VG->estimate(), VA->estimate();
IMU::Bias b (vb[3],vb[4],vb[5],vb[0],vb[1],vb[2]);
if(nLoopId==0)
{
pKFi->SetNewBias(b);
}
else
{
pKFi->mBiasGBA = b;
}
}
}
//Points
for(size_t i=0; i<vpMPs.size(); i++)
{
if(vbNotIncludedMP[i])
continue;
MapPoint* pMP = vpMPs[i];
g2o::VertexSBAPointXYZ* vPoint = static_cast<g2o::VertexSBAPointXYZ*>(optimizer.vertex(pMP->mnId+iniMPid+1));
if(nLoopId==0)
{
pMP->SetWorldPos(Converter::toCvMat(vPoint->estimate()));
pMP->UpdateNormalAndDepth();
}
else
{
pMP->mPosGBA.create(3,1,CV_32F);
Converter::toCvMat(vPoint->estimate()).copyTo(pMP->mPosGBA);
pMP->mnBAGlobalForKF = nLoopId;
}
}
pMap->IncreaseChangeIndex();
}
int Optimizer::PoseOptimization(Frame *pFrame)
{
g2o::SparseOptimizer optimizer;
g2o::BlockSolver_6_3::LinearSolverType * linearSolver;
linearSolver = new g2o::LinearSolverDense<g2o::BlockSolver_6_3::PoseMatrixType>();
g2o::BlockSolver_6_3 * solver_ptr = new g2o::BlockSolver_6_3(linearSolver);
g2o::OptimizationAlgorithmLevenberg* solver = new g2o::OptimizationAlgorithmLevenberg(solver_ptr);
optimizer.setAlgorithm(solver);
int nInitialCorrespondences=0;
// Set Frame vertex
g2o::VertexSE3Expmap * vSE3 = new g2o::VertexSE3Expmap();
vSE3->setEstimate(Converter::toSE3Quat(pFrame->mTcw));
vSE3->setId(0);
vSE3->setFixed(false);
optimizer.addVertex(vSE3);
// Set MapPoint vertices
const int N = pFrame->N;
vector<ORB_SLAM3::EdgeSE3ProjectXYZOnlyPose*> vpEdgesMono;
vector<ORB_SLAM3::EdgeSE3ProjectXYZOnlyPoseToBody *> vpEdgesMono_FHR;
vector<size_t> vnIndexEdgeMono, vnIndexEdgeRight;
vpEdgesMono.reserve(N);
vpEdgesMono_FHR.reserve(N);
vnIndexEdgeMono.reserve(N);
vnIndexEdgeRight.reserve(N);
vector<g2o::EdgeStereoSE3ProjectXYZOnlyPose*> vpEdgesStereo;
vector<size_t> vnIndexEdgeStereo;
vpEdgesStereo.reserve(N);
vnIndexEdgeStereo.reserve(N);
const float deltaMono = sqrt(5.991);
const float deltaStereo = sqrt(7.815);
{
unique_lock<mutex> lock(MapPoint::mGlobalMutex);
for(int i=0; i<N; i++)
{
MapPoint* pMP = pFrame->mvpMapPoints[i];
if(pMP)
{
//Conventional SLAM
if(!pFrame->mpCamera2){
// Monocular observation
if(pFrame->mvuRight[i]<0)
{
nInitialCorrespondences++;
pFrame->mvbOutlier[i] = false;
Eigen::Matrix<double,2,1> obs;
const cv::KeyPoint &kpUn = pFrame->mvKeysUn[i];
obs << kpUn.pt.x, kpUn.pt.y;
ORB_SLAM3::EdgeSE3ProjectXYZOnlyPose* e = new ORB_SLAM3::EdgeSE3ProjectXYZOnlyPose();
e->setVertex(0, dynamic_cast<g2o::OptimizableGraph::Vertex*>(optimizer.vertex(0)));
e->setMeasurement(obs);
const float invSigma2 = pFrame->mvInvLevelSigma2[kpUn.octave];
e->setInformation(Eigen::Matrix2d::Identity()*invSigma2);
g2o::RobustKernelHuber* rk = new g2o::RobustKernelHuber;
e->setRobustKernel(rk);
rk->setDelta(deltaMono);
e->pCamera = pFrame->mpCamera;
cv::Mat Xw = pMP->GetWorldPos();
e->Xw[0] = Xw.at<float>(0);
e->Xw[1] = Xw.at<float>(1);
e->Xw[2] = Xw.at<float>(2);
optimizer.addEdge(e);
vpEdgesMono.push_back(e);
vnIndexEdgeMono.push_back(i);
}
else // Stereo observation
{
nInitialCorrespondences++;
pFrame->mvbOutlier[i] = false;
//SET EDGE
Eigen::Matrix<double,3,1> obs;
const cv::KeyPoint &kpUn = pFrame->mvKeysUn[i];
const float &kp_ur = pFrame->mvuRight[i];
obs << kpUn.pt.x, kpUn.pt.y, kp_ur;
g2o::EdgeStereoSE3ProjectXYZOnlyPose* e = new g2o::EdgeStereoSE3ProjectXYZOnlyPose();
e->setVertex(0, dynamic_cast<g2o::OptimizableGraph::Vertex*>(optimizer.vertex(0)));
e->setMeasurement(obs);
const float invSigma2 = pFrame->mvInvLevelSigma2[kpUn.octave];
Eigen::Matrix3d Info = Eigen::Matrix3d::Identity()*invSigma2;
e->setInformation(Info);
g2o::RobustKernelHuber* rk = new g2o::RobustKernelHuber;
e->setRobustKernel(rk);
rk->setDelta(deltaStereo);
e->fx = pFrame->fx;
e->fy = pFrame->fy;
e->cx = pFrame->cx;
e->cy = pFrame->cy;
e->bf = pFrame->mbf;
cv::Mat Xw = pMP->GetWorldPos();
e->Xw[0] = Xw.at<float>(0);
e->Xw[1] = Xw.at<float>(1);
e->Xw[2] = Xw.at<float>(2);
optimizer.addEdge(e);
vpEdgesStereo.push_back(e);
vnIndexEdgeStereo.push_back(i);
}
}
//SLAM with respect a rigid body
else{
nInitialCorrespondences++;
cv::KeyPoint kpUn;
if (i < pFrame->Nleft) { //Left camera observation
kpUn = pFrame->mvKeys[i];
pFrame->mvbOutlier[i] = false;
Eigen::Matrix<double, 2, 1> obs;
obs << kpUn.pt.x, kpUn.pt.y;
ORB_SLAM3::EdgeSE3ProjectXYZOnlyPose *e = new ORB_SLAM3::EdgeSE3ProjectXYZOnlyPose();
e->setVertex(0, dynamic_cast<g2o::OptimizableGraph::Vertex *>(optimizer.vertex(0)));
e->setMeasurement(obs);
const float invSigma2 = pFrame->mvInvLevelSigma2[kpUn.octave];
e->setInformation(Eigen::Matrix2d::Identity() * invSigma2);
g2o::RobustKernelHuber *rk = new g2o::RobustKernelHuber;
e->setRobustKernel(rk);
rk->setDelta(deltaMono);
e->pCamera = pFrame->mpCamera;