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local_bundle_adjuster.cc
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local_bundle_adjuster.cc
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#include "stella_vslam/data/keyframe.h"
#include "stella_vslam/data/landmark.h"
#include "stella_vslam/data/marker.h"
#include "stella_vslam/data/map_database.h"
#include "stella_vslam/marker_model/base.h"
#include "stella_vslam/optimize/local_bundle_adjuster.h"
#include "stella_vslam/optimize/internal/landmark_vertex_container.h"
#include "stella_vslam/optimize/internal/marker_vertex_container.h"
#include "stella_vslam/optimize/internal/se3/shot_vertex_container.h"
#include "stella_vslam/optimize/internal/se3/reproj_edge_wrapper.h"
#include "stella_vslam/util/converter.h"
#include <unordered_map>
#include <Eigen/StdVector>
#include <g2o/core/solver.h>
#include <g2o/core/block_solver.h>
#include <g2o/core/sparse_optimizer.h>
#include <g2o/core/robust_kernel_impl.h>
#include <g2o/types/sba/types_six_dof_expmap.h>
#include <g2o/solvers/eigen/linear_solver_eigen.h>
#include <g2o/solvers/dense/linear_solver_dense.h>
#include <g2o/solvers/csparse/linear_solver_csparse.h>
#include <g2o/core/optimization_algorithm_levenberg.h>
namespace stella_vslam {
namespace optimize {
local_bundle_adjuster::local_bundle_adjuster(const unsigned int num_first_iter,
const unsigned int num_second_iter)
: num_first_iter_(num_first_iter), num_second_iter_(num_second_iter) {}
void local_bundle_adjuster::optimize(data::map_database* map_db,
const std::shared_ptr<stella_vslam::data::keyframe>& curr_keyfrm, bool* const force_stop_flag) const {
// 1. Aggregate the local and fixed keyframes, and local landmarks
// Correct the local keyframes of the current keyframe
std::unordered_map<unsigned int, std::shared_ptr<data::keyframe>> local_keyfrms;
local_keyfrms[curr_keyfrm->id_] = curr_keyfrm;
const auto curr_covisibilities = curr_keyfrm->graph_node_->get_covisibilities();
for (const auto& local_keyfrm : curr_covisibilities) {
if (!local_keyfrm) {
continue;
}
if (local_keyfrm->will_be_erased()) {
continue;
}
local_keyfrms[local_keyfrm->id_] = local_keyfrm;
}
// Correct landmarks seen in local keyframes
std::unordered_map<unsigned int, std::shared_ptr<data::landmark>> local_lms;
for (const auto& local_keyfrm : local_keyfrms) {
const auto landmarks = local_keyfrm.second->get_landmarks();
for (const auto& local_lm : landmarks) {
if (!local_lm) {
continue;
}
if (local_lm->will_be_erased()) {
continue;
}
// Avoid duplication
if (local_lms.count(local_lm->id_)) {
continue;
}
local_lms[local_lm->id_] = local_lm;
}
}
// Correct markers seen in local keyframes
std::unordered_map<unsigned int, std::shared_ptr<data::marker>> local_mkrs;
for (auto local_keyfrm : local_keyfrms) {
const auto markers = local_keyfrm.second->get_markers();
for (auto local_mkr : markers) {
if (!local_mkr) {
continue;
}
// Avoid duplication
if (local_mkrs.count(local_mkr->id_)) {
continue;
}
local_mkrs[local_mkr->id_] = local_mkr;
}
}
// Fixed keyframes: keyframes which observe local landmarks but which are NOT in local keyframes
std::unordered_map<unsigned int, std::shared_ptr<data::keyframe>> fixed_keyfrms;
for (const auto& local_lm : local_lms) {
const auto observations = local_lm.second->get_observations();
for (const auto& obs : observations) {
const auto fixed_keyfrm = obs.first.lock();
if (!fixed_keyfrm) {
continue;
}
if (fixed_keyfrm->will_be_erased()) {
continue;
}
// Do not add if it's in the local keyframes
if (local_keyfrms.count(fixed_keyfrm->id_)) {
continue;
}
// Avoid duplication
if (fixed_keyfrms.count(fixed_keyfrm->id_)) {
continue;
}
fixed_keyfrms[fixed_keyfrm->id_] = fixed_keyfrm;
}
}
// 2. Construct an optimizer
std::unique_ptr<g2o::BlockSolverBase> block_solver;
auto linear_solver = g2o::make_unique<g2o::LinearSolverCSparse<g2o::BlockSolver_6_3::PoseMatrixType>>();
block_solver = g2o::make_unique<g2o::BlockSolver_6_3>(std::move(linear_solver));
auto algorithm = new g2o::OptimizationAlgorithmLevenberg(std::move(block_solver));
g2o::SparseOptimizer optimizer;
optimizer.setAlgorithm(algorithm);
if (force_stop_flag) {
optimizer.setForceStopFlag(force_stop_flag);
}
// 3. Convert each of the keyframe to the g2o vertex, then set it to the optimizer
// Container of the shot vertices
auto vtx_id_offset = std::make_shared<unsigned int>(0);
internal::se3::shot_vertex_container keyfrm_vtx_container(vtx_id_offset, local_keyfrms.size() + fixed_keyfrms.size());
// Save the converted keyframes
std::unordered_map<unsigned int, std::shared_ptr<data::keyframe>> all_keyfrms;
// Set the local keyframes to the optimizer
for (const auto& id_local_keyfrm_pair : local_keyfrms) {
const auto& local_keyfrm = id_local_keyfrm_pair.second;
all_keyfrms.emplace(id_local_keyfrm_pair);
auto keyfrm_vtx = keyfrm_vtx_container.create_vertex(local_keyfrm, local_keyfrm->id_ == 0);
optimizer.addVertex(keyfrm_vtx);
}
// Set the fixed keyframes to the optimizer
for (const auto& id_fixed_keyfrm_pair : fixed_keyfrms) {
const auto& fixed_keyfrm = id_fixed_keyfrm_pair.second;
all_keyfrms.emplace(id_fixed_keyfrm_pair);
auto keyfrm_vtx = keyfrm_vtx_container.create_vertex(fixed_keyfrm, true);
optimizer.addVertex(keyfrm_vtx);
}
// 4. Connect the vertices of the keyframe and the landmark by using an edge of reprojection constraint
// Container of the landmark vertices
internal::landmark_vertex_container lm_vtx_container(vtx_id_offset, local_lms.size());
// Container of the reprojection edges
using reproj_edge_wrapper = internal::se3::reproj_edge_wrapper<data::keyframe>;
std::vector<reproj_edge_wrapper> reproj_edge_wraps;
reproj_edge_wraps.reserve(all_keyfrms.size() * local_lms.size());
// Chi-squared value with significance level of 5%
// Two degree-of-freedom (n=2)
constexpr float chi_sq_2D = 5.99146;
const float sqrt_chi_sq_2D = std::sqrt(chi_sq_2D);
// Three degree-of-freedom (n=3)
constexpr float chi_sq_3D = 7.81473;
const float sqrt_chi_sq_3D = std::sqrt(chi_sq_3D);
for (const auto& id_local_lm_pair : local_lms) {
const auto local_lm = id_local_lm_pair.second;
// Convert the landmark to the g2o vertex, then set to the optimizer
auto lm_vtx = lm_vtx_container.create_vertex(local_lm, false);
optimizer.addVertex(lm_vtx);
const auto observations = local_lm->get_observations();
for (const auto& obs : observations) {
const auto keyfrm = obs.first.lock();
auto idx = obs.second;
if (!keyfrm) {
continue;
}
if (keyfrm->will_be_erased()) {
continue;
}
const auto keyfrm_vtx = keyfrm_vtx_container.get_vertex(keyfrm);
const auto& undist_keypt = keyfrm->frm_obs_.undist_keypts_.at(idx);
const float x_right = keyfrm->frm_obs_.stereo_x_right_.empty() ? -1.0f : keyfrm->frm_obs_.stereo_x_right_.at(idx);
const float inv_sigma_sq = keyfrm->orb_params_->inv_level_sigma_sq_.at(undist_keypt.octave);
const auto sqrt_chi_sq = (keyfrm->camera_->setup_type_ == camera::setup_type_t::Monocular)
? sqrt_chi_sq_2D
: sqrt_chi_sq_3D;
auto reproj_edge_wrap = reproj_edge_wrapper(keyfrm, keyfrm_vtx, local_lm, lm_vtx,
idx, undist_keypt.pt.x, undist_keypt.pt.y, x_right,
inv_sigma_sq, sqrt_chi_sq);
reproj_edge_wraps.push_back(reproj_edge_wrap);
optimizer.addEdge(reproj_edge_wrap.edge_);
}
}
// Container of the reprojection edges for corners of markers
internal::marker_vertex_container marker_vtx_container(vtx_id_offset, local_mkrs.size());
std::vector<reproj_edge_wrapper> mkr_reproj_edge_wraps;
mkr_reproj_edge_wraps.reserve(all_keyfrms.size() * local_mkrs.size());
for (auto& id_local_mkr_pair : local_mkrs) {
auto mkr = id_local_mkr_pair.second;
if (!mkr) {
continue;
}
// Convert the corners to the g2o vertex, then set it to the optimizer
auto corner_vertices = marker_vtx_container.create_vertices(mkr, true);
for (unsigned int corner_idx = 0; corner_idx < corner_vertices.size(); ++corner_idx) {
const auto corner_vtx = corner_vertices[corner_idx];
optimizer.addVertex(corner_vtx);
for (const auto& keyfrm : mkr->observations_) {
if (!keyfrm) {
continue;
}
if (keyfrm->will_be_erased()) {
continue;
}
if (!keyfrm_vtx_container.contain(keyfrm)) {
continue;
}
const auto keyfrm_vtx = keyfrm_vtx_container.get_vertex(keyfrm);
const auto& mkr_2d = keyfrm->markers_2d_.at(mkr->id_);
const auto& undist_pt = mkr_2d.undist_corners_.at(corner_idx);
const float x_right = -1.0;
const float inv_sigma_sq = 1.0;
auto reproj_edge_wrap = reproj_edge_wrapper(keyfrm, keyfrm_vtx, nullptr, corner_vtx,
0, undist_pt.x, undist_pt.y, x_right,
inv_sigma_sq, 0.0, false);
mkr_reproj_edge_wraps.push_back(reproj_edge_wrap);
optimizer.addEdge(reproj_edge_wrap.edge_);
}
}
}
// 5. Perform the first optimization
if (force_stop_flag && *force_stop_flag) {
return;
}
optimizer.initializeOptimization();
optimizer.optimize(num_first_iter_);
// 6. Discard outliers, then perform the second optimization
bool run_robust_BA = true;
if (force_stop_flag && *force_stop_flag) {
run_robust_BA = false;
}
if (run_robust_BA) {
for (auto& reproj_edge_wrap : reproj_edge_wraps) {
auto edge = reproj_edge_wrap.edge_;
const auto& local_lm = reproj_edge_wrap.lm_;
if (local_lm->will_be_erased()) {
continue;
}
if (reproj_edge_wrap.is_monocular_) {
if (chi_sq_2D < edge->chi2() || !reproj_edge_wrap.depth_is_positive()) {
reproj_edge_wrap.set_as_outlier();
}
}
else {
if (chi_sq_3D < edge->chi2() || !reproj_edge_wrap.depth_is_positive()) {
reproj_edge_wrap.set_as_outlier();
}
}
edge->setRobustKernel(nullptr);
}
optimizer.initializeOptimization();
optimizer.optimize(num_second_iter_);
}
// 7. Count the outliers
std::vector<std::pair<std::shared_ptr<data::keyframe>, std::shared_ptr<data::landmark>>> outlier_observations;
outlier_observations.reserve(reproj_edge_wraps.size());
for (auto& reproj_edge_wrap : reproj_edge_wraps) {
auto edge = reproj_edge_wrap.edge_;
const auto& local_lm = reproj_edge_wrap.lm_;
if (local_lm->will_be_erased()) {
continue;
}
if (reproj_edge_wrap.is_monocular_) {
if (chi_sq_2D < edge->chi2() || !reproj_edge_wrap.depth_is_positive()) {
outlier_observations.emplace_back(std::make_pair(reproj_edge_wrap.shot_, reproj_edge_wrap.lm_));
}
}
else {
if (chi_sq_3D < edge->chi2() || !reproj_edge_wrap.depth_is_positive()) {
outlier_observations.emplace_back(std::make_pair(reproj_edge_wrap.shot_, reproj_edge_wrap.lm_));
}
}
}
// 8. Update the information
{
std::lock_guard<std::mutex> lock(data::map_database::mtx_database_);
for (const auto& outlier_obs : outlier_observations) {
const auto& keyfrm = outlier_obs.first;
const auto& lm = outlier_obs.second;
keyfrm->erase_landmark(lm);
lm->erase_observation(map_db, keyfrm);
}
for (const auto& id_local_keyfrm_pair : local_keyfrms) {
const auto& local_keyfrm = id_local_keyfrm_pair.second;
auto keyfrm_vtx = keyfrm_vtx_container.get_vertex(local_keyfrm);
local_keyfrm->set_cam_pose(keyfrm_vtx->estimate());
}
for (const auto& id_local_lm_pair : local_lms) {
const auto& local_lm = id_local_lm_pair.second;
auto lm_vtx = lm_vtx_container.get_vertex(local_lm);
local_lm->set_pos_in_world(lm_vtx->estimate());
local_lm->update_mean_normal_and_obs_scale_variance();
}
}
}
} // namespace optimize
} // namespace stella_vslam