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rss2010_demo.cpp
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/**
* @author Hauke Strasdat
*
* Copyright (C) 2010 Hauke Strasdat
* Imperial College London
*
* rss2010_demo.cpp is part of RobotVision.
*
* RobotVision is free software: you can redistribute it and/or modify
* it under the terms of the GNU Lesser General Public License as
* published by the Free Software Foundation, either version 3 of the
* License, or any later version.
*
* RobotVision 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 Lesser General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* and the GNU Lesser General Public License along with this program.
* If not, see <http://www.gnu.org/licenses/>.
*/
#include <vector>
#include <set>
#include <list>
#include <TooN/TooN.h>
#include <TooN/SVD.h>
#include <TooN/se3.h>
#include <cvd/gl_helpers.h>
#include <cvd/random.h>
#include "stopwatch.h"
#include "bundle_adjuster.h"
#include "maths_utils.h"
#include "graph_optimizer.h"
#include "rectangle.h"
#include "gui_view.h"
#include "image.h"
using namespace std;
using namespace CVD;
using namespace TooN;
using namespace RobotVision;
const int NUM_PYR_LEVELS = 1;
typedef std::map<int, TooN::Vector<2> > IdObsMap;
class StructObs
{
public:
StructObs()
{
}
StructObs(const TooN::Vector<3> &p3d, const IdObsMap & frameid_obs_map) :
p3d(p3d), frameid_obs_map(frameid_obs_map)
{
}
TooN::Vector<3> p3d;
IdObsMap frameid_obs_map;
};
typedef std::map<int, StructObs> IdStructObsMap;
class DrawItems
{
public:
DrawItems()
{
mode = 0;
}
TooN::SE3<> first_est_pose;
std::vector<TooN::SE3<> > update_frames;
int num_matched_points;
int num_active_points;
typedef std::list<std::pair<TooN::Vector<3>,TooN::Vector<3> > > Line3DList;
typedef std::list<std::pair<TooN::Vector<2>,TooN::Vector<2> > > LineList;
typedef std::list< Rectangle > BoxList;
typedef std::list<std::pair<MonoImage,CVD::ImageRef> > PatchList;
typedef std::list<std::pair<TooN::Vector<2>, double> > CircleList;
typedef std::list<std::pair<TooN::Vector<3>, double> > Ball3DList;
typedef std::vector<std::pair<TooN::Vector<2>, TooN::Matrix<2> > > GaussList;
std::list<std::pair<CVD::Rgba<float>, LineList> > line_list[NUM_PYR_LEVELS];
std::list<std::pair<CVD::Rgba<float>, BoxList> > box_list[NUM_PYR_LEVELS];
std::list<std::pair<CVD::Rgba<float>, PatchList> > patch_list[NUM_PYR_LEVELS];
std::list<std::pair<CVD::Rgba<float>, CircleList> >
circle_list[NUM_PYR_LEVELS];
std::list<std::pair<CVD::Rgba<float>, Ball3DList> > ball3d_list;
std::list<std::pair<CVD::Rgba<float>, Line3DList> > line3d_list;
std::list<std::pair<CVD::Rgba<float>, GaussList> > gauss_list[NUM_PYR_LEVELS];
std::set<int> frame_id_set;
int mode;
void clear(){
update_frames.clear();
num_matched_points = 0;
num_active_points = 0;
ball3d_list.clear();
line3d_list.clear();
for (int i=0; i<NUM_PYR_LEVELS; i++)
{
patch_list[i].clear();
circle_list[i].clear();
line_list[i].clear();
box_list[i].clear();
gauss_list[i].clear();
}
frame_id_set.clear();
}
};
void getBaParams(const vector<SE3<> > & keyframe_vec,
const IdStructObsMap & globalid_structobs_map,
vector<int> & frame_id_vec,
vector<SE3<> > & ba_frame_vec,
vector<Vector<3> > & ba_point_vec,
vector<IdObs<2> > & ba_obs_vec,
vector<int> & globalid_vec)
{
int point_id = 0;
uint num_frames = frame_id_vec.size();
for (uint i=0; i<num_frames; ++i)
{
ba_frame_vec.push_back(keyframe_vec[frame_id_vec[i]]);
}
for (IdStructObsMap::const_iterator it=globalid_structobs_map.begin();
it!=globalid_structobs_map.end(); ++it)
{
vector<IdObs<2> > cand_obs_vec;
for (uint i=0; i<num_frames; ++i)
{
IdObsMap::const_iterator it2
= it->second.frameid_obs_map.find(frame_id_vec[i]);
if (it2!=it->second.frameid_obs_map.end())
{
cand_obs_vec.push_back(IdObs<2>(point_id,i,it2->second));
}
}
if (cand_obs_vec.size()>1)
{
ba_point_vec.push_back(it->second.p3d);
for (uint i=0; i<cand_obs_vec.size(); ++i)
{
ba_obs_vec.push_back(cand_obs_vec[i]);
}
globalid_vec.push_back(it->first);
++point_id;
}
}
}
void getObsWithID(const LinearCamera & cam_pars,
const SE3<> & pose,
const vector<Vector<3> > & point_vec,
const set<int> & target_id_set,
double noise,
vector<IdObs<2> > & matchobs_vec,
vector<IdObs<2> > & newobs_vec)
{
SE3XYZ se3xyz(cam_pars);
for (uint i =0; i<point_vec.size(); ++i)
{
double d = depth(pose,point_vec[i]);
if (d>0 && d<2)
{
Vector<2> obs = se3xyz.map(pose,point_vec[i])
+ noise*makeVector(rand_g(),rand_g());
if(obs[0]>=0 && obs[1]>=0
&& obs[0]<=cam_pars.P()[0]*2-1 && obs[1] <= cam_pars.P()[1]*2-1)
{
if(target_id_set.find(i)!=target_id_set.end())
matchobs_vec.push_back(IdObs<2>(i,0,obs));
else
newobs_vec.push_back(IdObs<2>(i,0,obs));
}
}
}
}
void getObsWith2IDs(const LinearCamera & cam_pars,
const SE3<> & pose,
const vector<Vector<3> > & point_vec,
const set<int> & target_id_set1,
const set<int> & target_id_set2,
double noise,
vector<IdObs<2> > & matchobs_vec1,
vector<IdObs<2> > & matchobs_vec2,
vector<IdObs<2> > & newobs_vec)
{
SE3XYZ se3xyz(cam_pars);
for (uint i =0; i<point_vec.size(); ++i)
{
double d = depth(pose,point_vec[i]);
if (d>0 && d<2)
{
Vector<2> obs = se3xyz.map(pose,point_vec[i])
+ noise*makeVector(rand_g(),rand_g());
if(obs[0]>=0 && obs[1]>=0
&& obs[0]<=cam_pars.P()[0]*2-1 && obs[1] <= cam_pars.P()[1]*2-1)
{
if(target_id_set1.find(i)!=target_id_set1.end())
matchobs_vec1.push_back(IdObs<2> (i,0,obs));
else if(target_id_set2.find(i)!=target_id_set2.end())
matchobs_vec2.push_back(IdObs<2>(i,0,obs));
else
newobs_vec.push_back(IdObs<2>(i,0,obs));
}
}
}
}
/** Inverse depth features*/
class UvqGauss
{
public:
UvqGauss(){}
UvqGauss( const TooN::Vector<3> & mean,
const TooN::Matrix<3> & inv_cov,
const Vector<2> & obs1)
: mean(mean), inv_cov(inv_cov), obs1(obs1), num_updates(0){}
TooN::Vector<3> mean;
TooN::Matrix<3> inv_cov;
Vector<2> obs1;
Vector<2> obs2;
int num_updates;
int point_id;
};
void figure2()
{
bool show_odom = true;
bool show_sim3 = true;
bool show_se3 = false;
int image_width = 640;
int image_height = 480;
ImageRef frame_size= ImageRef(image_width,image_height);
Vector<2> focal_length = makeVector(195, -195);
Vector<2> principle_point = makeVector(162, 125);
LinearCamera cam_pars(focal_length,principle_point,frame_size);
const int WIDTH = 512;
const int HEIGHT = 384;
ImageRef win_size(WIDTH*2,HEIGHT*2);
GuiWindow glwin(win_size);
LinearCamera cam3d(makeVector(1000,-1000),makeVector(WIDTH,HEIGHT),win_size);
GuiView view3d(ImageRef(WIDTH,HEIGHT), cam3d,
makeVector(-1.4582,0.0975581,-0.458294),
makeVector(-2.08342,5.54298,18 ));
view3d.init(&glwin,Rectangle(0,0,1,1));
ifstream fp_in;
vector<SE3<> > pose_vec;
vector<Sim3<> > sim_vec;
vector<Vector<3> > point_vec;
vector<IdObs<2> > obs_vec;
fp_in.open("../keble_college.txt", ios::in);
char line[256];
double scale = 0;
uint loop_id = -1;
while(fp_in.getline(line,256))
{
static int mode = -1;
if (strcmp(line,"Poses")==0)
{
mode = 0;
continue;
}
else if(strcmp(line,"Scale")==0)
{
mode = 1;
continue;
}
else if(strcmp(line,"LoopId")==0)
{
mode = 2;
continue;
}
else if(strcmp(line,"Points")==0)
{
mode = 3;
continue;
}
else if(strcmp(line,"Obs")==0)
{
mode = 4;
continue;
}
else
{
switch (mode)
{
case 0:
{
Matrix<3> R;
Vector<3> t;
R(0,0) = atof(strtok(line," "));
R(0,1) = atof(strtok(NULL," "));
R(0,2) = atof(strtok(NULL," "));
t[0] = atof(strtok(NULL," \n"));
fp_in.getline(line,256);
R(1,0) = atof(strtok(line," "));
R(1,1) = atof(strtok(NULL," "));
R(1,2) = atof(strtok(NULL," "));
t[1] = atof(strtok(NULL," \n"));
fp_in.getline(line,256);
R(2,0) = atof(strtok(line," "));
R(2,1) = atof(strtok(NULL," "));
R(2,2) = atof(strtok(NULL," "));
t[2] = atof(strtok(NULL," \n"));
fp_in.getline(line,256);
static int i=0;
if (i%1==0){
pose_vec.push_back(SE3<>(R,t));
sim_vec.push_back(Sim3<>(R,t,1.));
}
++i;
}
break;
case 1:
{
scale = atof(strtok(line," "));
break;
}
case 2:
{
loop_id = atof(strtok(line," "));
break;
}
case 3:
{
Vector<3> point;
point[0] = atof(strtok(line," "));
point[1] = atof(strtok(NULL," "));
point[2] = atof(strtok(NULL," "));
point_vec.push_back(point);
}
break;
case 4:
{
Vector<2> obs;
double point_id = atof(strtok(line,":, "));
double frame_id = atof(strtok(NULL,":, "));
obs[0] = atof(strtok(NULL,":, "));
obs[1] = atof(strtok(NULL,":, "));
obs_vec.push_back(IdObs<2> (point_id,frame_id,obs));
}
}
}
}
fp_in.close();
int trans_id = 0;
vector<SE3<> > cor_pose_vec;
vector<Sim3<> > trans7_list;
vector<Sim3<> > updated_trans7_list;
list<Constraint<SE3<>,6> > se3_list;
list<Constraint<Sim3<>,7> > sim3_list;
vector<SE3<> > updated_trans6_list;
vector<SE3<> > trans6_list;
trans7_list.push_back(sim_vec[loop_id]);
trans6_list.push_back(pose_vec[loop_id]);
//compute relative constraints
for (uint i=loop_id+1; i<pose_vec.size()-1; ++i)
{
trans7_list.push_back(sim_vec[i]);
trans6_list.push_back(pose_vec[i]);
Matrix<6,6> inf6 = TooN::Identity;
Matrix<7,7> inf7 = TooN::Identity;
se3_list.push_back(Constraint<SE3<>,6 >(trans_id,
trans_id+1,
pose_vec[i]*pose_vec[i-1].inverse(),
inf6));
sim3_list.push_back(Constraint<Sim3<>,7 >(trans_id,
trans_id+1,
sim_vec[i]*sim_vec[i-1].inverse(),
inf7));
++trans_id;
}
int last_id = pose_vec.size()-1;
Sim3<> loop_constraint = sim_vec[loop_id]*sim_vec[last_id].inverse();
loop_constraint.get_scale() = 1./scale;
Matrix<7,7> inf7 = Identity(7);
sim3_list.push_back(Constraint<Sim3<>,7 >(trans_id,0,loop_constraint,inf7));
list<Constraint<Sim3<>,7> >::iterator elem1 = sim3_list.begin();
elem1->fisher_information = inf7;
Matrix<6,6> inf6 = Identity(6);
se3_list.push_back(
Constraint<SE3<>,6 >(trans_id,0,
pose_vec[loop_id]*pose_vec[last_id].inverse(),
inf6));
list<Constraint<SE3<>,6> >::iterator el1 = se3_list.begin();
el1->fisher_information = inf6;
SE3ConFun se3confun;
GraphOptimizer<Sim3<>,7> opt7;
GraphOptimizer<SE3<>,6> opt6;
updated_trans6_list = trans6_list;
opt6.verbose = false;
//Perform standard 6 DoF optimisation
opt6.optimize(updated_trans6_list,
se3_list,
se3confun,
1,
2,
0.0000000000000000001);
Sim3ConFun sim3confun;
updated_trans7_list = trans7_list;
StopWatch go_m;
go_m.start();
opt7.verbose = 1;
cout << "7 DoF optimisation:" << endl;
//Perform 7 DoF optimisation
opt7.optimize(updated_trans7_list,
sim3_list,
sim3confun,
1,
2,
0.0000000000000000001);
go_m.stop();
cout << "time in s: " << go_m.getStoppedTime() << endl<<endl;
vector<SE3<> > cor7_pose_vec;
for (uint i=0;i<loop_id; ++i)
{
cor7_pose_vec.push_back(pose_vec[i]);
}
// transform Sim3 --> SE3
for (uint i_f=0; i_f<updated_trans7_list.size(); ++i_f)
{
cor7_pose_vec.push_back(
SE3<>(updated_trans7_list[i_f].get_rotation(),
updated_trans7_list[i_f].get_translation()
/updated_trans7_list[i_f].get_scale()));
}
for (uint i=0;i<loop_id; ++i)
{
cor_pose_vec.push_back(pose_vec[i]);
}
for (uint i_f=0; i_f<updated_trans6_list.size(); ++i_f)
{
cor_pose_vec.push_back(updated_trans6_list[i_f]);
}
vector<Vector<3> > cor_point_vec;
vector<Vector<3> > cor7_point_vec;
SE3XYZ se3xyz(cam_pars);
RobotVision::BA_SE3_XYZ ba;
// map points into updated frames
cor7_point_vec = point_vec;
for (uint i=0; i<obs_vec.size(); ++i)
{
int frame_id = obs_vec[i].frame_id;
int point_id = obs_vec[i].point_id;
int id = obs_vec[i].frame_id-loop_id;
if (id>=0)
{
Vector<3> rel_point = transform(sim_vec[frame_id], point_vec[point_id]);
Vector<3> cor_point
= transform(updated_trans7_list[id].inverse(),rel_point);
cor7_point_vec[point_id] = cor_point;
}
}
// map points into updated frames
cor_point_vec = point_vec;
for (uint i=0; i<obs_vec.size(); ++i)
{
int frame_id = obs_vec[i].frame_id;
int point_id = obs_vec[i].point_id;
int id = obs_vec[i].frame_id-loop_id;
if (id>=0)
{
Vector<3> rel_point = transform(pose_vec[frame_id], point_vec[point_id]);
Vector<3> cor_point
= transform(updated_trans6_list[id].inverse(),rel_point);
cor_point_vec[point_id] = cor_point;
}
}
BA_SE3_XYZ::_TrackMap track_map;
for (uint i=0; i<obs_vec.size();++i)
{
IdObs<2> & id_obs = obs_vec[i];
BA_SE3_XYZ::_TrackMap::iterator it
= track_map.find(id_obs.point_id);
if (it==track_map.end())
{
list<IdObs<2> > obs_list;
obs_list.push_back(id_obs);
track_map.insert(make_pair(id_obs.point_id,obs_list));
}
else
{
it->second.push_back(id_obs);
}
}
ba.calcFastStructureOnly(cor_pose_vec,
cor_point_vec,
se3xyz,
track_map,
BundleAdjusterParams(true,1,10));
ba.verbose = true;
StopWatch ba_m;
ba_m.start();
cout << "Structure-Only BA:" << endl;
ba.calcFastStructureOnly(cor7_pose_vec,
cor7_point_vec,
se3xyz,
track_map,
BundleAdjusterParams(true,1,10));
ba_m.stop();
cout << "time in s: " << ba_m.getStoppedTime() << endl << endl;;
SE3<> cur_pose = pose_vec[pose_vec.size()-1];
while(true)
{
glClearColor(1,1,1,1);
glClear (GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
view3d.activate3D();
glColor3f(0,1,0);
view3d.drawPose3D(cur_pose);
if (show_odom)
{
glColor4f(0,0,0,1);
for (uint i=0; i<point_vec.size(); ++i)
{
view3d.drawBall3D(point_vec[i],0.01);
}
for (uint i=0; i<pose_vec.size(); ++i)
{
view3d.drawPose3D(pose_vec[i]);
if (i<pose_vec.size()-1)
view3d.drawLine3D(trans2center(pose_vec[i]),
trans2center(pose_vec[(i+1)%pose_vec.size()]));
}
}
if (show_se3)
{
glColor3f(0,0.5,0);
for (uint i=0; i<updated_trans6_list.size(); ++i)
{
view3d.drawPose3D(updated_trans6_list[i]);
view3d.drawLine3D(trans2center(updated_trans6_list[i]),
trans2center(
updated_trans6_list[(i+1)
%updated_trans6_list.size()])
);
}
for (uint i=0; i<cor_point_vec.size(); ++i)
{
view3d.drawBall3D(cor_point_vec[i],0.01);
}
}
if (show_sim3)
{
glColor4f(1,0,0,1);
for (uint i=0; i<updated_trans7_list.size(); ++i)
{
view3d.drawSimilarity3D(updated_trans7_list[i]);
view3d.drawLine3D(trans2center(updated_trans7_list[i]),
trans2center(
updated_trans7_list[(i+1)
%updated_trans7_list.size()])
);
}
for (uint i=0; i<cor7_point_vec.size(); ++i)
{
view3d.drawBall3D(cor7_point_vec[i],0.01);
}
}
glFlush();
glwin.swap_buffers();
}
exit(0);
}
class Figure3Data
{
public:
Figure3Data(double noise,
double mean_rmse_se3,
double var_rmse_se3,
double mean_rmse_sim3,
double var_rmse_sim3,
double av_scale)
: noise(noise),
mean_rmse_se3(mean_rmse_se3),
var_rmse_se3(var_rmse_se3),
mean_rmse_sim3(mean_rmse_sim3),
var_rmse_sim3(var_rmse_sim3),
av_scale(av_scale) {}
double noise;
double mean_rmse_se3;
double var_rmse_se3;
double mean_rmse_sim3;
double var_rmse_sim3;
double av_scale;
};
void figure3()
{
bool draw = true;
bool draw_odom = true;
bool draw_sim3 = true;
bool draw_se3 = true;
bool draw_ground_truth = true;
vector<Figure3Data> fig_data;
const int C_WIDTH = 320;
const int C_HEIGHT = 240;
const int WIDTH = 640;
const int HEIGHT = 480;
ImageRef win_size(WIDTH,HEIGHT);
GuiWindow glwin(win_size);
LinearCamera cam_pars(makeVector(195, -195),
makeVector(162 ,125),
ImageRef(320,240));
LinearCamera cam3d(makeVector(1000,-1000),
makeVector(WIDTH/2,HEIGHT/2),
ImageRef(640,480));
GuiView view3d(ImageRef(WIDTH,HEIGHT),
cam3d,makeVector(0,0,0),
makeVector(10,0,50));
view3d.init(&glwin,Rectangle(0,0,1,1));
cout.setf(ios::fixed,ios::floatfield);
cout.precision(4);
for (double noise = 1.2; noise>=0.0; noise-=0.2)
{
double sum_scale=0;
double sum_rmse_se3=0;
double sum_rmse_sim3=0;
double sum_scale_sq =0;
double sum_rmse_se3_sq=0;
double sum_rmse_sim3_sq=0;
uint num_trials = 10;
srand(1);
for (uint trial=0; trial<num_trials; ++trial)
{
int frame_id = 2;
bool end = false;
vector<SE3<> > true_poses;
vector<Vector<3> > true_points;
IdStructObsMap globalid_structobs_map;
Vector<2> bias = makeVector(0,0);
int factor = 10;
int num_frames = 72*factor ;
int tmp=0;
//generate circular trajectory of poses
for (int i =0; i<num_frames; ++i)
{
double x = factor*cos(2*M_PI*i/num_frames) - factor;
double y = factor*sin(2*M_PI*i/num_frames);
true_poses.push_back(
SE3<>(
SO3<>(makeVector(0,0,2*M_PI*i/num_frames))
*SO3<>(makeVector(0,M_PI_2,0)), makeVector(x,y,0)).inverse());
tmp++;
}
num_frames = tmp;
//generate points on a ring-shape distribution
uint num_points = 5000;
for (uint i =0; i<num_points; ++i)
{
double theta = rand_u();
double r = factor+1;
double x = r*cos(2*M_PI*theta) - factor;
double y = r*sin(2*M_PI*theta);
double z = rand_u()*2-1;
true_points.push_back(makeVector(x,y,z));
}
vector<Vector<3> > vis_points;
vector<Vector<3> > vis_points0;
vector<Vector<3> > vis_points1;
SE3<> cur_pose = true_poses[0];
map<int, UvqGauss > new_uvq_map;
map<int, UvqGauss > uvq_map;
BundleAdjusterParams ba_pars_f(false,0,1,1);
BundleAdjusterParams ba_pars_k(false,0,10);
BA_SE3_XYZ ba;
SE3UVQ se3uvq(cam_pars);
SE3XYZ se3xyz(cam_pars);
DrawItems::Line3DList line_list2;
for (uint i =0; i<num_points; ++i)
{
if (depth(cur_pose,true_points[i])>0)
{
Vector<2> obs = se3xyz.map(true_poses[0],true_points[i]);
if(obs[0]>=0 && obs[1]>=0 && obs[0]<=639 && obs[1] <= C_HEIGHT-1)
{
Matrix<3> Lambda = Zeros(3);
Lambda(0,0) = Po2(cam_pars.F()[0]);
Lambda(1,1) = Po2(cam_pars.F()[1]);
Lambda(2,2) = 0;
Vector<3> p;
p.slice<0,2>() = cam_pars.unmap(obs);
p[2] = 0.9;
uvq_map.insert(make_pair(i,UvqGauss(p,Lambda,obs)));
}
}
}
cur_pose = true_poses[1];
SE3<> ba_frame = true_poses[1]*true_poses[0].inverse();
set<int> first_frame_point_id_set;
map<int,int> loop_closure_map;
for (uint i =0; i<num_points; ++i)
{
if (depth(cur_pose,true_points[i])>0)
{
Vector<2> obs = se3xyz.map(cur_pose,true_points[i]);
if(obs[0]>=0 && obs[1]>=0
&& obs[0]<=C_WIDTH-1 && obs[1] <= C_HEIGHT-1)
{
map<int,UvqGauss>::iterator it = uvq_map.find(i);
if (it!=uvq_map.end())
{
ba.filterSingleFeatureOnly(ba_frame,
it->second.mean,
it->second.inv_cov,
se3uvq,
obs,
ba_pars_f);
it->second.obs2 = obs;
++(it->second.num_updates);
Cholesky<3> Ch(it->second.inv_cov);
Matrix<3> Sigma = Ch.get_inverse();
double q1 = it->second.mean[2]+sqrt(Sigma(2,2))*3;
double q2 = max(0.0000000001,
it->second.mean[2]-sqrt(Sigma(2,2))*3);
Vector<3> p1
= transform(true_poses.at(0).inverse(),
makeVector(it->second.mean[0]/q1,
it->second.mean[1]/q1,
1./q1) ) ;
Vector<3> p2
= transform(true_poses.at(0).inverse(),
makeVector(it->second.mean[0]/q2,
it->second.mean[1]/q2,
1./q2) );
line_list2.push_back(make_pair(p1,p2));
vis_points.push_back(true_points[i]);
}
else
{
Matrix<3> Lambda = Zeros(3);
Lambda(0,0) = Po2(cam_pars.F()[0]);
Lambda(1,1) = Po2(cam_pars.F()[1]);
Lambda(2,2) = 0;
Vector<3> p;
p.slice<0,2>() = cam_pars.unmap(obs);
p[2] = 0.9;
new_uvq_map.insert(make_pair(i,UvqGauss(p,Lambda,obs)));
}
}
}
}
vector<SE3<> > ba_poses;
vector<SE3<> > keyframe_vec;
ba_poses.push_back(true_poses[0]);
ba_poses.push_back(true_poses[1]);
vector<IdObs<2> > ba_obs;
vector<Vector<3> > ba_points;
vector<int> id_vec;
SE3<> kf1;
SE3<> kf2;
kf1 = ba_poses[0];
kf2 = ba_poses[1];
int point_id = 0;
for (map<int,UvqGauss>::const_iterator it=uvq_map.begin();
it!=uvq_map.end();
++it)
{
if (it->second.num_updates<1)
continue;
ba_obs.push_back(IdObs<2>(point_id,0,it->second.obs1));
ba_obs.push_back(IdObs<2>(point_id,1,it->second.obs2));
Vector<3> xyz
= transform(true_poses[0].inverse(),
makeVector(it->second.mean[0],
it->second.mean[1],1)/it->second.mean[2]);
IdObsMap id_obs_map;
id_obs_map.insert(make_pair(0,it->second.obs1));
id_obs_map.insert(make_pair(1,it->second.obs2));
globalid_structobs_map.insert(make_pair(it->first,
StructObs(xyz,id_obs_map)));
id_vec.push_back(it->first);
ba_points.push_back(xyz);
++point_id;
}
BA_SE3_XYZ::_TrackMap track_map;
for (uint i_obs=0; i_obs<ba_obs.size();++i_obs)
{
IdObs<2> & id_obs = ba_obs[i_obs];
BA_SE3_XYZ::_TrackMap::iterator it
= track_map.find(id_obs.point_id);
if (it==track_map.end())
{
BA_SE3_XYZ::_Track obs_list;
obs_list.push_back( id_obs);
track_map.insert(make_pair(id_obs.point_id,obs_list));
}
else
{
it->second.push_back(id_obs);
}
}
ba.calcFast(ba_poses,ba_points,se3xyz,track_map,1,ba_pars_k);
//ba.calcFull(ba_poses,ba_points,se3xyz,ba_obs,1,0,ba_pars_k,false);
for (uint i=0; i<id_vec.size(); ++i)
{
globalid_structobs_map.find(id_vec[i])->second.p3d = ba_points[i];
first_frame_point_id_set.insert(id_vec[i]);
}
kf1 = ba_poses[0];
kf2 = ba_poses[1];
keyframe_vec.push_back(kf1);
keyframe_vec.push_back(kf2);
uvq_map = new_uvq_map;
SE3<> loop_pose = kf1;
int new_id = num_points;
vector<Sim3<> > trans7_list;
vector<Vector<3> > cor_point_vec;
vector<Vector<3> > cor7_point_vec;
vector<SE3<> > trans6_list;
vector<SE3<> > cor7_pose_vec;
StopWatch wait_in_the_end;
while (!end || wait_in_the_end.readCurrentTime() < 5)
{
if (!end)
{
line_list2.clear();
vis_points.clear();
vector<IdObs<2> > obs_vec;
vector<Vector<3> > point_vec;
int point_id = 0;
SE3<> origin = keyframe_vec[keyframe_vec.size()-1];
SE3<> kf;
new_uvq_map.clear();
int obs_count = 0;
for (uint i =0; i<num_points; ++i)
{
int id =i;
set<int>::const_iterator loop_it = first_frame_point_id_set.find(i);
if (frame_id>10 && loop_it!=first_frame_point_id_set.end())
//loop closure detected!
{
map<int,int>::iterator it = loop_closure_map.find(i);
if (it!=loop_closure_map.end())
{