def optimize(self): # create g2o optimizer opt = g2o.SparseOptimizer() solver = g2o.BlockSolverSE3(g2o.LinearSolverCholmodSE3()) solver = g2o.OptimizationAlgorithmLevenberg(solver) opt.set_algorithm(solver) robust_kernel = g2o.RobustKernelHuber(np.sqrt(5.991)) # add frames to graph for f in self.frames: pose = f.pose #pose = np.linalg.inv(pose) sbacam = g2o.SBACam(g2o.SE3Quat(pose[0:3, 0:3], pose[0:3, 3])) sbacam.set_cam(f.K[0][0], f.K[1][1], f.K[0][2], f.K[1][2], 1.0) v_se3 = g2o.VertexCam() v_se3.set_id(f.id) v_se3.set_estimate(sbacam) v_se3.set_fixed(f.id <= 1) opt.add_vertex(v_se3) # add points to frames PT_ID_OFFSET = 0x10000 for p in self.points: pt = g2o.VertexSBAPointXYZ() pt.set_id(p.id + PT_ID_OFFSET) pt.set_estimate(p.pt[0:3]) pt.set_marginalized(True) pt.set_fixed(False) opt.add_vertex(pt) for f in p.frames: edge = g2o.EdgeProjectP2MC() edge.set_vertex(0, pt) edge.set_vertex(1, opt.vertex(f.id)) uv = f.kpus[f.pts.index(p)] edge.set_measurement(uv) edge.set_information(np.eye(2)) edge.set_robust_kernel(robust_kernel) opt.add_edge(edge) opt.set_verbose(True) opt.initialize_optimization() opt.optimize(50) # put frames back for f in self.frames: est = opt.vertex(f.id).estimate() R = est.rotation().matrix() t = est.translation() f.pose = poseRt(R, t) # put points back for p in self.points: est = opt.vertex(p.id + PT_ID_OFFSET).estimate() p.pt = np.array(est)
def optimize(self): # init g2o solver opt = g2o.SparseOptimizer() solver = g2o.BlockSolverSE3(g2o.LinearSolverCholmodSE3()) solver = g2o.OptimizationAlgorithmLevenberg(solver) robust_kernel = g2o.RobustKernelHuber(np.sqrt(5.991)) opt.set_algorithm(solver) robust_kernel = g2o.RobustKernelHuber(np.sqrt(5.991)) # add frames to graph for frame in self.frames: pose = frame.pose sbacam = g2o.SBACam( g2o.SE3Quat(frame.pose[0:3, 0:3], frame.pose[0:3, 3])) # sbacam.set_cam(frame.K[0][0], frame.K[1][1], frame.K[2][0], frame.K[2][1], 1.0) sbacam.set_cam(1.0, 1.0, 0.0, 0.0, 1.0) v_se3 = g2o.VertexCam() v_se3.set_id(frame.id) v_se3.set_estimate(sbacam) v_se3.set_fixed(frame.id == 0) opt.add_vertex(v_se3) # add points to frames PT_ID_OFFSET = 0x10000 for point in self.points: pt = g2o.VertexSBAPointXYZ() pt.set_id(point.id + PT_ID_OFFSET) pt.set_estimate(point.pt[0:3]) pt.set_marginalized(True) pt.set_fixed(False) opt.add_vertex(pt) for frame in point.frames: edge = g2o.EdgeProjectP2MC() edge.set_vertex(0, pt) edge.set_vertex(1, opt.vertex(frame.id)) uv = frame.kps[frame.pts.index(point)] edge.set_measurement(uv) edge.set_information(np.eye(2)) edge.set_robust_kernel(robust_kernel) opt.add_edge(edge) # opt.set_verbose(True) opt.initialize_optimization() opt.optimize(20) # add pose back to frame for frame in self.frames: est = opt.vertex(frame.id).estimate() R = est.rotation().matrix() t = est.translation() frame.pose = poseRt(R, t)
def add_edge(self, point_id, pose_id, edge_id, measurement, information=np.identity(2), robust_kernel=g2o.RobustKernelHuber(np.sqrt(5.991))): # 95% CI edge = g2o.EdgeProjectP2MC() edge.set_vertex(0, self.vertex(point_id * 2 + 1)) edge.set_vertex(1, self.vertex(pose_id * 2)) edge.set_id(edge_id) edge.set_measurement(measurement) # projection edge.set_information(information) if robust_kernel is not None: edge.set_robust_kernel(robust_kernel) super().add_edge(edge)
def optimize(self, max_iters): opt = g2o.SparseOptimizer() solver = g2o.BlockSolverSE3(g2o.LinearSolverCSparseSE3()) solver = g2o.OptimizationAlgorithmLevenberg(solver) opt.set_algorithm(solver) robust_kernel = g2o.RobustKernelHuber(np.sqrt(5.991)) # adding frames to graph for f in self.frames: sbacam = g2o.SBACam(g2o.SE3Quat(f.pose[0:3, 0:3], f.pose[0:3, 3])) sbacam.set_cam(f.T[0][0], f.T[1][1], f.T[2][0], f.T[2][1], 1.0) v_se3 = g2o.VertexCam() v_se3.set_id(f.id) v_se3.set_estimate(sbacam) v_se3.set_fixed(f.id == 0) opt.add_vertex(v_se3) # add points to graph for p in self.points: pt = g2o.VertexSBAPointXYZ() pt.set_id(p.id + 0x10000) pt.set_estimate(p.location[0:3]) pt.set_marginalized(True) pt.set_fixed(False) opt.add_vertex(pt) # add connections between frames that contain a point in the graph for f in p.frames: edge = g2o.EdgeProjectP2MC() edge.set_vertex(0, pt) edge.set_vertex(1, opt.vertex(f.id)) uv = f.kpts[f.pts.index(p)] edge.set_measurement(uv) edge.set_information(np.eye(2)) edge.set_robust_kernel(robust_kernel) opt.add_edge(edge) opt.set_verbose(True) opt.initialize_optimization() opt.optimize(max_iters)
def optimize(self): # optimizer opt = g2o.SparseOptimizer() solver = g2o.BlockSolverSE3(g2o.LinearSolverCholmodSE3()) solver = g2o.OptimizationAlgorithmLevenberg(solver) opt.set_algorithm(solver) robust_kernel = g2o.RobustKernelHuber(np.sqrt(5.991)) for f in self.frames: sbacam = g2o.SBACam(g2o.SE3Quat(f.pose[:3, :3], f.pose[:3, 3])) sbacam.set_cam(f.K[0][0], f.K[1][1], f.K[2][0], f.K[2][1], 1.0) v_se3 = g2o.VertexCam() v_se3.set_id(f.id) v_se3.set_estimate(sbacam) v_se3.set_fixed(f.id == 0) opt.add_vertex(v_se3) for p in self.points: pt = g2o.VertexSBAPointXYZ() pt.set_id(p.id + 0x10000) pt.set_estimate(p.pt[0:3]) pt.set_marginalized(True) pt.set_fixed(False) opt.add_vertex(pt) for f in p.frames: edge = g2o.EdgeProjectP2MC() edge.set_vertex(0, pt) edge.set_vertex(1, opt.vertex(f.id)) uv = f.kps[f.pts.index(p)] edge.set_measurement(uv) edge.set_information(np.eye(2)) edge.set_robust_kernel(robust_kernel) opt.add_edge(edge) opt.set_verbose(True) opt.initialize_optimization() opt.optimize(20)
def optimize(self): # create g2o optimizer opt = g2o.SparseOptimizer() solver = g2o.BlockSolverSE3(g2o.LinearSolverCholmodSE3()) solver = g2o.OptimizationAlgorithmLevenberg(solver) opt.set_algorithm(solver) robust_kernel = g2o.RobustKernelHuber(np.sqrt(5.991)) if LOCAL_WINDOW is None: local_frames = self.frames else: local_frames = self.frames[-LOCAL_WINDOW:] # add frames to graph for f in self.frames: pose = f.pose sbacam = g2o.SBACam(g2o.SE3Quat(pose[0:3, 0:3], pose[0:3, 3])) sbacam.set_cam(f.K[0][0], f.K[1][1], f.K[0][2], f.K[1][2], 1.0) v_se3 = g2o.VertexCam() v_se3.set_id(f.id) v_se3.set_estimate(sbacam) v_se3.set_fixed(f.id <= 1 or f not in local_frames) opt.add_vertex(v_se3) # add points to frames PT_ID_OFFSET = 0x10000 for p in self.points: if not any([f in local_frames for f in p.frames]): continue pt = g2o.VertexSBAPointXYZ() pt.set_id(p.id + PT_ID_OFFSET) pt.set_estimate(p.pt[0:3]) pt.set_marginalized(True) pt.set_fixed(False) opt.add_vertex(pt) for f in p.frames: edge = g2o.EdgeProjectP2MC() edge.set_vertex(0, pt) edge.set_vertex(1, opt.vertex(f.id)) uv = f.kpus[f.pts.index(p)] edge.set_measurement(uv) edge.set_information(np.eye(2)) edge.set_robust_kernel(robust_kernel) opt.add_edge(edge) #opt.set_verbose(True) opt.initialize_optimization() opt.optimize(50) # put frames back for f in self.frames: est = opt.vertex(f.id).estimate() R = est.rotation().matrix() t = est.translation() f.pose = poseRt(R, t) # put points back (and cull) new_points = [] for p in self.points: vert = opt.vertex(p.id + PT_ID_OFFSET) if vert is None: new_points.append(p) continue est = vert.estimate() # 2 match point that's old old_point = len(p.frames) == 2 and p.frames[-1] not in local_frames # compute reprojection error errs = [] for f in p.frames: uv = f.kpus[f.pts.index(p)] proj = np.dot(np.dot(f.K, np.linalg.inv(f.pose)[:3]), np.array([est[0], est[1], est[2], 1.0])) proj = proj[0:2] / proj[2] errs.append(np.linalg.norm(proj-uv)) # cull if (old_point and np.mean(errs) > 30) or np.mean(errs) > 100: p.delete() continue p.pt = np.array(est) new_points.append(p) self.points = new_points return opt.chi2()
def optimize(self, K, frames, fix_points=False): PT_OFFSET = 10000 opt = g2o.SparseOptimizer() solver = g2o.BlockSolverSE3(g2o.LinearSolverCholmodSE3()) solver = g2o.OptimizationAlgorithmLevenberg(solver) opt.set_algorithm(solver) rk = g2o.RobustKernelHuber(np.sqrt(5.991)) # only optimize these poses and their Points local_frames = self.frames[-frames:] # a vertex for each camera pose for f in self.frames: assert (f.id < PT_OFFSET) quat = g2o.SE3Quat(f.pose[:3, :3], f.pose[:3, 3]) sbacam = g2o.SBACam(quat) sbacam.set_cam(K[0, 0], K[1, 1], K[0, 2], K[1, 2], 1.0) # for pixel input v = g2o.VertexCam() v.set_id(f.id) v.set_estimate(sbacam) v.set_fixed(f.id < 2 or f not in local_frames) opt.add_vertex(v) # a vertex for each point in cloud for p in self.points: # if p.frames[-1] not in local_frames: if not any([f in local_frames for f in p.frames]): continue vp = g2o.VertexSBAPointXYZ() vp.set_id(PT_OFFSET + p.id) vp.set_estimate(p.pt3d) vp.set_marginalized(True) vp.set_fixed(fix_points) opt.add_vertex(vp) # edge connects every camera with every point for f in p.frames: edge = g2o.EdgeProjectP2MC() # edge = g2o.EdgeSE3ProjectXYZ() edge.set_vertex(0, vp) edge.set_vertex(1, opt.vertex(f.id)) idx = f.pts.index(p) edge.set_measurement(f.kpus[idx]) edge.set_information(np.eye(2)) edge.set_robust_kernel(rk) opt.add_edge(edge) # opt.set_verbose(True) opt.initialize_optimization() opt.optimize(20) # print("chi2", opt.active_chi2()) # get back optimized poses self.opath = [] for f in self.frames: f_est = opt.vertex(f.id).estimate() R = f_est.rotation().matrix() t = f_est.translation() Rt = np.eye(4) Rt[:3, :3] = R Rt[:3, 3] = t.T # print(Rt) self.opath.append(t) f.pose = Rt if fix_points: return new_points = [] # add back or cull for p in self.points: vp = opt.vertex(PT_OFFSET + p.id) if vp is None: # not updated new_points.append(p) continue vp = opt.vertex(PT_OFFSET + p.id) p_est = vp.estimate() # if (len(p.frames) <= 5) and (p.frames[-1] not in local_frames): # p.delete() # continue errors = [] for f in p.frames: f_est = opt.vertex(f.id).estimate() measured = f.kpus[f.pts.index(p)] projected = f_est.w2i.dot(np.hstack( [p_est, [1]])) # only works because is VertexCam projected = projected[:2] / projected[ 2] # don't forget to h**o errors.append(np.linalg.norm(measured - projected)) error = np.mean(errors) # mean of squares - over all frames if error > 1.0: # px # print(f"error {error}, dropping") p.delete() else: p.pt3d = np.array(p_est) new_points.append(p) print("Dropping:", len(self.points) - len(new_points), ", Remaining:", len(new_points)) self.points = new_points
def mono_edge(self, projection, information=np.identity(2) * 0.5): e = g2o.EdgeProjectP2MC() e.set_measurement(projection) e.set_information(information) return e
def main(): optimizer = g2o.SparseOptimizer() solver = g2o.BlockSolverSE3(g2o.LinearSolverEigenSE3()) solver = g2o.OptimizationAlgorithmLevenberg(solver) optimizer.set_algorithm(solver) focal_length = (500, 500) principal_point = (320, 240) baseline = 0.075 true_points = np.hstack([ np.random.random((500, 1)) * 3 - 1.5, np.random.random((500, 1)) - 0.5, np.random.random((500, 1)) + 3]) num_pose = 15 for i in range(num_pose): # pose here means transform points from camera coordinates to world coordinates pose = g2o.SE3Quat(np.identity(3), [i*0.04-1, 0, 0]) sbacam = g2o.SBACam(pose) sbacam.set_cam(*focal_length, *principal_point, baseline) v_cam = g2o.VertexCam() v_cam.set_id(i) v_cam.set_estimate(sbacam) if i < 2: v_cam.set_fixed(True) optimizer.add_vertex(v_cam) point_id = num_pose inliers = dict() sse = defaultdict(float) for i, point in enumerate(true_points): visible = [] for j in range(num_pose): proj = optimizer.vertex(j).estimate().w2i.dot( np.hstack([point, [1]])) # project to left camera z = proj[:2] / proj[2] if 0 <= z[0] < 640 and 0 <= z[1] < 480: visible.append((j, z)) if len(visible) < 2: continue vp = g2o.VertexSBAPointXYZ() vp.set_id(point_id) vp.set_marginalized(True) vp.set_estimate(point + np.random.randn(3)) optimizer.add_vertex(vp) inlier = True for j, z in visible: if np.random.random() < args.outlier_ratio: inlier = False z = np.random.random(2) * [640, 480] z += np.random.randn(2) * args.pixel_noise edge = g2o.EdgeProjectP2MC() # if stereo, use EdgeProjectP2SC edge.set_vertex(0, vp) edge.set_vertex(1, optimizer.vertex(j)) edge.set_measurement(z) edge.set_information(np.identity(2)) if args.robust_kernel: edge.set_robust_kernel(g2o.RobustKernelHuber()) #edge.set_parameter_id(0, 0) optimizer.add_edge(edge) if inlier: inliers[point_id] = i error = vp.estimate() - true_points[i] sse[0] += np.sum(error**2) point_id += 1 print('num vertices:', len(optimizer.vertices())) print('num edges:', len(optimizer.edges())) print('Performing full BA:') optimizer.initialize_optimization() optimizer.set_verbose(True) optimizer.optimize(10) for i in inliers: vp = optimizer.vertex(i) error = vp.estimate() - true_points[inliers[i]] sse[1] += np.sum(error**2) print('\nRMSE (inliers only):') print('before optimization:', np.sqrt(sse[0] / len(inliers))) print('after optimization:', np.sqrt(sse[1] / len(inliers)))
def optimize(self, local_window = LOCAL_WINDOW, fix_points = False, verbose = False): # create the g2o optimizer optimizer = g2o.SparseOptimizer() graph_solver = g2o.BlockSolverSE3(g2o.LinearSolverCholmodSE3()) graph_solver = g2o.OptimizationAlgorithmLevenberg(graph_solver) optimizer.set_algorithm(graph_solver) robust_kernel = g2o.RobustKernelHuber(np.sqrt(5.991)) if local_window is None: local_frames = self.frames else: local_frames = self.frames[-local_window:] # add frames to the graph for f in self.frames: pose = np.linalg.inv(f.pose) sbacam = g2o.SBACam(g2o.SE3Quat(pose[0:3, 0:3], pose[0:3, 3])) sbacam.set_cam(f.k[0][0], f.k[1][1], f.k[0][2], f.k[1][2], 1.0) v_se3 = g2o.VertexCam() v_se3.set_id(f.id) v_se3.set_estimate(sbacam) v_se3.set_fixed(f.id <= 1 or f not in local_frames) optimizer.add_vertex(v_se3) # add points to the frames point_id_offset = 0x10000 for p in self.points: if not any([f in local_frames for f in p.frames]): continue pt = g2o.VertexSBAPointXYZ() pt.set_id(p.id + point_id_offset) pt.set_estimate(p.point[0:3]) pt.set_marginalized(True) pt.set_fixed(fix_points) optimizer.add_vertex(pt) for f in p.frames: edge = g2o.EdgeProjectP2MC() edge.set_vertex(0, pt) edge.set_vertex(1, optimizer.vertex(f.id)) uv = f._kps[f.pts.index(p)] edge.set_measurement(uv) edge.set_information(np.eye(2)) edge.set_robust_kernel(robust_kernel) optimizer.add_edge(edge) if verbose: optimizer.set_verbose(True) optimizer.initialize_optimization() optimizer.optimize(20) # put the frames back for f in self.frames: estimate = optimizer.vertex(f.id).estimate() r = estimate.rotation().matrix() t = estimate.translation() f.pose = np.linalg.inv(pose_rt(r, t)) # put points back if not fix_points: new_points = [] for p in self.points: vert = optimizer.vertex(p.id + point_id_offset) if vert is None: new_points.append(p) continue estimate = vert.estimate() old_point = len(p.frames) <= 2 and p.frames[-1] not in local_frames # try and computer the reprojection error of the point errors = [] for f in p.frames:g uv = f._kps[f.pts.index(p)] proj = np.dot(np.dot(f.k, f.pose[:3]), np.array([estimate[0], estimate[1], estimate[2], 1.0])) proj = proj[0:2]/proj[2] errors.append(np.linalg.norm(proj-uv)) # culling if old_point or np.mean(errors) > 5: p.delete_point() continue p.point = np.array(estimate) new_points.append(p) print("Culled points: %d" %(len(self.points) - len(new_points))) self.points = new_points return optimizer.active_chi2()
def optimize(self, local_window=20, fix_points=False, verbose=False): # create g2o optimizer opt = g2o.SparseOptimizer() solver = g2o.BlockSolverSE3(g2o.LinearSolverCSparseSE3()) solver = g2o.OptimizationAlgorithmLevenberg(solver) opt.set_algorithm(solver) if self.alt: principal_point = (self.frames[0].K[0][2], self.frames[0].K[1][2]) cam = g2o.CameraParameters(self.frames[0].K[0][0], principal_point, 0) cam.set_id(0) opt.add_parameter(cam) robust_kernel = g2o.RobustKernelHuber(np.sqrt(5.991)) if local_window is None: local_frames = self.frames else: local_frames = self.frames[-local_window:] graph_frames, graph_points = {}, {} # add frames to graph for f in (local_frames if fix_points else self.frames): if not self.alt: pose = np.linalg.inv(f.pose) se3 = g2o.SE3Quat(pose[0:3, 0:3], pose[0:3, 3]) sbacam = g2o.SBACam(se3) sbacam.set_cam(f.K[0][0], f.K[1][1], f.K[0][2], f.K[1][2], 0.0) v_se3 = g2o.VertexCam() v_se3.set_estimate(sbacam) else: pose = f.pose se3 = g2o.SE3Quat(pose[0:3, 0:3], pose[0:3, 3]) v_se3 = g2o.VertexSE3Expmap() v_se3.set_estimate(se3) v_se3.set_id(f.id * 2) v_se3.set_fixed(f.id <= 1 or f not in local_frames) # v_se3.set_fixed(f.id != 0) opt.add_vertex(v_se3) # confirm pose correctness est = v_se3.estimate() assert np.allclose(pose[0:3, 0:3], est.rotation().matrix()) assert np.allclose(pose[0:3, 3], est.translation()) graph_frames[f] = v_se3 # add points to frames for p in self.points: if not any([f in local_frames for f in p.frames]): continue pt = g2o.VertexSBAPointXYZ() pt.set_id(p.id * 2 + 1) pt.set_estimate(p.loc[0:3]) pt.set_marginalized(True) pt.set_fixed(fix_points) opt.add_vertex(pt) graph_points[p] = pt # add edges for f, idx in zip(p.frames, p.idxs): if f not in graph_frames: continue if not self.alt: edge = g2o.EdgeProjectP2MC() else: edge = g2o.EdgeProjectXYZ2UV() edge.set_parameter_id(0, 0) edge.set_vertex(0, pt) edge.set_vertex(1, graph_frames[f]) uv = f.raw_pts[idx] edge.set_measurement(uv) edge.set_information(np.eye(2)) edge.set_robust_kernel(robust_kernel) opt.add_edge(edge) if verbose: opt.set_verbose(True) opt.initialize_optimization() opt.optimize(50) # put frames back for f in graph_frames: est = graph_frames[f].estimate() R = est.rotation().matrix() t = est.translation() if not self.alt: f.pose = np.linalg.inv(pose_homogeneous(R, t)) else: f.pose = pose_homogeneous(R, t) # put points back (and cull) if not fix_points: culled_pt_count = 0 for p in graph_points: est = graph_points[p].estimate() p.pt = np.array(est) # remove points if the number of observations <= (n-1) old_point = len( p.frames) <= 9 and p.frames[-1].id + 17 < self.max_frame # compute reprojection error errs = [] for f, idx in zip(p.frames, p.idxs): uv = f.raw_pts[idx] proj = np.dot(np.dot(f.K, f.pose[:3]), np.array([est[0], est[1], est[2], 1.0])) proj = proj[0:2] / proj[2] errs.append(np.linalg.norm(proj - uv)) # cull if old_point or np.mean(errs) > 2: culled_pt_count += 1 self.points.remove(p) p.delete() print("Culled: %d points" % culled_pt_count) return opt.active_chi2()