def __init__(self):
# inherits traits from g2o's Sparse Optimizer class
super().__init__()
# intitialize solver and optimizer
solver = g2o.BlockSolverSE3(g2o.LinearSolverCholmodSE3())
solver = g2o.OptimizationAlgorithmLevenberg(solver)
super().set_algorithm(solver)
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 __init__(self):
self.optimizer = g2o.SparseOptimizer()
# self.solver = g2o.BlockSolverX(g2o.LinearSolverDenseX())
# self.solver = g2o.BlockSolverSE3(g2o.LinearSolverEigenSE3())
self.solver = g2o.BlockSolverSE3(g2o.LinearSolverCholmodSE3())
self.algorithm = g2o.OptimizationAlgorithmLevenberg(self.solver)
self.optimizer.set_algorithm(self.algorithm)
self.already_initialized = False
self.last_lost = 0
self.lock = ControlableLock(True)
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 oprimizer(self):
## Init optimizer
optimizer = g2o.SparseOptimizer()
solver = g2o.BlockSolverSE3(g2o.LinearSolverCholmodSE3())
solver = g2o.OptimizationAlgorithmLevenberg(solver)
optimizer.set_algorithm(solver)
## add frames to graph
for f in self.frames:
v_se3 = g2o.VertexSE3()
v_se3.set_id(f.id)
v_se3.set_estimate(f.pose)
v_se3.set_fixed(f.id == 0)
optimizer.add_vertex(v_se3)
def __init__(self):
super().__init__()
# g2o::BlockSlover_6_3(g2o::BlockSolver_6_3::LinearSolverType*)
linear_solver = g2o.BlockSolverSE3(g2o.LinearSolverCholmodSE3())
solver = g2o.OptimizationAlgorithmLevenberg(linear_solver)
super().set_algorithm(solver)
# additional parameters
terminate = g2o.SparseOptimizerTerminateAction()
terminate.set_gain_threshold(1e-6)
super().add_post_iteration_action(terminate)
#
self._map = None
#
self.frame = None
#
self.points = None
#
self.vSE3 = None
#
self.measurements = None
#
self.vertex_seq_generator = AtomicCounter()
self.edge_seq_generator = AtomicCounter()
# Point | Frame | Landmark -> Vertex mapping
# inverse vertex query
self._ivq = {}
# (Vertex, Vetex) -> Edge mapping, a sparse matrix
# inverse edges query
self._ieq = {}
#
self.USE_LANDMARKS = False
#
self.edges = []
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(pose) 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.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)
# add points to frames(pose)
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 main():
optimizer = g2o.SparseOptimizer()
# solver = g2o.BlockSolverSE3(g2o.LinearSolverEigenSE3())
solver = g2o.BlockSolverSE3(g2o.LinearSolverCholmodSE3())
# solver = g2o.BlockSolverSE3(g2o.LinearSolverCSparseSE3())
solver = g2o.OptimizationAlgorithmLevenberg(solver)
optimizer.set_algorithm(solver)
# Convergence Criterion
terminate = g2o.SparseOptimizerTerminateAction()
terminate.set_gain_threshold(1e-6)
optimizer.add_post_iteration_action(terminate)
# Robust cost Function (Huber function) delta
delta = np.sqrt(5.991)
true_points = np.hstack([
np.random.random((25, 1)) * 3 - 1.5,
np.random.random((25, 1)) - 0.5,
np.random.random((25, 1)) + 3])
fx = 600.
fy = 600.
cx = 320.
cy = 240.
principal_point = (cx, cy)
cam = g2o.CameraParameters(fx, principal_point, 0)
true_poses = []
num_pose = 10
for i in range(num_pose):
# pose here means transform points from world coordinates to camera coordinates
pose = g2o.SE3Quat(np.identity(3), [i*0.04-1, 0, 0])
true_poses.append(pose)
v_se3 = g2o.VertexSE3Expmap()
v_se3.set_id(i)
v_se3.set_estimate(pose)
if i < 2:
v_se3.set_fixed(True)
optimizer.add_vertex(v_se3)
print(optimizer.vertices())
point_id = num_pose
inliers = dict()
sse = defaultdict(float)
vp_edge = []
for i, point in enumerate(true_points):
visible = []
for j, pose in enumerate(true_poses):
z = cam.cam_map(pose * point)
if 0 <= z[0] < 640 and 0 <= z[1] < 480:
visible.append((j, z))
if len(visible) < 2:
continue
vp = g2o.VertexSBAPointXYZ()
vp.set_estimate(point + np.random.randn(3))
vp.set_id(point_id)
vp.set_marginalized(True)
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
e = g2o.EdgeSE3ProjectXYZ()
e.set_vertex(0,vp)
e.set_vertex(1,optimizer.vertex(j))
e.set_measurement(z)
e.set_information(np.identity(2))
rk = g2o.RobustKernelHuber()
e.set_robust_kernel(rk)
rk.set_delta(delta)
e.fx = fx
e.fy = fy
e.cx = cx
e.cy = cy
optimizer.add_edge(e)
vp_edge.append(e)
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(optimizer.vertices())
print()
print('Performing full BA:')
optimizer.initialize_optimization()
optimizer.set_verbose(True)
optimizer.optimize(5)
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)))
# print(optimizer.vertices())
print()
for i in xrange(num_pose):
print(optimizer.vertex(i).estimate().inverse().matrix())
j = num_pose
for i in xrange(len(inliers)):
print(optimizer.vertex(j).estimate().shape)
j += 1
i = 0
"""
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 main():
optimizer = g2o.SparseOptimizer()
solver = g2o.BlockSolverSE3(g2o.LinearSolverCholmodSE3())
solver = g2o.OptimizationAlgorithmLevenberg(solver)
optimizer.set_algorithm(solver)
focal_length = 1000
principal_point = (320, 240)
cam = g2o.CameraParameters(focal_length, principal_point, 0)
cam.set_id(0)
optimizer.add_parameter(cam)
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
])
true_poses = []
num_pose = 15
for i in range(num_pose):
# pose here means transform points from world coordinates to camera coordinates
pose = g2o.SE3Quat(np.identity(3), [i * 0.04 - 1, 0, 0])
true_poses.append(pose)
v_se3 = g2o.VertexSE3Expmap()
v_se3.set_id(i)
v_se3.set_estimate(pose)
if i < 2:
v_se3.set_fixed(True)
optimizer.add_vertex(v_se3)
point_id = num_pose
inliers = dict()
sse = defaultdict(float)
for i, point in enumerate(true_points):
visible = []
for j, pose in enumerate(true_poses):
z = cam.cam_map(pose * point)
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.EdgeProjectXYZ2UV()
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:
print(i)
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, 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 __init__(self):
self._optimizer = g2o.SparseOptimizer()
block_solver = g2o.BlockSolverSE3(g2o.LinearSolverCholmodSE3())
optimization_algorithm = g2o.OptimizationAlgorithmLevenberg(
block_solver)
self._optimizer.set_algorithm(optimization_algorithm)
def __init__(self):
super().__init__()
solver = g2o.BlockSolverSE3(g2o.LinearSolverCholmodSE3())
solver = g2o.OptimizationAlgorithmLevenberg(solver)
super().set_algorithm(solver)
def graph_to_optimizer(self):
"""Convert a :class: graph to a :class: g2o.SparseOptimizer. Only the edges and vertices fields need to be
filled out.
Returns:
A :class: g2o.SparseOptimizer that can be optimized via its optimize class method.
"""
optimizer = g2o.SparseOptimizer()
optimizer.set_algorithm(g2o.OptimizationAlgorithmLevenberg(
g2o.BlockSolverSE3(g2o.LinearSolverCholmodSE3())))
if self.is_sparse_bundle_adjustment:
for i in self.vertices:
if self.vertices[i].mode == VertexType.TAGPOINT:
vertex = g2o.VertexSBAPointXYZ()
vertex.set_estimate(self.vertices[i].estimate[:3])
else:
vertex = g2o.VertexSE3Expmap()
vertex.set_estimate(pose_to_se3quat(self.vertices[i].estimate))
vertex.set_id(i)
vertex.set_fixed(self.vertices[i].fixed)
optimizer.add_vertex(vertex)
cam_idx = 0
for i in self.edges:
if self.edges[i].corner_ids is None:
edge = g2o.EdgeSE3Expmap()
for j, k in enumerate([self.edges[i].startuid,
self.edges[i].enduid]):
edge.set_vertex(j, optimizer.vertex(k))
edge.set_measurement(pose_to_se3quat(self.edges[i].measurement))
edge.set_information(self.edges[i].information)
optimizer.add_edge(edge)
else:
# Note: we only use the focal length in the x direction since: (a) that's all that g2o supports and
# (b) it is always the same in ARKit (at least currently)
cam = g2o.CameraParameters(self.edges[i].camera_intrinsics[0],
self.edges[i].camera_intrinsics[2:], 0)
cam.set_id(cam_idx)
optimizer.add_parameter(cam)
for corner_idx, corner_id in enumerate(self.edges[i].corner_ids):
edge = g2o.EdgeProjectPSI2UV()
edge.resize(3)
edge.set_vertex(0, optimizer.vertex(corner_id))
edge.set_vertex(1, optimizer.vertex(self.edges[i].startuid))
edge.set_vertex(2, optimizer.vertex(self.edges[i].enduid))
edge.set_information(self.edges[i].information)
edge.set_measurement(self.edges[i].measurement[corner_idx * 2:corner_idx * 2 + 2])
edge.set_parameter_id(0, cam_idx)
if self.use_huber:
edge.set_robust_kernel(g2o.RobustKernelHuber(self.huber_delta))
optimizer.add_edge(edge)
cam_idx += 1
else:
for i in self.vertices:
vertex = g2o.VertexSE3()
vertex.set_id(i)
vertex.set_estimate(pose_to_isometry(self.vertices[i].estimate))
vertex.set_fixed(self.vertices[i].fixed)
optimizer.add_vertex(vertex)
for i in self.edges:
edge = g2o.EdgeSE3()
for j, k in enumerate([self.edges[i].startuid,
self.edges[i].enduid]):
edge.set_vertex(j, optimizer.vertex(k))
edge.set_measurement(pose_to_isometry(self.edges[i].measurement))
edge.set_information(self.edges[i].information)
edge.set_id(i)
optimizer.add_edge(edge)
return optimizer
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(frames,
points,
local_window,
fix_points,
verbose=False,
rounds=50):
# print("Entering Optimizer")
if local_window is None:
local_frames = frames
else:
local_frames = frames[-local_window:]
# create g2o optimizer
opt = g2o.SparseOptimizer()
solver = g2o.BlockSolverSE3(g2o.LinearSolverCholmodSE3())
solver = g2o.OptimizationAlgorithmLevenberg(solver)
opt.set_algorithm(solver)
# add normalized camera
cam = g2o.CameraParameters(1.0, (0.0, 0.0), 0)
# cam = g2o.CameraParameters(718.8560, (607.1928, 185.2157), 0.0)
cam.set_id(0)
opt.add_parameter(cam)
robust_kernel = g2o.RobustKernelHuber(np.sqrt(5.991))
graph_frames, graph_points = {}, {}
# add frames to graph
for f in (local_frames if fix_points else frames):
pose = f.pose
se3 = g2o.SE3Quat(pose[0:3, 0:3], pose[0:3, 3])
f.SE3 = se3
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 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.pt[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
edge = g2o.EdgeProjectXYZ2UV()
edge.set_parameter_id(0, 0)
edge.set_vertex(0, pt)
edge.set_vertex(1, graph_frames[f])
edge.set_measurement(f.normalized_kps[idx])
edge.set_information(np.eye(2))
edge.set_robust_kernel(robust_kernel)
opt.add_edge(edge)
# print(cam.cam_map(f.SE3 * p.pt), f.normalized_kps[idx])
# print('num vertices:', len(opt.vertices()))
# print('num edges:', len(opt.edges()))
if verbose:
opt.set_verbose(True)
opt.initialize_optimization()
opt.optimize(rounds)
# put frames back
for f in graph_frames:
est = graph_frames[f].estimate()
R = est.rotation().matrix()
t = est.translation()
f.pose = poseRt(R, t)
# put points back
if not fix_points:
for p in graph_points:
p.pt = np.array(graph_points[p].estimate())
return opt.active_chi2()
