From 723fba3c35fe13d5e50c7ab6ddad810569a67cfe Mon Sep 17 00:00:00 2001 From: electech6 Date: Thu, 23 Dec 2021 14:22:58 +0800 Subject: [PATCH 1/4] fix --- src/LocalMapping.cc | 2 +- src/LoopClosing.cc | 31 ++++++++++++++++--------------- src/Optimizer.cc | 8 ++++---- src/Tracking.cc | 2 ++ 4 files changed, 23 insertions(+), 20 deletions(-) diff --git a/src/LocalMapping.cc b/src/LocalMapping.cc index c955e0c..e65d6fc 100644 --- a/src/LocalMapping.cc +++ b/src/LocalMapping.cc @@ -29,7 +29,7 @@ namespace ORB_SLAM3 { - +//!bug const float bMonocular 改为 bool bMonocular LocalMapping::LocalMapping(System* pSys, Atlas *pAtlas, const float bMonocular, bool bInertial, const string &_strSeqName): mpSystem(pSys), mbMonocular(bMonocular), mbInertial(bInertial), mbResetRequested(false), mbResetRequestedActiveMap(false), mbFinishRequested(false), mbFinished(true), mpAtlas(pAtlas), bInitializing(false), mbAbortBA(false), mbStopped(false), mbStopRequested(false), mbNotStop(false), mbAcceptKeyFrames(true), diff --git a/src/LoopClosing.cc b/src/LoopClosing.cc index 45facea..465993b 100644 --- a/src/LoopClosing.cc +++ b/src/LoopClosing.cc @@ -141,7 +141,7 @@ void LoopClosing::Run() } // If inertial, force only yaw // 如果是imu模式并且完成了初始化,强制将焊接变换的 roll 和 pitch 设为0 - // 可以理解成两个坐标轴都经过了imu初始化,肯定都是水平的 + // 通过物理约束来保证两个坐标轴都是水平的 if ((mpTracker->mSensor==System::IMU_MONOCULAR ||mpTracker->mSensor==System::IMU_STEREO) && mpCurrentKF->GetMap()->GetIniertialBA1()) // TODO, maybe with GetIniertialBA1 { @@ -232,7 +232,7 @@ void LoopClosing::Run() //cout << "Rw2w1: " << g2oSww_new.rotation().toRotationMatrix() << endl; //cout << "Angle Rw2w1: " << 180*phi/3.14 << endl; //cout << "scale w2w1: " << g2oSww_new.scale() << endl; - // 这里算是通过imu重力方向验证回环结果, 如果pitch或roll角度偏差稍微有一点大,则回环失败. 对yaw容忍比较大(20度) + // 通过物理约束来保证回环的准确性, 如果pitch或roll角度偏差稍微有一点大,则回环失败. 对yaw容忍比较大(20度) if (fabs(phi(0))<0.008f && fabs(phi(1))<0.008f && fabs(phi(2))<0.349f) { // 如果是imu模式 @@ -420,6 +420,7 @@ bool LoopClosing::NewDetectCommonRegions() mnLoopNumCoincidences++; // 不再参与新的回环检测 mpLoopLastCurrentKF->SetErase(); + // 将当前关键帧作为上次关键帧 mpLoopLastCurrentKF = mpCurrentKF; mg2oLoopSlw = gScw; // 记录当前优化的结果为{last T_cw}即为 T_lw // 记录匹配到的点 @@ -695,7 +696,7 @@ bool LoopClosing::DetectAndReffineSim3FromLastKF(KeyFrame* pCurrentKF, KeyFrame* // 若匹配的数量大于一定的数目 if(numOptMatches > nProjOptMatches) { - //!bug, 以下gScw_estimation应该通过上述sim3优化后的位姿来更新。以下mScw应该改为 gscm * gswm.t + //!bug, 以下gScw_estimation应该通过上述sim3优化后的位姿来更新。以下mScw应该改为 gscm * gswm^-1 g2o::Sim3 gScw_estimation(Converter::toMatrix3d(mScw.rowRange(0, 3).colRange(0, 3)), Converter::toVector3d(mScw.rowRange(0, 3).col(3)),1.0); @@ -875,7 +876,7 @@ bool LoopClosing::DetectCommonRegionsFromBoW(std::vector &vpBowCand, //cout <<"BoW: " << numBoWMatches << " independent putative matches" << endl; // 当窗口内的帧不是当前关键帧的相邻帧且匹配点足够多时 - // Step 2 利用RANSAC寻找候选关键帧窗口与当前关键帧的相对位姿T_am的初始值(可能是Sim3) + // Step 2 利用RANSAC寻找候选关键帧窗口与当前关键帧的相对位姿T_am的初始值(Sim3) // nBoWMatches = 20; // 最低bow匹配特征点数 if(!bAbortByNearKF && numBoWMatches >= nBoWMatches) // TODO pick a good threshold { @@ -1200,11 +1201,11 @@ int LoopClosing::FindMatchesByProjection(KeyFrame* pCurrentKF, KeyFrame* pMatche // 对于之前里的每个关键帧 for(int i=0; i vpKFs = vpCovKFm[i]->GetBestCovisibilityKeyFrames(nNumCovisibles); int nInserted = 0; int j = 0; - // 这个while循环统计的遍历后面都没有用到, 没有任何作用 + // !这个while循环统计的遍历后面都没有用到, 没有任何作用 while(j < vpKFs.size() && nInserted < nNumCovisibles) { // 如果没有被重复添加且不是当前关键帧的共视关键帧 @@ -1216,7 +1217,7 @@ int LoopClosing::FindMatchesByProjection(KeyFrame* pCurrentKF, KeyFrame* pMatche ++j; } - // 把每个帧的共视关键帧都加到窗口内 + // 把pMatchedKFwd的5个帧的共视关键帧都加到窗口内 vpCovKFm.insert(vpCovKFm.end(), vpKFs.begin(), vpKFs.end()); } // 辅助容器, 防止地图点被重复添加 @@ -2045,7 +2046,7 @@ void LoopClosing::MergeLocal() Verbose::PrintMess("MERGE: Finish the LBA", Verbose::VERBOSITY_DEBUG); - // Step 8 在当前帧整个剩下的地图中(局部窗口外,认为没那么紧急处理)对位姿和地图点进行矫正传播 + // Step 8 处理当前地图中剩下的关键帧和地图点,进行矫正传播和本质图优化。 //Update the non critical area from the current map to the merged map // 把前面优位姿优化的结果传递到地图中其他的关键帧 vector vpCurrentMapKFs = pCurrentMap->GetAllKeyFrames(); @@ -2190,8 +2191,8 @@ void LoopClosing::MergeLocal() Verbose::PrintMess("MERGE:Completed!!!!!", Verbose::VERBOSITY_DEBUG); - // 如果之前停掉了全局的BA,就开启全局BA - // 这里没有imu, 所以isImuInitialized一定是false, 所以第二个条件(当前地图关键帧数量小于200且地图只有一个)一定是true + // 全局的BA(永远不会执行) + // 这里没有imu, 所以isImuInitialized一定是false, 此时地图融合Atlas至少2个地图,所以第二个条件也一定是false // Step 9 全局BA if(bRelaunchBA && (!pCurrentMap->isImuInitialized() || (pCurrentMap->KeyFramesInMap()<200 && mpAtlas->CountMaps()==1))) { @@ -2288,7 +2289,7 @@ void LoopClosing::MergeLocal2() mpLocalMapper->EmptyQueue(); std::chrono::steady_clock::time_point t2 = std::chrono::steady_clock::now(); - // 是否将尺度更新到速度 + // 是否更新尺度 bool bScaleVel=false; if(s_on!=1) //?判断浮点数和1严格相等是不是不合适? bScaleVel=true; @@ -2311,7 +2312,7 @@ void LoopClosing::MergeLocal2() Optimizer::InertialOptimization(pCurrentMap,bg,ba); IMU::Bias b (ba[0],ba[1],ba[2],bg[0],bg[1],bg[2]); unique_lock lock(mpAtlas->GetCurrentMap()->mMutexMapUpdate); - // 用优化得到的 bias 更新地图 + // 用优化得到的 bias 更新普通帧位姿 mpTracker->UpdateFrameIMU(1.0f,b,mpTracker->GetLastKeyFrame()); // Set map initialized @@ -2359,8 +2360,8 @@ void LoopClosing::MergeLocal2() pMergeMap->EraseMapPoint(pMPi); } // ? BUG! pMergeMap没有设置为BAD - // ? 感觉应该加入如下代码吧? - // ? mpAtlas->SetMapBad(pCurrentMap); + // ? 应该加入如下代码吧? + // ? mpAtlas->SetMapBad(pMergeMap); // Save non corrected poses (already merged maps) // 存下所有关键帧在融合矫正之前的位姿 @@ -2393,7 +2394,7 @@ void LoopClosing::MergeLocal2() vector vpCheckFuseMapPoint; // MapPoint vector from current map to allow to fuse duplicated points with the old map (merge) vector vpCurrentConnectedKFs; - // 为后续SearchAndFuse及welding BA准备数据 + // 为后续SearchAndFuse准备数据 // 拿出融合帧的局部窗口, 确保最后是(1+5), 1: 融合帧自己 2: 5个共视关键帧 mvpMergeConnectedKFs.push_back(mpMergeMatchedKF); vector aux = mpMergeMatchedKF->GetVectorCovisibleKeyFrames(); diff --git a/src/Optimizer.cc b/src/Optimizer.cc index 2d7a791..b04dad9 100644 --- a/src/Optimizer.cc +++ b/src/Optimizer.cc @@ -7285,10 +7285,10 @@ int Optimizer::PoseInertialOptimizationLastKeyFrame(Frame *pFrame, bool bRecInit cv::KeyPoint kpUn; // Left monocular observation - // 这里说的Left monocular包含两种情况:1.单目情况 2.双目情况下的左目 + // 这里说的Left monocular包含两种情况:1.单目情况 2.两个相机情况下的相机1 if((!bRight && pFrame->mvuRight[i]<0) || i < Nleft) { - //如果是双目情况下的左目 + //如果是两个相机情况下的相机1 if(i < Nleft) // pair left-right //使用未畸变校正的特征点 kpUn = pFrame->mvKeys[i]; @@ -7863,10 +7863,10 @@ int Optimizer::PoseInertialOptimizationLastFrame(Frame *pFrame, bool bRecInit) { cv::KeyPoint kpUn; // Left monocular observation - // 这里说的Left monocular包含两种情况:1.单目情况 2.双目情况下的左目 + // 这里说的Left monocular包含两种情况:1.单目情况 2.两个相机情况下的相机1 if((!bRight && pFrame->mvuRight[i]<0) || i < Nleft) { - //如果是双目情况下的左目 + //如果是两个相机情况下的相机1 if(i < Nleft) // pair left-right //使用未畸变校正的特征点 kpUn = pFrame->mvKeys[i]; diff --git a/src/Tracking.cc b/src/Tracking.cc index fc27771..7ca0e2f 100644 --- a/src/Tracking.cc +++ b/src/Tracking.cc @@ -4232,6 +4232,8 @@ bool Tracking::Relocalization() 0.5, // 理论最少内点个数,这里是按照总数的比例计算,所以epsilon是比例,默认是0.4 5.991); // 卡方检验阈值 //This solver needs at least 6 points vpMLPnPsolvers[i] = pSolver; + // !bug 忘记更新nCandidates + ++nCandidates; } } } From a1dc677766efd38c9f84094ddb5ff3904adf7a14 Mon Sep 17 00:00:00 2001 From: electech6 Date: Thu, 14 Apr 2022 22:53:03 +0800 Subject: [PATCH 2/4] update readme --- README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/README.md b/README.md index a6b0971..b0cf595 100644 --- a/README.md +++ b/README.md @@ -6,7 +6,7 @@ ![课程大纲](https://github.com/electech6/ORB_SLAM3_detailed_comments/blob/master/outline.png) -[ORB-SLAM3 逐行源码讲解](https://appafc4omci9700.h5.xiaoeknow.com/content_page/eyJ0eXBlIjoiMyIsInJlc291cmNlX3R5cGUiOjI1LCJyZXNvdXJjZV9pZCI6IiIsImFwcF9pZCI6ImFwcGFmYzRvbWNpOTcwMCIsInByb2R1Y3RfaWQiOiJ0ZXJtXzYxMzcxNTEwODY4MzNfQXRXa2YzIiwiZXhwYW5kX2RhdGEiOltdfQ) +[ORB-SLAM3 逐行源码讲解](https://cvlife.net/detail/term_6255372036a53_o5VfgR/25) ---- # ORB-SLAM3 From 5609871832b30b794d3dce244958e6b8b2ba8007 Mon Sep 17 00:00:00 2001 From: electech6 Date: Thu, 14 Apr 2022 22:54:33 +0800 Subject: [PATCH 3/4] update readme --- outline.png | Bin 114383 -> 105394 bytes 1 file changed, 0 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zX;-CDX^OaF;^H8;GYIXmJdm+nt6Tc7!ZuM6b>o60sTV?(ulbFu-NGIjtwPUjkepr8G z$xdV)&pG4vZ9|$H$2BRE4*}_R^YeFh+%wa?W|5KPyXPb(zPyNL7+p;|*=Q~==WgaH z-)VBATna+8`5q3O1x@mB?T=M7Adi6p>ZQ}IOy5Q;)7f6UD}*hQA-Kg;uu6x!K@__~ z`wMHTiUY5Hoga~KPkLhiz0c7^6g-G8tr^;Jyv2b_QEgPhyCb-cIS=H*&+B|eZu_NV zX~~8Kuh2Y=;n%?Gh)ZLMsr?6)j zf)x8xk3J98PG{S`FkOy>%KMn!fzEas+@?#-2;DEcA%hcl@7KmloW)SeWo9O&l=H0( z5Rax8hU1C&5}Xt*?x>S|5OUzlXQwD~vaKNHd~XcKR|vhqm6|6W(+^=}E1Zo`A=9$*v3@CfDdqX%%M3gb`Sw$>EN{%&Kv z_h?4mSg~mN7-W;V5Fne(u^@H798+bHiHoM z2xZVQhEWVyIZ{$sjb^Vc#bAZ=d&u5UzLHIsIAslRqm2=RVFq&=N%+;z_cD@=i2yH4 zA%ku2S*nGiXNVRwq+b@mFI(z2NeCK>3dMxKU{UU!V?BDq@bkjUp}yyGD$RXUsPeJP zyo@lPV*F6O1?55aGh>>6isbh?42g!<8*CVfY*YD^i$Qa$Wx-M9GAJ{Uiun;ajdvU! z@;fyIz6IQ^abJk##P%58VIrG)j6vmoz$)=YIeu8F3Jr%lK(?B+^T=SbadfjC#YcaMFQw zZ~7VKn#QiwkkY2=g$>bCb$4Cyr?b<0Km{!$x+_el3#mw=#Y!WHt|JWwvA)j6_DaE=o|g+UML|QzCEQ z9#~d}EO%N&po+=I+=uWYGtb672g=~W_ Date: Thu, 14 Apr 2022 23:07:08 +0800 Subject: [PATCH 4/4] fix --- include/ImuTypes.h | 2 +- src/G2oTypes.cc | 12 ++++++------ src/ImuTypes.cc | 2 +- src/LocalMapping.cc | 4 +--- src/LoopClosing.cc | 13 +++++++------ src/Tracking.cc | 2 ++ 6 files changed, 18 insertions(+), 17 deletions(-) diff --git a/include/ImuTypes.h b/include/ImuTypes.h index ac78d36..79d9e4a 100644 --- a/include/ImuTypes.h +++ b/include/ImuTypes.h @@ -223,7 +223,7 @@ public: private: // Updated bias - Bias bu; + Bias bu; //更新后的零偏 // Dif between original and updated bias // This is used to compute the updated values of the preintegration Eigen::Matrix db; diff --git a/src/G2oTypes.cc b/src/G2oTypes.cc index 38bd286..34f39c0 100644 --- a/src/G2oTypes.cc +++ b/src/G2oTypes.cc @@ -579,12 +579,12 @@ EdgeInertial::EdgeInertial(IMU::Preintegrated *pInt):JRg(pInt->JRg.cast( void EdgeInertial::computeError() { // TODO Maybe Reintegrate inertial measurments when difference between linearization point and current estimate is too big - const VertexPose* VP1 = static_cast(_vertices[0]); - const VertexVelocity* VV1= static_cast(_vertices[1]); - const VertexGyroBias* VG1= static_cast(_vertices[2]); - const VertexAccBias* VA1= static_cast(_vertices[3]); - const VertexPose* VP2 = static_cast(_vertices[4]); - const VertexVelocity* VV2 = static_cast(_vertices[5]); + const VertexPose* VP1 = static_cast(_vertices[0]); //位姿Ti + const VertexVelocity* VV1= static_cast(_vertices[1]); //速度vi + const VertexGyroBias* VG1= static_cast(_vertices[2]); //零偏Bgi + const VertexAccBias* VA1= static_cast(_vertices[3]); //零偏Bai + const VertexPose* VP2 = static_cast(_vertices[4]); //位姿Tj + const VertexVelocity* VV2 = static_cast(_vertices[5]); //速度vj const IMU::Bias b1(VA1->estimate()[0],VA1->estimate()[1],VA1->estimate()[2],VG1->estimate()[0],VG1->estimate()[1],VG1->estimate()[2]); const Eigen::Matrix3d dR = mpInt->GetDeltaRotation(b1).cast(); const Eigen::Vector3d dV = mpInt->GetDeltaVelocity(b1).cast(); diff --git a/src/ImuTypes.cc b/src/ImuTypes.cc index 6dd0a93..0656edf 100644 --- a/src/ImuTypes.cc +++ b/src/ImuTypes.cc @@ -242,7 +242,7 @@ void Preintegrated::Reintegrate() * * @param[in] acceleration 加速度计数据 * @param[in] angVel 陀螺仪数据 - * @param[in] dt 两帧之间时间差 + * @param[in] dt 两图像 帧之间时间差 */ void Preintegrated::IntegrateNewMeasurement(const Eigen::Vector3f &acceleration, const Eigen::Vector3f &angVel, const float &dt) { diff --git a/src/LocalMapping.cc b/src/LocalMapping.cc index 0fb31b7..a2e3455 100644 --- a/src/LocalMapping.cc +++ b/src/LocalMapping.cc @@ -1547,10 +1547,8 @@ void LocalMapping::InitializeIMU(float priorG, float priorA, bool bFIBA) pKF = pKF->mPrevKF; } lpKF.push_front(pKF); - // 以相同内容再构建一个vector + // 同样内容再构建一个和lpKF一样的容器vpKF vector vpKF(lpKF.begin(),lpKF.end()); - - // TODO 跟上面重复? if(vpKF.size() 0) { // Find from the last KF candidates @@ -535,7 +536,7 @@ bool LoopClosing::NewDetectCommonRegions() mpMergeLastCurrentKF = mpCurrentKF; mg2oMergeSlw = gScw; mvpMergeMatchedMPs = vpMatchedMPs; - // 如果验证数大于等于3则为成功回环 + // 如果验证数大于等于3则为成功 mbMergeDetected = mnMergeNumCoincidences >= 3; } // 如果没找到共同区域(时序验证失败一次) @@ -1550,8 +1551,8 @@ void LoopClosing::CorrectLoop() mpAtlas->InformNewBigChange(); // Add loop edge - // Step 8. 添加当前帧与闭环匹配帧之间的边(这个连接关系不优化) - // !感觉这两句话应该放在OptimizeEssentialGraph之前,因为OptimizeEssentialGraph的步骤4.2中有优化 + // Step 7:添加当前帧与闭环匹配帧之间的边(这个连接关系不优化) + // 它在下一次的Essential Graph里面使用 mpLoopMatchedKF->AddLoopEdge(mpCurrentKF); mpCurrentKF->AddLoopEdge(mpLoopMatchedKF); @@ -2112,8 +2113,8 @@ void LoopClosing::MergeLocal() bool bStop = false; // 为Local BA的接口, 把set转为vector // Step 7 在缝合(Welding)区域进行local BA - vpLocalCurrentWindowKFs.clear(); - vpMergeConnectedKFs.clear(); + vpLocalCurrentWindowKFs.clear(); //当前关键帧的窗口 + vpMergeConnectedKFs.clear(); //融合关键帧的窗口 std::copy(spLocalWindowKFs.begin(), spLocalWindowKFs.end(), std::back_inserter(vpLocalCurrentWindowKFs)); std::copy(spMergeConnectedKFs.begin(), spMergeConnectedKFs.end(), std::back_inserter(vpMergeConnectedKFs)); if (mpTracker->mSensor==System::IMU_MONOCULAR || mpTracker->mSensor==System::IMU_STEREO || mpTracker->mSensor==System::IMU_RGBD) diff --git a/src/Tracking.cc b/src/Tracking.cc index 56b206b..36014ab 100644 --- a/src/Tracking.cc +++ b/src/Tracking.cc @@ -3515,11 +3515,13 @@ bool Tracking::TrackLocalMap() if(!mbMapUpdated) // && (mnMatchesInliers>30)) { Verbose::PrintMess("TLM: PoseInertialOptimizationLastFrame ", Verbose::VERBOSITY_DEBUG); + // 使用上一普通帧以及当前帧的视觉信息和IMU信息联合优化当前帧位姿、速度和IMU零偏 inliers = Optimizer::PoseInertialOptimizationLastFrame(&mCurrentFrame); // , !mpLastKeyFrame->GetMap()->GetIniertialBA1()); } else { Verbose::PrintMess("TLM: PoseInertialOptimizationLastKeyFrame ", Verbose::VERBOSITY_DEBUG); + // 使用上一关键帧以及当前帧的视觉信息和IMU信息联合优化当前帧位姿、速度和IMU零偏 inliers = Optimizer::PoseInertialOptimizationLastKeyFrame(&mCurrentFrame); // , !mpLastKeyFrame->GetMap()->GetIniertialBA1()); } }