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雅可比矩阵咨询 #2

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chnhs opened this issue May 14, 2019 · 13 comments
Open

雅可比矩阵咨询 #2

chnhs opened this issue May 14, 2019 · 13 comments

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@chnhs
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chnhs commented May 14, 2019

您好,
非常感谢您开源 libcppt 项目, 我从中学会了很多. 最近正在按照您的思路实现相关内容, 但是在调试过程中出现了一些问题, 特向您咨询一下
image

在上述求解残差对线特征雅可比矩阵时, 获取到非常大的雅可比矩阵
​
image

想咨询一下这种情况属于正常情况吗? 冒昧的打扰, 请您谅解.
@cart0909
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@tjuhuangshuai 您好
請問您跑的datasets是哪個呢，今天我這邊測出來值大概是兩百多而已。

@chnhs
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chnhs commented May 15, 2019

@cart0909 这个是我拿小觅设备采集的图像, 没有使用公开的 Euroc 等数据集. 您的结果是直接用 libcppt 跑 euroc 数据集跑出来的吗?

@cart0909
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@tjuhuangshuai 是的，線的效果如下圖
image

我今天測了一下在LineProjectionFactor上面印出殘差對線的Jacobian值如下
image
對應的代碼位置
image

我也試過TUM VIO datasets效果大概像這樣
image
image

@chnhs
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chnhs commented May 16, 2019

谢谢您特地做了实验, 我又检查了一下代码, 没有发现问题. 想咨询一下您这种表示方式适合于大尺度场景吗? 比如下面这个图.同时看到您的上面对垂足有个约束, (p1_star - q1_star).norm() > 5 . 这个对线段长度大于 5 米的可以使用吗?
image

@chnhs
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chnhs commented May 16, 2019 •
edited
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@cart0909 您好, 我思考了一下. 假设我们我们一直沿着一条路前行, 由于线坐标是表示在世界坐标系下, 那么我们线坐标在世界坐标系下的正交表示一个很小的变化, 就会引起线坐标在相机坐标系下很大的变化.这么解释这种现象是否合理呢?

image

@chnhs
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chnhs commented May 16, 2019

@cart0909 hello, 有一个大型的室外数据集https://daniilidis-group.github.io/penncosyvio/ , 您也可以测试一下,格式和 euroc 一样

@cart0909
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@tjuhuangshuai 您好
第一個問題，目前我對於線的outlier的確沒有好的處理方式，一些paper上對於outlier的處理我可能尚未吸收理解，所以才會假設了一個長度的限制，這的確不是個好限制。
第二個問題，我是認為用世界描述是沒什麼問題，畢竟點也是可以用世界描述下去做BA，可以在討論看看？
第三這個datasets還沒有試過，我之前也有找到一些整理很好的datasets這邊也給您參考
https://sites.google.com/view/awesome-slam-datasets/

PS. pl-vio的工作目前是被我暫停中，原因是得花太多力氣，剛開始先rectify影像，再來每偵都得抽FLD or LSD，匹配的方法也沒有太多研究，不像光流比較魯棒，後端優化收歛性也不像以往只有點的殘差好，也是覺得遺憾，但是能幫助到您也是很開心的。

@chnhs
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chnhs commented May 17, 2019 •
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@cart0909 嘿嘿, 谢谢您的帮助, 收获的确挺大的.
对于点的世界坐标表示, 我认为由于点线坐标的表示不同, 会造成很大的影响. 毕竟线在优化过程中是用正交表示的, 其四个量表示的是旋转, 而线的正交表示在世界坐标系变化一些, 会造成在 C 系下观测的线很大变化, 进而影响着残差的计算. 这样可能会造成 残差对线的雅可比矩阵 很大.您那有长一些的数据集吗? 可以跑一下看一下雅可比矩阵的大小. 我这面也在下, 然后咱们可以对比一下.
同时, 我在线的优化过程中发现每次迭代线的变化量很大, 可能对应着您说的后端收敛性.

@chnhs
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chnhs commented May 19, 2019 •
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@cart0909 hello, 现在每次运行都出现错误, 您帮忙看一下, 麻烦了
roslaunch cppt_vio tum.launch
... logging to /home/.ros/log/451a3362-7a3c-11e9-b764-37157c0df6c6/roslaunch-ThinkPad-X1-Carbon-3rd-27576.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://ThinkPad-X1-Carbon-3rd:43541/

SUMMARY

PARAMETERS

  • /cppt_vio/config_file: /home/poi...
  • /cppt_vio/pl_system: False
  • /rosdistro: kinetic
  • /rosversion: 1.12.14

NODES
/
cppt_vio (cppt_vio/cppt_vio)
rvizvisualisation (rviz/rviz)

auto-starting new master
process[master]: started with pid [27586]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 451a3362-7a3c-11e9-b764-37157c0df6c6
process[rosout-1]: started with pid [27599]
started core service [/rosout]
process[cppt_vio-2]: started with pid [27606]
process[rvizvisualisation-3]: started with pid [27617]
GNU gdb (Ubuntu 7.11.1-0ubuntu1~16.5) 7.11.1
Copyright (C) 2016 Free Software Foundation, Inc.
License GPLv3+: GNU GPL version 3 or later http://gnu.org/licenses/gpl.html
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and "show warranty" for details.
This GDB was configured as "x86_64-linux-gnu".
Type "show configuration" for configuration details.
For bug reporting instructions, please see:
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For help, type "help".
Type "apropos word" to search for commands related to "word"...
Reading symbols from /home/point_line/devel_isolated/cppt_vio/lib/cppt_vio/cppt_vio...(no debugging symbols found)...done.
Starting program: /home/point_line/devel_isolated/cppt_vio/lib/cppt_vio/cppt_vio /camera/left/image_raw:=/cam0/image_raw /camera/right/image_raw:=/cam1/image_raw /imu/data_raw:=/imu0 __name:=cppt_vio __log:=/home/.ros/log/451a3362-7a3c-11e9-b764-37157c0df6c6/cppt_vio-2.log
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[Thread debugging using libthread_db enabled]
Using host libthread_db library "/lib/x86_64-linux-gnu/libthread_db.so.1".
0x1835a20 void QWindowPrivate::setTopLevelScreen(QScreen*, bool) ( QScreen(0xd479f0) ): Attempt to set a screen on a child window.
0x18380f0 void QWindowPrivate::setTopLevelScreen(QScreen*, bool) ( QScreen(0xd479f0) ): Attempt to set a screen on a child window.
0x1835540 void QWindowPrivate::setTopLevelScreen(QScreen*, bool) ( QScreen(0xd479f0) ): Attempt to set a screen on a child window.
0x1831530 void QWindowPrivate::setTopLevelScreen(QScreen*, bool) ( QScreen(0xd479f0) ): Attempt to set a screen on a child window.
[ERROR] [1558273489.856574488]: PluginlibFactory: The plugin for class 'voxblox_rviz_plugin/VoxbloxMesh' failed to load. Error: According to the loaded plugin descriptions the class voxblox_rviz_plugin/VoxbloxMesh with base class type rviz::Display does not exist. Declared types are rviz/Axes rviz/Camera rviz/DepthCloud rviz/Effort rviz/FluidPressure rviz/Grid rviz/GridCells rviz/Illuminance rviz/Image rviz/InteractiveMarkers rviz/LaserScan rviz/Map rviz/Marker rviz/MarkerArray rviz/Odometry rviz/Path rviz/PointCloud rviz/PointCloud2 rviz/PointStamped rviz/Polygon rviz/Pose rviz/PoseArray rviz/PoseWithCovariance rviz/Range rviz/RelativeHumidity rviz/RobotModel rviz/TF rviz/Temperature rviz/WrenchStamped rviz_plugin_tutorials/Imu
0x1a9e240 void QWindowPrivate::setTopLevelScreen(QScreen*, bool) ( QScreen(0xd479f0) ): Attempt to set a screen on a child window.
0x1c9bd40 void QWindowPrivate::setTopLevelScreen(QScreen*, bool) ( QScreen(0xd479f0) ): Attempt to set a screen on a child window.
0x1b22160 void QWindowPrivate::setTopLevelScreen(QScreen*, bool) ( QScreen(0xd479f0) ): Attempt to set a screen on a child window.
0x1b219b0 void QWindowPrivate::setTopLevelScreen(QScreen*, bool) ( QScreen(0xd479f0) ): Attempt to set a screen on a child window.
0x1c9b650 void QWindowPrivate::setTopLevelScreen(QScreen*, bool) ( QScreen(0xd479f0) ): Attempt to set a screen on a child window.
0x1a9e240 void QWindowPrivate::setTopLevelScreen(QScreen*, bool) ( QScreen(0xd479f0) ): Attempt to set a screen on a child window.
0x1ca12f0 void QWindowPrivate::setTopLevelScreen(QScreen*, bool) ( QScreen(0xd479f0) ): Attempt to set a screen on a child window.
0x1d02390 void QWindowPrivate::setTopLevelScreen(QScreen*, bool) ( QScreen(0xd479f0) ): Attempt to set a screen on a child window.
0x1cff6e0 void QWindowPrivate::setTopLevelScreen(QScreen*, bool) ( QScreen(0xd479f0) ): Attempt to set a screen on a child window.
0x1cffce0 void QWindowPrivate::setTopLevelScreen(QScreen*, bool) ( QScreen(0xd479f0) ): Attempt to set a screen on a child window.
0x1d01fc0 void QWindowPrivate::setTopLevelScreen(QScreen*, bool) ( QScreen(0xd479f0) ): Attempt to set a screen on a child window.
0x1ca12f0 void QWindowPrivate::setTopLevelScreen(QScreen*, bool) ( QScreen(0xd479f0) ): Attempt to set a screen on a child window.
0x18380f0 void QWindowPrivate::setTopLevelScreen(QScreen*, bool) ( QScreen(0xd43820) ): Attempt to set a screen on a child window.
0x1831530 void QWindowPrivate::setTopLevelScreen(QScreen*, bool) ( QScreen(0xd43820) ): Attempt to set a screen on a child window.
0x1835540 void QWindowPrivate::setTopLevelScreen(QScreen*, bool) ( QScreen(0xd43820) ): Attempt to set a screen on a child window.
0x1a11130 void QWindowPrivate::setTopLevelScreen(QScreen*, bool) ( QScreen(0xd43820) ): Attempt to set a screen on a child window.
0x1c9b650 void QWindowPrivate::setTopLevelScreen(QScreen*, bool) ( QScreen(0xd43820) ): Attempt to set a screen on a child window.
0x1a9e240 void QWindowPrivate::setTopLevelScreen(QScreen*, bool) ( QScreen(0xd43820) ): Attempt to set a screen on a child window.
0x1c9bd40 void QWindowPrivate::setTopLevelScreen(QScreen*, bool) ( QScreen(0xd43820) ): Attempt to set a screen on a child window.
0x1d01fc0 void QWindowPrivate::setTopLevelScreen(QScreen*, bool) ( QScreen(0xd43820) ): Attempt to set a screen on a child window.
0x1ca12f0 void QWindowPrivate::setTopLevelScreen(QScreen*, bool) ( QScreen(0xd43820) ): Attempt to set a screen on a child window.
0x1d02390 void QWindowPrivate::setTopLevelScreen(QScreen*, bool) ( QScreen(0xd43820) ): Attempt to set a screen on a child window.
0x1e92f60 void QWindowPrivate::setTopLevelScreen(QScreen*, bool) ( QScreen(0xd43820) ): Attempt to set a screen on a child window.
0x1c9bb20 void QWindowPrivate::setTopLevelScreen(QScreen*, bool) ( QScreen(0xd43820) ): Attempt to set a screen on a child window.
0x1a71370 void QWindowPrivate::setTopLevelScreen(QScreen*, bool) ( QScreen(0xd43820) ): Attempt to set a screen on a child window.
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
error opening trace file: Permission denied (13)
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[New Thread 0x7fffe8922700 (LWP 27750)]
[New Thread 0x7fffe3fff700 (LWP 27751)]
[New Thread 0x7fffe37fe700 (LWP 27752)]
[New Thread 0x7fffe2ffd700 (LWP 27757)]
[ INFO] [1558273490.476476331]: Loaded config_file: /home/point_line/src/examples/vio/../../config/calib/tum.yaml
[ INFO] [1558273490.477162168]: Loaded pl_system: 0
WARNING: Logging before InitGoogleLogging() is written to STDERR
I0519 21:44:50.477572 27620 config_loader.cpp:101] number of camera: 1
I0519 21:44:50.477649 27620 config_loader.cpp:103] cam0 image size: [512 x 512]
I0519 21:44:50.477668 27620 config_loader.cpp:104] cam0 model type: FISHEYE
I0519 21:44:50.477679 27620 config_loader.cpp:115] cam0 intrinsic: 190.978 190.973 254.932 256.897
I0519 21:44:50.477705 27620 config_loader.cpp:123] cam0 distortion: 0.00348239 0.000715035 -0.00205324 0.000202937
I0519 21:44:50.477720 27620 config_loader.cpp:129] cam0 p_bc: 0.0455748 -0.0711618 -0.0446812
I0519 21:44:50.477733 27620 config_loader.cpp:132] cam0 q_bc: 0.00768851 -0.0133554 -0.694797 0.719041
I0519 21:44:50.477747 27620 config_loader.cpp:150] cam0r intrinsic: 190.442 190.434 252.599 254.917
I0519 21:44:50.477761 27620 config_loader.cpp:157] cam0r distortion: 0.00340032 0.00176628 -0.00266313 0.000329952
I0519 21:44:50.477774 27620 config_loader.cpp:163] cam0r p_rl: -0.101061 -0.00197646 -0.00117564
I0519 21:44:50.477787 27620 config_loader.cpp:166] cam0r q_rl: -0.999725 -0.0234543 0.000337641 -0.000403876
I0519 21:44:50.477799 27620 config_loader.cpp:173] acc_noise: 0.04
I0519 21:44:50.477809 27620 config_loader.cpp:174] gyr_noise: 0.004
I0519 21:44:50.477818 27620 config_loader.cpp:175] acc_bias_noise: 0.0004
I0519 21:44:50.477828 27620 config_loader.cpp:176] gyr_bias_noise: 2e-05
I0519 21:44:50.477838 27620 config_loader.cpp:177] gravity_magnitude: 9.81007
I0519 21:44:50.477849 27620 config_loader.cpp:178] voc_path: /home/point_line/src/config/voc/brief_k10L6.bin
I0519 21:44:50.477856 27620 config_loader.cpp:179] brief_pattern_path: /home/point_line/src/config/brief/brief_pattern.yml
loop start load vocabulary
[New Thread 0x7fffe1170700 (LWP 27760)]
[New Thread 0x7fffe096f700 (LWP 27761)]
[New Thread 0x7fffda9a1700 (LWP 27762)]
[New Thread 0x7fffda1a0700 (LWP 27763)]
[ INFO] [1558273490.966519254]: Player is ready.
I0519 21:44:56.423516 27763 backend.cpp:67] this frame -----------------------------MARGIN_OLD
I0519 21:44:56.423789 27763 backend.cpp:77] 1111111111111111111111111
I0519 21:44:56.473680 27763 backend.cpp:67] this frame -----------------------------MARGIN_OLD

Thread 9 "cppt_vio" received signal SIGSEGV, Segmentation fault.
[Switching to Thread 0x7fffda1a0700 (LWP 27763)]
0x00007fffeeab1986 in ceres::internal::ProgramEvaluator<ceres::internal::BlockEvaluatePreparer, ceres::internal::BlockJacobianWriter, ceres::internal::NullJacob---Type to continue, or q to quit---
ianFinalizer>::Evaluate(ceres::internal::Evaluator::EvaluateOptions const&, double const*, double*, double*, double*, ceres::internal::SparseMatrix*) ()
from /home/point_line/src/src/../3rdParty/ceres-solver-1.14.0/build/lib/libceres.so.1
(gdb) bt
#0 0x00007fffeeab1986 in ceres::internal::ProgramEvaluator<ceres::internal::BlockEvaluatePreparer, ceres::internal::BlockJacobianWriter, ceres::internal::NullJacobianFinalizer>::Evaluate(ceres::internal::Evaluator::EvaluateOptions const&, double const*, double*, double*, double*, ceres::internal::SparseMatrix*) ()
from /home/point_line/src/src/../3rdParty/ceres-solver-1.14.0/build/lib/libceres.so.1
#1 0x00007fffeeb4673d in ceres::internal::TrustRegionMinimizer::EvaluateGradientAndJacobian(bool) ()
from /home/point_line/src/src/../3rdParty/ceres-solver-1.14.0/build/lib/libceres.so.1
#2 0x00007fffeeb4710b in ceres::internal::TrustRegionMinimizer::IterationZero() ()
from /home/point_line/src/src/../3rdParty/ceres-solver-1.14.0/build/lib/libceres.so.1
#3 0x00007fffeeb4b7d6 in ceres::internal::TrustRegionMinimizer::Minimize(ceres::internal::Minimizer::Options const&, double*, ceres::Solver::Summary*) ()
from /home/point_line/src/src/../3rdParty/ceres-solver-1.14.0/build/lib/libceres.so.1
#4 0x00007fffeeb3dd05 in ceres::Solver::Solve(ceres::Solver::Options const&, ceres::Problem*, ceres::Solver::Summary*) ()
from /home/point_line/src/src/../3rdParty/ceres-solver-1.14.0/build/lib/libceres.so.1
#5 0x00007fffeeb3e5b9 in ceres::Solve(ceres::Solver::Options const&, ceres::Pro---Type to continue, or q to quit---
blem*, ceres::Solver::Summary*) ()
from /home/point_line/src/src/../3rdParty/ceres-solver-1.14.0/build/lib/libceres.so.1
#6 0x00007ffff6513310 in BackEnd::SolveBA() ()
from /home/point_line/devel_isolated/cppt/lib/libcppt.so
#7 0x00007ffff651ee19 in BackEnd::ProcessFrame(std::shared_ptrBackEnd::Frame) () from /home/point_line/devel_isolated/cppt/lib/libcppt.so
#8 0x00007ffff64ff147 in System::BackEndProcess() ()
from /home/point_line/devel_isolated/cppt/lib/libcppt.so
#9 0x00007ffff53a3c80 in ?? () from /usr/lib/x86_64-linux-gnu/libstdc++.so.6
#10 0x00007ffff58786ba in start_thread (arg=0x7fffda1a0700)
at pthread_create.c:333
#11 0x00007ffff4b0941d in clone ()
at ../sysdeps/unix/sysv/linux/x86_64/clone.S:109
(gdb)

@cart0909
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請問這是ceres內部的問題，還是call到我這邊function的問題呢?
看起來backtrace最終是指到ceres內部function?
有沒有debug的backtrace呢?

@chnhs
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chnhs commented May 20, 2019 •
edited
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@cart0909 这个没有调试过, 我可以尝试一下. 您也可以试一下, 我跑的是 dataset-outdoors4_512_16.bag 这个 tum 的数据集.

@chnhs
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chnhs commented May 20, 2019 •
edited
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@cart0909 hello,这个是 Debug 版本的调试信息, 您看一下

Thread 9 "cppt_vio" received signal SIGSEGV, Segmentation fault.
[Switching to Thread 0x7fffd21a0700 (LWP 2871)]
0x00007fffeeab1896 in ceres::internal::ProgramEvaluator<ceres::internal::BlockEvaluatePreparer, ceres::internal::BlockJacobianWriter, ceres::internal::NullJacob---Type to continue, or q to quit---
ianFinalizer>::Evaluate (this=0x7fffb807f8a0, evaluate_options=...,
state=0x7fffb8083e00, cost=0x7fffb8083da0, residuals=0x7fffb8088a00,
gradient=0x7fffb8084620, jacobian=0x7fffb8083720)
at /home/point_line/src/3rdParty/ceres-solver-1.14.0/internal/ceres/program_evaluator.h:163
163 options_.evaluation_callback->PrepareForEvaluation(
(gdb) bt
#0 0x00007fffeeab1896 in ceres::internal::ProgramEvaluator<ceres::internal::BlockEvaluatePreparer, ceres::internal::BlockJacobianWriter, ceres::internal::NullJacobianFinalizer>::Evaluate (this=0x7fffb807f8a0, evaluate_options=...,
state=0x7fffb8083e00, cost=0x7fffb8083da0, residuals=0x7fffb8088a00,
gradient=0x7fffb8084620, jacobian=0x7fffb8083720)
at /home/point_line/src/3rdParty/ceres-solver-1.14.0/internal/ceres/program_evaluator.h:163
#1 0x00007fffeeb4661d in ceres::internal::TrustRegionMinimizer::EvaluateGradientAndJacobian (this=this@entry=0x7fffb8083ad0,
new_evaluation_point=new_evaluation_point@entry=true)
at /home/point_line/src/3rdParty/ceres-solver-1.14.0/internal/ceres/trust_region_minimizer.cc:230
#2 0x00007fffeeb46feb in ceres::internal::TrustRegionMinimizer::IterationZero
(this=this@entry=0x7fffb8083ad0)
at /home/point_line/src/3rdParty/ceres-solver-1.14.0/internal/ceres/trust_region_minimizer.cc:204
#3 0x00007fffeeb4b6b6 in ceres::internal::TrustRegionMinimizer::Minimize (
this=0x7fffb8083ad0, options=..., parameters=0x7fffb8080d40,
solver_summary=0x7fffd21982b0)
at /home/point_line/src/3rdParty/ceres-solver-1.14.0/internal/ceres/trust_region_minimizer.cc:72
#4 0x00007fffeeb3dbe5 in ceres::(anonymous namespace)::Minimize (
summary=0x7fffd21982b0, pp=0x7fffd2197be0)
---Type to continue, or q to quit---
at /home/point_line/src/3rdParty/ceres-solver-1.14.0/internal/ceres/solver.cc:466
#5 ceres::Solver::Solve (this=this@entry=0x7fffd2198040, options=...,
problem=problem@entry=0x7fffd21980d0, summary=summary@entry=0x7fffd21982b0)
at /home/point_line/src/3rdParty/ceres-solver-1.14.0/internal/ceres/solver.cc:602
#6 0x00007fffeeb3e499 in ceres::Solve (options=...,
problem=problem@entry=0x7fffd21980d0, summary=summary@entry=0x7fffd21982b0)
at /home/point_line/src/3rdParty/ceres-solver-1.14.0/internal/ceres/solver.cc:635
#7 0x00007ffff6513360 in BackEnd::SolveBA (this=0x692b20)
at /home/point_line/src/src/backend.cpp:606
#8 0x00007ffff651ee49 in BackEnd::ProcessFrame (this=0x1400000000,
frame=std::shared_ptr (count 3, weak 0) 0x7fffb800b720)
at /home/point_line/src/src/backend.cpp:100
#9 0x00007ffff64ff1d7 in System::BackEndProcess (this=0x690a20)
at /home/point_line/src/src/system.cpp:202
#10 0x00007ffff53a3c80 in ?? () from /usr/lib/x86_64-linux-gnu/libstdc++.so.6
#11 0x00007ffff58786ba in start_thread (arg=0x7fffd21a0700)
at pthread_create.c:333
#12 0x00007ffff4b0941d in clone ()
at ../sysdeps/unix/sysv/linux/x86_64/clone.S:109

@chnhs
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chnhs commented May 20, 2019 •
edited
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@cart0909 hello, 终于可以跑通了, 我将 ceres 从1.14.0 替换为 2.0.0, 并且从新安装了 Eigen 库. 下面截图是Jline 的结果, 也发现了较大的线特征雅可比.
Screenshot from 2019-05-20 15-29-33

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