void bundleAdjustment ( const vector< cv::Point3f > points_3d,
const vector< cv::Point2f > points_2d,
const Mat& K, Mat& R, Mat& t )
{
typedef g2o::BlockSolver< g2o::BlockSolverTraits<6,3> > Block;
Block::LinearSolverType* linearSolver = new g2o::LinearSolverCSparseBlock::PoseMatrixType();
Block* solver_ptr = new Block ( linearSolver );
g2o::OptimizationAlgorithmLevenberg* solver = new g2o::OptimizationAlgorithmLevenberg ( solver_ptr );
g2o::SparseOptimizer optimizer;
optimizer.setAlgorithm ( solver );
g2o::VertexSE3Expmap* pose = new g2o::VertexSE3Expmap(); // camera pose
Eigen::Matrix3d R_mat;
R_mat <<
R.at<double> ( 0,0 ), R.at<double> ( 0,1 ), R.at<double> ( 0,2 ),
R.at<double> ( 1,0 ), R.at<double> ( 1,1 ), R.at<double> ( 1,2 ),
R.at<double> ( 2,0 ), R.at<double> ( 2,1 ), R.at<double> ( 2,2 );
pose->setId ( 0 );
pose->setEstimate ( g2o::SE3Quat (R_mat,
Eigen::Vector3d ( t.at ( 0,0 ), t.at ( 1,0 ), t.at ( 2,0 ) ) ) );
optimizer.addVertex ( pose );
int index = 1;
for (const Point3f p:points_3d ) // landmarks, world coordinates.
{
g2o::VertexSBAPointXYZ* point = new g2o::VertexSBAPointXYZ();
point->setId ( index++ );
point->setEstimate ( Eigen::Vector3d ( p.x, p.y, p.z ) );
point->setMarginalized ( true );
optimizer.addVertex ( point );
}
g2o::CameraParameters* camera = new g2o::CameraParameters (K.at<double> ( 0,0 ), Eigen::Vector2d ( K.at<double> ( 0,2 ), K.at<double> ( 1,2 ) ), 0);
camera->setId ( 0 );
optimizer.addParameter ( camera ); //Add camera parameters
index = 1;
for ( const Point2f p:points_2d ) //Add edges(observed data)
{
g2o::EdgeProjectXYZ2UV* edge = new g2o::EdgeProjectXYZ2UV();
edge->setId ( index );
edge->setVertex ( 0, dynamic_cast<g2o::VertexSBAPointXYZ*> ( optimizer.vertex ( index ) ) );
edge->setVertex ( 1, pose );
edge->setMeasurement ( Eigen::Vector2d ( p.x, p.y ) );
edge->setParameterId ( 0,0 ); //cameraparameter
edge->setInformation ( Eigen::Matrix2d::Identity() );
optimizer.addEdge ( edge );
index++;
}
chrono::steady_clock::time_point t1 = chrono::steady_clock::now();
optimizer.setVerbose ( true );
optimizer.initializeOptimization();
optimizer.optimize ( 100 );
chrono::steady_clock::time_point t2 = chrono::steady_clock::now();
chrono::duration<double> time_used = chrono::duration_cast<chrono::duration<double>> ( t2-t1 );
cout<<"optimization costs time: "<<time_used.count() <<" seconds."<<endl;
cout<<endl<<"after optimization:"<<endl;
cout<<"T="<<endl<<Eigen::Isometry3d ( pose->estimate() ).matrix() <<endl;
}
我已经定义了一个函数来使用 g2o 执行捆绑调整,但是当我运行可执行文件时终端断言了分段错误。我确信问题来自这个函数,因为注释掉这个函数后整个程序可以正常运行。
我的平台是 Ubuntu16.04 LTS。
EDIT1:我尝试添加set( CMAKE_BUILD_TYPE "Release" )
我的 CMakeLists.txt。然后终端在运行可执行文件后断言双重释放或损坏(out) 。但是,在我注释掉以下代码块后它运行正常:
g2o::CameraParameters* camera = new g2o::CameraParameters (K.at<double> ( 0,0 ), Eigen::Vector2d ( K.at<double> ( 0,2 ), K.at<double> ( 1,2 ) ), 0);
camera->setId ( 0 );
optimizer.addParameter ( camera );
EDIT2:一旦我使用了CameraParameter的默认构造函数,整个程序就可以正常运行:
g2o::CameraParameters* camera = new g2o::CameraParameters ();
camera->setId ( 0 );
optimizer.addParameter ( camera );
但是,分段错误仍然存在。
EDIT3:注释掉以下代码后不再出现分段错误:
optimizer.addVertex ( pose );
optimizer.addVertex ( point );
optimizer.addEdge ( edge );
optimizer.addParameter ( camera )