Pose Graph rewritten without Ceres by savuor · Pull Request #2892 · opencv/opencv_contrib

savuor · 2021-03-14T22:38:42Z

Pose graph from Large KinFu rewritten using manual analytic differentiation and custom LevMarq solver based on naive block sparse matrix implementation solved by Eigen library.

Connected test data PR: opencv/opencv_extra#869

Pull Request Readiness Checklist

See details at https://github.com/opencv/opencv/wiki/How_to_contribute#making-a-good-pull-request

I agree to contribute to the project under Apache 2 License.
To the best of my knowledge, the proposed patch is not based on a code under GPL or other license that is incompatible with OpenCV
The PR is proposed to proper branch
There is reference to original bug report and related work
There is accuracy test, performance test and test data in opencv_extra repository, if applicable
Patch to opencv_extra has the same branch name.
The feature is well documented and sample code can be built with the project CMake

1. Pose3d done w/o Eigen types; 2. PoseGraph nodes vector<Node> -> map<int, Node> 3. Eigen is not used in cost function or parametrization 4. Cost function debugged & fixed (original one was wrong), rewritten from Automatic to Analytic

savuor · 2021-03-23T23:53:56Z

@alalek Is there a good way to avoid unreachable code warnings? I disabled them with pragma for cases when there's no Eigen enabled.

alalek · 2021-03-24T07:33:54Z

modules/rgbd/src/pose_graph.cpp

-#include <ceres/ceres.h>
+// a very stupid workaround against unreachable code warning
+#if defined(_MSC_VER)
+#pragma warning(disable : 4702)


It makes sense to put PoseGraph::optimize() under #ifdef HAVE_EIGEN condition if Eigen is mandatory here.

BTW, Accurate condition should have && !defined(HAVE_EIGEN) too.

savuor · 2021-03-24T15:16:44Z

👍

savuor · 2021-03-31T18:24:46Z

@alalek
I added test for pose graph + testing data in opencv/opencv_extra#869, so we don't have to keep old Ceres implementation along with the current one.
Everything but CN builders works fine. Looks like sometimes CN builders fail to fetch test data from the corresponding branch from opencv_extra.
How this can be solved?

alalek · 2021-03-31T19:34:05Z

modules/rgbd/test/test_pose_graph.cpp

+    if (verbose)
+    {
+        cv::utils::logging::setLogLevel(cv::utils::logging::LogLevel::LOG_LEVEL_INFO);
+    }


Please do not touch logging level in tests.
It may be configured externally, e.g. OPENCV_LOG_LEVEL=INFO environment (so even verbose parameter is not needed and should be removed)

alalek · 2021-03-31T19:34:07Z

modules/rgbd/test/test_pose_graph.cpp

+// Turn if off if you don't need log messages
+static const bool verbose = true;
+
+#if !defined(_DEBUG) && defined(HAVE_EIGEN)


Use this for test filtering:

Debug

applyTestTag( CV_TEST_TAG_LONG, // 15sec in release CV_TEST_TAG_DEBUG_VERYLONG // 400 sec in debug )

Eigen

#ifdef HAVE_EIGEN ... #else throw SkipTestException("Build with Eigen is required"); #endif

alalek · 2021-03-31T19:39:02Z

modules/rgbd/test/test_pose_graph.cpp

+    if (writeToObjFile)
+    {


Use if (cvtest::debugLevel > 0) instead (to emit extra files).

See opencv/opencv#18955 for details.

alalek · 2021-03-31T19:46:47Z

modules/rgbd/include/opencv2/rgbd/detail/pose_graph.hpp

@@ -0,0 +1,58 @@
+#ifndef OPENCV_RGBD_GRAPH_NODE_H


License header.

alalek · 2021-04-01T11:47:06Z

modules/rgbd/test/test_pose_graph.cpp

+    std::string filename = cvtest::TS::ptr()->get_data_path() + "rgbd/sphere_bignoise_vertex3.g2o";
+    Ptr<kinfu::detail::PoseGraph> pg = readG2OFile(filename);
+
+    // You may change logging level to view detailed optimization report


Move #ifdef HAVE_EIGEN here to remove (void)(&readG2OFile);

alalek

Looks good to me 👍

savuor added 13 commits March 9, 2021 01:27

Works well on g2o dataset, cumulative:

9ff635e

1. Pose3d done w/o Eigen types; 2. PoseGraph nodes vector<Node> -> map<int, Node> 3. Eigen is not used in cost function or parametrization 4. Cost function debugged & fixed (original one was wrong), rewritten from Automatic to Analytic

g2o dataset reading added to PoseGraph

69d05df

sparse solver fixes from DynaFu draft

f89247d

Eigen cost function and parametrization removed + g2o reading fixed

92834f8

refactored: pose error, pose graph edge, pose graph node

fdd92ce

sparse solve: templated

f71f862

MyOptimize(): 1st version

01b1608

several fixes and TODOs for future

ff782d1

sparse block matrix: val functions, template type

9b2fa9d

works at Ceres quality (cleanup needed)

ccb4262

MyOptimize() is set to default optimizer

7a2126c

Ceres thrown away, PoseGraph class and header/source code reorganized

638b8d7

pose, node, edge -> nested for PoseGraph

91b0b27

savuor marked this pull request as ready for review March 21, 2021 23:42

savuor added 10 commits March 22, 2021 15:19

warnings fixed

264ccbf

jacobiScaling disabled for better performance + minors

c3bb3a6

trailing whitespace fixed

512b40f

more warnings fixed

155e3eb

message added: Eigen is required for build + minors

e90100f

trying to fix warning

7c1a205

try to fix "unreachable code" warning

87c959f

trying to fix unreachable code, pt.3

2d5bd7e

trying to fix unreachable code, pt. 5

8d64f2a

trying to fix unreachable code, pt. the worst + minors

a37c1ba

alalek reviewed Mar 24, 2021

View reviewed changes

savuor added 2 commits March 24, 2021 15:33

try to fix unreachable code, pt. the ugliest

54264ba

trying to fix unreachable code, pt. the grumpiest

25d67f8

savuor self-assigned this Mar 24, 2021

savuor added 12 commits March 29, 2021 00:30

pose graph made public (but in detail namespace) + test for pose graph

ae792cf

minor: prints

afd11f3

Pose Graph interface settled

6f4da67

Pose graph interface and its use updated

c6f730f

cos -> std::cos

9969c10

cout -> CV_LOG_INFO

38a9b29

pose graph interface updated: implementation

0be999d

Pose Graph Node and Edge: extra fields dropped

de7a39c

more minor refactor-like fixes

c8d3c6e

return and finish condition fixed

d31536f

more updates to test

a3d6741

test disabled for Debug builds because 400 sec is too much

f53b44c

savuor mentioned this pull request Mar 29, 2021

Test data added for pose graph opencv/opencv_extra#869

Merged

savuor added 5 commits March 30, 2021 01:42

whitespace

5c6c126

Disable pose graph test if there's no Eigen

f9adf77

more unused vars

1e67e3c

fixing unused function warning

5527997

less includes

2756e62

alalek reviewed Mar 31, 2021

View reviewed changes

savuor added 5 commits March 31, 2021 23:03

"verbose" removed

5d13e84

write obj to file only when debug level is raised

8fcf78b

License + include guard

a99db27

skip test using tags and SkipTestException

c30d23c

suppress "unused function" warning

ebed66b

alalek reviewed Apr 1, 2021

View reviewed changes

minor

e1e5ff7

alalek approved these changes Apr 1, 2021

View reviewed changes

alalek merged commit 1341c05 into opencv:master Apr 1, 2021

alalek mentioned this pull request Apr 9, 2021

(5.x) Merge 4.x #2919

Merged

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Pose Graph rewritten without Ceres#2892

Pose Graph rewritten without Ceres#2892
alalek merged 51 commits intoopencv:masterfrom
savuor:posegraph_no_ceres

savuor commented Mar 14, 2021 •

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savuor commented Mar 14, 2021 •

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