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adaptive voxel resolution #97

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merged 3 commits into from
Oct 29, 2024
Merged

adaptive voxel resolution #97

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cb7be38
adaptive voxel resolution
koide3 Oct 29, 2024
90f4288
adaptive voxel resolution for global mapping
koide3 Oct 29, 2024
6323030
use median_distance in gtsam_points
koide3 Oct 29, 2024
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3 changes: 3 additions & 0 deletions config/config_global_mapping_gpu.json
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Original file line number Diff line number Diff line change
Expand Up @@ -36,6 +36,9 @@
"registration_error_factor_type": "VGICP_GPU",
"randomsampling_rate": 1.0,
"submap_voxel_resolution": 0.5,
"submap_voxel_resolution_max": 2.0,
"submap_voxel_resolution_dmin": 5.0,
"submap_voxel_resolution_dmax": 20.0,
"submap_voxelmap_levels": 2,
"submap_voxelmap_scaling_factor": 2.0,
"max_implicit_loop_distance": 100.0,
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8 changes: 7 additions & 1 deletion config/config_odometry_gpu.json
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Expand Up @@ -14,7 +14,10 @@
// fix_imu_bias : If true, disable IMU bias estimation and use the initial IMU bias
//
// --- Voxel params ---
// voxel_resolution : Resolution for VGICP voxels (0.25 ~ 0.5 for indoor, 0.5 ~ 2.0 for outdoor)
// voxel_resolution : Base resolution for VGICP voxels
// voxel_resolution_max : Maximum base resolution for VGICP voxels.
// : When voxel_resolution_max > voxel_resolution, the voxel resolution is adaptively increased
// : depending on the median of point distances clamped by dmin and dmax.
// voxelmap_levels : Multi-resolution voxelmap levels
// voxelmap_scaling_factor : Multi-resolution voxelmap scaling factor
// full_connection_window_size : Latest sensor pose variable is connected with all of the past $full_connection_window_size poses
Expand Down Expand Up @@ -46,6 +49,9 @@
"fix_imu_bias": false,
// Voxel params
"voxel_resolution": 0.25,
"voxel_resolution_max": 1.0,
"voxel_resolution_dmin": 5.0,
"voxel_resolution_dmax": 20.0,
"voxelmap_levels": 2,
"voxelmap_scaling_factor": 2.0,
"full_connection_window_size": 2,
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3 changes: 3 additions & 0 deletions include/glim/mapping/global_mapping.hpp
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Expand Up @@ -38,6 +38,9 @@ struct GlobalMappingParams {

std::string registration_error_factor_type;
double submap_voxel_resolution;
double submap_voxel_resolution_max;
double submap_voxel_resolution_dmin;
double submap_voxel_resolution_dmax;
int submap_voxelmap_levels;
double submap_voxelmap_scaling_factor;

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3 changes: 3 additions & 0 deletions include/glim/odometry/odometry_estimation_gpu.hpp
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Expand Up @@ -25,6 +25,9 @@ struct OdometryEstimationGPUParams : public OdometryEstimationIMUParams {
public:
// Registration params
double voxel_resolution;
double voxel_resolution_max;
double voxel_resolution_dmin;
double voxel_resolution_dmax;
int voxelmap_levels;
double voxelmap_scaling_factor;

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33 changes: 28 additions & 5 deletions src/glim/mapping/global_mapping.cpp
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Expand Up @@ -54,6 +54,10 @@ GlobalMappingParams::GlobalMappingParams() {
between_registration_type = config.param<std::string>("global_mapping", "between_registration_type", "GICP");
registration_error_factor_type = config.param<std::string>("global_mapping", "registration_error_factor_type", "VGICP");
submap_voxel_resolution = config.param<double>("global_mapping", "submap_voxel_resolution", 1.0);
submap_voxel_resolution_max = config.param<double>("global_mapping", "submap_voxel_resolution_max", submap_voxel_resolution);
submap_voxel_resolution_dmin = config.param<double>("global_mapping", "submap_voxel_resolution_dmin", 5.0);
submap_voxel_resolution_dmax = config.param<double>("global_mapping", "submap_voxel_resolution_dmax", 20.0);

submap_voxelmap_levels = config.param<int>("global_mapping", "submap_voxelmap_levels", 2);
submap_voxelmap_scaling_factor = config.param<double>("global_mapping", "submap_voxelmap_scaling_factor", 2.0);

Expand Down Expand Up @@ -224,6 +228,13 @@ void GlobalMapping::insert_submap(const SubMap::Ptr& submap) {
void GlobalMapping::insert_submap(int current, const SubMap::Ptr& submap) {
submap->voxelmaps.clear();

// Adaptively determine the voxel resolution based on the median distance
const int max_scan_count = 256;
const double dist_median = gtsam_points::median_distance(submap->frame, max_scan_count);
const double p = std::max(0.0, std::min(1.0, (dist_median - params.submap_voxel_resolution_dmin) / (params.submap_voxel_resolution_dmax - params.submap_voxel_resolution_dmin)));
const double base_resolution = params.submap_voxel_resolution + p * (params.submap_voxel_resolution_max - params.submap_voxel_resolution);

// Create frame and voxelmaps
gtsam_points::PointCloud::ConstPtr subsampled_submap;
if (params.randomsampling_rate > 0.99) {
subsampled_submap = submap->frame;
Expand All @@ -244,7 +255,7 @@ void GlobalMapping::insert_submap(int current, const SubMap::Ptr& submap) {
}

for (int i = 0; i < params.submap_voxelmap_levels; i++) {
const double resolution = params.submap_voxel_resolution * std::pow(params.submap_voxelmap_scaling_factor, i);
const double resolution = base_resolution * std::pow(params.submap_voxelmap_scaling_factor, i);
auto voxelmap = std::make_shared<gtsam_points::GaussianVoxelMapGPU>(resolution);
voxelmap->insert(*submap->frame);
submap->voxelmaps.push_back(voxelmap);
Expand All @@ -254,7 +265,7 @@ void GlobalMapping::insert_submap(int current, const SubMap::Ptr& submap) {

if (submap->voxelmaps.empty()) {
for (int i = 0; i < params.submap_voxelmap_levels; i++) {
const double resolution = params.submap_voxel_resolution * std::pow(params.submap_voxelmap_scaling_factor, i);
const double resolution = base_resolution * std::pow(params.submap_voxelmap_scaling_factor, i);
auto voxelmap = std::make_shared<gtsam_points::GaussianVoxelMapCPU>(resolution);
voxelmap->insert(*subsampled_submap);
submap->voxelmaps.push_back(voxelmap);
Expand Down Expand Up @@ -652,7 +663,19 @@ bool GlobalMapping::load(const std::string& path) {
return false;
}

gtsam_points::PointCloud::Ptr subsampled_submap = gtsam_points::random_sampling(submap->frame, params.randomsampling_rate, mt);
// Adaptively determine the voxel resolution based on the median distance
const int max_scan_count = 256;
const double dist_median = gtsam_points::median_distance(submap->frame, max_scan_count);
const double p =
std::max(0.0, std::min(1.0, (dist_median - params.submap_voxel_resolution_dmin) / (params.submap_voxel_resolution_dmax - params.submap_voxel_resolution_dmin)));
const double base_resolution = params.submap_voxel_resolution + p * (params.submap_voxel_resolution_max - params.submap_voxel_resolution);

gtsam_points::PointCloud::Ptr subsampled_submap;
if (params.randomsampling_rate > 0.99) {
subsampled_submap = submap->frame;
} else {
subsampled_submap = gtsam_points::random_sampling(submap->frame, params.randomsampling_rate, mt);
}

submaps[i] = submap;
submaps[i]->voxelmaps.clear();
Expand All @@ -663,7 +686,7 @@ bool GlobalMapping::load(const std::string& path) {
subsampled_submaps[i] = gtsam_points::PointCloudGPU::clone(*subsampled_submaps[i]);

for (int j = 0; j < params.submap_voxelmap_levels; j++) {
const double resolution = params.submap_voxel_resolution * std::pow(params.submap_voxelmap_scaling_factor, j);
const double resolution = base_resolution * std::pow(params.submap_voxelmap_scaling_factor, j);
auto voxelmap = std::make_shared<gtsam_points::GaussianVoxelMapGPU>(resolution);
voxelmap->insert(*subsampled_submaps[i]);
submaps[i]->voxelmaps.push_back(voxelmap);
Expand All @@ -673,7 +696,7 @@ bool GlobalMapping::load(const std::string& path) {
#endif
} else {
for (int j = 0; j < params.submap_voxelmap_levels; j++) {
const double resolution = params.submap_voxel_resolution * std::pow(params.submap_voxelmap_scaling_factor, j);
const double resolution = base_resolution * std::pow(params.submap_voxelmap_scaling_factor, j);
auto voxelmap = std::make_shared<gtsam_points::GaussianVoxelMapCPU>(resolution);
voxelmap->insert(*subsampled_submaps[i]);
submaps[i]->voxelmaps.push_back(voxelmap);
Expand Down
13 changes: 12 additions & 1 deletion src/glim/odometry/odometry_estimation_gpu.cpp
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Expand Up @@ -39,6 +39,10 @@ OdometryEstimationGPUParams::OdometryEstimationGPUParams() : OdometryEstimationI
Config config(GlobalConfig::get_config_path("config_odometry"));

voxel_resolution = config.param<double>("odometry_estimation", "voxel_resolution", 0.5);
voxel_resolution_max = config.param<double>("odometry_estimation", "voxel_resolution_max", voxel_resolution);
voxel_resolution_dmin = config.param<double>("odometry_estimation", "voxel_resolution_dmin", 4.0);
voxel_resolution_dmax = config.param<double>("odometry_estimation", "voxel_resolution_dmax", 12.0);

voxelmap_levels = config.param<int>("odometry_estimation", "voxelmap_levels", 2);
voxelmap_scaling_factor = config.param<double>("odometry_estimation", "voxelmap_scaling_factor", 2.0);

Expand Down Expand Up @@ -83,13 +87,20 @@ OdometryEstimationGPU::~OdometryEstimationGPU() {
void OdometryEstimationGPU::create_frame(EstimationFrame::Ptr& new_frame) {
const auto params = static_cast<OdometryEstimationGPUParams*>(this->params.get());

// Adaptively determine the voxel resolution based on the median distance
const int max_scan_count = 256;
const double dist_median = gtsam_points::median_distance(new_frame->frame, max_scan_count);
const double p = std::max(0.0, std::min(1.0, (dist_median - params->voxel_resolution_dmin) / (params->voxel_resolution_dmax - params->voxel_resolution_dmin)));
const double base_resolution = params->voxel_resolution + p * (params->voxel_resolution_max - params->voxel_resolution);

// Create frame and voxelmaps
new_frame->frame = gtsam_points::PointCloudGPU::clone(*new_frame->frame);
for (int i = 0; i < params->voxelmap_levels; i++) {
if (!new_frame->frame->size()) {
break;
}

const double resolution = params->voxel_resolution * std::pow(params->voxelmap_scaling_factor, i);
const double resolution = base_resolution * std::pow(params->voxelmap_scaling_factor, i);
auto voxelmap = std::make_shared<gtsam_points::GaussianVoxelMapGPU>(resolution, 8192 * 2, 10, 1e-3, *stream);
voxelmap->insert(*new_frame->frame);
new_frame->voxelmaps.push_back(voxelmap);
Expand Down
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