search

RonaldSun / VI-Stereo-DSO

Direct sparse odometry combined with stereo cameras and IMU
387 stars 124 forks source link

Can't find the static stereo residuals in the code. #23

Open HpyZhai opened 4 years ago

HpyZhai commented 4 years ago

Hi, thanks for your oepn source. I didn't find the static stereo residuals in the Stereo_DSO of HorizonAD. I see that you modified the original code. Did you add the static stereo residuals and relative optimization process?

studennis911988 commented 4 years ago

HorizonAD version do static stereo matching in traceStereo() in the scope of setCoarseTrackingRef（）.

HpyZhai commented 4 years ago

hi, thank you to answer my question. I checked the function traceStereo() of setCoarseTrackingRef() again. You are right，It calculated the static stereo residuals ，however，they were just used to get the best matching 2D points for the mature points in the stereo image pair。 I didn't express my question clearly. In the stereo-dso paper, the optimized terms are temporal multiview residuals and static stereo residals. In my view， the objective function （15）should be optimized overall。But in the optimization process of the key frames ，it did not take into account。 The code in " OptimizationBackend " file was the same as the monocular DSO. I didn't find the param "lambda"(15) in the stereo-DSO code. Maybe,It had another name. So,I checked the ”setting.cpp“ and there were no new params different from monocular DSO。

Is there anything wrong with me？

At 2019-11-07 20:17:00, "Dennis Cychuang" notifications@github.com wrote:

HorizonAD version do static stereo matching in traceStereo() in the scope of setCoarseTrackingRef（）.

— You are receiving this because you authored the thread. Reply to this email directly, view it on GitHub, or unsubscribe.

studennis911988 commented 4 years ago

Actually, HorizonAD didn't applied Stereo-DSO fully according to original Stereo-DSO paper.

In my opinion , they treat static and temporal stereo matching as the same weight(i.e lamda = 1), which is one of the reason that makes their performance not too well.