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Devel: new feature msckf_vio

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matlabbe
2018-07-14 20:40:44 -04:00
parent 89a0eb506b
commit 15e09cd0a8
10 changed files with 1764 additions and 6 deletions
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3
corelib/include/rtabmap/core/Odometry.h
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@@ -51,7 +51,8 @@ public:
kTypeDVO = 4,
kTypeORBSLAM2 = 5,
kTypeOkvis = 6,
kTypeLOAM = 7
kTypeLOAM = 7,
kTypeMSCKF = 8
};
public:

62
corelib/include/rtabmap/core/OdometryMSCKF.h Normal file
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@@ -0,0 +1,62 @@
/*
Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
* Redistributions of source code must retain the above copyright
notice, this list of conditions and the following disclaimer.
* Redistributions in binary form must reproduce the above copyright
notice, this list of conditions and the following disclaimer in the
documentation and/or other materials provided with the distribution.
* Neither the name of the Universite de Sherbrooke nor the
names of its contributors may be used to endorse or promote products
derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
#ifndef ODOMETRYMSCKF_H_
#define ODOMETRYMSCKF_H_
#include <rtabmap/core/Odometry.h>
namespace rtabmap {
class ImageProcessorNoROS;
class MsckfVioNoROS;
class RTABMAP_EXP OdometryMSCKF : public Odometry
{
public:
OdometryMSCKF(const rtabmap::ParametersMap & parameters = rtabmap::ParametersMap());
virtual ~OdometryMSCKF();
virtual void reset(const Transform & initialPose = Transform::getIdentity());
virtual Odometry::Type getType() {return Odometry::kTypeMSCKF;}
virtual bool canProcessRawImages() const {return true;}
private:
virtual Transform computeTransform(SensorData & image, const Transform & guess = Transform(), OdometryInfo * info = 0);
private:
#ifdef RTABMAP_MSCKF_VIO
ImageProcessorNoROS * imageProcessor_;
MsckfVioNoROS * msckf_;
IMU lastImu_;
ParametersMap parameters_;
#endif
};
}
#endif /* ODOMETRYMSCKF_H_ */

28
corelib/include/rtabmap/core/Parameters.h
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@@ -499,6 +499,34 @@ class RTABMAP_EXP Parameters
RTABMAP_PARAM(OdomLOAM, AngVar, float, 0.01, "Angular output variance.");
RTABMAP_PARAM(OdomLOAM, LocalMapping, bool, true, "Local mapping. It adds more time to compute odometry, but accuracy is significantly improved.");
// Odometry MSCKF_VIO
RTABMAP_PARAM(OdomMSCKF, GridRow, int, 4, "");
RTABMAP_PARAM(OdomMSCKF, GridCol, int, 4, "");
RTABMAP_PARAM(OdomMSCKF, GridMinFeatureNum, int, 2, "");
RTABMAP_PARAM(OdomMSCKF, GridMaxFeatureNum, int, 4, "");
RTABMAP_PARAM(OdomMSCKF, PyramidLevels, int, 3, "");
RTABMAP_PARAM(OdomMSCKF, PatchSize, int, 31, "");
RTABMAP_PARAM(OdomMSCKF, FastThreshold, int, 20, "");
RTABMAP_PARAM(OdomMSCKF, MaxIteration, int, 30, "");
RTABMAP_PARAM(OdomMSCKF, TrackPrecision, double, 0.01, "");
RTABMAP_PARAM(OdomMSCKF, RansacThreshold, double, 3, "");
RTABMAP_PARAM(OdomMSCKF, StereoThreshold, double, 3, "");
RTABMAP_PARAM(OdomMSCKF, PositionStdThreshold, double, 8.0, "");
RTABMAP_PARAM(OdomMSCKF, RotationThreshold, double, 0.2618, "");
RTABMAP_PARAM(OdomMSCKF, TranslationThreshold, double, 0.4, "");
RTABMAP_PARAM(OdomMSCKF, TrackingRateThreshold, double, 0.5, "");
RTABMAP_PARAM(OdomMSCKF, OptTranslationThreshold, double, 0.2, "");
RTABMAP_PARAM(OdomMSCKF, NoiseGyro, double, 0.001, "");
RTABMAP_PARAM(OdomMSCKF, NoiseAcc, double, 0.01, "");
RTABMAP_PARAM(OdomMSCKF, NoiseGyroBias, double, 0.001, "");
RTABMAP_PARAM(OdomMSCKF, NoiseAccBias, double, 0.01, "");
RTABMAP_PARAM(OdomMSCKF, NoiseFeature, double, 0.01, "");
RTABMAP_PARAM(OdomMSCKF, InitCovVel, double, 0.25, "");
RTABMAP_PARAM(OdomMSCKF, InitCovGyroBias, double, 0.0001, "");
RTABMAP_PARAM(OdomMSCKF, InitCovAccBias, double, 0.01, "");
RTABMAP_PARAM(OdomMSCKF, InitCovExRot, double, 0.00030462, "");
RTABMAP_PARAM(OdomMSCKF, InitCovExTrans, double, 0.0001, "");
// Common registration parameters
RTABMAP_PARAM(Reg, RepeatOnce, bool, true, "Do a second registration with the output of the first registration as guess. Only done if no guess was provided for the first registration (like on loop closure). It can be useful if the registration approach used can use a guess to get better matches.");
RTABMAP_PARAM(Reg, Strategy, int, 0, "0=Vis, 1=Icp, 2=VisIcp");