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Docker: added new "latest" version of jfr2018 image (including VINS and latest rtabmap version). Updated jfr2018 scripts to easily switch to host installed rtabmap instead of docker

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This commit is contained in:
matlabbe
2019-03-20 19:36:56 -04:00
parent 24a4d91ee8
commit 3cafdf911b
7 changed files with 338 additions and 42 deletions
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2
corelib/src/odometry/OdometryVINS.cpp
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@@ -123,7 +123,7 @@ public:
} }
else else
{ {
cam0cam1 = model.stereoTransform(); cam0cam1 = model.stereoTransform().inverse();
} }
UASSERT(!cam0cam1.isNull()); UASSERT(!cam0cam1.isNull());
Transform imuCam1 = imuCam0 * cam0cam1; Transform imuCam1 = imuCam0 * cam0cam1;

2
docker/jfr2018/README.md
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@@ -31,6 +31,8 @@ run_euroc_datasets.sh
run_tum_datasets.sh run_tum_datasets.sh
``` ```
For TUM dataset, use this script [associate.py](https://gist.github.com/matlabbe/484134a2d9da8ad425362c6669824798) to synchronize RGB and epth images before processing. Usage in a TUM dataset: `python associate.py rgb.txt depth.txt`, this will create `rgb_sync` and `depth_sync` folders.
Process all datasets, results will be written to subfolders `results/euroc`, `results/kitti` and `results/tum`: Process all datasets, results will be written to subfolders `results/euroc`, `results/kitti` and `results/tum`:
```bash ```bash
./run_all.sh ./run_all.sh

233
docker/jfr2018/latest/Dockerfile Normal file
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@@ -0,0 +1,233 @@
# Image: introlab3it/rtabmap:jfr2018
FROM ubuntu:16.04
WORKDIR /root/
# Install build dependencies
RUN apt-get update && apt-get install -y \
libsqlite3-dev \
libpcl-dev \
git \
cmake \
libproj-dev \
libqt5svg5-dev \
libfreenect-dev \
libopenni2-dev \
libyaml-cpp-dev \
software-properties-common \
libgtk2.0-dev \
pkg-config
# OpenCV (use version <= 3.1.0 for rtabmap 0.16.3 for a solvePnpRansac issue where we have worst ransac performance on newer opencv versions)
RUN git clone https://github.com/opencv/opencv_contrib.git
RUN git clone https://github.com/opencv/opencv.git
RUN cd opencv_contrib && \
git checkout tags/3.1.0 && \
cd && \
cd opencv && \
git checkout tags/3.1.0 && \
mkdir build && \
cd build && \
cmake -DOPENCV_EXTRA_MODULES_PATH=/root/opencv_contrib/modules -DCMAKE_BUILD_TYPE=Release -DBUILD_SHARED_LIBS=ON -DBUILD_TESTS=OFF -DBUILD_PERF_TESTS=OFF .. && \
make -j4 && \
make install && \
cd && \
rm -rf opencv opencv_contrib
# Install ROS to build other odometry approaches (depending on ROS)
# install packages
RUN apt-get update && apt-get install -q -y \
dirmngr \
gnupg2 \
lsb-release \
&& rm -rf /var/lib/apt/lists/*
# setup keys
RUN apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-keys 421C365BD9FF1F717815A3895523BAEEB01FA116
# setup sources.list
RUN echo "deb http://packages.ros.org/ros/ubuntu `lsb_release -sc` main" > /etc/apt/sources.list.d/ros-latest.list
# install bootstrap tools
RUN apt-get update && apt-get install --no-install-recommends -y \
python-rosdep \
python-rosinstall \
python-vcstools \
&& rm -rf /var/lib/apt/lists/*
# setup environment
ENV LANG C.UTF-8
ENV LC_ALL C.UTF-8
# bootstrap rosdep
RUN rosdep init \
&& rosdep update
# install ros packages
ENV ROS_DISTRO kinetic
RUN apt-get update && apt-get install -y \
ros-${ROS_DISTRO}-ros-core=1.3.2-0* \
&& rm -rf /var/lib/apt/lists/*
# install ROS dependencies
RUN apt-get update && apt-get install -y ros-${ROS_DISTRO}-tf ros-${ROS_DISTRO}-pcl-ros ros-${ROS_DISTRO}-eigen-conversions ros-${ROS_DISTRO}-tf-conversions ros-${ROS_DISTRO}-random-numbers ros-${ROS_DISTRO}-image-transport libblas-dev liblapack-dev libsuitesparse-dev libvtk6.2 libyaml-cpp-dev wget libgoogle-glog-dev libatlas-base-dev ros-${ROS_DISTRO}-sophus ros-${ROS_DISTRO}-octomap libglew-dev
# g2o should be built to link on csparse installed system-wide
RUN git clone https://github.com/RainerKuemmerle/g2o.git
RUN cd g2o && \
git checkout 20170730_git && \
mkdir build && \
cd build && \
cmake -DBUILD_LGPL_SHARED_LIBS=ON -DG2O_BUILD_APPS=OFF -DBUILD_WITH_MARCH_NATIVE=OFF -DG2O_BUILD_EXAMPLES=OFF -DBUILD_SHARED_LIBS=ON -DCMAKE_BUILD_TYPE=Release .. && \
make -j3 && \
make install && \
cd && \
rm -r g2o
# GTSAM
RUN git clone https://bitbucket.org/gtborg/gtsam.git
RUN cd gtsam && \
git checkout 4.0.0-alpha2 && \
mkdir build && \
cd build && \
cmake -DMETIS_SHARED=ON -DGTSAM_BUILD_STATIC_LIBRARY=OFF -DGTSAM_USE_SYSTEM_EIGEN=ON -DGTSAM_BUILD_TESTS=OFF -DGTSAM_BUILD_EXAMPLES_ALWAYS=OFF -DCMAKE_BUILD_TYPE=Release .. && \
make -j3 && \
make install && \
cd && \
rm -r gtsam
# libpointmatcher
RUN git clone https://github.com/ethz-asl/libnabo.git
#commit Apr 25 2018
RUN cd libnabo && \
git checkout 7e378f6765393462357b8b74d8dc8c5554542ae6 && \
mkdir build && \
cd build && \
cmake -DCMAKE_BUILD_TYPE=Release .. && \
make -j3 && \
make install && \
cd && \
rm -r libnabo
RUN git clone https://github.com/ethz-asl/libpointmatcher.git
#commit Jan 19 2018
RUN cd libpointmatcher && \
git checkout 00004bd41e44a1cf8de24ad87e4914760717cbcc && \
mkdir build && \
cd build && \
cmake -DCMAKE_BUILD_TYPE=Release .. && \
make -j3 && \
make install && \
cd && \
rm -r libpointmatcher
# Clone dependencies
RUN mkdir -p catkin_ws/src
WORKDIR /root/catkin_ws/src
RUN /bin/bash -c '. /opt/ros/${ROS_DISTRO}/setup.bash; catkin_init_workspace'
# OPENCV ROS
RUN git clone https://github.com/ros-perception/vision_opencv.git && cd vision_opencv && git checkout kinetic
# DVO
RUN git clone https://github.com/tum-vision/dvo_slam.git && cd dvo_slam && git checkout ${ROS_DISTRO}-devel && rm dvo_slam/package.xml && rm dvo_benchmark/package.xml && rm dvo_ros/package.xml
# VISO2
RUN git clone https://github.com/srv/viso2.git && cd viso2 && git checkout ${ROS_DISTRO}
# MSCKF-VIO
RUN git clone https://github.com/KumarRobotics/msckf_vio.git && cd msckf_vio && git checkout a9386c5 && wget https://gist.githubusercontent.com/matlabbe/f2518d7427e7f6740af2110e540b1f2b/raw/900a76b0a6741e172e76722e07c0aae50d3b94f3/msckf_vio_a9386c5_ros_commented.patch && git apply --ignore-space-change --ignore-whitespace msckf_vio_a9386c5_ros_commented.patch
# FOVIS
RUN git clone https://github.com/srv/libfovis.git && cd libfovis && git checkout 896acc8425e9fd7c5609153b8bad349ae1abbb50
# LOAM
RUN git clone https://github.com/laboshinl/loam_velodyne.git && cd loam_velodyne && git checkout a4c364a677647f2a35831439032dc5a58378b3fd
# VINS-Fusion
RUN git clone https://github.com/HKUST-Aerial-Robotics/VINS-Fusion.git && cd VINS-Fusion && git checkout e72b5f7ae7437e8cf481cc0bcbfb5fe91bd3d640 && wget https://gist.githubusercontent.com/matlabbe/795ab37067367dca58bbadd8201d986c/raw/0657cc30fca6b1b61faeef42be9f3428861d2598/vins-fusion_e72b5f7.patch && git apply --ignore-space-change --ignore-whitespace vins-fusion_e72b5f7.patch
WORKDIR /root
# OKVIS
RUN git clone https://github.com/ethz-asl/okvis.git && cd okvis && git checkout 1dce9129f22dd4d21d944788cd9da3a4341586aa && wget https://gist.githubusercontent.com/matlabbe/383be55b5cb682fea217d45ef9a37ef8/raw/bd4f6886eeba3800f0e5171e77abc5dd6dc8bfd9/okvis_1dce912_marchnative_disabled.patch && git apply --ignore-space-change --ignore-whitespace okvis_1dce912_marchnative_disabled.patch
# ORB_SLAM2
RUN git clone https://github.com/stevenlovegrove/Pangolin.git
RUN git clone https://github.com/raulmur/ORB_SLAM2.git && cd ORB_SLAM2 && wget https://gist.githubusercontent.com/matlabbe/c10403c5d44af85cc3585c0e1c601a60/raw/48adf04098960d86ddf225f1a8c68af87bfcf56e/orbslam2_f2e6f51_marchnative_disabled.patch && git apply --ignore-space-change --ignore-whitespace orbslam2_f2e6f51_marchnative_disabled.patch
RUN git clone https://github.com/introlab/rtabmap.git
# for dvo, TBB is required (docker related issue)
# Download and install TBB
ENV TBB_RELEASE 2018_U2
ENV TBB_VERSION 2018_20171205
ENV TBB_DOWNLOAD_URL https://github.com/01org/tbb/releases/download/${TBB_RELEASE}/tbb${TBB_VERSION}oss_lin.tgz
ENV TBB_INSTALL_DIR /opt
RUN wget ${TBB_DOWNLOAD_URL} && \
tar -C ${TBB_INSTALL_DIR} -xf tbb${TBB_VERSION}oss_lin.tgz && \
rm tbb${TBB_VERSION}oss_lin.tgz && \
sed -i "s%SUBSTITUTE_INSTALL_DIR_HERE%${TBB_INSTALL_DIR}/tbb${TBB_VERSION}oss%" ${TBB_INSTALL_DIR}/tbb${TBB_VERSION}oss/bin/tbbvars.* && \
echo "source ${TBB_INSTALL_DIR}/tbb${TBB_VERSION}oss/bin/tbbvars.sh intel64" >> ~/.bashrc
RUN cd okvis && \
mkdir build && \
cd build && \
cmake .. && \
make -j3 && \
make install && \
mkdir -p /usr/local/lib/cmake && \
mv /usr/local/lib/CMake/* /usr/local/lib/cmake/.
# Pangolin needed for ORB_SLAM2
RUN cd Pangolin && \
mkdir build && \
cd build && \
cmake .. && \
make -j3 && \
make install && \
cd && \
rm -rf Pangolin
RUN cd ORB_SLAM2 && \
cd Thirdparty/DBoW2 && \
mkdir build && \
cd build && \
cmake .. -DCMAKE_BUILD_TYPE=Release && \
make -j3 && \
rm -rf * && \
cd ../../g2o && \
mkdir build && \
cd build && \
cmake .. -DCMAKE_BUILD_TYPE=Release && \
make -j3 && \
rm -rf * && \
cd ../../../ && \
cd Vocabulary && \
tar -xf ORBvoc.txt.tar.gz && \
cd .. && \
mkdir build && \
cd build && \
cmake .. -DCMAKE_BUILD_TYPE=Release && \
make -j3 && \
rm -rf *
RUN mv okvis/config/config_fpga_p2_euroc.yaml .
RUN mv ORB_SLAM2/Vocabulary/ORBvoc.txt .
RUN cp catkin_ws/src/VINS-Fusion/config/euroc/* .
RUN cp catkin_ws/src/VINS-Fusion/config/kitti_odom/* .
# Catkin_make
WORKDIR /root/catkin_ws
RUN /bin/bash -c '. /opt/ros/${ROS_DISTRO}/setup.bash;. ${TBB_INSTALL_DIR}/tbb${TBB_VERSION}oss/bin/tbbvars.sh intel64; catkin_make -j3 -DCMAKE_BUILD_TYPE=Release; rm -rf build;'
RUN echo "source /root/catkin_ws/devel/setup.bash" >> ~/.bashrc
ENV LD_LIBRARY_PATH /opt/tbb2018_20171205oss/lib/intel64/gcc4.7:/root/ORB_SLAM2/lib:/root/ORB_SLAM2/Thirdparty/g2o/lib:/root/ORB_SLAM2/Thirdparty/DBoW2/lib:/root/catkin_ws/devel/lib:/opt/ros/${ROS_DISTRO}/lib:$LD_LIBRARY_PATH
ENV PATH /root/catkin_ws/devel/bin:/opt/ros/${ROS_DISTRO}/bin:$PATH
ENV ORB_SLAM2_ROOT_DIR /root/ORB_SLAM2
WORKDIR /root
# Build RTAB-Map (using standard g2o, then a version for orbslam2, which uses its own g2o version)
RUN cp -r rtabmap rtabmap_os2 && cp -r rtabmap rtabmap_msckf && cp -r rtabmap rtabmap_loam
RUN /bin/bash -c '. /root/catkin_ws/devel/setup.bash; cd rtabmap ; cd build ; cmake -DWITH_G2O=ON .. ; make -j3 ; make install ; rm -rf * ; ldconfig'
# Version with orb_slam2 (system g2o disabled)
RUN /bin/bash -c '. /root/catkin_ws/devel/setup.bash; cd rtabmap_os2 ; cd build ; cmake -DWITH_G2O=OFF .. ; make -j3 ; rm -rf *'
# rtabmap is crashing if LOAM and MSCKF dependencies are used at the same time, so split them
RUN /bin/bash -c '. /root/catkin_ws/devel/setup.bash; cd rtabmap_loam ;cd build ;cmake -DWITH_MSCKF_VIO=OFF -DWITH_LOAM=ON -DWITH_G2O=ON -DWITH_FOVIS=OFF -DWITH_DVO=OFF -DWITH_OKVIS=OFF -DWITH_VINS=OFF -DWITH_VISO2=OFF .. ;make -j3 ;rm -rf *'
RUN /bin/bash -c '. /root/catkin_ws/devel/setup.bash; cd rtabmap_msckf ;cd build ;cmake -DWITH_MSCKF_VIO=ON -DWITH_LOAM=OFF -DWITH_G2O=ON -DWITH_FOVIS=OFF -DWITH_DVO=OFF -DWITH_OKVIS=OFF -DWITH_VINS=OFF -DWITH_VISO2=OFF .. ;make -j3 ;rm -rf *'
WORKDIR /root

63
docker/jfr2018/run_euroc_datasets.sh
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@@ -1,8 +1,16 @@
#!/bin/bash #!/bin/bash
PWD=$(pwd) PWD=$(pwd)
DATASET_ROOT_PATH='/root/datasets/euroc' DOCKER=1 # set to 0 to use host rtabmap tool and relative datasets to this script
EUROC_RESULTS_PATH='/root/results/euroc'
DATASET_ROOT_PATH='./datasets/euroc'
EUROC_RESULTS_PATH='./results/euroc'
mkdir -p $EUROC_RESULTS_PATH
if [ $DOCKER -eq 1 ]
then
DATASET_ROOT_PATH='/root/datasets/euroc'
EUROC_RESULTS_PATH='/root/results/euroc'
fi
LIST=( 'V1_01_easy' 'V1_02_medium' 'V1_03_difficult' 'V2_01_easy' 'V2_02_medium' 'V2_03_difficult' 'MH_01_easy' 'MH_02_easy' 'MH_03_medium' 'MH_04_difficult' 'MH_05_difficult') LIST=( 'V1_01_easy' 'V1_02_medium' 'V1_03_difficult' 'V2_01_easy' 'V2_02_medium' 'V2_03_difficult' 'MH_01_easy' 'MH_02_easy' 'MH_03_medium' 'MH_04_difficult' 'MH_05_difficult')
@@ -47,7 +55,7 @@ fi
if [ $STRATEGY -eq 66 ] # okvis raw images if [ $STRATEGY -eq 66 ] # okvis raw images
then then
STRATEGY=6 STRATEGY=6
F2F_params="--raw $F2F_params" F2F_params="--raw --Odom/GuessMotion false --OdomOKVIS/ConfigPath ./config_fpga_p2_euroc.yaml $F2F_params"
fi fi
if [ $STRATEGY -eq 6 ] # okvis if [ $STRATEGY -eq 6 ] # okvis
then then
@@ -57,27 +65,51 @@ fi
if [ $STRATEGY -eq 88 ] # msckf_vio raw images if [ $STRATEGY -eq 88 ] # msckf_vio raw images
then then
STRATEGY=8 STRATEGY=8
F2F_params="--raw $F2F_params" F2F_params="--raw --Odom/GuessMotion false $F2F_params"
fi fi
if [ $STRATEGY -eq 8 ] # msckf_vio if [ $STRATEGY -eq 8 ] # msckf_vio
then then
F2F_params="--Odom/GuessMotion false $F2F_params" F2F_params="--Odom/GuessMotion false $F2F_params"
fi fi
# Select rtabmap built with os2 support or not if [ $STRATEGY -eq 99 ] # vins raw images
TOOL_PREFIX="/usr/local/bin"
if [ $STRATEGY -eq 5 ]
then then
TOOL_PREFIX="/root/rtabmap_os2/bin" STRATEGY=9
elif [ $STRATEGY -eq 8 ] F2F_params="--raw --Odom/GuessMotion false --OdomVINS/ConfigPath ./euroc_stereo_imu_config.yaml $F2F_params"
then
TOOL_PREFIX="/root/rtabmap_msckf/bin"
fi fi
RTABMAP_RGBD_TOOL="docker run -v $PWD/datasets/euroc:$DATASET_ROOT_PATH -v $PWD/results/euroc:$EUROC_RESULTS_PATH -i -t --rm introlab3it/rtabmap:jfr2018 $TOOL_PREFIX/rtabmap-euroc_dataset" if [ $STRATEGY -eq 9 ] # vins
if [ $STRATEGY -eq 6 ]
then then
xhost + F2F_params="--Odom/GuessMotion false --OdomVINS/ConfigPath ./euroc_stereo_imu_config.yaml $F2F_params"
RTABMAP_RGBD_TOOL="docker run -e DISPLAY=$DISPLAY -v /tmp/.X11-unix:/tmp/.X11-unix -v $PWD/datasets/euroc:$DATASET_ROOT_PATH -v $PWD/results/euroc:$EUROC_RESULTS_PATH -i -t --rm introlab3it/rtabmap:jfr2018 $TOOL_PREFIX/rtabmap-euroc_dataset" fi
if [ $STRATEGY -eq 100 ] # vins (stereo-only) raw images
then
STRATEGY=9
F2F_params="--raw --Odom/GuessMotion false --OdomVINS/ConfigPath ./euroc_stereo_config.yaml $F2F_params"
fi
if [ $STRATEGY -eq 10 ] # vins (stereo-only)
then
F2F_params="--Odom/GuessMotion false --OdomVINS/ConfigPath ./euroc_stereo_config.yaml $F2F_params"
fi
RTABMAP_RGBD_TOOL="rtabmap-euroc_dataset"
if [ $DOCKER -eq 1 ]
then
# Select rtabmap built with os2 support or not
TOOL_PREFIX="/usr/local/bin"
if [ $STRATEGY -eq 5 ]
then
TOOL_PREFIX="/root/rtabmap_os2/bin"
elif [ $STRATEGY -eq 8 ]
then
TOOL_PREFIX="/root/rtabmap_msckf/bin"
fi
RTABMAP_RGBD_TOOL="docker run -v $PWD/datasets/euroc:$DATASET_ROOT_PATH -v $PWD/results/euroc:$EUROC_RESULTS_PATH -i -t --rm introlab3it/rtabmap:jfr2018 $TOOL_PREFIX/rtabmap-euroc_dataset"
if [ $STRATEGY -eq 6 ]
then
xhost +
RTABMAP_RGBD_TOOL="docker run -e DISPLAY=$DISPLAY -v /tmp/.X11-unix:/tmp/.X11-unix -v $PWD/datasets/euroc:$DATASET_ROOT_PATH -v $PWD/results/euroc:$EUROC_RESULTS_PATH -i -t --rm introlab3it/rtabmap:jfr2018 $TOOL_PREFIX/rtabmap-euroc_dataset"
fi
fi fi
echo $RTABMAP_RGBD_TOOL echo $RTABMAP_RGBD_TOOL
@@ -111,7 +143,6 @@ do
--OdomORBSLAM2/MaxFeatures 1200\ --OdomORBSLAM2/MaxFeatures 1200\
--output "$EUROC_RESULTS_PATH/$d"\ --output "$EUROC_RESULTS_PATH/$d"\
--output_name $OUTPUT\ --output_name $OUTPUT\
--quiet\
$DATASET_ROOT_PATH/$d $DATASET_ROOT_PATH/$d
done done
# For V2_03_difficult: --Vis/MinInliers 10 --disp StereoBM/NumDisparities 32 --StereoBM/UniquenessRatio 5 --Vis/PnPReprojError 3 # For V2_03_difficult: --Vis/MinInliers 10 --disp StereoBM/NumDisparities 32 --StereoBM/UniquenessRatio 5 --Vis/PnPReprojError 3

41
docker/jfr2018/run_kitti_datasets.sh
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@@ -1,8 +1,16 @@
#!/bin/bash #!/bin/bash
PWD=$(pwd) PWD=$(pwd)
KITTI_ROOT_PATH='/root/datasets/kitti' DOCKER=1 # set to 0 to use host rtabmap tool and relative datasets to this script
KITTI_RESULTS_PATH='/root/results/kitti'
KITTI_ROOT_PATH='./datasets/kitti'
KITTI_RESULTS_PATH='./results/kitti'
mkdir -p $KITTI_RESULTS_PATH
if [ $DOCKER -eq 1 ]
then
KITTI_ROOT_PATH='/root/datasets/kitti'
KITTI_RESULTS_PATH='/root/results/kitti'
fi
LIST=('00' '01' '02' '03' '04' '05' '06' '07' '08' '09' '10') LIST=('00' '01' '02' '03' '04' '05' '06' '07' '08' '09' '10')
#LIST=('11' '12' '13' '14' '15' '16' '17' '18' '19' '20' '21') #LIST=('11' '12' '13' '14' '15' '16' '17' '18' '19' '20' '21')
@@ -22,7 +30,7 @@ then
STRATEGY=$2 STRATEGY=$2
REG=$3 REG=$3
else else
echo "Usage: run_tum_datasets.sh \"output name\" \"odom strategy: 0=f2m 1=f2f 11=f2f_optflow 2=fovis 3=viso2 4=dvo 5=orbslam2 7=LOAM\" \"reg strategy: 0=vis 1=icp-point2point 11=icp-point2plane\" [sequence]" echo "Usage: run_tum_datasets.sh \"output name\" \"odom strategy: 0=f2m 1=f2f 11=f2f_optflow 2=fovis 3=viso2 4=dvo 5=orbslam2 7=LOAM 9=VINS\" \"reg strategy: 0=vis 1=icp-point2point 11=icp-point2plane\" [sequence]"
exit exit
fi fi
@@ -43,6 +51,11 @@ then
F2F_params=" $F2F_params" F2F_params=" $F2F_params"
fi fi
if [ $STRATEGY -eq 3 ]
then
F2F_params="--OdomVINS/ConfigPath ./kitti_config04-12.yaml $F2F_params"
fi
SCAN="" SCAN=""
if [[ $REG -eq 1 || $REG -eq 11 ]] if [[ $REG -eq 1 || $REG -eq 11 ]]
then then
@@ -68,16 +81,20 @@ then
SCAN="--scan --Reg/Strategy $REG --OdomF2M/ScanMaxSize 10000 --OdomF2M/ScanSubtractRadius 0.5 --Odom/LOAMSensor 2 --Icp/MaxTranslation 2 --Icp/Epsilon 0.0001 --Icp/MaxCorrespondenceDistance 1.5 --Icp/CorrespondenceRatio 0.01 --Icp/PM true --Icp/PMOutlierRatio 0.7 --Icp/PMMatcherKnn 3 --Icp/PMMatcherEpsilon 1 $SCAN" SCAN="--scan --Reg/Strategy $REG --OdomF2M/ScanMaxSize 10000 --OdomF2M/ScanSubtractRadius 0.5 --Odom/LOAMSensor 2 --Icp/MaxTranslation 2 --Icp/Epsilon 0.0001 --Icp/MaxCorrespondenceDistance 1.5 --Icp/CorrespondenceRatio 0.01 --Icp/PM true --Icp/PMOutlierRatio 0.7 --Icp/PMMatcherKnn 3 --Icp/PMMatcherEpsilon 1 $SCAN"
fi fi
# Select rtabmap built with os2 support or not RTABMAP_RGBD_TOOL="rtabmap-kitti_dataset"
TOOL_PREFIX="/usr/local/bin" if [ $DOCKER -eq 1 ]
if [ $STRATEGY -eq 5 ]
then then
TOOL_PREFIX="/root/rtabmap_os2/bin" # Select rtabmap built with os2 support or not
elif [ $STRATEGY -eq 7 ] TOOL_PREFIX="/usr/local/bin"
then if [ $STRATEGY -eq 5 ]
TOOL_PREFIX="/root/rtabmap_loam/bin" then
fi TOOL_PREFIX="/root/rtabmap_os2/bin"
RTABMAP_KITTI_TOOL="docker run -v $PWD/datasets/kitti:$KITTI_ROOT_PATH -v $PWD/results/kitti:$KITTI_RESULTS_PATH -i -t --rm introlab3it/rtabmap:jfr2018 $TOOL_PREFIX/rtabmap-kitti_dataset" elif [ $STRATEGY -eq 7 ]
then
TOOL_PREFIX="/root/rtabmap_loam/bin"
fi
RTABMAP_KITTI_TOOL="docker run -v $PWD/datasets/kitti:$KITTI_ROOT_PATH -v $PWD/results/kitti:$KITTI_RESULTS_PATH -i -t --rm introlab3it/rtabmap:jfr2018 $TOOL_PREFIX/rtabmap-kitti_dataset"
if
echo $RTABMAP_KITTI_TOOL echo $RTABMAP_KITTI_TOOL
for d in "${LIST[@]}" for d in "${LIST[@]}"

24
docker/jfr2018/run_tum_datasets.sh
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@@ -1,8 +1,16 @@
#!/bin/bash #!/bin/bash
PWD=$(pwd) PWD=$(pwd)
RGBD_ROOT_PATH='/root/datasets/tum' DOCKER=1 # set to 0 to use host rtabmap tool and relative datasets to this script
RGBD_ROOT_PATH='./datasets/tum'
RGBD_RESULTS_PATH='./results/tum'
mkdir -p $EUROC_RESULTS_PATH
if [ $DOCKER -eq 1 ]
then
RGBD_ROOT_PATH='/root/datasets/tum'
RGBD_RESULTS_PATH='/root/results/tum' RGBD_RESULTS_PATH='/root/results/tum'
fi
LIST=( 'rgbd_dataset_freiburg1_desk' 'rgbd_dataset_freiburg1_desk2' 'rgbd_dataset_freiburg1_room' 'rgbd_dataset_freiburg2_desk' 'rgbd_dataset_freiburg2_xyz' 'rgbd_dataset_freiburg3_long_office_household' 'rgbd_dataset_freiburg3_nostructure_texture_near_withloop_validation') LIST=( 'rgbd_dataset_freiburg1_desk' 'rgbd_dataset_freiburg1_desk2' 'rgbd_dataset_freiburg1_room' 'rgbd_dataset_freiburg2_desk' 'rgbd_dataset_freiburg2_xyz' 'rgbd_dataset_freiburg3_long_office_household' 'rgbd_dataset_freiburg3_nostructure_texture_near_withloop_validation')
# more: 'rgbd_dataset_freiburg1_360' 'rgbd_dataset_freiburg1_plant' 'rgbd_dataset_freiburg1_rpy' 'rgbd_dataset_freiburg1_teddy' 'rgbd_dataset_freiburg2_360_hemisphere' 'rgbd_dataset_freiburg2_large_no_loop' 'rgbd_dataset_freiburg2_large_with_loop' 'rgbd_dataset_freiburg1_floor' # more: 'rgbd_dataset_freiburg1_360' 'rgbd_dataset_freiburg1_plant' 'rgbd_dataset_freiburg1_rpy' 'rgbd_dataset_freiburg1_teddy' 'rgbd_dataset_freiburg2_360_hemisphere' 'rgbd_dataset_freiburg2_large_no_loop' 'rgbd_dataset_freiburg2_large_with_loop' 'rgbd_dataset_freiburg1_floor'
@@ -41,13 +49,17 @@ then
F2F_params="--RGBD/OptimizeMaxError 0 $F2F_params" F2F_params="--RGBD/OptimizeMaxError 0 $F2F_params"
fi fi
# Select rtabmap built with os2 support or not RTABMAP_RGBD_TOOL="rtabmap-rgbd_dataset"
TOOL_PREFIX="/usr/local/bin" if [ $DOCKER -eq 1 ]
if [ $STRATEGY -eq 5 ]
then then
TOOL_PREFIX="/root/rtabmap_os2/bin" # Select rtabmap built with os2 support or not
TOOL_PREFIX="/usr/local/bin"
if [ $STRATEGY -eq 5 ]
then
TOOL_PREFIX="/root/rtabmap_os2/bin"
fi
RTABMAP_RGBD_TOOL="docker run -v $PWD/datasets/tum:$RGBD_ROOT_PATH -v $PWD/results/tum:$RGBD_RESULTS_PATH -i -t --rm introlab3it/rtabmap:jfr2018 $TOOL_PREFIX/rtabmap-rgbd_dataset"
fi fi
RTABMAP_RGBD_TOOL="docker run -v $PWD/datasets/tum:$RGBD_ROOT_PATH -v $PWD/results/tum:$RGBD_RESULTS_PATH -i -t --rm introlab3it/rtabmap:jfr2018 $TOOL_PREFIX/rtabmap-rgbd_dataset"
echo $RTABMAP_RGBD_TOOL echo $RTABMAP_RGBD_TOOL
# no --disp with 01? # no --disp with 01?

15
tools/EurocDataset/main.cpp
View File

@@ -61,7 +61,7 @@ void showUsage()
" --quiet Don't show log messages and iteration updates.\n" " --quiet Don't show log messages and iteration updates.\n"
" --exposure_comp Do exposure compensation between left and right images.\n" " --exposure_comp Do exposure compensation between left and right images.\n"
" --disp Generate full disparity.\n" " --disp Generate full disparity.\n"
" --raw Use raw images (not rectified, this only works with okvis and msckf odometry).\n" " --raw Use raw images (not rectified, this only works with okvis, msckf or vins odometry).\n"
"%s\n" "%s\n"
"Example:\n\n" "Example:\n\n"
" $ rtabmap-euroc_dataset \\\n" " $ rtabmap-euroc_dataset \\\n"
@@ -253,6 +253,9 @@ int main(int argc, char * argv[])
UASSERT(models.back().isValidForRectification()); UASSERT(models.back().isValidForRectification());
} }
int odomStrategy = Parameters::defaultOdomStrategy();
Parameters::parse(parameters, Parameters::kOdomStrategy(), odomStrategy);
StereoCameraModel model(outputName+"_calib", models[0], models[1], models[1].localTransform().inverse() * models[0].localTransform()); StereoCameraModel model(outputName+"_calib", models[0], models[1], models[1].localTransform().inverse() * models[0].localTransform());
if(!model.save(output, false)) if(!model.save(output, false))
{ {
@@ -297,8 +300,6 @@ int main(int argc, char * argv[])
float detectionRate = Parameters::defaultRtabmapDetectionRate(); float detectionRate = Parameters::defaultRtabmapDetectionRate();
bool intermediateNodes = Parameters::defaultRtabmapCreateIntermediateNodes(); bool intermediateNodes = Parameters::defaultRtabmapCreateIntermediateNodes();
int odomStrategy = Parameters::defaultOdomStrategy();
Parameters::parse(parameters, Parameters::kOdomStrategy(), odomStrategy);
Parameters::parse(parameters, Parameters::kRtabmapDetectionRate(), detectionRate); Parameters::parse(parameters, Parameters::kRtabmapDetectionRate(), detectionRate);
Parameters::parse(parameters, Parameters::kRtabmapCreateIntermediateNodes(), intermediateNodes); Parameters::parse(parameters, Parameters::kRtabmapCreateIntermediateNodes(), intermediateNodes);
@@ -309,7 +310,7 @@ int main(int argc, char * argv[])
} }
std::ifstream imu_file; std::ifstream imu_file;
if(odomStrategy == Odometry::kTypeOkvis || odomStrategy == Odometry::kTypeMSCKF) if(odomStrategy == Odometry::kTypeOkvis || odomStrategy == Odometry::kTypeMSCKF || odomStrategy == Odometry::kTypeVINS)
{ {
// open the IMU file // open the IMU file
std::string line; std::string line;
@@ -393,7 +394,7 @@ int main(int argc, char * argv[])
while(data.isValid() && g_forever) while(data.isValid() && g_forever)
{ {
UDEBUG(""); UDEBUG("");
if(odomStrategy == Odometry::kTypeOkvis || odomStrategy == Odometry::kTypeMSCKF) if(odomStrategy == Odometry::kTypeOkvis || odomStrategy == Odometry::kTypeMSCKF || odomStrategy == Odometry::kTypeVINS)
{ {
// get all IMU measurements till then // get all IMU measurements till then
double t_imu = start; double t_imu = start;
@@ -442,7 +443,7 @@ int main(int argc, char * argv[])
UDEBUG(""); UDEBUG("");
Transform pose = odom->process(data, &odomInfo); Transform pose = odom->process(data, &odomInfo);
UDEBUG(""); UDEBUG("");
if((odomStrategy == Odometry::kTypeOkvis || odomStrategy == Odometry::kTypeMSCKF) && if((odomStrategy == Odometry::kTypeOkvis || odomStrategy == Odometry::kTypeMSCKF || odomStrategy == Odometry::kTypeVINS) &&
pose.isNull()) pose.isNull())
{ {
cameraInfo = CameraInfo(); cameraInfo = CameraInfo();
@@ -664,7 +665,7 @@ int main(int argc, char * argv[])
rotational_max); rotational_max);
printf(" translational_rmse= %f m (vo = %f m)\n", translational_rmse, translational_rmse_vo); printf(" translational_rmse= %f m (vo = %f m)\n", translational_rmse, translational_rmse_vo);
printf(" rotational_rmse= %f deg (vo = %f def)\n", rotational_rmse, rotational_rmse_vo); printf(" rotational_rmse= %f deg (vo = %f deg)\n", rotational_rmse, rotational_rmse_vo);
FILE * pFile = 0; FILE * pFile = 0;
std::string pathErrors = output+"/"+outputName+"_rmse.txt"; std::string pathErrors = output+"/"+outputName+"_rmse.txt";