i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-02 17:40:23 +08:00
Code Issues Packages Projects Releases Wiki Activity

0.16.3: Added OKVIS support (tested only on EuRoC dataset). Added IMU/IMUThread classes. Added OdomOKVIS/ConfigPath and Rtabmap/ImagesAlreadyRectified parameters. MainWindow, limited odom local feature map to maximum 50 meters from current pose (to avoid VTK glitching with near/far clipping plane).

Browse Source
This commit is contained in:
matlabbe
2018-03-07 19:43:30 -05:00
parent 2fad881202
commit 4969ece356
30 changed files with 1700 additions and 102 deletions
Download Patch File Download Diff File Expand all files Collapse all files

109
corelib/include/rtabmap/core/IMU.h Normal file
View File

@@ -0,0 +1,109 @@
/*
* IMU.h
*
* Created on: 2018-03-05
* Author: mathieu
*/
#ifndef IMU_H_
#define IMU_H_
#include <opencv2/core.hpp>
#include <rtabmap/utilite/ULogger.h>
namespace rtabmap {
// Correspondence class to sensor_msgs/IMU
class IMU
{
public:
IMU() {}
IMU(const Eigen::Quaterniond & orientation,
const cv::Mat & orientationCovariance,
const Eigen::Vector3d & angularVelocity,
const cv::Mat & angularVelocityCovariance,
const Eigen::Vector3d & linearAcceleration,
const cv::Mat & linearAccelerationCovariance,
const Transform & localTransform = Transform::getIdentity()) :
orientation_(orientation),
orientationCovariance_(orientationCovariance),
angularVelocity_(angularVelocity),
angularVelocityCovariance_(angularVelocityCovariance),
linearAcceleration_(linearAcceleration),
linearAccelerationCovariance_(linearAccelerationCovariance),
localTransform_(localTransform)
{
UASSERT(!orientationCovariance.empty() && orientationCovariance.cols == 3 && orientationCovariance.rows == 3 && orientationCovariance.type() == CV_64FC1);
UASSERT(!angularVelocityCovariance.empty() && angularVelocityCovariance.cols == 3 && angularVelocityCovariance.rows == 3 && angularVelocityCovariance.type() == CV_64FC1);
UASSERT(!linearAccelerationCovariance.empty() && linearAccelerationCovariance.cols == 3 && linearAccelerationCovariance.rows == 3 && linearAccelerationCovariance.type() == CV_64FC1);
}
IMU(const Eigen::Vector3d & angularVelocity,
const cv::Mat & angularVelocityCovariance,
const Eigen::Vector3d & linearAcceleration,
const cv::Mat & linearAccelerationCovariance,
const Transform & localTransform = Transform::getIdentity()) :
angularVelocity_(angularVelocity),
angularVelocityCovariance_(angularVelocityCovariance),
linearAcceleration_(linearAcceleration),
linearAccelerationCovariance_(linearAccelerationCovariance),
localTransform_(localTransform)
{
UASSERT(!angularVelocityCovariance.empty() && angularVelocityCovariance.cols == 3 && angularVelocityCovariance.rows == 3 && angularVelocityCovariance.type() == CV_64FC1);
UASSERT(!linearAccelerationCovariance.empty() && linearAccelerationCovariance.cols == 3 && linearAccelerationCovariance.rows == 3 && linearAccelerationCovariance.type() == CV_64FC1);
}
const Eigen::Quaterniond & orientation() const {return orientation_;}
const cv::Mat & orientationCovariance() const {return orientationCovariance_;} // 3x3 double Row major about x, y, z axes, empty if orientation is not set
const Eigen::Vector3d & angularVelocity() const {return angularVelocity_;}
const cv::Mat & angularVelocityCovariance() const {return angularVelocityCovariance_;} // 3x3 double Row major about x, y, z axes, empty if angularVelocity is not set
const Eigen::Vector3d linearAcceleration() const {return linearAcceleration_;}
const cv::Mat & linearAccelerationCovariance() const {return linearAccelerationCovariance_;} // 3x3 double Row major x, y z, empty if linearAcceleration is not set
const Transform & localTransform() const {return localTransform_;}
bool empty() const
{
return orientationCovariance_.empty() && angularVelocityCovariance_.empty() && linearAccelerationCovariance_.empty();
}
private:
Eigen::Quaterniond orientation_;
cv::Mat orientationCovariance_; // 3x3 double Row major about x, y, z axes, empty if orientation is not set
Eigen::Vector3d angularVelocity_;
cv::Mat angularVelocityCovariance_; // 3x3 double Row major about x, y, z axes, empty if angularVelocity is not set
Eigen::Vector3d linearAcceleration_;
cv::Mat linearAccelerationCovariance_; // 3x3 double Row major x, y z, empty if linearAcceleration is not set
Transform localTransform_;
};
class IMUEvent : public UEvent
{
public:
IMUEvent() :
stamp_(0.0)
{}
IMUEvent(const IMU & data, double stamp) :
data_(data),
stamp_(stamp)
{
}
virtual std::string getClassName() const {return "IMUEvent";}
const IMU & getData() const {return data_;}
double getStamp() const {return stamp_;}
private:
IMU data_;
double stamp_;
};
}
#endif /* IMU_H_ */

70
corelib/include/rtabmap/core/IMUThread.h Normal file
View File

@@ -0,0 +1,70 @@
/*
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.
*/
#pragma once
#include "rtabmap/core/RtabmapExp.h" // DLL export/import defines
#include <rtabmap/core/Transform.h>
#include <rtabmap/utilite/UThread.h>
#include <rtabmap/utilite/UEventsSender.h>
#include <rtabmap/utilite/UTimer.h>
#include <fstream>
namespace rtabmap
{
/**
* Class IMUThread
*
*/
class RTABMAP_EXP IMUThread :
public UThread,
public UEventsSender
{
public:
IMUThread(int rate, const Transform & localTransform);
virtual ~IMUThread();
bool init(const std::string & path);
void setRate(int rate);
private:
virtual void mainLoopBegin();
virtual void mainLoop();
private:
int rate_;
Transform localTransform_;
std::ifstream imuFile_;
UTimer frameRateTimer_;
double captureDelay_;
double previousStamp_;
};
} // namespace rtabmap

1
corelib/include/rtabmap/core/Memory.h
View File

@@ -297,6 +297,7 @@ private:
bool _createOccupancyGrid;
int _visMaxFeatures;
int _visCorType;
bool _imagesAlreadyRectified;
int _idCount;
int _idMapCount;

6
corelib/include/rtabmap/core/Odometry.h
View File

@@ -49,7 +49,8 @@ public:
kTypeFovis = 2,
kTypeViso2 = 3,
kTypeDVO = 4,
kTypeORBSLAM2 = 5
kTypeORBSLAM2 = 5,
kTypeOkvis = 6
};
public:
@@ -62,6 +63,7 @@ public:
Transform process(SensorData & data, const Transform & guess, OdometryInfo * info = 0);
virtual void reset(const Transform & initialPose = Transform::getIdentity());
virtual Odometry::Type getType() = 0;
virtual bool canProcessRawImages() const {return false;}
//getters
const Transform & getPose() const {return _pose;}
@@ -69,6 +71,7 @@ public:
const Transform & previousVelocityTransform() const {return previousVelocityTransform_;}
double previousStamp() const {return previousStamp_;}
unsigned int framesProcessed() const {return framesProcessed_;}
bool imagesAlreadyRectified() const {return _imagesAlreadyRectified;}
private:
virtual Transform computeTransform(SensorData & data, const Transform & guess = Transform(), OdometryInfo * info = 0) = 0;
@@ -94,6 +97,7 @@ private:
int _imageDecimation;
bool _alignWithGround;
bool _publishRAMUsage;
bool _imagesAlreadyRectified;
Transform _pose;
int _resetCurrentCount;
double previousStamp_;

64
corelib/include/rtabmap/core/OdometryOkvis.h Normal file
View File

@@ -0,0 +1,64 @@
/*
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 ODOMETRYOKVIS_H_
#define ODOMETRYOKVIS_H_
#include <rtabmap/core/Odometry.h>
namespace okvis {
class ThreadedKFVio;
}
namespace rtabmap {
class OkvisCallbackHandler;
class RTABMAP_EXP OdometryOkvis : public Odometry
{
public:
OdometryOkvis(const rtabmap::ParametersMap & parameters = rtabmap::ParametersMap());
virtual ~OdometryOkvis();
virtual void reset(const Transform & initialPose = Transform::getIdentity());
virtual Odometry::Type getType() {return Odometry::kTypeOkvis;}
virtual bool canProcessRawImages() const {return true;}
private:
virtual Transform computeTransform(SensorData & image, const Transform & guess = Transform(), OdometryInfo * info = 0);
private:
std::string configFilename_;
OkvisCallbackHandler * okvisCallbackHandler_;
okvis::ThreadedKFVio * okvisEstimator_;
ParametersMap okvisParameters_;
IMU lastImu_; // only used for initialization
int imagesProcessed_;
};
}
#endif /* ODOMETRYOKVIS_H_ */

3
corelib/include/rtabmap/core/OdometryThread.h
View File

@@ -62,10 +62,13 @@ private:
USemaphore _dataAdded;
UMutex _dataMutex;
std::list<SensorData> _dataBuffer;
std::list<SensorData> _imuBuffer;
Odometry * _odometry;
unsigned int _dataBufferMaxSize;
bool _resetOdometry;
Transform _resetPose;
double _lastImuStamp;
double _imuEstimatedDelay;
};
} // namespace rtabmap

4
corelib/include/rtabmap/core/Parameters.h
View File

@@ -186,6 +186,7 @@ class RTABMAP_EXP Parameters
RTABMAP_PARAM(Rtabmap, StatisticLogged, bool, false, "Logging enabled.");
RTABMAP_PARAM(Rtabmap, StatisticLoggedHeaders, bool, true, "Add column header description to log files.");
RTABMAP_PARAM(Rtabmap, StartNewMapOnLoopClosure, bool, false, "Start a new map only if there is a global loop closure with a previous map.");
RTABMAP_PARAM(Rtabmap, ImagesAlreadyRectified, bool, true, "Images are already rectified. By default RTAB-Map assumes that received images are rectified. If they are not, they can be rectified by RTAB-Map if this parameter is false.");
// Hypotheses selection
RTABMAP_PARAM(Rtabmap, LoopThr, float, 0.11, "Loop closing threshold.");
@@ -485,6 +486,9 @@ class RTABMAP_EXP Parameters
RTABMAP_PARAM(OdomORBSLAM2, MaxFeatures, int, 1000, "Maximum ORB features extracted per frame.");
RTABMAP_PARAM(OdomORBSLAM2, MapSize, int, 3000, "Maximum size of the feature map (0 means infinite).");
// Odometry OKVIS
RTABMAP_PARAM_STR(OdomOKVIS, ConfigPath, "", "Path of OKVIS config file.");
// 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");

18
corelib/include/rtabmap/core/SensorData.h
View File

@@ -37,6 +37,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <opencv2/core/core.hpp>
#include <opencv2/features2d/features2d.hpp>
#include <rtabmap/core/LaserScan.h>
#include <rtabmap/core/IMU.h>
namespace rtabmap
{
@@ -122,6 +123,12 @@ public:
double stamp = 0.0,
const cv::Mat & userData = cv::Mat());
// IMU constructor
SensorData(
const IMU & imu,
int id = 0,
double stamp = 0.0);
virtual ~SensorData();
bool isValid() const {
@@ -138,7 +145,8 @@ public:
_userDataRaw.empty() &&
_userDataCompressed.empty() &&
_keypoints.size() == 0 &&
_descriptors.empty());
_descriptors.empty() &&
imu_.empty());
}
int id() const {return _id;}
@@ -233,6 +241,12 @@ public:
}
const GPS & gps() const {return gps_;}
void setIMU(const IMU & imu)
{
imu_ = imu;
}
const IMU & imu() const {return imu_;}
long getMemoryUsed() const; // Return memory usage in Bytes
void clearCompressedData() {_imageCompressed=cv::Mat(); _depthOrRightCompressed=cv::Mat(); _laserScanCompressed.clear(); _userDataCompressed=cv::Mat();}
@@ -278,6 +292,8 @@ private:
cv::Mat globalPoseCovariance_; // 6x6 double
GPS gps_;
IMU imu_;
};
}

1
corelib/include/rtabmap/core/Statistics.h
View File

@@ -132,6 +132,7 @@ class RTABMAP_EXP Statistics
RTABMAP_STATS(TimingMem, Subpixel, ms);
RTABMAP_STATS(TimingMem, Stereo_correspondences, ms);
RTABMAP_STATS(TimingMem, Descriptors_extraction, ms);
RTABMAP_STATS(TimingMem, Rectification, ms);
RTABMAP_STATS(TimingMem, Keypoints_3D, ms);
RTABMAP_STATS(TimingMem, Joining_dictionary_update, ms);
RTABMAP_STATS(TimingMem, Add_new_words, ms);

20
corelib/src/CMakeLists.txt
View File

@@ -66,8 +66,11 @@ SET(SRC_FILES
OdometryFovis.cpp
OdometryViso2.cpp
OdometryDVO.cpp
OdometryOkvis.cpp
OdometryORBSLAM2.cpp
IMUThread.cpp
Stereo.cpp
StereoDense.cpp
StereoCameraModel.cpp
@@ -345,6 +348,23 @@ IF(dvo_core_FOUND)
)
ENDIF(dvo_core_FOUND)
IF(okvis_FOUND)
SET(INCLUDE_DIRS
${OKVIS_INCLUDE_DIRS}
${BRISK_INCLUDE_DIRS}
${OPENGV_INCLUDE_DIRS}
${CERES_INCLUDE_DIRS}
${INCLUDE_DIRS}
)
SET(LIBRARIES
${OKVIS_LIBRARIES}
${BRISK_LIBRARIES}
${OPENGV_LIBRARIES}
${CERES_LIBRARIES}
${LIBRARIES}
)
ENDIF(okvis_FOUND)
IF(ORB_SLAM2_FOUND)
SET(INCLUDE_DIRS
${ORB_SLAM2_INCLUDE_DIRS} #before so that g2o includes are taken from ORB_SLAM2 directory before the official g2o one

6
corelib/src/CameraStereo.cpp
View File

@@ -379,7 +379,7 @@ bool CameraStereoDC1394::init(const std::string & calibrationFolder, const std::
// look for calibration files
if(!calibrationFolder.empty())
{
if(!stereoModel_.load(calibrationFolder, cameraName.empty()?device_->guid():cameraName))
if(!stereoModel_.load(calibrationFolder, cameraName.empty()?device_->guid():cameraName, false))
{
UWARN("Missing calibration files for camera \"%s\" in \"%s\" folder, you should calibrate the camera!",
cameraName.empty()?device_->guid().c_str():cameraName.c_str(), calibrationFolder.c_str());
@@ -1147,7 +1147,7 @@ bool CameraStereoImages::init(const std::string & calibrationFolder, const std::
// look for calibration files
if(!calibrationFolder.empty() && !cameraName.empty())
{
if(!stereoModel_.load(calibrationFolder, cameraName))
if(!stereoModel_.load(calibrationFolder, cameraName, false))
{
UWARN("Missing calibration files for camera \"%s\" in \"%s\" folder, you should calibrate the camera!",
cameraName.c_str(), calibrationFolder.c_str());
@@ -1372,7 +1372,7 @@ bool CameraStereoVideo::init(const std::string & calibrationFolder, const std::s
// look for calibration files
if(!calibrationFolder.empty() && !cameraName_.empty())
{
if(!stereoModel_.load(calibrationFolder, cameraName_))
if(!stereoModel_.load(calibrationFolder, cameraName_, false))
{
UWARN("Missing calibration files for camera \"%s\" in \"%s\" folder, you should calibrate the camera!",
cameraName_.c_str(), calibrationFolder.c_str());

153
corelib/src/IMUThread.cpp Normal file
View File

@@ -0,0 +1,153 @@
/*
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.
*/
#include "rtabmap/core/IMUThread.h"
#include "rtabmap/core/IMU.h"
#include <rtabmap/utilite/UTimer.h>
#include <rtabmap/utilite/ULogger.h>
namespace rtabmap
{
IMUThread::IMUThread(int rate, const Transform & localTransform) :
rate_(rate),
localTransform_(localTransform),
captureDelay_(0.0),
previousStamp_(0.0)
{
}
IMUThread::~IMUThread()
{
imuFile_.close();
}
bool IMUThread::init(const std::string & path)
{
imuFile_.close();
captureDelay_ = 0.0;
previousStamp_ = 0.0;
// open the IMU file
std::string line;
imuFile_.open(path.c_str());
if (!imuFile_.good()) {
UERROR("no imu file found at %s",path.c_str());
return false;
}
int number_of_lines = 0;
while (std::getline(imuFile_, line))
++number_of_lines;
printf("No. IMU measurements: %d\n", number_of_lines-1);
if (number_of_lines - 1 <= 0) {
UERROR("no imu messages present in %s", path.c_str());
return false;
}
// set reading position to second line
imuFile_.clear();
imuFile_.seekg(0, std::ios::beg);
std::getline(imuFile_, line);
return true;
}
void IMUThread::setRate(int rate)
{
rate_ = rate;
}
void IMUThread::mainLoopBegin()
{
ULogger::registerCurrentThread("IMU");
frameRateTimer_.start();
}
void IMUThread::mainLoop()
{
UTimer totalTime;
UDEBUG("");
if(rate_>0 || captureDelay_)
{
double delay = rate_>0?1000.0/double(rate_):1000.0f*captureDelay_;
int sleepTime = delay - 1000.0f*frameRateTimer_.getElapsedTime();
if(sleepTime > 2)
{
uSleep(sleepTime-2);
}
// Add precision at the cost of a small overhead
delay/=1000.0;
while(frameRateTimer_.getElapsedTime() < delay-0.000001)
{
//
}
frameRateTimer_.start();
}
captureDelay_ = 0.0;
std::string line;
if (std::getline(imuFile_, line))
{
std::stringstream stream(line);
std::string s;
std::getline(stream, s, ',');
std::string nanoseconds = s.substr(s.size() - 9, 9);
std::string seconds = s.substr(0, s.size() - 9);
Eigen::Vector3d gyr;
for (int j = 0; j < 3; ++j) {
std::getline(stream, s, ',');
gyr[j] = std::stof(s);
}
Eigen::Vector3d acc;
for (int j = 0; j < 3; ++j) {
std::getline(stream, s, ',');
acc[j] = std::stof(s);
}
double stamp = double(std::stoi(seconds)) + double(std::stoi(nanoseconds))*1e-9;
if(previousStamp_>0 && stamp > previousStamp_)
{
captureDelay_ = stamp - previousStamp_;
}
previousStamp_ = stamp;
IMU imu(gyr, cv::Mat(3,3,CV_64FC1), acc, cv::Mat(3,3,CV_64FC1), localTransform_);
this->post(new IMUEvent(imu, stamp));
}
else if(!this->isKilled())
{
UWARN("no more imu data...");
this->kill();
this->post(new IMUEvent());
}
}
} // namespace rtabmap

56
corelib/src/Memory.cpp
View File

@@ -100,6 +100,7 @@ Memory::Memory(const ParametersMap & parameters) :
_createOccupancyGrid(Parameters::defaultRGBDCreateOccupancyGrid()),
_visMaxFeatures(Parameters::defaultVisMaxFeatures()),
_visCorType(Parameters::defaultVisCorType()),
_imagesAlreadyRectified(Parameters::defaultRtabmapImagesAlreadyRectified()),
_idCount(kIdStart),
_idMapCount(kIdStart),
_lastSignature(0),
@@ -481,6 +482,8 @@ void Memory::parseParameters(const ParametersMap & parameters)
uInsert(parameters_, ParametersPair(Parameters::kVisCorType(), "0"));
uInsert(params, ParametersPair(Parameters::kVisCorType(), "0"));
}
Parameters::parse(params, Parameters::kRtabmapImagesAlreadyRectified(), _imagesAlreadyRectified);
UASSERT_MSG(_maxStMemSize >= 0, uFormat("value=%d", _maxStMemSize).c_str());
UASSERT_MSG(_similarityThreshold >= 0.0f && _similarityThreshold <= 1.0f, uFormat("value=%f", _similarityThreshold).c_str());
@@ -3372,9 +3375,10 @@ private:
VWDictionary * _vwp;
};
Signature * Memory::createSignature(const SensorData & data, const Transform & pose, Statistics * stats)
Signature * Memory::createSignature(const SensorData & inputData, const Transform & pose, Statistics * stats)
{
UDEBUG("");
SensorData data = inputData;
UASSERT(data.imageRaw().empty() ||
data.imageRaw().type() == CV_8UC1 ||
data.imageRaw().type() == CV_8UC3);
@@ -3398,7 +3402,7 @@ Signature * Memory::createSignature(const SensorData & data, const Transform & p
!data.stereoCameraModel().isValidForProjection() &&
!pose.isNull())
{
UERROR("Rectified images required! Calibrate your camera.");
UERROR("Camera calibration not valid, calibrate your camera!");
return 0;
}
UASSERT(_feature2D != 0);
@@ -3442,6 +3446,54 @@ Signature * Memory::createSignature(const SensorData & data, const Transform & p
}
}
if(!_imagesAlreadyRectified && !data.imageRaw().empty())
{
if(!data.depthRaw().empty())
{
UERROR("RGB-D images should be already rectified! Make sure they are and set %s parameter back to true.",
Parameters::kRtabmapImagesAlreadyRectified().c_str());
return 0;
}
if(data.cameraModels().size())
{
UASSERT(int((data.imageRaw().cols/data.cameraModels().size())*data.cameraModels().size()) == data.imageRaw().cols);
int subImageWidth = data.imageRaw().cols/data.cameraModels().size();
cv::Mat rectifiedImages(data.imageRaw().size(), data.imageRaw().type());
for(unsigned int i=0; i<data.cameraModels().size(); ++i)
{
if(data.cameraModels()[i].isValidForRectification())
{
cv::Mat rectifiedImage = data.cameraModels()[i].rectifyImage(cv::Mat(data.imageRaw(), cv::Rect(subImageWidth*i, 0, subImageWidth, data.imageRaw().rows)));
rectifiedImage.copyTo(cv::Mat(rectifiedImages, cv::Rect(subImageWidth*i, 0, subImageWidth, data.imageRaw().rows)));
}
else
{
UERROR("Calibration for camera %d cannot be used to rectify the image. Make sure to do a "
"full calibration. If images are already rectified, set %s parameter back to true.",
(int)i,
Parameters::kRtabmapImagesAlreadyRectified().c_str());
return 0;
}
}
data.setImageRaw(rectifiedImages);
}
else if(data.stereoCameraModel().isValidForRectification())
{
data.setImageRaw(data.stereoCameraModel().left().rectifyImage(data.imageRaw()));
data.setDepthOrRightRaw(data.stereoCameraModel().right().rectifyImage(data.rightRaw()));
}
else
{
UERROR("Stereo calibration cannot be used to rectify images. Make sure to do a "
"full stereo calibration. If images are already rectified, set %s parameter back to true.",
Parameters::kRtabmapImagesAlreadyRectified().c_str());
return 0;
}
t = timer.ticks();
if(stats) stats->addStatistic(Statistics::kTimingMemRectification(), t*1000.0f);
UDEBUG("time rectification = %fs", t);
}
int treeSize= int(_workingMem.size() + _stMem.size());
int meanWordsPerLocation = 0;
if(treeSize > 0)

15
corelib/src/Odometry.cpp
View File

@@ -31,6 +31,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include "rtabmap/core/OdometryFovis.h"
#include "rtabmap/core/OdometryViso2.h"
#include "rtabmap/core/OdometryDVO.h"
#include "rtabmap/core/OdometryOkvis.h"
#include "rtabmap/core/OdometryORBSLAM2.h"
#include "rtabmap/core/OdometryInfo.h"
#include "rtabmap/core/util3d.h"
@@ -76,6 +77,9 @@ Odometry * Odometry::create(Odometry::Type & type, const ParametersMap & paramet
case Odometry::kTypeF2F:
odometry = new OdometryF2F(parameters);
break;
case Odometry::kTypeOkvis:
odometry = new OdometryOkvis(parameters);
break;
default:
odometry = new OdometryF2M(parameters);
type = Odometry::kTypeF2M;
@@ -101,6 +105,7 @@ Odometry::Odometry(const rtabmap::ParametersMap & parameters) :
_imageDecimation(Parameters::defaultOdomImageDecimation()),
_alignWithGround(Parameters::defaultOdomAlignWithGround()),
_publishRAMUsage(Parameters::defaultRtabmapPublishRAMUsage()),
_imagesAlreadyRectified(Parameters::defaultRtabmapImagesAlreadyRectified()),
_pose(Transform::getIdentity()),
_resetCurrentCount(0),
previousStamp_(0),
@@ -128,6 +133,7 @@ Odometry::Odometry(const rtabmap::ParametersMap & parameters) :
Parameters::parse(parameters, Parameters::kOdomImageDecimation(), _imageDecimation);
Parameters::parse(parameters, Parameters::kOdomAlignWithGround(), _alignWithGround);
Parameters::parse(parameters, Parameters::kRtabmapPublishRAMUsage(), _publishRAMUsage);
Parameters::parse(parameters, Parameters::kRtabmapImagesAlreadyRectified(), _imagesAlreadyRectified);
if(_imageDecimation == 0)
{
@@ -227,6 +233,13 @@ Transform Odometry::process(SensorData & data, const Transform & guessIn, Odomet
{
UASSERT_MSG(data.id() >= 0, uFormat("Input data should have ID greater or equal than 0 (id=%d)!", data.id()).c_str());
if(!_imagesAlreadyRectified && !this->canProcessRawImages())
{
UERROR("Odometry approach chosen cannot process raw images (not rectified images). Make sure images "
"are rectified, and set %s parameter back to true.",
Parameters::kRtabmapImagesAlreadyRectified().c_str());
}
// Ground alignment
if(_pose.isIdentity() && _alignWithGround)
{
@@ -337,7 +350,7 @@ Transform Odometry::process(SensorData & data, const Transform & guessIn, Odomet
UTimer time;
Transform t;
if(_imageDecimation > 1)
if(_imageDecimation > 1 && !data.imageRaw().empty())
{
// Decimation of images with calibrations
SensorData decimatedData = data;

486
corelib/src/OdometryOkvis.cpp Normal file
View File

@@ -0,0 +1,486 @@
/*
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.
*/
#include "rtabmap/core/OdometryOkvis.h"
#include "rtabmap/core/OdometryInfo.h"
#include "rtabmap/core/util3d_transforms.h"
#include "rtabmap/utilite/ULogger.h"
#include "rtabmap/utilite/UTimer.h"
#include "rtabmap/utilite/UStl.h"
#include "rtabmap/utilite/UThread.h"
#ifdef RTABMAP_OKVIS
#include <iostream>
#include <fstream>
#include <stdlib.h>
#include <memory>
#include <functional>
#include <atomic>
#include <Eigen/Core>
#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wnon-virtual-dtor"
#pragma GCC diagnostic ignored "-Woverloaded-virtual"
#include <opencv2/opencv.hpp>
#pragma GCC diagnostic pop
#include <okvis/VioParametersReader.hpp>
#include <okvis/ThreadedKFVio.hpp>
#include <okvis/cameras/PinholeCamera.hpp>
#include <okvis/cameras/NoDistortion.hpp>
#include <okvis/cameras/RadialTangentialDistortion.hpp>
#include <okvis/cameras/EquidistantDistortion.hpp>
#include <okvis/cameras/RadialTangentialDistortion8.hpp>
#include <boost/filesystem.hpp>
#endif
namespace rtabmap {
#ifdef RTABMAP_OKVIS
class OkvisCallbackHandler
{
public:
OkvisCallbackHandler()
{
}
Transform getLastTransform()
{
Transform tf;
mutex_.lock();
tf = transform_;
mutex_.unlock();
return tf;
}
std::map<int, cv::Point3f> getLastLandmarks()
{
std::map<int, cv::Point3f> landmarks;
mutexLandmarks_.lock();
landmarks = landmarks_;
mutexLandmarks_.unlock();
return landmarks;
}
public:
void fullStateCallback(
const okvis::Time & t, const okvis::kinematics::Transformation & T_WS,
const Eigen::Matrix<double, 9, 1> & /*speedAndBiases*/,
const Eigen::Matrix<double, 3, 1> & /*omega_S*/)
{
UDEBUG("");
Transform tf = Transform::fromEigen4d(T_WS.T());
mutex_.lock();
transform_ = tf;
mutex_.unlock();
}
void landmarksCallback(const okvis::Time & t,
const okvis::MapPointVector & landmarksVector,
const okvis::MapPointVector & /*transferredLandmarks*/)
{
bool notify = true;
mutexLandmarks_.lock();
if(landmarks_.size())
{
notify = false;
}
landmarks_.clear();
for(unsigned int i=0; i<landmarksVector.size(); ++i)
{
landmarks_.insert(std::make_pair((int)landmarksVector[i].id, cv::Point3f(landmarksVector[i].point[0], landmarksVector[i].point[1], landmarksVector[i].point[2])));
}
mutexLandmarks_.unlock();
if(notify)
{
semLandmarks_.release();
}
}
private:
Transform transform_;
std::map<int, cv::Point3f> landmarks_;
UMutex mutex_;
UMutex mutexLandmarks_;
USemaphore semTf_;
USemaphore semLandmarks_;
};
#endif
OdometryOkvis::OdometryOkvis(const ParametersMap & parameters) :
Odometry(parameters),
#ifdef RTABMAP_OKVIS
okvisCallbackHandler_(new OkvisCallbackHandler),
#else
okvisCallbackHandler_(0),
#endif
okvisEstimator_(0),
okvisParameters_(parameters),
imagesProcessed_(0)
{
#ifdef RTABMAP_OKVIS
Parameters::parse(parameters, Parameters::kOdomOKVISConfigPath(), configFilename_);
if(configFilename_.empty())
{
UERROR("OKVIS config file is empty (%s)!", Parameters::kOdomOKVISConfigPath().c_str());
}
#endif
}
OdometryOkvis::~OdometryOkvis()
{
#ifdef RTABMAP_OKVIS
if(okvisEstimator_)
{
delete okvisEstimator_;
}
delete okvisCallbackHandler_;
#endif
}
void OdometryOkvis::reset(const Transform & initialPose)
{
Odometry::reset(initialPose);
#ifdef RTABMAP_OKVIS
if(okvisEstimator_)
{
delete okvisEstimator_;
okvisEstimator_ = 0;
}
lastImu_ = IMU();
delete okvisCallbackHandler_;
okvisCallbackHandler_ = new OkvisCallbackHandler();
#endif
imagesProcessed_ = 0;
}
// return not null transform if odometry is correctly computed
Transform OdometryOkvis::computeTransform(
SensorData & data,
const Transform & guess,
OdometryInfo * info)
{
UDEBUG("");
Transform t;
#ifdef RTABMAP_OKVIS
UTimer timer;
okvis::Time timeOkvis = okvis::Time(data.stamp());
bool imuUpdated = false;
if(!data.imu().empty())
{
UDEBUG("IMU update stamp=%f acc=%f %f %f gyr=%f %f %f", data.stamp(),
data.imu().linearAcceleration()[0],
data.imu().linearAcceleration()[1],
data.imu().linearAcceleration()[2],
data.imu().angularVelocity()[0],
data.imu().angularVelocity()[1],
data.imu().angularVelocity()[2]);
if(okvisEstimator_ != 0)
{
imuUpdated = okvisEstimator_->addImuMeasurement(timeOkvis, data.imu().linearAcceleration(), data.imu().angularVelocity());
}
else
{
UWARN("Ignoring IMU, waiting for an image to initialize...");
lastImu_ = data.imu();
}
}
bool imageUpdated = false;
if(!data.imageRaw().empty())
{
UDEBUG("Image update stamp=%f", data.stamp());
std::vector<cv::Mat> images;
std::vector<CameraModel> models;
if(data.stereoCameraModel().isValidForProjection())
{
images.push_back(data.imageRaw());
images.push_back(data.rightRaw());
CameraModel mleft = data.stereoCameraModel().left();
// should be transform between IMU and camera
mleft.setLocalTransform(lastImu_.localTransform().inverse()*mleft.localTransform());
models.push_back(mleft);
CameraModel mright = data.stereoCameraModel().right();
// To support not rectified images
if(!imagesAlreadyRectified())
{
cv::Mat R = data.stereoCameraModel().R();
cv::Mat T = data.stereoCameraModel().T();
UASSERT(R.cols==3 && R.rows == 3);
UASSERT(T.cols==1 && T.rows == 3);
Transform extrinsics(R.at<double>(0,0), R.at<double>(0,1), R.at<double>(0,2), T.at<double>(0,0),
R.at<double>(1,0), R.at<double>(1,1), R.at<double>(1,2), T.at<double>(1,0),
R.at<double>(2,0), R.at<double>(2,1), R.at<double>(2,2), T.at<double>(2,0));
mright.setLocalTransform(mleft.localTransform() * extrinsics.inverse());
}
else
{
Transform extrinsics(1, 0, 0, 0,
0, 1, 0, data.stereoCameraModel().baseline(),
0, 0, 1, 0);
mright.setLocalTransform(extrinsics * mleft.localTransform());
}
models.push_back(mright);
}
else
{
UASSERT(int((data.imageRaw().cols/data.cameraModels().size())*data.cameraModels().size()) == data.imageRaw().cols);
int subImageWidth = data.imageRaw().cols/data.cameraModels().size();
for(unsigned int i=0; i<data.cameraModels().size(); ++i)
{
if(data.cameraModels()[i].isValidForProjection())
{
images.push_back(cv::Mat(data.imageRaw(), cv::Rect(subImageWidth*i, 0, subImageWidth, data.imageRaw().rows)));
CameraModel m = data.cameraModels()[i];
// should be transform between IMU and camera
m.setLocalTransform(lastImu_.localTransform().inverse()*m.localTransform());
models.push_back(m);
}
}
}
if(images.size())
{
// initialization
if(okvisEstimator_ == 0)
{
UDEBUG("Initialization");
if(lastImu_.empty())
{
UWARN("Ignoring Image, waiting for imu to initialize...");
return t;
}
okvis::VioParameters parameters;
if(configFilename_.empty())
{
UERROR("OKVIS config file is empty (%s)!", Parameters::kOdomOKVISConfigPath().c_str());
return t;
}
else
{
okvis::VioParametersReader vio_parameters_reader(configFilename_);
vio_parameters_reader.getParameters(parameters);
if(parameters.nCameraSystem.numCameras() > 0)
{
UWARN("Camera calibration included in OKVIS is ignored as calibration from received images will be used instead.");
}
parameters.nCameraSystem = okvis::cameras::NCameraSystem();
}
parameters.publishing.publishRate = parameters.imu.rate; // rate at which odometry updates are published only works properly if imu_rate/publish_rate is an integer!!
parameters.publishing.publishLandmarks = true; // select, if you want to publish landmarks at all
parameters.publishing.publishImuPropagatedState = true; // Should the state that is propagated with IMU messages be published? Or just the optimized ones?
parameters.publishing.landmarkQualityThreshold = 1.0e-2; // landmark with lower quality will not be published
parameters.publishing.maxLandmarkQuality = 0.05; // landmark with higher quality will be published with the maximum colour intensity
parameters.publishing.trackedBodyFrame = okvis::FrameName::B; // B or S, the frame of reference that will be expressed relative to the selected worldFrame
parameters.publishing.velocitiesFrame = okvis::FrameName::B; // Wc, B or S, the frames in which the velocities of the selected trackedBodyFrame will be expressed in
// non-hard coded parameters
parameters.imu.T_BS = okvis::kinematics::Transformation(lastImu_.localTransform().toEigen4d());
for(unsigned int i=0; i<models.size(); ++i)
{
okvis::cameras::NCameraSystem::DistortionType distType = okvis::cameras::NCameraSystem::NoDistortion;
std::shared_ptr<const okvis::cameras::CameraBase> cam;
if(!imagesAlreadyRectified())
{
if(models[i].D_raw().cols == 8)
{
okvis::cameras::RadialTangentialDistortion8 dist(
models[i].D_raw().at<double>(0,0),
models[i].D_raw().at<double>(0,1),
models[i].D_raw().at<double>(0,2),
models[i].D_raw().at<double>(0,3),
models[i].D_raw().at<double>(0,4),
models[i].D_raw().at<double>(0,5),
models[i].D_raw().at<double>(0,6),
models[i].D_raw().at<double>(0,7));
cam.reset(
new okvis::cameras::PinholeCamera<okvis::cameras::RadialTangentialDistortion8>(
models[i].imageWidth(),
models[i].imageHeight(),
models[i].K_raw().at<double>(0,0),
models[i].K_raw().at<double>(1,1),
models[i].K_raw().at<double>(0,2),
models[i].K_raw().at<double>(1,2),
dist));
distType = okvis::cameras::NCameraSystem::RadialTangential8;
UINFO("RadialTangential8");
}
else if(models[i].D_raw().cols == 6)
{
okvis::cameras::EquidistantDistortion dist(
models[i].D_raw().at<double>(0,0),
models[i].D_raw().at<double>(0,1),
models[i].D_raw().at<double>(0,4),
models[i].D_raw().at<double>(0,5));
cam.reset(new okvis::cameras::PinholeCamera<okvis::cameras::EquidistantDistortion>(
models[i].imageWidth(),
models[i].imageHeight(),
models[i].K_raw().at<double>(0,0),
models[i].K_raw().at<double>(1,1),
models[i].K_raw().at<double>(0,2),
models[i].K_raw().at<double>(1,2),
dist));
distType = okvis::cameras::NCameraSystem::Equidistant;
UINFO("Equidistant");
}
else if(models[i].D_raw().cols >= 4)
{
// To support not rectified images
okvis::cameras::RadialTangentialDistortion dist(
models[i].D_raw().at<double>(0,0),
models[i].D_raw().at<double>(0,1),
models[i].D_raw().at<double>(0,2),
models[i].D_raw().at<double>(0,3));
cam.reset(
new okvis::cameras::PinholeCamera<okvis::cameras::RadialTangentialDistortion>(
models[i].imageWidth(),
models[i].imageHeight(),
models[i].K_raw().at<double>(0,0),
models[i].K_raw().at<double>(1,1),
models[i].K_raw().at<double>(0,2),
models[i].K_raw().at<double>(1,2),
dist));
distType = okvis::cameras::NCameraSystem::RadialTangential;
UINFO("RadialTangential");
}
}
else // no distortion, rectified images
{
okvis::cameras::RadialTangentialDistortion dist(0,0,0,0);
cam.reset(
new okvis::cameras::PinholeCamera<okvis::cameras::RadialTangentialDistortion>(
models[i].imageWidth(),
models[i].imageHeight(),
models[i].K().at<double>(0,0),
models[i].K().at<double>(1,1),
models[i].K().at<double>(0,2),
models[i].K().at<double>(1,2),
dist));
distType = okvis::cameras::NCameraSystem::RadialTangential;
}
if(cam.get())
{
UINFO("model %d: %s", i, models[i].localTransform().prettyPrint().c_str());
Eigen::Vector3d r(models[i].localTransform().x(), models[i].localTransform().y(), models[i].localTransform().z());
parameters.nCameraSystem.addCamera(
std::shared_ptr<const okvis::kinematics::Transformation>(new okvis::kinematics::Transformation(r, models[i].localTransform().getQuaterniond().normalized())),
cam,
distType);
}
}
okvisEstimator_ = new okvis::ThreadedKFVio(parameters);
okvisEstimator_->setFullStateCallback(
std::bind(&OkvisCallbackHandler::fullStateCallback, okvisCallbackHandler_,
std::placeholders::_1, std::placeholders::_2,
std::placeholders::_3, std::placeholders::_4));
okvisEstimator_->setLandmarksCallback(
std::bind(&OkvisCallbackHandler::landmarksCallback, okvisCallbackHandler_,
std::placeholders::_1, std::placeholders::_2,
std::placeholders::_3));
okvisEstimator_->setBlocking(true);
}
for(unsigned int i=0; i<images.size(); ++i)
{
cv::Mat gray;
if(images[i].type() == CV_8UC3)
{
cv::cvtColor(images[i], gray, CV_BGR2GRAY);
}
else if(images[i].type() == CV_8UC1)
{
gray = images[i];
}
else
{
UFATAL("Not supported color type!");
}
imageUpdated = okvisEstimator_->addImage(timeOkvis, i, gray);
if(!imageUpdated)
{
UWARN("Image update with stamp %f delayed...", data.stamp());
}
}
if(imageUpdated)
{
++imagesProcessed_;
}
}
}
if((imageUpdated || imuUpdated) && imagesProcessed_ > 10)
{
Transform fixPos(-1,0,0,0, 0,-1,0,0, 0,0,1,0);
Transform fixRot(0,0,1,0, 0,-1,0,0, 1,0,0,0);
Transform p = okvisCallbackHandler_->getLastTransform();
if(!p.isNull())
{
p = fixPos * p * fixRot;
// make it incremental
t = this->getPose().inverse()*p;
if(info)
{
info->reg.covariance = cv::Mat::eye(6,6, CV_64FC1);
info->reg.covariance *= this->framesProcessed() == 0?9999:0.0001;
// FIXME: the scale of landmarks doesn't seem to fit well the environment...
/*info->localMap = okvisCallbackHandler_->getLastLandmarks();
info->localMapSize = info->localMap.size();
for(std::map<int, cv::Point3f>::iterator iter=info->localMap.begin(); iter!=info->localMap.end(); ++iter)
{
iter->second = util3d::transformPoint(iter->second, fixPos);
}*/
}
}
UINFO("Odom update time = %fs p=%s", timer.elapsed(), p.prettyPrint().c_str());
}
#else
UERROR("RTAB-Map is not built with OKVIS support! Select another visual odometry approach.");
#endif
return t;
}
} // namespace rtabmap

86
corelib/src/OdometryThread.cpp
View File

@@ -40,7 +40,9 @@ OdometryThread::OdometryThread(Odometry * odometry, unsigned int dataBufferMaxSi
_odometry(odometry),
_dataBufferMaxSize(dataBufferMaxSize),
_resetOdometry(false),
_resetPose(Transform::getIdentity())
_resetPose(Transform::getIdentity()),
_lastImuStamp(0.0),
_imuEstimatedDelay(0.0)
{
UASSERT(_odometry != 0);
}
@@ -68,6 +70,14 @@ bool OdometryThread::handleEvent(UEvent * event)
this->addData(cameraEvent->data());
}
}
else if(event->getClassName().compare("IMUEvent") == 0)
{
IMUEvent * imuEvent = (IMUEvent*)event;
if(!imuEvent->getData().empty())
{
this->addData(SensorData(imuEvent->getData(), 0, imuEvent->getStamp()));
}
}
}
if(event->getClassName().compare("OdometryResetEvent") == 0)
{
@@ -109,41 +119,64 @@ void OdometryThread::mainLoop()
OdometryInfo info;
UDEBUG("Processing data...");
Transform pose = _odometry->process(data, &info);
// a null pose notify that odometry could not be computed
UDEBUG("Odom pose = %s", pose.prettyPrint().c_str());
this->post(new OdometryEvent(data, pose, info));
if(!data.imageRaw().empty() || pose.isNull())
{
// a null pose notify that odometry could not be computed
this->post(new OdometryEvent(data, pose, info));
}
}
}
void OdometryThread::addData(const SensorData & data)
{
if(dynamic_cast<OdometryMono*>(_odometry) == 0)
if(data.imu().empty())
{
if(data.imageRaw().empty() || data.depthOrRightRaw().empty() || (data.cameraModels().size()==0 && !data.stereoCameraModel().isValidForProjection()))
if(dynamic_cast<OdometryMono*>(_odometry) == 0)
{
ULOGGER_ERROR("Missing some information (images empty or missing calibration)!?");
return;
if(data.imageRaw().empty() || data.depthOrRightRaw().empty() || (data.cameraModels().size()==0 && !data.stereoCameraModel().isValidForProjection()))
{
ULOGGER_ERROR("Missing some information (images empty or missing calibration)!?");
return;
}
}
}
else
{
// Mono can accept RGB only
if(data.imageRaw().empty() || (data.cameraModels().size()==0 && !data.stereoCameraModel().isValidForProjection()))
else
{
ULOGGER_ERROR("Missing some information (image empty or missing calibration)!?");
return;
// Mono can accept RGB only
if(data.imageRaw().empty() || (data.cameraModels().size()==0 && !data.stereoCameraModel().isValidForProjection()))
{
ULOGGER_ERROR("Missing some information (image empty or missing calibration)!?");
return;
}
}
}
bool notify = true;
_dataMutex.lock();
{
_dataBuffer.push_back(data);
while(_dataBufferMaxSize > 0 && _dataBuffer.size() > _dataBufferMaxSize)
if(data.imu().empty())
{
UDEBUG("Data buffer is full, the oldest data is removed to add the new one.");
_dataBuffer.pop_front();
notify = false;
_dataBuffer.push_back(data);
while(_dataBufferMaxSize > 0 && _dataBuffer.size() > _dataBufferMaxSize)
{
UDEBUG("Data buffer is full, the oldest data is removed to add the new one.");
_dataBuffer.erase(_dataBuffer.begin());
notify = false;
}
if(notify && _imuEstimatedDelay>0.0 && data.stamp() > (_lastImuStamp+_imuEstimatedDelay))
{
// Don't notify if IMU data before this image has not been received yet
notify = false;
}
}
else
{
_imuBuffer.push_back(data);
if(_lastImuStamp != 0.0 && data.stamp() > _lastImuStamp)
{
_imuEstimatedDelay = data.stamp() - _lastImuStamp;
}
_lastImuStamp = data.stamp();
}
}
_dataMutex.unlock();
@@ -160,10 +193,19 @@ bool OdometryThread::getData(SensorData & data)
_dataAdded.acquire();
_dataMutex.lock();
{
if(!_dataBuffer.empty())
if(!_dataBuffer.empty() || !_imuBuffer.empty())
{
data = _dataBuffer.front();
_dataBuffer.pop_front();
if(_dataBuffer.empty() ||
(!_dataBuffer.empty() && !_imuBuffer.empty() && _imuBuffer.front().stamp() <= _dataBuffer.front().stamp()))
{
data = _imuBuffer.front();
_imuBuffer.pop_front();
}
else
{
data = _dataBuffer.front();
_dataBuffer.pop_front();
}
dataFilled = true;
}
}

8
corelib/src/Parameters.cpp
View File

@@ -664,11 +664,17 @@ ParametersMap Parameters::parseArguments(int argc, char * argv[], bool onlyParam
ignore = true;
}
#endif
#ifndef RTABMAP_VISO2
#ifndef RTABMAP_ORBSLAM2
if(group.compare("OdomORBSLAM2") == 0)
{
ignore = true;
}
#endif
#ifndef RTABMAP_OKVIS
if(group.compare("OdomOKVIS") == 0)
{
ignore = true;
}
#endif
if(!ignore)
{

11
corelib/src/SensorData.cpp
View File

@@ -418,6 +418,17 @@ SensorData::SensorData(
}
}
SensorData::SensorData(
const IMU & imu,
int id,
double stamp) :
_id(id),
_stamp(stamp),
_cellSize(0.0f)
{
imu_ = imu;
}
SensorData::~SensorData()
{
}

4
corelib/src/StereoCameraModel.cpp
View File

@@ -224,9 +224,9 @@ bool StereoCameraModel::load(const std::string & directory, const std::string &
UWARN("Missing \"rotation_matrix\" field in \"%s\"", filePath.c_str());
}
n = fs["translation_matrix"];
if(n.type() != cv::FileNode::NONE)
{
n = fs["translation_matrix"];
int rows = (int)n["rows"];
int cols = (int)n["cols"];
std::vector<double> data;
@@ -240,9 +240,9 @@ bool StereoCameraModel::load(const std::string & directory, const std::string &
UWARN("Missing \"translation_matrix\" field in \"%s\"", filePath.c_str());
}
n = fs["essential_matrix"];
if(n.type() != cv::FileNode::NONE)
{
n = fs["essential_matrix"];
int rows = (int)n["rows"];
int cols = (int)n["cols"];
std::vector<double> data;