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Supplement and Adjust OpenVINS Parameters (#1145)

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* set the PrintLevel of OpenVINS to be equivalent to that of ULogger

* use global FAST settings

* add online calibration params

* add dynamic initialization params

* add necessary feature initializer options

* fix segfault of OdomImageDecimation

* add mask settings

* use depth as mask in OpenVINS

* set twist covariance

* restore default values of VisMinDepth and VisMaxDepth
This commit is contained in:
Borong Yuan
2023-10-22 05:24:51 +08:00
committed by GitHub
parent f06cc0b17f
commit 948e15c72c
7 changed files with 790 additions and 170 deletions
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104
corelib/include/rtabmap/core/Parameters.h
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@@ -580,27 +580,47 @@ class RTABMAP_CORE_EXPORT Parameters
RTABMAP_PARAM(OdomOpenVINS, UseStereo, bool, true, "If we have more than 1 camera, if we should try to track stereo constraints between pairs");
RTABMAP_PARAM(OdomOpenVINS, UseKLT, bool, true, "If true we will use KLT, otherwise use a ORB descriptor + robust matching");
RTABMAP_PARAM(OdomOpenVINS, NumPts, int, 200, "Number of points (per camera) we will extract and try to track");
RTABMAP_PARAM(OdomOpenVINS, FastThreshold, int, 30, "Threshold for fast extraction (warning: lower threshs can be expensive)");
RTABMAP_PARAM(OdomOpenVINS, GridX, int, 5, "Extraction sub-grid count for horizontal direction (uniform tracking)");
RTABMAP_PARAM(OdomOpenVINS, GridY, int, 5, "Extraction sub-grid count for vertical direction (uniform tracking)");
RTABMAP_PARAM(OdomOpenVINS, MinPxDist, int, 15, "Eistance between features (features near each other provide less information)");
RTABMAP_PARAM(OdomOpenVINS, KNNRatio, double, 0.7, "Descriptor knn threshold for the top two descriptor matches");
RTABMAP_PARAM(OdomOpenVINS, FiTriangulate1d, bool, false, "If we should perform 1d triangulation instead of 3d");
RTABMAP_PARAM(OdomOpenVINS, FiRefineFeatures, bool, true, "If we should perform Levenberg-Marquardt refinement");
RTABMAP_PARAM(OdomOpenVINS, FiMaxRuns, int, 5, "Max runs for Levenberg-Marquardt");
RTABMAP_PARAM(OdomOpenVINS, FiMaxBaseline, double, 40, "Max baseline ratio to accept triangulated features");
RTABMAP_PARAM(OdomOpenVINS, FiMaxCondNumber, double, 10000, "Max condition number of linear triangulation matrix accept triangulated features");
RTABMAP_PARAM(OdomOpenVINS, UseFEJ, bool, true, "If first-estimate Jacobians should be used (enable for good consistency)");
RTABMAP_PARAM(OdomOpenVINS, Integration, int, 1, "0=discrete, 1=rk4, 2=analytical (if rk4 or analytical used then analytical covariance propagation is used)");
RTABMAP_PARAM(OdomOpenVINS, CalibCamExtrinsics, bool, false, "Bool to determine whether or not to calibrate imu-to-camera pose");
RTABMAP_PARAM(OdomOpenVINS, CalibCamIntrinsics, bool, false, "Bool to determine whether or not to calibrate camera intrinsics");
RTABMAP_PARAM(OdomOpenVINS, CalibCamTimeoffset, bool, false, "Bool to determine whether or not to calibrate camera to IMU time offset");
RTABMAP_PARAM(OdomOpenVINS, CalibIMUIntrinsics, bool, false, "Bool to determine whether or not to calibrate the IMU intrinsics");
RTABMAP_PARAM(OdomOpenVINS, CalibIMUGSensitivity, bool, false, "Bool to determine whether or not to calibrate the Gravity sensitivity");
RTABMAP_PARAM(OdomOpenVINS, MaxClones, int, 11, "Max clone size of sliding window");
RTABMAP_PARAM(OdomOpenVINS, MaxSLAM, int, 50, "Max number of estimated SLAM features");
RTABMAP_PARAM(OdomOpenVINS, MaxSLAMInUpdate, int, 25, "Max number of SLAM features we allow to be included in a single EKF update.");
RTABMAP_PARAM(OdomOpenVINS, MaxMSCKFInUpdate, int, 50, "Max number of MSCKF features we will use at a given image timestep.");
RTABMAP_PARAM(OdomOpenVINS, FeatRepMSCKF, int, 0, "What representation our features are in (msckf features)");
RTABMAP_PARAM(OdomOpenVINS, FeatRepSLAM, int, 4, "What representation our features are in (slam features)");
RTABMAP_PARAM(OdomOpenVINS, DtSLAMDelay, double, 2.0, "Delay, in seconds, that we should wait from init before we start estimating SLAM features");
RTABMAP_PARAM(OdomOpenVINS, DtSLAMDelay, double, 0.0, "Delay, in seconds, that we should wait from init before we start estimating SLAM features");
RTABMAP_PARAM(OdomOpenVINS, GravityMag, double, 9.81, "Gravity magnitude in the global frame (i.e. should be 9.81 typically)");
RTABMAP_PARAM_STR(OdomOpenVINS, LeftMaskPath, "", "Mask for left image");
RTABMAP_PARAM_STR(OdomOpenVINS, RightMaskPath, "", "Mask for right image");
RTABMAP_PARAM(OdomOpenVINS, InitWindowTime, double, 2.0, "Amount of time we will initialize over (seconds)");
RTABMAP_PARAM(OdomOpenVINS, InitIMUThresh, double, 1.0, "Variance threshold on our acceleration to be classified as moving");
RTABMAP_PARAM(OdomOpenVINS, InitMaxDisparity, double, 10.0, "Max disparity to consider the platform stationary (dependent on resolution)");
RTABMAP_PARAM(OdomOpenVINS, InitMaxFeatures, int, 50, "How many features to track during initialization (saves on computation)");
RTABMAP_PARAM(OdomOpenVINS, InitDynUse, bool, false, "If dynamic initialization should be used");
RTABMAP_PARAM(OdomOpenVINS, InitDynMLEOptCalib, bool, false, "If we should optimize calibration during intialization (not recommended)");
RTABMAP_PARAM(OdomOpenVINS, InitDynMLEMaxIter, int, 50, "How many iterations the MLE refinement should use (zero to skip the MLE)");
RTABMAP_PARAM(OdomOpenVINS, InitDynMLEMaxTime, double, 0.05, "How many seconds the MLE should be completed in");
RTABMAP_PARAM(OdomOpenVINS, InitDynMLEMaxThreads, int, 6, "How many threads the MLE should use");
RTABMAP_PARAM(OdomOpenVINS, InitDynNumPose, int, 6, "Number of poses to use within our window time (evenly spaced)");
RTABMAP_PARAM(OdomOpenVINS, InitDynMinDeg, double, 10.0, "Orientation change needed to try to init");
RTABMAP_PARAM(OdomOpenVINS, InitDynInflationOri, double, 10.0, "What to inflate the recovered q_GtoI covariance by");
RTABMAP_PARAM(OdomOpenVINS, InitDynInflationVel, double, 100.0, "What to inflate the recovered v_IinG covariance by");
RTABMAP_PARAM(OdomOpenVINS, InitDynInflationBg, double, 10.0, "What to inflate the recovered bias_g covariance by");
RTABMAP_PARAM(OdomOpenVINS, InitDynInflationBa, double, 100.0, "What to inflate the recovered bias_a covariance by");
RTABMAP_PARAM(OdomOpenVINS, InitDynMinRecCond, double, 1e-15, "Reciprocal condition number thresh for info inversion");
RTABMAP_PARAM(OdomOpenVINS, TryZUPT, bool, true, "If we should try to use zero velocity update");
RTABMAP_PARAM(OdomOpenVINS, ZUPTChi2Multiplier, double, 0.0, "Chi2 multiplier for zero velocity");
@@ -628,56 +648,56 @@ class RTABMAP_CORE_EXPORT Parameters
RTABMAP_PARAM(Reg, Force3DoF, bool, false, "Force 3 degrees-of-freedom transform (3Dof: x,y and yaw). Parameters z, roll and pitch will be set to 0.");
// Visual registration parameters
RTABMAP_PARAM(Vis, EstimationType, int, 1, "Motion estimation approach: 0:3D->3D, 1:3D->2D (PnP), 2:2D->2D (Epipolar Geometry)");
RTABMAP_PARAM(Vis, ForwardEstOnly, bool, true, "Forward estimation only (A->B). If false, a transformation is also computed in backward direction (B->A), then the two resulting transforms are merged (middle interpolation between the transforms).");
RTABMAP_PARAM(Vis, InlierDistance, float, 0.1, uFormat("[%s = 0] Maximum distance for feature correspondences. Used by 3D->3D estimation approach.", kVisEstimationType().c_str()));
RTABMAP_PARAM(Vis, RefineIterations, int, 5, uFormat("[%s = 0] Number of iterations used to refine the transformation found by RANSAC. 0 means that the transformation is not refined.", kVisEstimationType().c_str()));
RTABMAP_PARAM(Vis, PnPReprojError, float, 2, uFormat("[%s = 1] PnP reprojection error.", kVisEstimationType().c_str()));
RTABMAP_PARAM(Vis, PnPFlags, int, 0, uFormat("[%s = 1] PnP flags: 0=Iterative, 1=EPNP, 2=P3P", kVisEstimationType().c_str()));
RTABMAP_PARAM(Vis, EstimationType, int, 1, "Motion estimation approach: 0:3D->3D, 1:3D->2D (PnP), 2:2D->2D (Epipolar Geometry)");
RTABMAP_PARAM(Vis, ForwardEstOnly, bool, true, "Forward estimation only (A->B). If false, a transformation is also computed in backward direction (B->A), then the two resulting transforms are merged (middle interpolation between the transforms).");
RTABMAP_PARAM(Vis, InlierDistance, float, 0.1, uFormat("[%s = 0] Maximum distance for feature correspondences. Used by 3D->3D estimation approach.", kVisEstimationType().c_str()));
RTABMAP_PARAM(Vis, RefineIterations, int, 5, uFormat("[%s = 0] Number of iterations used to refine the transformation found by RANSAC. 0 means that the transformation is not refined.", kVisEstimationType().c_str()));
RTABMAP_PARAM(Vis, PnPReprojError, float, 2, uFormat("[%s = 1] PnP reprojection error.", kVisEstimationType().c_str()));
RTABMAP_PARAM(Vis, PnPFlags, int, 0, uFormat("[%s = 1] PnP flags: 0=Iterative, 1=EPNP, 2=P3P", kVisEstimationType().c_str()));
#if defined(RTABMAP_G2O) || defined(RTABMAP_ORB_SLAM)
RTABMAP_PARAM(Vis, PnPRefineIterations, int, 0, uFormat("[%s = 1] Refine iterations. Set to 0 if \"%s\" is also used.", kVisEstimationType().c_str(), kVisBundleAdjustment().c_str()));
RTABMAP_PARAM(Vis, PnPRefineIterations, int, 0, uFormat("[%s = 1] Refine iterations. Set to 0 if \"%s\" is also used.", kVisEstimationType().c_str(), kVisBundleAdjustment().c_str()));
#else
RTABMAP_PARAM(Vis, PnPRefineIterations, int, 1, uFormat("[%s = 1] Refine iterations. Set to 0 if \"%s\" is also used.", kVisEstimationType().c_str(), kVisBundleAdjustment().c_str()));
RTABMAP_PARAM(Vis, PnPRefineIterations, int, 1, uFormat("[%s = 1] Refine iterations. Set to 0 if \"%s\" is also used.", kVisEstimationType().c_str(), kVisBundleAdjustment().c_str()));
#endif
RTABMAP_PARAM(Vis, PnPVarianceMedianRatio, int, 4, uFormat("[%s = 1] Ratio used to compute variance of the estimated transformation if 3D correspondences are provided (should be > 1). The higher it is, the smaller the covariance will be. With accurate depth estimation, this could be set to 2. For depth estimated by stereo, 4 or more maybe used to ignore large errors of very far points.", kVisEstimationType().c_str()));
RTABMAP_PARAM(Vis, PnPMaxVariance, float, 0.0, uFormat("[%s = 1] Max linear variance between 3D point correspondences after PnP. 0 means disabled.", kVisEstimationType().c_str()));
RTABMAP_PARAM(Vis, PnPSamplingPolicy, unsigned int, 1, uFormat("[%s = 1] Multi-camera random sampling policy: 0=AUTO, 1=ANY, 2=HOMOGENEOUS. With HOMOGENEOUS policy, RANSAC will be done uniformly against all cameras, so at least 2 matches per camera are required. With ANY policy, RANSAC is not constraint to sample on all cameras at the same time. AUTO policy will use HOMOGENEOUS if there are at least 2 matches per camera, otherwise it will fallback to ANY policy.", kVisEstimationType().c_str()).c_str());
RTABMAP_PARAM(Vis, PnPVarianceMedianRatio, int, 4, uFormat("[%s = 1] Ratio used to compute variance of the estimated transformation if 3D correspondences are provided (should be > 1). The higher it is, the smaller the covariance will be. With accurate depth estimation, this could be set to 2. For depth estimated by stereo, 4 or more maybe used to ignore large errors of very far points.", kVisEstimationType().c_str()));
RTABMAP_PARAM(Vis, PnPMaxVariance, float, 0.0, uFormat("[%s = 1] Max linear variance between 3D point correspondences after PnP. 0 means disabled.", kVisEstimationType().c_str()));
RTABMAP_PARAM(Vis, PnPSamplingPolicy, unsigned int, 1, uFormat("[%s = 1] Multi-camera random sampling policy: 0=AUTO, 1=ANY, 2=HOMOGENEOUS. With HOMOGENEOUS policy, RANSAC will be done uniformly against all cameras, so at least 2 matches per camera are required. With ANY policy, RANSAC is not constraint to sample on all cameras at the same time. AUTO policy will use HOMOGENEOUS if there are at least 2 matches per camera, otherwise it will fallback to ANY policy.", kVisEstimationType().c_str()).c_str());
RTABMAP_PARAM(Vis, EpipolarGeometryVar, float, 0.1, uFormat("[%s = 2] Epipolar geometry maximum variance to accept the transformation.", kVisEstimationType().c_str()));
RTABMAP_PARAM(Vis, MinInliers, int, 20, "Minimum feature correspondences to compute/accept the transformation.");
RTABMAP_PARAM(Vis, MeanInliersDistance, float, 0.0, "Maximum distance (m) of the mean distance of inliers from the camera to accept the transformation. 0 means disabled.");
RTABMAP_PARAM(Vis, MinInliersDistribution, float, 0.0, "Minimum distribution value of the inliers in the image to accept the transformation. The distribution is the second eigen value of the PCA (Principal Component Analysis) on the keypoints of the normalized image [-0.5, 0.5]. The value would be between 0 and 0.5. 0 means disabled.");
RTABMAP_PARAM(Vis, EpipolarGeometryVar, float, 0.1, uFormat("[%s = 2] Epipolar geometry maximum variance to accept the transformation.", kVisEstimationType().c_str()));
RTABMAP_PARAM(Vis, MinInliers, int, 20, "Minimum feature correspondences to compute/accept the transformation.");
RTABMAP_PARAM(Vis, MeanInliersDistance, float, 0.0, "Maximum distance (m) of the mean distance of inliers from the camera to accept the transformation. 0 means disabled.");
RTABMAP_PARAM(Vis, MinInliersDistribution, float, 0.0, "Minimum distribution value of the inliers in the image to accept the transformation. The distribution is the second eigen value of the PCA (Principal Component Analysis) on the keypoints of the normalized image [-0.5, 0.5]. The value would be between 0 and 0.5. 0 means disabled.");
RTABMAP_PARAM(Vis, Iterations, int, 300, "Maximum iterations to compute the transform.");
RTABMAP_PARAM(Vis, Iterations, int, 300, "Maximum iterations to compute the transform.");
#if CV_MAJOR_VERSION > 2 && !defined(HAVE_OPENCV_XFEATURES2D)
// OpenCV>2 without xFeatures2D module doesn't have BRIEF
RTABMAP_PARAM(Vis, FeatureType, int, 8, "0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF 7=BRISK 8=GFTT/ORB 9=KAZE 10=ORB-OCTREE 11=SuperPoint 12=SURF/FREAK 13=GFTT/DAISY 14=SURF/DAISY 15=PyDetector");
#else
RTABMAP_PARAM(Vis, FeatureType, int, 6, "0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF 7=BRISK 8=GFTT/ORB 9=KAZE 10=ORB-OCTREE 11=SuperPoint 12=SURF/FREAK 13=GFTT/DAISY 14=SURF/DAISY 15=PyDetector");
#endif
RTABMAP_PARAM(Vis, MaxFeatures, int, 1000, "0 no limits.");
RTABMAP_PARAM(Vis, MaxDepth, float, 0, "Max depth of the features (0 means no limit).");
RTABMAP_PARAM(Vis, MinDepth, float, 0, "Min depth of the features (0 means no limit).");
RTABMAP_PARAM(Vis, DepthAsMask, bool, true, "Use depth image as mask when extracting features.");
RTABMAP_PARAM_STR(Vis, RoiRatios, "0.0 0.0 0.0 0.0", "Region of interest ratios [left, right, top, bottom].");
RTABMAP_PARAM(Vis, SubPixWinSize, int, 3, "See cv::cornerSubPix().");
RTABMAP_PARAM(Vis, SubPixIterations, int, 0, "See cv::cornerSubPix(). 0 disables sub pixel refining.");
RTABMAP_PARAM(Vis, SubPixEps, float, 0.02, "See cv::cornerSubPix().");
RTABMAP_PARAM(Vis, GridRows, int, 1, uFormat("Number of rows of the grid used to extract uniformly \"%s / grid cells\" features from each cell.", kVisMaxFeatures().c_str()));
RTABMAP_PARAM(Vis, GridCols, int, 1, uFormat("Number of columns of the grid used to extract uniformly \"%s / grid cells\" features from each cell.", kVisMaxFeatures().c_str()));
RTABMAP_PARAM(Vis, CorType, int, 0, "Correspondences computation approach: 0=Features Matching, 1=Optical Flow");
RTABMAP_PARAM(Vis, CorNNType, int, 1, uFormat("[%s=0] kNNFlannNaive=0, kNNFlannKdTree=1, kNNFlannLSH=2, kNNBruteForce=3, kNNBruteForceGPU=4, BruteForceCrossCheck=5, SuperGlue=6, GMS=7. Used for features matching approach.", kVisCorType().c_str()));
RTABMAP_PARAM(Vis, CorNNDR, float, 0.8, uFormat("[%s=0] NNDR: nearest neighbor distance ratio. Used for knn features matching approach.", kVisCorType().c_str()));
RTABMAP_PARAM(Vis, CorGuessWinSize, int, 40, uFormat("[%s=0] Matching window size (pixels) around projected points when a guess transform is provided to find correspondences. 0 means disabled.", kVisCorType().c_str()));
RTABMAP_PARAM(Vis, CorGuessMatchToProjection, bool, false, uFormat("[%s=0] Match frame's corners to source's projected points (when guess transform is provided) instead of projected points to frame's corners.", kVisCorType().c_str()));
RTABMAP_PARAM(Vis, CorFlowWinSize, int, 16, uFormat("[%s=1] See cv::calcOpticalFlowPyrLK(). Used for optical flow approach.", kVisCorType().c_str()));
RTABMAP_PARAM(Vis, CorFlowIterations, int, 30, uFormat("[%s=1] See cv::calcOpticalFlowPyrLK(). Used for optical flow approach.", kVisCorType().c_str()));
RTABMAP_PARAM(Vis, CorFlowEps, float, 0.01, uFormat("[%s=1] See cv::calcOpticalFlowPyrLK(). Used for optical flow approach.", kVisCorType().c_str()));
RTABMAP_PARAM(Vis, CorFlowMaxLevel, int, 3, uFormat("[%s=1] See cv::calcOpticalFlowPyrLK(). Used for optical flow approach.", kVisCorType().c_str()));
RTABMAP_PARAM(Vis, MaxFeatures, int, 1000, "0 no limits.");
RTABMAP_PARAM(Vis, MaxDepth, float, 0, "Max depth of the features (0 means no limit).");
RTABMAP_PARAM(Vis, MinDepth, float, 0, "Min depth of the features (0 means no limit).");
RTABMAP_PARAM(Vis, DepthAsMask, bool, true, "Use depth image as mask when extracting features.");
RTABMAP_PARAM_STR(Vis, RoiRatios, "0.0 0.0 0.0 0.0", "Region of interest ratios [left, right, top, bottom].");
RTABMAP_PARAM(Vis, SubPixWinSize, int, 3, "See cv::cornerSubPix().");
RTABMAP_PARAM(Vis, SubPixIterations, int, 0, "See cv::cornerSubPix(). 0 disables sub pixel refining.");
RTABMAP_PARAM(Vis, SubPixEps, float, 0.02, "See cv::cornerSubPix().");
RTABMAP_PARAM(Vis, GridRows, int, 1, uFormat("Number of rows of the grid used to extract uniformly \"%s / grid cells\" features from each cell.", kVisMaxFeatures().c_str()));
RTABMAP_PARAM(Vis, GridCols, int, 1, uFormat("Number of columns of the grid used to extract uniformly \"%s / grid cells\" features from each cell.", kVisMaxFeatures().c_str()));
RTABMAP_PARAM(Vis, CorType, int, 0, "Correspondences computation approach: 0=Features Matching, 1=Optical Flow");
RTABMAP_PARAM(Vis, CorNNType, int, 1, uFormat("[%s=0] kNNFlannNaive=0, kNNFlannKdTree=1, kNNFlannLSH=2, kNNBruteForce=3, kNNBruteForceGPU=4, BruteForceCrossCheck=5, SuperGlue=6, GMS=7. Used for features matching approach.", kVisCorType().c_str()));
RTABMAP_PARAM(Vis, CorNNDR, float, 0.8, uFormat("[%s=0] NNDR: nearest neighbor distance ratio. Used for knn features matching approach.", kVisCorType().c_str()));
RTABMAP_PARAM(Vis, CorGuessWinSize, int, 40, uFormat("[%s=0] Matching window size (pixels) around projected points when a guess transform is provided to find correspondences. 0 means disabled.", kVisCorType().c_str()));
RTABMAP_PARAM(Vis, CorGuessMatchToProjection, bool, false, uFormat("[%s=0] Match frame's corners to source's projected points (when guess transform is provided) instead of projected points to frame's corners.", kVisCorType().c_str()));
RTABMAP_PARAM(Vis, CorFlowWinSize, int, 16, uFormat("[%s=1] See cv::calcOpticalFlowPyrLK(). Used for optical flow approach.", kVisCorType().c_str()));
RTABMAP_PARAM(Vis, CorFlowIterations, int, 30, uFormat("[%s=1] See cv::calcOpticalFlowPyrLK(). Used for optical flow approach.", kVisCorType().c_str()));
RTABMAP_PARAM(Vis, CorFlowEps, float, 0.01, uFormat("[%s=1] See cv::calcOpticalFlowPyrLK(). Used for optical flow approach.", kVisCorType().c_str()));
RTABMAP_PARAM(Vis, CorFlowMaxLevel, int, 3, uFormat("[%s=1] See cv::calcOpticalFlowPyrLK(). Used for optical flow approach.", kVisCorType().c_str()));
#if defined(RTABMAP_G2O) || defined(RTABMAP_ORB_SLAM)
RTABMAP_PARAM(Vis, BundleAdjustment, int, 1, "Optimization with bundle adjustment: 0=disabled, 1=g2o, 2=cvsba, 3=Ceres.");
RTABMAP_PARAM(Vis, BundleAdjustment, int, 1, "Optimization with bundle adjustment: 0=disabled, 1=g2o, 2=cvsba, 3=Ceres.");
#else
RTABMAP_PARAM(Vis, BundleAdjustment, int, 0, "Optimization with bundle adjustment: 0=disabled, 1=g2o, 2=cvsba, 3=Ceres.");
RTABMAP_PARAM(Vis, BundleAdjustment, int, 0, "Optimization with bundle adjustment: 0=disabled, 1=g2o, 2=cvsba, 3=Ceres.");
#endif
// Features matching approaches

1
corelib/include/rtabmap/core/odometry/OdometryOpenVINS.h
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@@ -57,6 +57,7 @@ private:
bool initGravity_;
Transform previousPoseInv_;
Transform imuLocalTransformInv_;
Eigen::Matrix<double, 6, 6> Phi_;
#endif
};