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OpenVINS config file support (#1719)

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This commit is contained in:
matlabbe
2026-06-13 16:20:37 -07:00
committed by GitHub
parent 1dddb350b9
commit 9f464db7c9
8 changed files with 293 additions and 137 deletions
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8
corelib/src/CMakeLists.txt
View File

@@ -781,16 +781,16 @@ IF(vins_FOUND)
)
ENDIF(vins_FOUND)
IF(ov_msckf_FOUND)
IF(OpenVINS_FOUND)
SET(INCLUDE_DIRS
${ov_msckf_INCLUDE_DIRS}
${OpenVINS_INCLUDE_DIRS}
${INCLUDE_DIRS}
)
SET(LIBRARIES
${ov_msckf_LIBRARIES}
${OpenVINS_LIBRARIES}
${LIBRARIES}
)
ENDIF(ov_msckf_FOUND)
ENDIF(OpenVINS_FOUND)
IF(ORB_SLAM_FOUND)
SET(INCLUDE_DIRS

79
corelib/src/odometry/OdometryOpenVINS.cpp
View File

@@ -152,6 +152,85 @@ OdometryOpenVINS::OdometryOpenVINS(const ParametersMap & parameters) :
params_->init_options.sigma_wb = params_->imu_noises.sigma_wb;
params_->init_options.sigma_pix = params_->slam_options.sigma_pix;
params_->init_options.gravity_mag = params_->gravity_mag;
if(parameters.find(Parameters::kOdomOpenVINSConfigPath()) != parameters.end())
{
// Load the config: will override all parameters above!
std::string configPath = parameters.at(Parameters::kOdomOpenVINSConfigPath());
if(!configPath.empty())
{
if(UFile::exists(configPath))
{
UWARN("OpenVINS config file is provided (%s=\"%s\"), reading it. The parameters from the config file will overwrite OdomOpenVINS/*** parameters.",
Parameters::kOdomOpenVINSConfigPath().c_str(), configPath.c_str());
auto parser = std::make_shared<ov_core::YamlParser>(configPath);
// The sequence of loading is based on VioManagerOptions::print_and_load()
// We removed all parts about intrinsics/extrinsics, which will be loaded later
// when we receive the data (which should already include intrinsics and extrinsics).
params_->state_options.print(parser);
params_->init_options.print_and_load_initializer(parser);
params_->init_options.print_and_load_noise(parser);
parser->parse_config("gravity_mag", params_->init_options.gravity_mag);
parser->parse_config("max_cameras", params_->init_options.num_cameras);
parser->parse_config("use_stereo", params_->init_options.use_stereo);
parser->parse_config("downsample_cameras", params_->init_options.downsample_cameras);
parser->parse_config("dt_slam_delay", params_->dt_slam_delay);
parser->parse_config("try_zupt", params_->try_zupt);
parser->parse_config("zupt_max_velocity",params_-> zupt_max_velocity);
parser->parse_config("zupt_noise_multiplier", params_->zupt_noise_multiplier);
parser->parse_config("zupt_max_disparity", params_->zupt_max_disparity);
parser->parse_config("zupt_only_at_beginning", params_->zupt_only_at_beginning);
parser->parse_config("record_timing_information", params_->record_timing_information);
parser->parse_config("record_timing_filepath", params_->record_timing_filepath);
params_->print_and_load_trackers(parser);
params_->print_and_load_noise(parser);
if(params_->state_options.num_cameras > 2)
{
UFATAL("OpenVINS integration in RTAB-Map doesn't support more than 2 cameras (num_cameras=%d).", params_->state_options.num_cameras);
}
parser->parse_config("gravity_mag", params_->gravity_mag);
parser->parse_config("use_mask", params_->use_mask);
params_->masks.clear();
if (params_->use_mask) {
for (int i = 0; i < params_->state_options.num_cameras; i++) {
std::string mask_path;
std::string mask_node = "mask" + std::to_string(i);
parser->parse_config(mask_node, mask_path);
std::string total_mask_path = parser->get_config_folder() + mask_path;
if (!boost::filesystem::exists(total_mask_path)) {
PRINT_ERROR(RED "VioManager(): invalid mask path:\n" RESET);
PRINT_ERROR(RED "\t- mask%d - %s\n" RESET, i, total_mask_path.c_str());
std::exit(EXIT_FAILURE);
}
params_->masks.emplace(i, cv::imread(total_mask_path, cv::IMREAD_GRAYSCALE));
}
}
if (!parser->successful()) {
UWARN("Not all expected OpenVINS parameters were read successfully "
"from \"%s\". Values from RTAB-Map's OpenOpenVINS/* parameters "
"will be used instead for the missing ones.",
configPath.c_str());
}
else {
UINFO("OpenVINS config file(%s=\"%s\") read.",
Parameters::kOdomOpenVINSConfigPath().c_str(), configPath.c_str());
}
}
else
{
UERROR("OpenVINS config file is provided (%s=\"%s\") but it doesn't exist!",
Parameters::kOdomOpenVINSConfigPath().c_str(), configPath.c_str());
}
}
}
#endif
}