0.19.1: Added OdometryVINS (VINS-Fusion integration, Odom/Strategy=9)

corelib/include/rtabmap/core/Odometry.h

@@ -52,7 +52,8 @@ public:
 		kTypeORBSLAM2 = 5,
 		kTypeOkvis = 6,
 		kTypeLOAM = 7,
-		kTypeMSCKF = 8
+		kTypeMSCKF = 8,
+		kTypeVINS = 9
 	};
 
 public:

corelib/include/rtabmap/core/Parameters.h

@@ -537,6 +537,9 @@ class RTABMAP_EXP Parameters
     RTABMAP_PARAM(OdomMSCKF, InitCovExTrans,  double,  0.000025,  "");
     RTABMAP_PARAM(OdomMSCKF, MaxCamStateSize,  int,  20,  "");
 
+    // Odometry VINS
+    RTABMAP_PARAM_STR(OdomVINS, ConfigPath,     "",  "Path of VINS 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");

corelib/include/rtabmap/core/odometry/OdometryVINS.h

@@ -0,0 +1,63 @@
+/*
+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 ODOMETRYVINS_H_
+#define ODOMETRYVINS_H_
+
+#include <rtabmap/core/Odometry.h>
+
+namespace rtabmap {
+
+class VinsEstimator;
+
+class RTABMAP_EXP OdometryVINS : public Odometry
+{
+public:
+	OdometryVINS(const rtabmap::ParametersMap & parameters = rtabmap::ParametersMap());
+	virtual ~OdometryVINS();
+
+	virtual void reset(const Transform & initialPose = Transform::getIdentity());
+	virtual Odometry::Type getType() {return Odometry::kTypeVINS;}
+	virtual bool canProcessRawImages() const {return true;}
+
+private:
+	virtual Transform computeTransform(SensorData & image, const Transform & guess = Transform(), OdometryInfo * info = 0);
+
+private:
+#ifdef RTABMAP_VINS
+	VinsEstimator * vinsEstimator_;
+	int imagesProcessed_;
+	bool initGravity_;
+	Transform previousPose_;
+	Transform previousLocalTransform_;
+	IMU lastImu_;
+#endif
+};
+
+}
+
+#endif /* ODOMETRYVINS_H_ */

corelib/src/CMakeLists.txt

@@ -85,6 +85,7 @@ SET(SRC_FILES
 	odometry/OdometryORBSLAM2.cpp
 	odometry/OdometryLOAM.cpp
 	odometry/OdometryMSCKF.cpp
+	odometry/OdometryVINS.cpp
 	
 	IMUThread.cpp
 	
@@ -431,6 +432,17 @@ IF(msckf_vio_FOUND)
 	)
 ENDIF(msckf_vio_FOUND)
 
+IF(vins_FOUND)
+    SET(INCLUDE_DIRS
+		${vins_INCLUDE_DIRS}
+		${INCLUDE_DIRS}
+	)
+	SET(LIBRARIES
+		${vins_LIBRARIES}
+		${LIBRARIES}
+	)
+ENDIF(vins_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

corelib/src/Odometry.cpp

@@ -35,6 +35,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include "rtabmap/core/odometry/OdometryORBSLAM2.h"
 #include "rtabmap/core/odometry/OdometryLOAM.h"
 #include "rtabmap/core/odometry/OdometryMSCKF.h"
+#include "rtabmap/core/odometry/OdometryVINS.h"
 #include "rtabmap/core/OdometryInfo.h"
 #include "rtabmap/core/util3d.h"
 #include "rtabmap/core/util3d_mapping.h"
@@ -64,20 +65,23 @@ Odometry * Odometry::create(Odometry::Type & type, const ParametersMap & paramet
 	Odometry * odometry = 0;
 	switch(type)
 	{
-	case Odometry::kTypeORBSLAM2:
-		odometry = new OdometryORBSLAM2(parameters);
+	case Odometry::kTypeF2M:
+		odometry = new OdometryF2M(parameters);
 		break;
-	case Odometry::kTypeDVO:
-		odometry = new OdometryDVO(parameters);
-		break;
-	case Odometry::kTypeViso2:
-		odometry = new OdometryViso2(parameters);
+	case Odometry::kTypeF2F:
+		odometry = new OdometryF2F(parameters);
 		break;
 	case Odometry::kTypeFovis:
 		odometry = new OdometryFovis(parameters);
 		break;
-	case Odometry::kTypeF2F:
-		odometry = new OdometryF2F(parameters);
+	case Odometry::kTypeViso2:
+		odometry = new OdometryViso2(parameters);
+		break;
+	case Odometry::kTypeDVO:
+		odometry = new OdometryDVO(parameters);
+		break;
+	case Odometry::kTypeORBSLAM2:
+		odometry = new OdometryORBSLAM2(parameters);
 		break;
 	case Odometry::kTypeOkvis:
 		odometry = new OdometryOkvis(parameters);
@@ -88,7 +92,11 @@ Odometry * Odometry::create(Odometry::Type & type, const ParametersMap & paramet
 	case Odometry::kTypeMSCKF:
 		odometry = new OdometryMSCKF(parameters);
 		break;
+	case Odometry::kTypeVINS:
+		odometry = new OdometryVINS(parameters);
+		break;
 	default:
+		UERROR("Unknown odometry type %d, using F2M instead...", (int)type);
 		odometry = new OdometryF2M(parameters);
 		type = Odometry::kTypeF2M;
 		break;

corelib/src/odometry/OdometryVINS.cpp

@@ -0,0 +1,481 @@
+/*
+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/odometry/OdometryVINS.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"
+#include "rtabmap/utilite/UDirectory.h"
+#include <opencv2/imgproc/types_c.h>
+
+#ifdef RTABMAP_VINS
+#include <estimator/estimator.h>
+#include <estimator/parameters.h>
+#include <camodocal/camera_models/PinholeCamera.h>
+#include <camodocal/camera_models/EquidistantCamera.h>
+#include <utility/visualization.h>
+#endif
+
+namespace rtabmap {
+
+#ifdef RTABMAP_VINS
+class VinsEstimator: public Estimator
+{
+public:
+	VinsEstimator(
+			const Transform & imuLocalTransform,
+			const StereoCameraModel & model,
+			bool rectified) : Estimator()
+	{
+		MULTIPLE_THREAD = 0;
+		setParameter();
+
+		//overwrite camera calibration only if received model is radtan, otherwise use config
+		UASSERT(NUM_OF_CAM >= 1 && NUM_OF_CAM <=2);
+
+		if( (NUM_OF_CAM == 2 && model.left().D_raw().cols == 4 && model.right().D_raw().cols == 4) ||
+			(NUM_OF_CAM == 1 && model.left().D_raw().cols == 4))
+		{
+			UWARN("Overwriting VINS camera calibration config with received pinhole model... rectified=%d", rectified?1:0);
+			featureTracker.m_camera.clear();
+
+			camodocal::PinholeCameraPtr camera( new camodocal::PinholeCamera );
+			camodocal::PinholeCamera::Parameters params(
+					model.name(),
+					model.left().imageWidth(), model.left().imageHeight(),
+					rectified?0:model.left().D_raw().at<double>(0,0),
+					rectified?0:model.left().D_raw().at<double>(0,1),
+					rectified?0:model.left().D_raw().at<double>(0,2),
+					rectified?0:model.left().D_raw().at<double>(0,3),
+					rectified?model.left().fx():model.left().K_raw().at<double>(0,0),
+					rectified?model.left().fy():model.left().K_raw().at<double>(1,1),
+					rectified?model.left().cx():model.left().K_raw().at<double>(0,2),
+					rectified?model.left().cy():model.left().K_raw().at<double>(1,2));
+			camera->setParameters(params);
+			featureTracker.m_camera.push_back(camera);
+
+			if(NUM_OF_CAM == 2)
+			{
+				camodocal::PinholeCameraPtr camera( new camodocal::PinholeCamera );
+				camodocal::PinholeCamera::Parameters params(
+						model.name(),
+						model.right().imageWidth(), model.right().imageHeight(),
+						rectified?0:model.right().D_raw().at<double>(0,0),
+						rectified?0:model.right().D_raw().at<double>(0,1),
+						rectified?0:model.right().D_raw().at<double>(0,2),
+						rectified?0:model.right().D_raw().at<double>(0,3),
+						rectified?model.right().fx():model.right().K_raw().at<double>(0,0),
+						rectified?model.right().fy():model.right().K_raw().at<double>(1,1),
+						rectified?model.right().cx():model.right().K_raw().at<double>(0,2),
+						rectified?model.right().cy():model.right().K_raw().at<double>(1,2));
+				camera->setParameters(params);
+				featureTracker.m_camera.push_back(camera);
+			}
+		}
+		else if(rectified)
+		{
+			UWARN("Images are rectified but received calibration cannot be "
+					"used, make sure calibration in config file doesn't have "
+					"distortion or send raw images to VINS odometry.");
+		}
+
+		Transform imuCam0 = imuLocalTransform.inverse() * model.localTransform();
+
+		tic[0] = Vector3d(imuCam0.x(), imuCam0.y(), imuCam0.z());
+		ric[0] = imuCam0.toEigen4d().block<3,3>(0,0);
+
+		if(NUM_OF_CAM == 2)
+		{
+			Transform cam0cam1;
+			if(rectified)
+			{
+				cam0cam1 = Transform(
+						1, 0, 0, model.baseline(),
+						0, 1, 0, 0,
+						0, 0, 1, 0);
+			}
+			else
+			{
+				cam0cam1 = model.stereoTransform();
+			}
+			UASSERT(!cam0cam1.isNull());
+			Transform imuCam1 = imuCam0 * cam0cam1;
+
+			tic[1] = Vector3d(imuCam1.x(), imuCam1.y(), imuCam1.z());
+			ric[1] = imuCam1.toEigen4d().block<3,3>(0,0);
+		}
+
+		for (int i = 0; i < NUM_OF_CAM; i++)
+		{
+			cout << " exitrinsic cam " << i << endl  << ric[i] << endl << tic[i].transpose() << endl;
+		}
+		f_manager.setRic(ric);
+		ProjectionTwoFrameOneCamFactor::sqrt_info = FOCAL_LENGTH / 1.5 * Matrix2d::Identity();
+		ProjectionTwoFrameTwoCamFactor::sqrt_info = FOCAL_LENGTH / 1.5 * Matrix2d::Identity();
+		ProjectionOneFrameTwoCamFactor::sqrt_info = FOCAL_LENGTH / 1.5 * Matrix2d::Identity();
+		td = TD;
+		g = G;
+		cout << "set g " << g.transpose() << endl;
+	}
+
+	// Copy of original inputImage() so that overridden processMeasurements() is used and threading is disabled.
+	void inputImage(double t, const cv::Mat &_img, const cv::Mat &_img1)
+	{
+	    inputImageCnt++;
+	    map<int, vector<pair<int, Eigen::Matrix<double, 7, 1>>>> featureFrame;
+	    TicToc featureTrackerTime;
+	    if(_img1.empty())
+	        featureFrame = featureTracker.trackImage(t, _img);
+	    else
+	        featureFrame = featureTracker.trackImage(t, _img, _img1);
+	    //printf("featureTracker time: %f\n", featureTrackerTime.toc());
+
+	    //if(MULTIPLE_THREAD)
+	    //{
+	    //    if(inputImageCnt % 2 == 0)
+	    //    {
+	    //        mBuf.lock();
+	    //        featureBuf.push(make_pair(t, featureFrame));
+	    //        mBuf.unlock();
+	    //    }
+	    //}
+	    //else
+	    {
+	        mBuf.lock();
+	        featureBuf.push(make_pair(t, featureFrame));
+	        mBuf.unlock();
+	        TicToc processTime;
+	        processMeasurements();
+	        printf("process time: %f\n", processTime.toc());
+	    }
+
+	}
+
+	// Copy of original inputIMU() but with publisher commented
+	void inputIMU(double t, const Vector3d &linearAcceleration, const Vector3d &angularVelocity)
+	{
+		mBuf.lock();
+		accBuf.push(make_pair(t, linearAcceleration));
+		gyrBuf.push(make_pair(t, angularVelocity));
+		//printf("input imu with time %f \n", t);
+		mBuf.unlock();
+
+		fastPredictIMU(t, linearAcceleration, angularVelocity);
+		//if (solver_flag == NON_LINEAR)
+		//	pubLatestOdometry(latest_P, latest_Q, latest_V, t);
+	}
+
+	// Copy of original processMeasurements() but with publishers commented and threading disabled
+	void processMeasurements()
+	{
+		//while (1)
+		{
+			//printf("process measurments\n");
+			pair<double, map<int, vector<pair<int, Eigen::Matrix<double, 7, 1> > > > > feature;
+			vector<pair<double, Eigen::Vector3d>> accVector, gyrVector;
+			if(!featureBuf.empty())
+			{
+				feature = featureBuf.front();
+				curTime = feature.first + td;
+				//while(1)
+				//{
+					if (!((!USE_IMU  || IMUAvailable(feature.first + td))))
+					//if ((!USE_IMU  || IMUAvailable(feature.first + td)))
+					//	break;
+					//else
+					{
+						printf("wait for imu ... \n");
+						//if (! MULTIPLE_THREAD)
+							return;
+						//std::chrono::milliseconds dura(5);
+						//std::this_thread::sleep_for(dura);
+					}
+				//}
+				mBuf.lock();
+				if(USE_IMU)
+					getIMUInterval(prevTime, curTime, accVector, gyrVector);
+
+				featureBuf.pop();
+				mBuf.unlock();
+
+				if(USE_IMU)
+				{
+					if(!initFirstPoseFlag)
+						initFirstIMUPose(accVector);
+					UDEBUG("accVector.size() = %d", accVector.size());
+					for(size_t i = 0; i < accVector.size(); i++)
+					{
+						double dt;
+						if(i == 0)
+							dt = accVector[i].first - prevTime;
+						else if (i == accVector.size() - 1)
+							dt = curTime - accVector[i - 1].first;
+						else
+							dt = accVector[i].first - accVector[i - 1].first;
+						processIMU(accVector[i].first, dt, accVector[i].second, gyrVector[i].second);
+					}
+				}
+
+				processImage(feature.second, feature.first);
+
+				prevTime = curTime;
+
+				printStatistics(*this, 0);
+
+				//std_msgs::Header header;
+				//header.frame_id = "world";
+				//header.stamp = ros::Time(feature.first);
+
+				//pubOdometry(*this, header);
+				//pubKeyPoses(*this, header);
+				//pubCameraPose(*this, header);
+				//pubPointCloud(*this, header);
+				//pubKeyframe(*this);
+				//pubTF(*this, header);
+			}
+
+			//if (! MULTIPLE_THREAD)
+			//	break;
+
+			//std::chrono::milliseconds dura(2);
+			//std::this_thread::sleep_for(dura);
+		}
+	}
+};
+#endif
+
+OdometryVINS::OdometryVINS(const ParametersMap & parameters) :
+	Odometry(parameters)
+#ifdef RTABMAP_VINS
+    ,
+	vinsEstimator_(0),
+	imagesProcessed_(0),
+	initGravity_(false),
+	previousPose_(Transform::getIdentity())
+#endif
+{
+#ifdef RTABMAP_VINS
+	// intialize
+	std::string configFilename;
+	Parameters::parse(parameters, Parameters::kOdomVINSConfigPath(), configFilename);
+	if(configFilename.empty())
+	{
+		UERROR("VINS config file is empty (%s=%s)!",
+				Parameters::kOdomVINSConfigPath().c_str(),
+				Parameters::kOdomVINSConfigPath().c_str());
+	}
+	else
+	{
+		readParameters(uReplaceChar(configFilename, '~', UDirectory::homeDir()));
+	}
+#endif
+}
+
+OdometryVINS::~OdometryVINS()
+{
+#ifdef RTABMAP_VINS
+	delete vinsEstimator_;
+#endif
+}
+
+void OdometryVINS::reset(const Transform & initialPose)
+{
+	Odometry::reset(initialPose);
+#ifdef RTABMAP_VINS
+	if(!initGravity_)
+	{
+		delete vinsEstimator_;
+		vinsEstimator_ = 0;
+		previousPose_.setIdentity();
+		lastImu_ = IMU();
+		previousLocalTransform_.setNull();
+	}
+	initGravity_ = false;
+#endif
+}
+
+// return not null transform if odometry is correctly computed
+Transform OdometryVINS::computeTransform(
+		SensorData & data,
+		const Transform & guess,
+		OdometryInfo * info)
+{
+	Transform t;
+#ifdef RTABMAP_VINS
+	UTimer timer;
+
+	if(USE_IMU!=0 && !data.imu().empty())
+	{
+		double t = data.stamp();
+		double dx = data.imu().linearAcceleration().val[0];
+		double dy = data.imu().linearAcceleration().val[1];
+		double dz = data.imu().linearAcceleration().val[2];
+		double rx = data.imu().angularVelocity().val[0];
+		double ry = data.imu().angularVelocity().val[1];
+		double rz = data.imu().angularVelocity().val[2];
+		Vector3d acc(dx, dy, dz);
+		Vector3d gyr(rx, ry, rz);
+
+		if(vinsEstimator_ != 0)
+		{
+			vinsEstimator_->inputIMU(t, acc, gyr);
+		}
+		else
+		{
+			lastImu_ = data.imu();
+			UWARN("Waiting an image for initialization...");
+		}
+	}
+
+	if(!data.imageRaw().empty() && !data.rightRaw().empty())
+	{
+		if(USE_IMU==1 && lastImu_.localTransform().isNull())
+		{
+			UWARN("Waiting IMU for initialization...");
+			return t;
+		}
+		if(vinsEstimator_ == 0)
+		{
+			// intialize
+			vinsEstimator_ = new VinsEstimator(
+					lastImu_.localTransform().isNull()?Transform::getIdentity():lastImu_.localTransform(),
+					data.stereoCameraModel(),
+					this->imagesAlreadyRectified());
+		}
+
+		UDEBUG("Image update stamp=%f", data.stamp());
+		cv::Mat left;
+		cv::Mat right;
+		if(data.imageRaw().type() == CV_8UC3)
+		{
+			cv::cvtColor(data.imageRaw(), left, CV_BGR2GRAY);
+		}
+		else if(data.imageRaw().type() == CV_8UC1)
+		{
+			left = data.imageRaw().clone();
+		}
+		else
+		{
+			UFATAL("Not supported color type!");
+		}
+		if(data.rightRaw().type() == CV_8UC3)
+		{
+			cv::cvtColor(data.rightRaw(), right, CV_BGR2GRAY);
+		}
+		else if(data.rightRaw().type() == CV_8UC1)
+		{
+			right = data.rightRaw().clone();
+		}
+		else
+		{
+			UFATAL("Not supported color type!");
+		}
+
+		vinsEstimator_->inputImage(data.stamp(), left, right);
+
+		if(vinsEstimator_->solver_flag == Estimator::NON_LINEAR)
+		{
+			Quaterniond tmp_Q;
+			tmp_Q = Quaterniond(vinsEstimator_->Rs[WINDOW_SIZE]);
+			Transform p(
+					vinsEstimator_->Ps[WINDOW_SIZE].x(),
+					vinsEstimator_->Ps[WINDOW_SIZE].y(),
+					vinsEstimator_->Ps[WINDOW_SIZE].z(),
+					tmp_Q.x(),
+					tmp_Q.y(),
+					tmp_Q.z(),
+					tmp_Q.w());
+
+			if(!p.isNull())
+			{
+				if(!lastImu_.localTransform().isNull())
+				{
+					p = p * lastImu_.localTransform();
+				}
+
+				if(this->getPose().rotation().isIdentity())
+				{
+					initGravity_ = true;
+					this->reset(this->getPose()*p.rotation());
+				}
+
+				if(previousPose_.isIdentity())
+				{
+					previousPose_ = p;
+				}
+
+				// make it incremental
+				Transform previousPoseInv = previousPose_.inverse();
+				t = previousPoseInv*p;
+				previousPose_ = p;
+
+				if(info)
+				{
+					info->reg.covariance = cv::Mat::eye(6,6, CV_64FC1);
+					info->reg.covariance *= this->framesProcessed() == 0?9999:0.0001;
+
+					// feature map
+					Transform fixT = this->getPose()*previousPoseInv;
+					for (auto &it_per_id : vinsEstimator_->f_manager.feature)
+					{
+						int used_num;
+						used_num = it_per_id.feature_per_frame.size();
+						if (!(used_num >= 2 && it_per_id.start_frame < WINDOW_SIZE - 2))
+							continue;
+						if (it_per_id.start_frame > WINDOW_SIZE * 3.0 / 4.0 || it_per_id.solve_flag != 1)
+							continue;
+						int imu_i = it_per_id.start_frame;
+						Vector3d pts_i = it_per_id.feature_per_frame[0].point * it_per_id.estimated_depth;
+						Vector3d w_pts_i = vinsEstimator_->Rs[imu_i] * (vinsEstimator_->ric[0] * pts_i + vinsEstimator_->tic[0]) + vinsEstimator_->Ps[imu_i];
+
+						cv::Point3f p;
+						p.x = w_pts_i(0);
+						p.y = w_pts_i(1);
+						p.z = w_pts_i(2);
+						p = util3d::transformPoint(p, fixT);
+						info->localMap.insert(std::make_pair(it_per_id.feature_id, p));
+					}
+					info->localMapSize = info->localMap.size();
+				}
+				UINFO("Odom update time = %fs p=%s", timer.elapsed(), p.prettyPrint().c_str());
+			}
+		}
+		else
+		{
+			UWARN("VINS not yet initialized... waiting to get enough IMU messages");
+		}
+	}
+#else
+	UERROR("RTAB-Map is not built with VINS support! Select another visual odometry approach.");
+#endif
+	return t;
+}
+
+} // namespace rtabmap