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

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This commit is contained in:
matlabbe
2019-03-18 20:45:34 -04:00
parent 9c1c88d35e
commit c0a7c3a344
13 changed files with 727 additions and 69 deletions
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12
corelib/src/CMakeLists.txt
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@@ -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

26
corelib/src/Odometry.cpp
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@@ -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;

481
corelib/src/odometry/OdometryVINS.cpp Normal file
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@@ -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