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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
Download Patch File Download Diff File Expand all files Collapse all files
CMakeLists.txt
+35 -2
View File
@@ -21,7 +21,7 @@ SET(CMAKE_MODULE_PATH "${PROJECT_SOURCE_DIR}/cmake_modules")
#######################
SET(RTABMAP_MAJOR_VERSION 0)
SET(RTABMAP_MINOR_VERSION 19)
SET(RTABMAP_PATCH_VERSION 0)
SET(RTABMAP_PATCH_VERSION 1)
SET(RTABMAP_VERSION
${RTABMAP_MAJOR_VERSION}.${RTABMAP_MINOR_VERSION}.${RTABMAP_PATCH_VERSION})
@@ -188,6 +188,7 @@ option(WITH_DVO "Include DVO support" ON)
option(WITH_ORB_SLAM2 "Include ORB_SLAM2 support" ON)
option(WITH_OKVIS "Include OKVIS support" ON)
option(WITH_MSCKF_VIO "Include MSCKF_VIO support" OFF)
option(WITH_VINS "Include VINS-Fusion support" ON)
option(PCL_OMP "With PCL OMP implementations" ON)
FIND_PACKAGE(OpenCV REQUIRED QUIET)
@@ -481,6 +482,13 @@ IF(WITH_MSCKF_VIO)
ENDIF(msckf_vio_FOUND)
ENDIF(WITH_MSCKF_VIO)
IF(WITH_VINS AND NOT okvis_FOUND)
FIND_PACKAGE(vins QUIET)
IF(vins_FOUND)
MESSAGE(STATUS "Found vins: ${vins_INCLUDE_DIRS}")
ENDIF(vins_FOUND)
ENDIF(WITH_VINS AND NOT okvis_FOUND)
IF(WITH_ORB_SLAM2 AND NOT G2O_FOUND)
FIND_PACKAGE(ORB_SLAM2 QUIET)
@@ -509,7 +517,17 @@ IF(loam_velodyne_FOUND)
message(STATUS "The compiler ${CMAKE_CXX_COMPILER} has no C++14 support. Please use a different C++ compiler if you want to use LOAM (set \"-DWITH_LOAM=OFF\" to build without LOAM).")
ENDIF()
ENDIF()
ELSEIF(G2O_FOUND OR GTSAM_FOUND OR ZED_FOUND OR ANDROID OR RealSense_FOUND OR realsense2_FOUND OR ORB_SLAM2_FOUND OR okvis_FOUND OR open_chisel_FOUND OR msckf_vio_FOUND)
ELSEIF(G2O_FOUND OR
GTSAM_FOUND OR
ZED_FOUND OR
ANDROID OR
RealSense_FOUND OR
realsense2_FOUND OR
ORB_SLAM2_FOUND OR
okvis_FOUND OR
open_chisel_FOUND OR
msckf_vio_FOUND OR
vins_FOUND)
#Newest versions require std11
IF(NOT MSVC)
include(CheckCXXCompilerFlag)
@@ -690,6 +708,11 @@ IF(NOT msckf_vio_FOUND)
ELSE()
SET(CONF_DEPENDENCIES ${CONF_DEPENDENCIES} ${msckf_vio_LIBRARIES})
ENDIF()
IF(NOT vins_FOUND)
SET(VINS "//")
ELSE()
SET(CONF_DEPENDENCIES ${CONF_DEPENDENCIES} ${vins_LIBRARIES})
ENDIF()
IF(NOT ORB_SLAM2_FOUND)
SET(ORB_SLAM2 "//")
ELSE()
@@ -1124,6 +1147,16 @@ ELSE()
MESSAGE(STATUS " With msckf_vio = NO (msckf_vio not found)")
ENDIF()
IF(vins_FOUND)
MESSAGE(STATUS " With VINS-Fusion = YES (License: GPLv3)")
ELSEIF(NOT WITH_VINS)
MESSAGE(STATUS " With VINS-Fusion = NO (WITH_VINS=OFF)")
ELSEIF(okvis_FOUND)
MESSAGE(STATUS " With VINS-Fusion = NO (WITH_OKVIS should be OFF to avoid conflicts with ceres library built by okvis)")
ELSE()
MESSAGE(STATUS " With VINS-Fusion = NO (VINS-Fusion not found)")
ENDIF()
IF(ORB_SLAM2_FOUND)
MESSAGE(STATUS " With ORB_SLAM2 = YES (License: GPLv3)")
ELSEIF(NOT WITH_ORB_SLAM2)
Version.h.in
+1
View File
@@ -65,6 +65,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
@DVO@#define RTABMAP_DVO
@OKVIS@#define RTABMAP_OKVIS
@MSCKF_VIO@#define RTABMAP_MSCKF_VIO
@VINS@#define RTABMAP_VINS
@ORB_SLAM2@#define RTABMAP_ORB_SLAM2
#endif /* VERSION_H_ */
corelib/include/rtabmap/core/Odometry.h
+2 -1
View File
@@ -52,7 +52,8 @@ public:
kTypeORBSLAM2 = 5,
kTypeOkvis = 6,
kTypeLOAM = 7,
kTypeMSCKF = 8
kTypeMSCKF = 8,
kTypeVINS = 9
};
public:
corelib/include/rtabmap/core/Parameters.h
+3
View File
@@ -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
+63
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@@ -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
+12
View File
@@ -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
+17 -9
View File
@@ -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
+481
View File
@@ -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
guilib/include/rtabmap/gui/PreferencesDialog.h
+1
View File
@@ -325,6 +325,7 @@ private Q_SLOTS:
void changeDictionaryPath();
void changeOdometryORBSLAM2Vocabulary();
void changeOdometryOKVISConfigPath();
void changeOdometryVINSConfigPath();
void changeIcpPMConfigPath();
void readSettingsEnd();
void setupTreeView();
guilib/src/MainWindow.cpp
+1 -1
View File
@@ -5049,7 +5049,7 @@ void MainWindow::startDetection()
_preferencesDialog->getSourceDriver() == PreferencesDialog::kSrcImages) &&
!_preferencesDialog->getIMUPath().isEmpty())
{
if(odomStrategy != Odometry::kTypeOkvis && odomStrategy != Odometry::kTypeMSCKF)
if(odomStrategy != Odometry::kTypeOkvis && odomStrategy != Odometry::kTypeMSCKF && odomStrategy != Odometry::kTypeVINS)
{
QMessageBox::warning(this, tr("Source IMU Path"),
tr("IMU path is set but odometry chosen doesn't support IMU, ignoring IMU..."), QMessageBox::Ok);
guilib/src/PreferencesDialog.cpp
+27 -1
View File
@@ -183,6 +183,9 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
#ifndef RTABMAP_MSCKF_VIO
_ui->odom_strategy->setItemData(8, 0, Qt::UserRole - 1);
#endif
#ifndef RTABMAP_VINS
_ui->odom_strategy->setItemData(9, 0, Qt::UserRole - 1);
#endif
#if CV_MAJOR_VERSION < 3
_ui->stereosgbm_mode->setItemData(2, 0, Qt::UserRole - 1);
@@ -1175,6 +1178,10 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_ui->OdomMSCKFInitCovExRot->setObjectName(Parameters::kOdomMSCKFInitCovExRot().c_str());
_ui->OdomMSCKFInitCovExTrans->setObjectName(Parameters::kOdomMSCKFInitCovExTrans().c_str());
// Odometry VINS
_ui->lineEdit_OdomVinsPath->setObjectName(Parameters::kOdomVINSConfigPath().c_str());
connect(_ui->toolButton_OdomVinsPath, SIGNAL(clicked()), this, SLOT(changeOdometryVINSConfigPath()));
//Stereo
_ui->stereo_winWidth->setObjectName(Parameters::kStereoWinWidth().c_str());
_ui->stereo_winHeight->setObjectName(Parameters::kStereoWinHeight().c_str());
@@ -4371,6 +4378,23 @@ void PreferencesDialog::changeOdometryOKVISConfigPath()
}
}
void PreferencesDialog::changeOdometryVINSConfigPath()
{
QString path;
if(_ui->lineEdit_OdomVinsPath->text().isEmpty())
{
path = QFileDialog::getOpenFileName(this, tr("VINS-Fusion Config"), this->getWorkingDirectory(), tr("VINS-Fusion config (*.yaml)"));
}
else
{
path = QFileDialog::getOpenFileName(this, tr("VINS-Fusion Config"), _ui->lineEdit_OdomVinsPath->text(), tr("VINS-Fusion config (*.yaml)"));
}
if(!path.isEmpty())
{
_ui->lineEdit_OdomVinsPath->setText(path);
}
}
void PreferencesDialog::changeIcpPMConfigPath()
{
QString path;
@@ -5560,7 +5584,9 @@ void PreferencesDialog::testOdometry()
this->getSourceDriver() == kSrcImages) &&
!_ui->lineEdit_cameraImages_path_imu->text().isEmpty())
{
if(this->getOdomStrategy() != Odometry::kTypeOkvis && this->getOdomStrategy() != Odometry::kTypeMSCKF)
if(this->getOdomStrategy() != Odometry::kTypeOkvis &&
this->getOdomStrategy() != Odometry::kTypeMSCKF &&
this->getOdomStrategy() != Odometry::kTypeVINS)
{
QMessageBox::warning(this, tr("Source IMU Path"),
tr("IMU path is set but odometry chosen doesn't support IMU, ignoring IMU..."), QMessageBox::Ok);
guilib/src/ui/preferencesDialog.ui
+83 -54
View File
@@ -94,25 +94,16 @@
<property name="geometry">
<rect>
<x>0</x>
<y>-516</y>
<width>680</width>
<height>3082</height>
<y>-631</y>
<width>681</width>
<height>3071</height>
</rect>
</property>
<layout class="QVBoxLayout" name="verticalLayout_16">
<property name="spacing">
<number>0</number>
</property>
<property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<property name="margin">
<number>0</number>
</property>
<item>
@@ -5173,16 +5164,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
<string>Directory of images (optional settings)</string>
</property>
<layout class="QVBoxLayout" name="verticalLayout_93">
<property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<property name="margin">
<number>0</number>
</property>
<item>
@@ -11603,6 +11585,11 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
<string>MSCKF_VIO</string>
</property>
</item>
<item>
<property name="text">
<string>VINS-Fusion</string>
</property>
</item>
</widget>
</item>
<item row="2" column="1">
@@ -11906,7 +11893,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
<item>
<widget class="QStackedWidget" name="stackedWidget_odometryType">
<property name="currentIndex">
<number>0</number>
<number>9</number>
</property>
<widget class="QWidget" name="page_52">
<layout class="QVBoxLayout" name="verticalLayout_77">
@@ -14944,6 +14931,75 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</item>
</layout>
</widget>
<widget class="QWidget" name="page_79">
<layout class="QVBoxLayout" name="verticalLayout_139">
<item>
<widget class="QGroupBox" name="groupBox_odomVINS">
<property name="title">
<string>VINS-Fusion</string>
</property>
<layout class="QVBoxLayout" name="verticalLayout_138" stretch="0,0">
<item>
<widget class="QLabel" name="label_525">
<property name="text">
<string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;VINS-Fusion: &lt;a href=&quot;https://github.com/HKUST-Aerial-Robotics/VINS-Fusion&quot;&gt;&lt;span style=&quot; text-decoration: underline; color:#0000ff;&quot;&gt;https://github.com/HKUST-Aerial-Robotics/VINS-Fusion&lt;/span&gt;&lt;/a&gt;&lt;/p&gt;&lt;p&gt;IMU input optional depending on the parameters in the config file. Currently tested only with EuRoC data set.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="openExternalLinks">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item>
<layout class="QGridLayout" name="gridLayout_107" columnstretch="0,0,1">
<item row="0" column="1">
<widget class="QLineEdit" name="lineEdit_OdomVinsPath"/>
</item>
<item row="0" column="2">
<widget class="QLabel" name="label_526">
<property name="text">
<string>Path to VINS-Fusion config file (*.yaml). While VINS-Fusion requires calibrations in the config file, they are ignored as those from received images are used instead.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="0" column="0">
<widget class="QToolButton" name="toolButton_OdomVinsPath">
<property name="text">
<string>...</string>
</property>
</widget>
</item>
</layout>
</item>
</layout>
</widget>
</item>
<item>
<spacer name="verticalSpacer_77">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>1090</height>
</size>
</property>
</spacer>
</item>
</layout>
</widget>
<widget class="QWidget" name="page_26">
<layout class="QVBoxLayout" name="verticalLayout_88">
<item>
@@ -15883,16 +15939,7 @@ Lower the ratio -&gt; higher the precision.</string>
<property name="spacing">
<number>0</number>
</property>
<property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<property name="margin">
<number>0</number>
</property>
<item>
@@ -15972,16 +16019,7 @@ Lower the ratio -&gt; higher the precision.</string>
<property name="spacing">
<number>0</number>
</property>
<property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<property name="margin">
<number>0</number>
</property>
<item>
@@ -16093,16 +16131,7 @@ Lower the ratio -&gt; higher the precision.</string>
<property name="spacing">
<number>0</number>
</property>
<property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<property name="margin">
<number>0</number>
</property>
<item>
package.xml
+1 -1
View File
@@ -1,7 +1,7 @@
<?xml version="1.0"?>
<package>
<name>rtabmap</name>
<version>0.19.0</version>
<version>0.19.1</version>
<description>RTAB-Map's standalone library. RTAB-Map is a RGB-D SLAM approach with real-time constraints.</description>
<maintainer email="[email protected]">Mathieu Labbe</maintainer>
<author>Mathieu Labbe</author>