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VINS Fusion overhaul (#1580)

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* Updated correct focal length used by VINS, updated VINS visualization.

* Renamed OdometryVINS to OdometryVINSFusion
This commit is contained in:
matlabbe
2025-09-14 19:29:28 -07:00
committed by GitHub
parent 6a435c968f
commit cb0cc9ed18
15 changed files with 245 additions and 211 deletions
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corelib/include/rtabmap/core/Odometry.h
+1 -1
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@@ -53,7 +53,7 @@ public:
kTypeOkvis = 6,
kTypeLOAM = 7,
kTypeMSCKF = 8,
kTypeVINS = 9,
kTypeVINSFusion = 9,
kTypeOpenVINS = 10,
kTypeFLOAM = 11,
kTypeOpen3D = 12
corelib/include/rtabmap/core/Parameters.h
+2 -2
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@@ -606,8 +606,8 @@ class RTABMAP_CORE_EXPORT 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.");
// Odometry VINS-Fusion
RTABMAP_PARAM_STR(OdomVINSFusion, ConfigPath, "", "Path of VINS-Fusion config file.");
// Odometry OpenVINS
RTABMAP_PARAM(OdomOpenVINS, UseStereo, bool, true, "If we have more than 1 camera, if we should try to track stereo constraints between pairs");
corelib/include/rtabmap/core/odometry/OdometryVINS.h
+3 -35
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@@ -25,39 +25,7 @@ ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
#ifndef ODOMETRYVINS_H_
#define ODOMETRYVINS_H_
#pragma once
#pragma message("Warning: OdometryVINS.h is deprecated. Please use OdometryVINSFusion.h instead.")
#include <rtabmap/core/Odometry.h>
namespace rtabmap {
class VinsEstimator;
class RTABMAP_CORE_EXPORT 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;}
virtual bool canProcessAsyncIMU() const {return true;}
private:
virtual Transform computeTransform(SensorData & image, const Transform & guess = Transform(), OdometryInfo * info = 0);
private:
#ifdef RTABMAP_VINS
VinsEstimator * vinsEstimator_;
bool initGravity_;
Transform previousPose_;
Transform previousLocalTransform_;
IMU lastImu_;
#endif
};
}
#endif /* ODOMETRYVINS_H_ */
#include "rtabmap/core/odometry/OdometryVINSFusion.h"
corelib/include/rtabmap/core/odometry/OdometryVINSFusion.h
+64
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@@ -0,0 +1,64 @@
/*
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 ODOMETRYVINSFUSION_H_
#define ODOMETRYVINSFUSION_H_
#include <rtabmap/core/Odometry.h>
namespace rtabmap {
class VinsFusionEstimator;
class RTABMAP_CORE_EXPORT OdometryVINSFusion : public Odometry
{
public:
OdometryVINSFusion(const rtabmap::ParametersMap & parameters = rtabmap::ParametersMap());
virtual ~OdometryVINSFusion();
virtual void reset(const Transform & initialPose = Transform::getIdentity());
virtual Odometry::Type getType() {return Odometry::kTypeVINSFusion;}
virtual bool canProcessRawImages() const {return true;}
virtual bool canProcessAsyncIMU() const {return true;}
private:
virtual Transform computeTransform(SensorData & image, const Transform & guess = Transform(), OdometryInfo * info = 0);
private:
#ifdef RTABMAP_VINS_FUSION
VinsFusionEstimator * vinsEstimator_;
bool initGravity_;
Transform previousPose_;
Transform previousLocalTransform_;
IMU lastImu_;
double lastImuStamp_;
#endif
};
}
#endif /* ODOMETRYVINSFUSION_H_ */