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Integration of viso2 odometry approach.

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matlabbe
2017-05-30 14:03:46 -04:00
parent 4ffbc0fb58
commit f6e21bd6c8
13 changed files with 406 additions and 14 deletions
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12
corelib/src/CMakeLists.txt
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@@ -61,6 +61,7 @@ SET(SRC_FILES
OdometryMono.cpp
OdometryF2F.cpp
OdometryFovis.cpp
OdometryViso2.cpp
Stereo.cpp
StereoDense.cpp
@@ -287,6 +288,17 @@ IF(libfovis_FOUND)
)
ENDIF(libfovis_FOUND)
IF(libviso2_FOUND)
SET(INCLUDE_DIRS
${INCLUDE_DIRS}
${libviso2_INCLUDE_DIRS}
)
SET(LIBRARIES
${LIBRARIES}
${libviso2_LIBRARIES}
)
ENDIF(libviso2_FOUND)
####################################
# Generate resources files
####################################

4
corelib/src/Odometry.cpp
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@@ -29,6 +29,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include "rtabmap/core/Odometry.h"
#include "rtabmap/core/OdometryF2F.h"
#include "rtabmap/core/OdometryFovis.h"
#include "rtabmap/core/OdometryViso2.h"
#include "rtabmap/core/OdometryInfo.h"
#include "rtabmap/core/util3d.h"
#include "rtabmap/core/util3d_mapping.h"
@@ -57,6 +58,9 @@ Odometry * Odometry::create(Odometry::Type & type, const ParametersMap & paramet
Odometry * odometry = 0;
switch(type)
{
case Odometry::kTypeViso2:
odometry = new OdometryViso2(parameters);
break;
case Odometry::kTypeFovis:
odometry = new OdometryFovis(parameters);
break;

270
corelib/src/OdometryViso2.cpp Normal file
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@@ -0,0 +1,270 @@
/*
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/OdometryViso2.h"
#include "rtabmap/core/OdometryInfo.h"
#include "rtabmap/core/util2d.h"
#include "rtabmap/core/Version.h"
#include "rtabmap/utilite/ULogger.h"
#include "rtabmap/utilite/UTimer.h"
#include "rtabmap/utilite/UStl.h"
#ifdef RTABMAP_VISO2
#include <viso_stereo.h>
double computeFeatureFlow(const std::vector<Matcher::p_match>& matches)
{
double total_flow = 0.0;
for (size_t i = 0; i < matches.size(); ++i)
{
double x_diff = matches[i].u1c - matches[i].u1p;
double y_diff = matches[i].v1c - matches[i].v1p;
total_flow += sqrt(x_diff * x_diff + y_diff * y_diff);
}
return total_flow / matches.size();
}
#endif
namespace rtabmap {
OdometryViso2::OdometryViso2(const ParametersMap & parameters) :
Odometry(parameters),
viso2_(0),
ref_frame_change_method_(0),
ref_frame_inlier_threshold_(Parameters::defaultOdomVisKeyFrameThr()),
ref_frame_motion_threshold_(5.0),
lost_(false),
keep_reference_frame_(false),
reference_motion_(Transform::getIdentity())
{
Parameters::parse(parameters, Parameters::kOdomVisKeyFrameThr(), ref_frame_inlier_threshold_);
}
OdometryViso2::~OdometryViso2()
{
#ifdef RTABMAP_VISO2
if(viso2_)
{
delete viso2_;
}
#endif
}
void OdometryViso2::reset(const Transform & initialPose)
{
Odometry::reset(initialPose);
#ifdef RTABMAP_VISO2
if(viso2_)
{
delete viso2_;
viso2_ = 0;
}
lost_ = false;
reference_motion_.setIdentity();
#endif
}
// return not null transform if odometry is correctly computed
Transform OdometryViso2::computeTransform(
SensorData & data,
const Transform & guess,
OdometryInfo * info)
{
Transform t;
#ifdef RTABMAP_VISO2
//based on https://github.com/srv/viso2/blob/indigo/viso2_ros/src/stereo_odometer.cpp
UTimer timer;
if(!data.depthRaw().empty())
{
UERROR("viso2 odometry doesn't support RGB-D data, only stereo. Aborting odometry update...");
return t;
}
if(data.imageRaw().empty() ||
data.imageRaw().rows != data.rightRaw().rows ||
data.imageRaw().cols != data.rightRaw().cols)
{
UERROR("Not compatible left (%dx%d) or right (%dx%d) image.",
data.imageRaw().rows,
data.imageRaw().cols,
data.rightRaw().rows,
data.rightRaw().cols);
return t;
}
if(!(data.stereoCameraModel().isValidForProjection() &&
data.stereoCameraModel().left().isValidForReprojection() &&
data.stereoCameraModel().right().isValidForReprojection()))
{
UERROR("Invalid stereo camera model!");
return t;
}
cv::Mat leftGray;
if(data.imageRaw().type() == CV_8UC3)
{
cv::cvtColor(data.imageRaw(), leftGray, CV_BGR2GRAY);
}
else if(data.imageRaw().type() == CV_8UC1)
{
leftGray = data.imageRaw();
}
else
{
UFATAL("Not supported color type!");
}
cv::Mat rightGray;
if(data.rightRaw().type() == CV_8UC3)
{
cv::cvtColor(data.rightRaw(), rightGray, CV_BGR2GRAY);
}
else if(data.rightRaw().type() == CV_8UC1)
{
rightGray = data.rightRaw();
}
else
{
UFATAL("Not supported color type!");
}
int32_t dims[] = {leftGray.cols, leftGray.rows, leftGray.cols};
cv::Mat covariance;
if(viso2_ == 0)
{
VisualOdometryStereo::parameters params;
params.base = data.stereoCameraModel().baseline();
params.calib.cu = data.stereoCameraModel().left().cx();
params.calib.cv = data.stereoCameraModel().left().cy();
params.calib.f = data.stereoCameraModel().left().fx();
viso2_ = new VisualOdometryStereo(params);
viso2_->process(leftGray.data, rightGray.data, dims);
t.setIdentity();
covariance = cv::Mat::eye(6,6, CV_64FC1)*9999.0;
}
else
{
bool success = viso2_->process(leftGray.data, rightGray.data, dims, lost_ || keep_reference_frame_);
if (success)
{
Matrix motionViso = Matrix::inv(viso2_->getMotion());
Transform motion(motionViso.val[0][0], motionViso.val[0][1], motionViso.val[0][2],motionViso.val[0][3],
motionViso.val[1][0], motionViso.val[1][1], motionViso.val[1][2],motionViso.val[1][3],
motionViso.val[2][0], motionViso.val[2][1], motionViso.val[2][2], motionViso.val[2][3]);
Transform camera_motion;
if(lost_ || keep_reference_frame_)
{
camera_motion = reference_motion_.inverse() * motion;
}
else
{
camera_motion = motion;
}
reference_motion_ = motion; // store last motion as reference
t=camera_motion;
//based on values set in viso2_ros
covariance = cv::Mat::eye(6,6, CV_64FC1);
covariance.at<double>(0,0) = 0.002;
covariance.at<double>(1,1) = 0.002;
covariance.at<double>(2,2) = 0.05;
covariance.at<double>(3,3) = 0.09;
covariance.at<double>(4,4) = 0.09;
covariance.at<double>(5,5) = 0.09;
lost_=false;
}
else
{
covariance = cv::Mat::eye(6,6, CV_64FC1)*9999.0;
lost_ = true;
}
if(success)
{
// Proceed depending on the reference frame change method
if(ref_frame_change_method_==1)
{
// calculate current feature flow
double feature_flow = computeFeatureFlow(viso2_->getMatches());
keep_reference_frame_ = (feature_flow < ref_frame_motion_threshold_);
}
else
{
keep_reference_frame_ = ref_frame_inlier_threshold_==0 || viso2_->getNumberOfInliers() > ref_frame_inlier_threshold_;
}
}
else
{
keep_reference_frame_ = false;
}
}
if(!t.isNull() && !t.isIdentity() && !data.stereoCameraModel().localTransform().isIdentity() && !data.stereoCameraModel().localTransform().isNull())
{
// from camera frame to base frame
t = data.stereoCameraModel().localTransform() * t * data.stereoCameraModel().localTransform().inverse();
}
if(info)
{
info->type = (int)kTypeViso2;
info->keyFrameAdded = !keep_reference_frame_;
info->matches = viso2_->getNumberOfMatches();
info->inliers = viso2_->getNumberOfInliers();
if(covariance.cols == 6 && covariance.rows == 6 && covariance.type() == CV_64FC1)
{
info->covariance = covariance;
}
std::vector<Matcher::p_match> matches = viso2_->getMatches();
info->refCorners.resize(matches.size());
info->newCorners.resize(matches.size());
info->cornerInliers.resize(matches.size());
for (size_t i = 0; i < matches.size(); ++i)
{
info->refCorners[i].x = matches[i].u1c;
info->refCorners[i].y = matches[i].v1c;
info->newCorners[i].x = matches[i].u1p;
info->newCorners[i].y = matches[i].v1p;
info->cornerInliers[i] = i;
}
}
UINFO("Odom update time = %fs lost=%s", timer.elapsed(), lost_?"true":"false");
#else
UERROR("RTAB-Map is not built with VISO2 support! Select another visual odometry approach.");
#endif
return t;
}
} // namespace rtabmap