/* 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/OdometryOpenVINS.h" #include "rtabmap/core/OdometryInfo.h" #include "rtabmap/core/util3d_transforms.h" #include "rtabmap/utilite/UFile.h" #include "rtabmap/utilite/ULogger.h" #include "rtabmap/utilite/UTimer.h" #include #include #ifdef RTABMAP_OPENVINS #include "core/VioManager.h" #include "state/Propagator.h" #include "state/State.h" #include "state/StateHelper.h" #endif namespace rtabmap { OdometryOpenVINS::OdometryOpenVINS(const ParametersMap & parameters) : Odometry(parameters) #ifdef RTABMAP_OPENVINS , initGravity_(false), previousPoseInv_(Transform::getIdentity()) #endif { #ifdef RTABMAP_OPENVINS ov_core::Printer::setPrintLevel(ov_core::Printer::PrintLevel(ULogger::level()+1)); int enum_index; std::string left_mask_path, right_mask_path; params_ = std::make_unique(); Parameters::parse(parameters, Parameters::kOdomOpenVINSUseStereo(), params_->use_stereo); Parameters::parse(parameters, Parameters::kOdomOpenVINSUseKLT(), params_->use_klt); Parameters::parse(parameters, Parameters::kOdomOpenVINSNumPts(), params_->num_pts); Parameters::parse(parameters, Parameters::kFASTThreshold(), params_->fast_threshold); Parameters::parse(parameters, Parameters::kVisGridCols(), params_->grid_x); Parameters::parse(parameters, Parameters::kVisGridRows(), params_->grid_y); Parameters::parse(parameters, Parameters::kOdomOpenVINSMinPxDist(), params_->min_px_dist); Parameters::parse(parameters, Parameters::kVisCorNNDR(), params_->knn_ratio); Parameters::parse(parameters, Parameters::kOdomOpenVINSFiTriangulate1d(), params_->featinit_options.triangulate_1d); Parameters::parse(parameters, Parameters::kOdomOpenVINSFiRefineFeatures(), params_->featinit_options.refine_features); Parameters::parse(parameters, Parameters::kOdomOpenVINSFiMaxRuns(), params_->featinit_options.max_runs); Parameters::parse(parameters, Parameters::kVisMinDepth(), params_->featinit_options.min_dist); Parameters::parse(parameters, Parameters::kVisMaxDepth(), params_->featinit_options.max_dist); if(params_->featinit_options.max_dist == 0) params_->featinit_options.max_dist = std::numeric_limits::infinity(); Parameters::parse(parameters, Parameters::kOdomOpenVINSFiMaxBaseline(), params_->featinit_options.max_baseline); Parameters::parse(parameters, Parameters::kOdomOpenVINSFiMaxCondNumber(), params_->featinit_options.max_cond_number); Parameters::parse(parameters, Parameters::kOdomOpenVINSUseFEJ(), params_->state_options.do_fej); Parameters::parse(parameters, Parameters::kOdomOpenVINSIntegration(), enum_index); params_->state_options.integration_method = ov_msckf::StateOptions::IntegrationMethod(enum_index); Parameters::parse(parameters, Parameters::kOdomOpenVINSCalibCamExtrinsics(), params_->state_options.do_calib_camera_pose); Parameters::parse(parameters, Parameters::kOdomOpenVINSCalibCamIntrinsics(), params_->state_options.do_calib_camera_intrinsics); Parameters::parse(parameters, Parameters::kOdomOpenVINSCalibCamTimeoffset(), params_->state_options.do_calib_camera_timeoffset); Parameters::parse(parameters, Parameters::kOdomOpenVINSCalibIMUIntrinsics(), params_->state_options.do_calib_imu_intrinsics); Parameters::parse(parameters, Parameters::kOdomOpenVINSCalibIMUGSensitivity(), params_->state_options.do_calib_imu_g_sensitivity); Parameters::parse(parameters, Parameters::kOdomOpenVINSMaxClones(), params_->state_options.max_clone_size); Parameters::parse(parameters, Parameters::kOdomOpenVINSMaxSLAM(), params_->state_options.max_slam_features); Parameters::parse(parameters, Parameters::kOdomOpenVINSMaxSLAMInUpdate(), params_->state_options.max_slam_in_update); Parameters::parse(parameters, Parameters::kOdomOpenVINSMaxMSCKFInUpdate(), params_->state_options.max_msckf_in_update); Parameters::parse(parameters, Parameters::kOdomOpenVINSFeatRepMSCKF(), enum_index); params_->state_options.feat_rep_msckf = ov_type::LandmarkRepresentation::Representation(enum_index); Parameters::parse(parameters, Parameters::kOdomOpenVINSFeatRepSLAM(), enum_index); params_->state_options.feat_rep_slam = ov_type::LandmarkRepresentation::Representation(enum_index); Parameters::parse(parameters, Parameters::kOdomOpenVINSDtSLAMDelay(), params_->dt_slam_delay); Parameters::parse(parameters, Parameters::kOdomOpenVINSGravityMag(), params_->gravity_mag); Parameters::parse(parameters, Parameters::kVisDepthAsMask(), params_->use_mask); Parameters::parse(parameters, Parameters::kOdomOpenVINSLeftMaskPath(), left_mask_path); if(!left_mask_path.empty()) { if(!UFile::exists(left_mask_path)) UWARN("OpenVINS: invalid left mask path: %s", left_mask_path.c_str()); else params_->masks.emplace(0, cv::imread(left_mask_path, cv::IMREAD_GRAYSCALE)); } Parameters::parse(parameters, Parameters::kOdomOpenVINSRightMaskPath(), right_mask_path); if(!right_mask_path.empty()) { if(!UFile::exists(right_mask_path)) UWARN("OpenVINS: invalid right mask path: %s", right_mask_path.c_str()); else params_->masks.emplace(1, cv::imread(right_mask_path, cv::IMREAD_GRAYSCALE)); } Parameters::parse(parameters, Parameters::kOdomOpenVINSInitWindowTime(), params_->init_options.init_window_time); Parameters::parse(parameters, Parameters::kOdomOpenVINSInitIMUThresh(), params_->init_options.init_imu_thresh); Parameters::parse(parameters, Parameters::kOdomOpenVINSInitMaxDisparity(), params_->init_options.init_max_disparity); Parameters::parse(parameters, Parameters::kOdomOpenVINSInitMaxFeatures(), params_->init_options.init_max_features); Parameters::parse(parameters, Parameters::kOdomOpenVINSInitDynUse(), params_->init_options.init_dyn_use); Parameters::parse(parameters, Parameters::kOdomOpenVINSInitDynMLEOptCalib(), params_->init_options.init_dyn_mle_opt_calib); Parameters::parse(parameters, Parameters::kOdomOpenVINSInitDynMLEMaxIter(), params_->init_options.init_dyn_mle_max_iter); Parameters::parse(parameters, Parameters::kOdomOpenVINSInitDynMLEMaxTime(), params_->init_options.init_dyn_mle_max_time); Parameters::parse(parameters, Parameters::kOdomOpenVINSInitDynMLEMaxThreads(), params_->init_options.init_dyn_mle_max_threads); Parameters::parse(parameters, Parameters::kOdomOpenVINSInitDynNumPose(), params_->init_options.init_dyn_num_pose); Parameters::parse(parameters, Parameters::kOdomOpenVINSInitDynMinDeg(), params_->init_options.init_dyn_min_deg); Parameters::parse(parameters, Parameters::kOdomOpenVINSInitDynInflationOri(), params_->init_options.init_dyn_inflation_orientation); Parameters::parse(parameters, Parameters::kOdomOpenVINSInitDynInflationVel(), params_->init_options.init_dyn_inflation_velocity); Parameters::parse(parameters, Parameters::kOdomOpenVINSInitDynInflationBg(), params_->init_options.init_dyn_inflation_bias_gyro); Parameters::parse(parameters, Parameters::kOdomOpenVINSInitDynInflationBa(), params_->init_options.init_dyn_inflation_bias_accel); Parameters::parse(parameters, Parameters::kOdomOpenVINSInitDynMinRecCond(), params_->init_options.init_dyn_min_rec_cond); Parameters::parse(parameters, Parameters::kOdomOpenVINSTryZUPT(), params_->try_zupt); Parameters::parse(parameters, Parameters::kOdomOpenVINSZUPTChi2Multiplier(), params_->zupt_options.chi2_multipler); Parameters::parse(parameters, Parameters::kOdomOpenVINSZUPTMaxVelodicy(), params_->zupt_max_velocity); Parameters::parse(parameters, Parameters::kOdomOpenVINSZUPTNoiseMultiplier(), params_->zupt_noise_multiplier); Parameters::parse(parameters, Parameters::kOdomOpenVINSZUPTMaxDisparity(), params_->zupt_max_disparity); Parameters::parse(parameters, Parameters::kOdomOpenVINSZUPTOnlyAtBeginning(), params_->zupt_only_at_beginning); Parameters::parse(parameters, Parameters::kOdomOpenVINSAccelerometerNoiseDensity(), params_->imu_noises.sigma_a); Parameters::parse(parameters, Parameters::kOdomOpenVINSAccelerometerRandomWalk(), params_->imu_noises.sigma_ab); Parameters::parse(parameters, Parameters::kOdomOpenVINSGyroscopeNoiseDensity(), params_->imu_noises.sigma_w); Parameters::parse(parameters, Parameters::kOdomOpenVINSGyroscopeRandomWalk(), params_->imu_noises.sigma_wb); Parameters::parse(parameters, Parameters::kOdomOpenVINSUpMSCKFSigmaPx(), params_->msckf_options.sigma_pix); Parameters::parse(parameters, Parameters::kOdomOpenVINSUpMSCKFChi2Multiplier(), params_->msckf_options.chi2_multipler); Parameters::parse(parameters, Parameters::kOdomOpenVINSUpSLAMSigmaPx(), params_->slam_options.sigma_pix); Parameters::parse(parameters, Parameters::kOdomOpenVINSUpSLAMChi2Multiplier(), params_->slam_options.chi2_multipler); params_->vec_dw << 1, 0, 0, 1, 0, 1; params_->vec_da << 1, 0, 0, 1, 0, 1; params_->vec_tg << 0, 0, 0, 0, 0, 0, 0, 0, 0; params_->q_ACCtoIMU << 0, 0, 0, 1; params_->q_GYROtoIMU << 0, 0, 0, 1; params_->use_aruco = false; params_->num_opencv_threads = -1; params_->histogram_method = ov_core::TrackBase::HistogramMethod::NONE; params_->init_options.sigma_a = params_->imu_noises.sigma_a; params_->init_options.sigma_ab = params_->imu_noises.sigma_ab; params_->init_options.sigma_w = params_->imu_noises.sigma_w; params_->init_options.sigma_wb = params_->imu_noises.sigma_wb; params_->init_options.sigma_pix = params_->slam_options.sigma_pix; params_->init_options.gravity_mag = params_->gravity_mag; #endif } void OdometryOpenVINS::reset(const Transform & initialPose) { Odometry::reset(initialPose); #ifdef RTABMAP_OPENVINS if(!initGravity_) { vioManager_.reset(); previousPoseInv_.setIdentity(); imuLocalTransformInv_.setNull(); } initGravity_ = false; #endif } // return not null transform if odometry is correctly computed Transform OdometryOpenVINS::computeTransform( SensorData & data, const Transform & guess, OdometryInfo * info) { Transform t; #ifdef RTABMAP_OPENVINS if(!vioManager_) { if(!data.imu().empty()) { imuLocalTransformInv_ = data.imu().localTransform().inverse(); Phi_.setZero(); Phi_.block(0,0,3,3) = data.imu().localTransform().toEigen4d().block(0,0,3,3); Phi_.block(3,3,3,3) = data.imu().localTransform().toEigen4d().block(0,0,3,3); } if(!data.imageRaw().empty() && !imuLocalTransformInv_.isNull()) { Transform T_imu_left; Eigen::VectorXd left_calib(8), right_calib(8); if(!data.rightRaw().empty()) { params_->state_options.num_cameras = params_->init_options.num_cameras = 2; T_imu_left = imuLocalTransformInv_ * data.stereoCameraModels()[0].localTransform(); bool is_fisheye = data.stereoCameraModels()[0].left().isFisheye() && !this->imagesAlreadyRectified(); if(is_fisheye) { params_->camera_intrinsics.emplace(0, std::make_shared( data.stereoCameraModels()[0].left().imageWidth(), data.stereoCameraModels()[0].left().imageHeight())); params_->camera_intrinsics.emplace(1, std::make_shared( data.stereoCameraModels()[0].right().imageWidth(), data.stereoCameraModels()[0].right().imageHeight())); } else { params_->camera_intrinsics.emplace(0, std::make_shared( data.stereoCameraModels()[0].left().imageWidth(), data.stereoCameraModels()[0].left().imageHeight())); params_->camera_intrinsics.emplace(1, std::make_shared( data.stereoCameraModels()[0].right().imageWidth(), data.stereoCameraModels()[0].right().imageHeight())); } if(this->imagesAlreadyRectified() || data.stereoCameraModels()[0].left().D_raw().empty()) { left_calib << data.stereoCameraModels()[0].left().fx(), data.stereoCameraModels()[0].left().fy(), data.stereoCameraModels()[0].left().cx(), data.stereoCameraModels()[0].left().cy(), 0, 0, 0, 0; right_calib << data.stereoCameraModels()[0].right().fx(), data.stereoCameraModels()[0].right().fy(), data.stereoCameraModels()[0].right().cx(), data.stereoCameraModels()[0].right().cy(), 0, 0, 0, 0; } else { UASSERT(data.stereoCameraModels()[0].left().D_raw().cols == data.stereoCameraModels()[0].right().D_raw().cols); UASSERT(data.stereoCameraModels()[0].left().D_raw().cols >= 4); UASSERT(data.stereoCameraModels()[0].right().D_raw().cols >= 4); left_calib << data.stereoCameraModels()[0].left().K_raw().at(0,0), data.stereoCameraModels()[0].left().K_raw().at(1,1), data.stereoCameraModels()[0].left().K_raw().at(0,2), data.stereoCameraModels()[0].left().K_raw().at(1,2), data.stereoCameraModels()[0].left().D_raw().at(0,0), data.stereoCameraModels()[0].left().D_raw().at(0,1), data.stereoCameraModels()[0].left().D_raw().at(0,is_fisheye?4:2), data.stereoCameraModels()[0].left().D_raw().at(0,is_fisheye?5:3); right_calib << data.stereoCameraModels()[0].right().K_raw().at(0,0), data.stereoCameraModels()[0].right().K_raw().at(1,1), data.stereoCameraModels()[0].right().K_raw().at(0,2), data.stereoCameraModels()[0].right().K_raw().at(1,2), data.stereoCameraModels()[0].right().D_raw().at(0,0), data.stereoCameraModels()[0].right().D_raw().at(0,1), data.stereoCameraModels()[0].right().D_raw().at(0,is_fisheye?4:2), data.stereoCameraModels()[0].right().D_raw().at(0,is_fisheye?5:3); } } else { params_->state_options.num_cameras = params_->init_options.num_cameras = 1; T_imu_left = imuLocalTransformInv_ * data.cameraModels()[0].localTransform(); bool is_fisheye = data.cameraModels()[0].isFisheye() && !this->imagesAlreadyRectified(); if(is_fisheye) { params_->camera_intrinsics.emplace(0, std::make_shared( data.cameraModels()[0].imageWidth(), data.cameraModels()[0].imageHeight())); } else { params_->camera_intrinsics.emplace(0, std::make_shared( data.cameraModels()[0].imageWidth(), data.cameraModels()[0].imageHeight())); } if(this->imagesAlreadyRectified() || data.cameraModels()[0].D_raw().empty()) { left_calib << data.cameraModels()[0].fx(), data.cameraModels()[0].fy(), data.cameraModels()[0].cx(), data.cameraModels()[0].cy(), 0, 0, 0, 0; } else { UASSERT(data.cameraModels()[0].D_raw().cols >= 4); left_calib << data.cameraModels()[0].K_raw().at(0,0), data.cameraModels()[0].K_raw().at(1,1), data.cameraModels()[0].K_raw().at(0,2), data.cameraModels()[0].K_raw().at(1,2), data.cameraModels()[0].D_raw().at(0,0), data.cameraModels()[0].D_raw().at(0,1), data.cameraModels()[0].D_raw().at(0,is_fisheye?4:2), data.cameraModels()[0].D_raw().at(0,is_fisheye?5:3); } } Eigen::Matrix4d T_LtoI = T_imu_left.toEigen4d(); Eigen::Matrix left_eigen; left_eigen.block(0,0,4,1) = ov_core::rot_2_quat(T_LtoI.block(0,0,3,3).transpose()); left_eigen.block(4,0,3,1) = -T_LtoI.block(0,0,3,3).transpose()*T_LtoI.block(0,3,3,1); params_->camera_intrinsics.at(0)->set_value(left_calib); params_->camera_extrinsics.emplace(0, left_eigen); if(!data.rightRaw().empty()) { Transform T_left_right; if(this->imagesAlreadyRectified() || data.stereoCameraModels()[0].stereoTransform().isNull()) { T_left_right = Transform( 1, 0, 0, data.stereoCameraModels()[0].baseline(), 0, 1, 0, 0, 0, 0, 1, 0); } else { T_left_right = data.stereoCameraModels()[0].stereoTransform().inverse(); } UASSERT(!T_left_right.isNull()); Transform T_imu_right = T_imu_left * T_left_right; Eigen::Matrix4d T_RtoI = T_imu_right.toEigen4d(); Eigen::Matrix right_eigen; right_eigen.block(0,0,4,1) = ov_core::rot_2_quat(T_RtoI.block(0,0,3,3).transpose()); right_eigen.block(4,0,3,1) = -T_RtoI.block(0,0,3,3).transpose()*T_RtoI.block(0,3,3,1); params_->camera_intrinsics.at(1)->set_value(right_calib); params_->camera_extrinsics.emplace(1, right_eigen); } params_->init_options.camera_intrinsics = params_->camera_intrinsics; params_->init_options.camera_extrinsics = params_->camera_extrinsics; vioManager_ = std::make_unique(*params_); } } else { if(!data.imu().empty()) { ov_core::ImuData message; message.timestamp = data.stamp(); message.wm << data.imu().angularVelocity().val[0], data.imu().angularVelocity().val[1], data.imu().angularVelocity().val[2]; message.am << data.imu().linearAcceleration().val[0], data.imu().linearAcceleration().val[1], data.imu().linearAcceleration().val[2]; vioManager_->feed_measurement_imu(message); } if(!data.imageRaw().empty()) { bool covFilled = false; Eigen::Matrix state_plus = Eigen::Matrix::Zero(); Eigen::Matrix cov_plus = Eigen::Matrix::Zero(); if(vioManager_->initialized()) covFilled = vioManager_->get_propagator()->fast_state_propagate(vioManager_->get_state(), data.stamp(), state_plus, cov_plus); cv::Mat image; if(data.imageRaw().type() == CV_8UC3) cv::cvtColor(data.imageRaw(), image, CV_BGR2GRAY); else if(data.imageRaw().type() == CV_8UC1) image = data.imageRaw().clone(); else UFATAL("Not supported color type!"); ov_core::CameraData message; message.timestamp = data.stamp(); message.sensor_ids.emplace_back(0); message.images.emplace_back(image); if(params_->masks.find(0) != params_->masks.end()) { message.masks.emplace_back(params_->masks[0]); } else if(!data.depthRaw().empty() && params_->use_mask) { cv::Mat mask; if(data.depthRaw().type() == CV_32FC1) cv::inRange(data.depthRaw(), params_->featinit_options.min_dist, std::isinf(params_->featinit_options.max_dist)?std::numeric_limits::max():params_->featinit_options.max_dist, mask); else if(data.depthRaw().type() == CV_16UC1) cv::inRange(data.depthRaw(), params_->featinit_options.min_dist*1000, std::isinf(params_->featinit_options.max_dist)?std::numeric_limits::max():params_->featinit_options.max_dist*1000, mask); message.masks.emplace_back(255-mask); } else { message.masks.emplace_back(cv::Mat::zeros(image.size(), CV_8UC1)); } if(!data.rightRaw().empty()) { if(data.rightRaw().type() == CV_8UC3) cv::cvtColor(data.rightRaw(), image, CV_BGR2GRAY); else if(data.rightRaw().type() == CV_8UC1) image = data.rightRaw().clone(); else UFATAL("Not supported color type!"); message.sensor_ids.emplace_back(1); message.images.emplace_back(image); if(params_->masks.find(1) != params_->masks.end()) message.masks.emplace_back(params_->masks[1]); else message.masks.emplace_back(cv::Mat::zeros(image.size(), CV_8UC1)); } vioManager_->feed_measurement_camera(message); std::shared_ptr state = vioManager_->get_state(); Transform p((float)state->_imu->pos()(0), (float)state->_imu->pos()(1), (float)state->_imu->pos()(2), (float)state->_imu->quat()(0), (float)state->_imu->quat()(1), (float)state->_imu->quat()(2), (float)state->_imu->quat()(3)); if(!p.isNull() && !p.isIdentity()) { p = p * imuLocalTransformInv_; if(this->getPose().rotation().isIdentity()) { initGravity_ = true; this->reset(this->getPose() * p.rotation()); } if(previousPoseInv_.isIdentity()) previousPoseInv_ = p.inverse(); t = previousPoseInv_ * p; if(info) { double timestamp; std::unordered_map feat_posinG, feat_tracks_uvd; vioManager_->get_active_tracks(timestamp, feat_posinG, feat_tracks_uvd); auto features_SLAM = vioManager_->get_features_SLAM(); auto good_features_MSCKF = vioManager_->get_good_features_MSCKF(); info->type = this->getType(); info->localMapSize = feat_posinG.size(); info->features = features_SLAM.size() + good_features_MSCKF.size(); info->reg.covariance = cv::Mat::eye(6, 6, CV_64FC1); if(covFilled) { Eigen::Matrix covariance = Phi_ * cov_plus.block(6,6,6,6) * Phi_.transpose(); cv::eigen2cv(covariance, info->reg.covariance); } if(this->isInfoDataFilled()) { Transform fixT = this->getPose() * previousPoseInv_; Transform camT; if(!data.rightRaw().empty()) camT = data.stereoCameraModels()[0].localTransform().inverse() * t.inverse() * this->getPose().inverse() * fixT; else camT = data.cameraModels()[0].localTransform().inverse() * t.inverse() * this->getPose().inverse() * fixT; for(auto &feature : feat_posinG) { cv::Point3f pt3d(feature.second[0], feature.second[1], feature.second[2]); pt3d = util3d::transformPoint(pt3d, fixT); info->localMap.emplace(feature.first, pt3d); } if(this->imagesAlreadyRectified()) { for(auto &feature : features_SLAM) { cv::Point3f pt3d(feature[0], feature[1], feature[2]); pt3d = util3d::transformPoint(pt3d, camT); cv::Point2f pt; if(!data.rightRaw().empty()) data.stereoCameraModels()[0].left().reproject(pt3d.x, pt3d.y, pt3d.z, pt.x, pt.y); else data.cameraModels()[0].reproject(pt3d.x, pt3d.y, pt3d.z, pt.x, pt.y); info->reg.inliersIDs.emplace_back(info->newCorners.size()); info->newCorners.emplace_back(pt); } for(auto &feature : good_features_MSCKF) { cv::Point3f pt3d(feature[0], feature[1], feature[2]); pt3d = util3d::transformPoint(pt3d, camT); cv::Point2f pt; if(!data.rightRaw().empty()) data.stereoCameraModels()[0].left().reproject(pt3d.x, pt3d.y, pt3d.z, pt.x, pt.y); else data.cameraModels()[0].reproject(pt3d.x, pt3d.y, pt3d.z, pt.x, pt.y); info->reg.matchesIDs.emplace_back(info->newCorners.size()); info->newCorners.emplace_back(pt); } } } } previousPoseInv_ = p.inverse(); } } } #else UERROR("RTAB-Map is not built with OpenVINS support! Select another visual odometry approach."); #endif return t; } } // namespace rtabmap