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Integrated DVO odometry approach

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This commit is contained in:
matlabbe
2017-05-31 20:57:24 -04:00
parent 133ed68152
commit 4f26e34717
12 changed files with 474 additions and 24 deletions
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CMakeLists.txt
+20
View File
@@ -154,6 +154,7 @@ option(WITH_OCTOMAP "Include Octomap support" ON)
option(WITH_CPUTSDF "Include CPUTSDF support" ON)
option(WITH_FOVIS "Include FOVIS support" ON)
option(WITH_VISO2 "Include VISO2 support" ON)
option(WITH_DVO "Include DVO support" ON)
option(PCL_OMP "With PCL OMP implementations" ON)
FIND_PACKAGE(OpenCV REQUIRED QUIET)
@@ -360,6 +361,12 @@ IF(WITH_VISO2)
ENDIF(libviso2_FOUND)
ENDIF(WITH_VISO2)
IF(WITH_DVO)
FIND_PACKAGE(dvo_core QUIET)
IF(dvo_core_FOUND)
MESSAGE(STATUS "Found dvo_core: ${dvo_core_INCLUDE_DIRS}")
ENDIF(dvo_core_FOUND)
ENDIF(WITH_DVO)
IF(G2O_FOUND OR GTSAM_FOUND OR ZED_FOUND OR ANDROID OR RealSense_FOUND)
#Newest versions require std11
@@ -493,6 +500,11 @@ IF(NOT libviso2_FOUND)
ELSE()
SET(CONF_DEPENDENCIES ${CONF_DEPENDENCIES} ${libviso2_LIBRARIES})
ENDIF()
IF(NOT dvo_core_FOUND)
SET(DVO "//")
ELSE()
SET(CONF_DEPENDENCIES ${CONF_DEPENDENCIES} ${dvo_core_LIBRARIES})
ENDIF()
IF(ADD_VTK_GUI_SUPPORT_QT_TO_CONF)
SET(CONF_VTK_QT true)
SET(CONF_DEPENDENCIES ${CONF_DEPENDENCIES} vtkGUISupportQt)
@@ -832,6 +844,14 @@ ELSE()
MESSAGE(STATUS " With libviso2 = NO (libviso2 not found)")
ENDIF()
IF(dvo_core_FOUND)
MESSAGE(STATUS " With dvo_core = YES (License: GPLv3)")
ELSEIF(NOT WITH_DVO)
MESSAGE(STATUS " With dvo_core = NO (WITH_DVO=OFF)")
ELSE()
MESSAGE(STATUS " With dvo_core = NO (dvo_core not found)")
ENDIF()
IF(QT4_FOUND)
MESSAGE(STATUS " With Qt4 = YES (License: Open Source or Commercial)")
ELSEIF(Qt5_FOUND)
Version.h.in
+1
View File
@@ -56,6 +56,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
@CPUTSDF@#define RTABMAP_CPUTSDF
@FOVIS@#define RTABMAP_FOVIS
@VISO2@#define RTABMAP_VISO2
@DVO@#define RTABMAP_DVO
#endif /* VERSION_H_ */
corelib/include/rtabmap/core/Odometry.h
+2 -1
View File
@@ -47,7 +47,8 @@ public:
kTypeF2M = 0,
kTypeF2F = 1,
kTypeFovis = 2,
kTypeViso2 = 3
kTypeViso2 = 3,
kTypeDVO = 4
};
public:
corelib/include/rtabmap/core/OdometryDVO.h
+66
View File
@@ -0,0 +1,66 @@
/*
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 ODOMETRYDVO_H_
#define ODOMETRYDVO_H_
#include <rtabmap/core/Odometry.h>
namespace dvo {
class DenseTracker;
namespace core {
class RgbdImagePyramid;
class RgbdCameraPyramid;
}
}
namespace rtabmap {
class RTABMAP_EXP OdometryDVO : public Odometry
{
public:
OdometryDVO(const rtabmap::ParametersMap & parameters = rtabmap::ParametersMap());
virtual ~OdometryDVO();
virtual void reset(const Transform & initialPose = Transform::getIdentity());
virtual Odometry::Type getType() {return Odometry::kTypeDVO;}
private:
virtual Transform computeTransform(SensorData & image, const Transform & guess = Transform(), OdometryInfo * info = 0);
private:
dvo::DenseTracker * dvo_;
dvo::core::RgbdImagePyramid * reference_;
dvo::core::RgbdCameraPyramid * camera_;
bool lost_;
Transform motionFromKeyFrame_;
};
}
#endif /* ODOMETRYDVO_H_ */
corelib/src/CMakeLists.txt
+12
View File
@@ -62,6 +62,7 @@ SET(SRC_FILES
OdometryF2F.cpp
OdometryFovis.cpp
OdometryViso2.cpp
OdometryDVO.cpp
Stereo.cpp
StereoDense.cpp
@@ -299,6 +300,17 @@ IF(libviso2_FOUND)
)
ENDIF(libviso2_FOUND)
IF(dvo_core_FOUND)
SET(INCLUDE_DIRS
${INCLUDE_DIRS}
${dvo_core_INCLUDE_DIRS}
)
SET(LIBRARIES
${LIBRARIES}
${dvo_core_LIBRARIES}
)
ENDIF(dvo_core_FOUND)
####################################
# Generate resources files
####################################
corelib/src/Odometry.cpp
+4
View File
@@ -30,6 +30,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include "rtabmap/core/OdometryF2F.h"
#include "rtabmap/core/OdometryFovis.h"
#include "rtabmap/core/OdometryViso2.h"
#include "rtabmap/core/OdometryDVO.h"
#include "rtabmap/core/OdometryInfo.h"
#include "rtabmap/core/util3d.h"
#include "rtabmap/core/util3d_mapping.h"
@@ -58,6 +59,9 @@ Odometry * Odometry::create(Odometry::Type & type, const ParametersMap & paramet
Odometry * odometry = 0;
switch(type)
{
case Odometry::kTypeDVO:
odometry = new OdometryDVO(parameters);
break;
case Odometry::kTypeViso2:
odometry = new OdometryViso2(parameters);
break;
corelib/src/OdometryDVO.cpp
+274
View File
@@ -0,0 +1,274 @@
/*
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/OdometryDVO.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_DVO
#include <dvo/dense_tracking.h>
#include <dvo/core/surface_pyramid.h>
#include <dvo/core/rgbd_image.h>
#endif
namespace rtabmap {
OdometryDVO::OdometryDVO(const ParametersMap & parameters) :
Odometry(parameters),
dvo_(0),
reference_(0),
camera_(0),
lost_(false),
motionFromKeyFrame_(Transform::getIdentity())
{
}
OdometryDVO::~OdometryDVO()
{
#ifdef RTABMAP_DVO
if(dvo_)
{
delete dvo_;
}
if(reference_)
{
delete reference_;
}
if(camera_)
{
delete camera_;
}
#endif
}
void OdometryDVO::reset(const Transform & initialPose)
{
Odometry::reset(initialPose);
#ifdef RTABMAP_DVO
if(dvo_)
{
delete dvo_;
dvo_ = 0;
}
if(reference_)
{
delete reference_;
reference_ = 0;
}
if(camera_)
{
delete camera_;
camera_ = 0;
}
lost_ = false;
motionFromKeyFrame_.setIdentity();
#endif
}
// return not null transform if odometry is correctly computed
Transform OdometryDVO::computeTransform(
SensorData & data,
const Transform & guess,
OdometryInfo * info)
{
Transform t;
#ifdef RTABMAP_DVO
UTimer timer;
if(data.imageRaw().empty() ||
data.imageRaw().rows != data.depthOrRightRaw().rows ||
data.imageRaw().cols != data.depthOrRightRaw().cols)
{
UERROR("Not supported input!");
return t;
}
if(!(data.cameraModels().size() == 1 && data.cameraModels()[0].isValidForReprojection()))
{
UERROR("Invalid camera model! Only single RGB-D camera supported.");
return t;
}
if(dvo_ == 0)
{
dvo::DenseTracker::Config cfg = dvo::DenseTracker::getDefaultConfig();
dvo_ = new dvo::DenseTracker(cfg);
}
cv::Mat grey, grey_s16, depth_inpainted, depth_mask, depth_mono, depth_float;
if(data.imageRaw().type() != CV_32FC1)
{
if(data.imageRaw().type() == CV_8UC3)
{
cv::cvtColor(data.imageRaw(), grey, CV_BGR2GRAY);
}
else
{
grey = data.imageRaw();
}
grey.convertTo(grey_s16, CV_32F);
}
else
{
grey_s16 = data.imageRaw();
}
// make sure all zeros are NAN
if(data.depthRaw().type() == CV_32FC1)
{
depth_float = data.depthRaw();
for(int i=0; i<depth_float.rows; ++i)
{
for(int j=0; j<depth_float.cols; ++j)
{
float & d = depth_float.at<float>(i,j);
if(d == 0.0f)
{
d = NAN;
}
}
}
}
else if(data.depthRaw().type() == CV_16UC1)
{
depth_float = cv::Mat(data.depthRaw().size(), CV_32FC1);
for(int i=0; i<data.depthRaw().rows; ++i)
{
for(int j=0; j<data.depthRaw().cols; ++j)
{
float d = float(data.depthRaw().at<unsigned short>(i,j))/1000.0f;
depth_float.at<float>(i, j) = d==0.0f?NAN:d;
}
}
}
else
{
UFATAL("Unknown depth format!");
}
if(camera_ == 0)
{
dvo::core::IntrinsicMatrix intrinsics = dvo::core::IntrinsicMatrix::create(
data.cameraModels()[0].fx(),
data.cameraModels()[0].fy(),
data.cameraModels()[0].cx(),
data.cameraModels()[0].cy());
camera_ = new dvo::core::RgbdCameraPyramid(
data.cameraModels()[0].imageWidth(),
data.cameraModels()[0].imageHeight(),
intrinsics);
}
dvo::core::RgbdImagePyramid * current = new dvo::core::RgbdImagePyramid(*camera_, grey_s16, depth_float);
cv::Mat covariance;
if(reference_ == 0)
{
reference_ = current;
if(!lost_)
{
t.setIdentity();
}
covariance = cv::Mat::eye(6,6,CV_64FC1) * 9999.0;
}
else
{
dvo::DenseTracker::Result result;
dvo_->match(*reference_, *current, result);
t = Transform::fromEigen3d(result.Transformation);
if(result.Information(0,0) > 0.0 && result.Information(0,0) != 1.0)
{
lost_ = false;
cv::Mat information = cv::Mat::eye(6,6, CV_64FC1);
memcpy(information.data, result.Information.data(), 36*sizeof(double));
covariance = information.inv();
covariance *= 100.0; // to be in the same scale than loop closure detection
Transform currentMotion = t;
t = motionFromKeyFrame_.inverse() * t;
// TODO make parameters?
if(currentMotion.getNorm() > 0.01 || currentMotion.getAngle() > 0.01)
{
if(info)
{
info->keyFrameAdded = true;
}
// new keyframe
delete reference_;
reference_ = current;
motionFromKeyFrame_.setIdentity();
}
else
{
delete current;
motionFromKeyFrame_ = currentMotion;
}
}
else
{
lost_ = true;
delete reference_;
delete current;
reference_ = 0; // this will make restart from the next frame
motionFromKeyFrame_.setIdentity();
t.setNull();
covariance = cv::Mat::eye(6,6,CV_64FC1) * 9999.0;
UWARN("dvo failed to estimate motion, tracking will be reinitialized on next frame.");
}
}
const Transform & localTransform = data.cameraModels()[0].localTransform();
if(!t.isNull() && !t.isIdentity() && !localTransform.isIdentity() && !localTransform.isNull())
{
// from camera frame to base frame
t = localTransform * t * localTransform.inverse();
}
if(info)
{
info->type = (int)kTypeDVO;
info->covariance = covariance;
}
UINFO("Odom update time = %fs", timer.elapsed());
#else
UERROR("RTAB-Map is not built with DVO support! Select another visual odometry approach.");
#endif
return t;
}
} // namespace rtabmap
guilib/src/AboutDialog.cpp
+5
View File
@@ -88,6 +88,11 @@ AboutDialog::AboutDialog(QWidget * parent) :
#else
_ui->label_viso2->setText("No");
#endif
#ifdef RTABMAP_DVO
_ui->label_dvo->setText("Yes");
#else
_ui->label_dvo->setText("No");
#endif
}
guilib/src/MainWindow.cpp
+1 -1
View File
@@ -1225,7 +1225,7 @@ void MainWindow::processOdometry(const rtabmap::OdometryEvent & odom, bool dataI
//detect if it is OdometryMono intitialization
bool monoInitialization = false;
if(_preferencesDialog->getOdomStrategy() == 4 && odom.info().type == (int)Odometry::kTypeF2F)
if(_preferencesDialog->getOdomStrategy() == 5 && odom.info().type == (int)Odometry::kTypeF2F)
{
monoInitialization = true;
}
guilib/src/PreferencesDialog.cpp
+3
View File
@@ -165,6 +165,9 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
#ifndef RTABMAP_VISO2
_ui->odom_strategy->setItemData(3, 0, Qt::UserRole - 1);
#endif
#ifndef RTABMAP_DVO
_ui->odom_strategy->setItemData(4, 0, Qt::UserRole - 1);
#endif
#ifndef RTABMAP_NONFREE
_ui->comboBox_detector_strategy->setItemData(0, 0, Qt::UserRole - 1);
guilib/src/ui/aboutDialog.ui
+37 -20
View File
@@ -316,6 +316,13 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="21" column="0">
<widget class="QLabel" name="label_20">
<property name="text">
<string>With Octomap :</string>
</property>
</widget>
</item>
<item row="11" column="0">
<widget class="QLabel" name="label_12">
<property name="text">
@@ -330,10 +337,10 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="21" column="0">
<widget class="QLabel" name="label_20">
<item row="16" column="0">
<widget class="QLabel" name="label_17">
<property name="text">
<string>With Octomap :</string>
<string>With stereo FlyCapture2 :</string>
</property>
</widget>
</item>
@@ -347,13 +354,6 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="16" column="0">
<widget class="QLabel" name="label_17">
<property name="text">
<string>With stereo FlyCapture2 :</string>
</property>
</widget>
</item>
<item row="10" column="0">
<widget class="QLabel" name="label_23">
<property name="text">
@@ -368,6 +368,13 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="22" column="0">
<widget class="QLabel" name="label_24">
<property name="text">
<string>With CPU-TSDF :</string>
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QLabel" name="label_HomePage_2">
<property name="text">
@@ -385,10 +392,10 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="22" column="0">
<widget class="QLabel" name="label_24">
<item row="24" column="0">
<widget class="QLabel" name="label_26">
<property name="text">
<string>With CPU-TSDF :</string>
<string>With Viso2 :</string>
</property>
</widget>
</item>
@@ -419,13 +426,6 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="24" column="0">
<widget class="QLabel" name="label_26">
<property name="text">
<string>With Viso2 :</string>
</property>
</widget>
</item>
<item row="23" column="1">
<widget class="QLabel" name="label_fovis">
<property name="text">
@@ -446,6 +446,23 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="25" column="0">
<widget class="QLabel" name="label_27">
<property name="text">
<string>With Viso2 :</string>
</property>
</widget>
</item>
<item row="25" column="1">
<widget class="QLabel" name="label_dvo">
<property name="text">
<string/>
</property>
<property name="alignment">
<set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
</property>
</widget>
</item>
</layout>
</item>
<item>
guilib/src/ui/preferencesDialog.ui
+49 -2
View File
@@ -63,7 +63,7 @@
<property name="geometry">
<rect>
<x>0</x>
<y>-556</y>
<y>-34</y>
<width>678</width>
<height>2739</height>
</rect>
@@ -9709,6 +9709,11 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
<string>Viso2</string>
</property>
</item>
<item>
<property name="text">
<string>DVO</string>
</property>
</item>
</widget>
</item>
<item row="2" column="1">
@@ -9980,7 +9985,7 @@ 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>2</number>
<number>4</number>
</property>
<widget class="QWidget" name="page_52">
<layout class="QVBoxLayout" name="verticalLayout_77">
@@ -11504,6 +11509,48 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</item>
</layout>
</widget>
<widget class="QWidget" name="page_69">
<layout class="QVBoxLayout" name="verticalLayout_122">
<item>
<widget class="QGroupBox" name="groupBox_27">
<property name="title">
<string>DVO</string>
</property>
<layout class="QVBoxLayout" name="verticalLayout_123">
<item>
<widget class="QLabel" name="label_411">
<property name="text">
<string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;Dense Visual Odometry: &lt;a href=&quot;https://github.com/tum-vision/dvo_slam&quot;&gt;&lt;span style=&quot; text-decoration: underline; color:#0000ff;&quot;&gt;https://github.com/tum-vision/dvo_slam&lt;/span&gt;&lt;/a&gt;&lt;/p&gt;&lt;p&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Only RGB-D is supported.&lt;/span&gt;&lt;br/&gt;&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>
</layout>
</widget>
</item>
<item>
<spacer name="verticalSpacer_63">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>1029</height>
</size>
</property>
</spacer>
</item>
</layout>
</widget>
<widget class="QWidget" name="page_26">
<layout class="QVBoxLayout" name="verticalLayout_88">
<item>