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Integrated ORB_SLAM2 as an odometry approach Odom/Strategy=5.

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matlabbe
2017-06-05 19:04:23 -04:00
parent de797b644e
commit c4ca6a0bac
17 changed files with 2036 additions and 348 deletions
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corelib/include/rtabmap/core/Odometry.h
+2 -1
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@@ -48,7 +48,8 @@ public:
kTypeF2F = 1,
kTypeFovis = 2,
kTypeViso2 = 3,
kTypeDVO = 4
kTypeDVO = 4,
kTypeORBSLAM2 = 5
};
public:
corelib/include/rtabmap/core/OdometryORBSLAM2.h
+62
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@@ -0,0 +1,62 @@
/*
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 ODOMETRYORBSLAM2_H_
#define ODOMETRYORBSLAM2_H_
#include <rtabmap/core/Odometry.h>
namespace ORB_SLAM2 {
class System;
}
class ORBSLAM2System;
namespace rtabmap {
class RTABMAP_EXP OdometryORBSLAM2 : public Odometry
{
public:
OdometryORBSLAM2(const rtabmap::ParametersMap & parameters = rtabmap::ParametersMap());
virtual ~OdometryORBSLAM2();
virtual void reset(const Transform & initialPose = Transform::getIdentity());
virtual Odometry::Type getType() {return Odometry::kTypeORBSLAM2;}
private:
virtual Transform computeTransform(SensorData & image, const Transform & guess = Transform(), OdometryInfo * info = 0);
private:
ORBSLAM2System * orbslam2_;
ORB_SLAM2::System * system_;
bool firstFrame_;
};
}
#endif /* ODOMETRYORBSLAM2_H_ */
corelib/include/rtabmap/core/Parameters.h
+9 -4
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@@ -262,11 +262,11 @@ class RTABMAP_EXP Parameters
RTABMAP_PARAM(BRIEF, Bytes, int, 32, "Bytes is a length of descriptor in bytes. It can be equal 16, 32 or 64 bytes.");
RTABMAP_PARAM(FAST, Threshold, int, 10, "Threshold on difference between intensity of the central pixel and pixels of a circle around this pixel.");
RTABMAP_PARAM(FAST, Threshold, int, 20, "Threshold on difference between intensity of the central pixel and pixels of a circle around this pixel.");
RTABMAP_PARAM(FAST, NonmaxSuppression, bool, true, "If true, non-maximum suppression is applied to detected corners (keypoints).");
RTABMAP_PARAM(FAST, Gpu, bool, false, "GPU-FAST: Use GPU version of FAST. This option is enabled only if OpenCV is built with CUDA and GPUs are detected.");
RTABMAP_PARAM(FAST, GpuKeypointsRatio, double, 0.05, "Used with FAST GPU.");
RTABMAP_PARAM(FAST, MinThreshold, int, 1, "Minimum threshold. Used only when FAST/GridRows and FAST/GridCols are set.");
RTABMAP_PARAM(FAST, MinThreshold, int, 7, "Minimum threshold. Used only when FAST/GridRows and FAST/GridCols are set.");
RTABMAP_PARAM(FAST, MaxThreshold, int, 200, "Maximum threshold. Used only when FAST/GridRows and FAST/GridCols are set.");
RTABMAP_PARAM(FAST, GridRows, int, 4, "Grid rows (0 to disable). Adapts the detector to partition the source image into a grid and detect points in each cell.");
RTABMAP_PARAM(FAST, GridCols, int, 4, "Grid cols (0 to disable). Adapts the detector to partition the source image into a grid and detect points in each cell.");
@@ -363,7 +363,7 @@ class RTABMAP_EXP Parameters
RTABMAP_PARAM(GTSAM, Optimizer, int, 1, "0=Levenberg 1=GaussNewton 2=Dogleg");
// Odometry
RTABMAP_PARAM(Odom, Strategy, int, 0, "0=Frame-to-Map (F2M) 1=Frame-to-Frame (F2F) 2=Fovis 3=viso2");
RTABMAP_PARAM(Odom, Strategy, int, 0, "0=Frame-to-Map (F2M) 1=Frame-to-Frame (F2F) 2=Fovis 3=viso2 4=DVO-SLAM 5=ORB_SLAM2");
RTABMAP_PARAM(Odom, ResetCountdown, int, 0, "Automatically reset odometry after X consecutive images on which odometry cannot be computed (value=0 disables auto-reset).");
RTABMAP_PARAM(Odom, Holonomic, bool, true, "If the robot is holonomic (strafing commands can be issued). If not, y value will be estimated from x and yaw values (y=x*tan(yaw)).");
RTABMAP_PARAM(Odom, FillInfoData, bool, true, "Fill info with data (inliers/outliers features).");
@@ -444,6 +444,11 @@ class RTABMAP_EXP Parameters
RTABMAP_PARAM(OdomViso2, BucketWidth, double, 50, "Width of bucket.");
RTABMAP_PARAM(OdomViso2, BucketHeight, double, 50, "Height of bucket.");
// Odometry ORB_SLAM2
RTABMAP_PARAM_STR(OdomORBSLAM2, VocPath, "", "Path to ORB vocabulary (*.txt).");
RTABMAP_PARAM(OdomORBSLAM2, Bf, double, 0.076, "Fake IR projector baseline (m) used only when stereo is not used.");
RTABMAP_PARAM(OdomORBSLAM2, ThDepth, double, 40.0, "Close/Far threshold. Baseline times.");
// Common registration parameters
RTABMAP_PARAM(Reg, VarianceFromInliersCount, bool, false, "Set variance as the inverse of the number of inliers. Otherwise, the variance is computed as the average 3D position error of the inliers.");
RTABMAP_PARAM(Reg, VarianceNormalized, bool, false, "Normalize covariance values. Position variances are multiplied by norm of the transform and orientation variances are multiplied by angle of the transform.");
@@ -479,7 +484,7 @@ class RTABMAP_EXP Parameters
RTABMAP_PARAM(Vis, SubPixIterations, int, 0, "See cv::cornerSubPix(). 0 disables sub pixel refining.");
RTABMAP_PARAM(Vis, SubPixEps, float, 0.02, "See cv::cornerSubPix().");
RTABMAP_PARAM(Vis, CorType, int, 0, "Correspondences computation approach: 0=Features Matching, 1=Optical Flow");
RTABMAP_PARAM(Vis, CorNNType, int, 1, uFormat("[%s=0] kNNFlannNaive=0, kNNFlannKdTree=1, kNNFlannLSH=2, kNNBruteForce=3, kNNBruteForceGPU=4. Used for features matching approach.", kVisCorType().c_str()));
RTABMAP_PARAM(Vis, CorNNType, int, 1, uFormat("[%s=0] kNNFlannNaive=0, kNNFlannKdTree=1, kNNFlannLSH=2, kNNBruteForce=3, kNNBruteForceGPU=4. Used for features matching approach.", kVisCorType().c_str()));
RTABMAP_PARAM(Vis, CorNNDR, float, 0.6, uFormat("[%s=0] NNDR: nearest neighbor distance ratio. Used for features matching approach.", kVisCorType().c_str()));
RTABMAP_PARAM(Vis, CorGuessWinSize, int, 20, uFormat("[%s=0] Matching window size (pixels) around projected points when a guess transform is provided to find correspondences. 0 means disabled.", kVisCorType().c_str()));
RTABMAP_PARAM(Vis, CorFlowWinSize, int, 16, uFormat("[%s=1] See cv::calcOpticalFlowPyrLK(). Used for optical flow approach.", kVisCorType().c_str()));