OdometryDVO.cpp
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1 /*
2 Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
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27 
30 #include "rtabmap/core/util2d.h"
32 #include "rtabmap/utilite/UTimer.h"
33 #include "rtabmap/utilite/UStl.h"
34 #include <opencv2/imgproc/types_c.h>
35 
36 #ifdef RTABMAP_DVO
37 #include <dvo/dense_tracking.h>
38 #include <dvo/core/surface_pyramid.h>
39 #include <dvo/core/rgbd_image.h>
40 #endif
41 
42 namespace rtabmap {
43 
45  Odometry(parameters),
46 #ifdef RTABMAP_DVO
47  dvo_(0),
48  reference_(0),
49  camera_(0),
50  lost_(false),
51 #endif
52  motionFromKeyFrame_(Transform::getIdentity())
53 {
54 }
55 
57 {
58 #ifdef RTABMAP_DVO
59  delete dvo_;
60  delete reference_;
61  delete camera_;
62 #endif
63 }
64 
65 void OdometryDVO::reset(const Transform & initialPose)
66 {
67  Odometry::reset(initialPose);
68 #ifdef RTABMAP_DVO
69  if(dvo_)
70  {
71  delete dvo_;
72  dvo_ = 0;
73  }
74  if(reference_)
75  {
76  delete reference_;
77  reference_ = 0;
78  }
79  if(camera_)
80  {
81  delete camera_;
82  camera_ = 0;
83  }
84  lost_ = false;
87 #endif
88 }
89 
90 // return not null transform if odometry is correctly computed
92  SensorData & data,
93  const Transform & guess,
94  OdometryInfo * info)
95 {
96  Transform t;
97 
98 #ifdef RTABMAP_DVO
99  UTimer timer;
100 
101  if(data.imageRaw().empty() ||
102  data.imageRaw().rows != data.depthOrRightRaw().rows ||
103  data.imageRaw().cols != data.depthOrRightRaw().cols)
104  {
105  UERROR("Not supported input!");
106  return t;
107  }
108 
109  if(!(data.cameraModels().size() == 1 && data.cameraModels()[0].isValidForReprojection()))
110  {
111  UERROR("Invalid camera model! Only single RGB-D camera supported by DVO. Try another odometry approach.");
112  return t;
113  }
114 
115  if(dvo_ == 0)
116  {
117  dvo::DenseTracker::Config cfg = dvo::DenseTracker::getDefaultConfig();
118 
119  dvo_ = new dvo::DenseTracker(cfg);
120  }
121 
122  cv::Mat grey, grey_s16, depth_inpainted, depth_mask, depth_mono, depth_float;
123  if(data.imageRaw().type() != CV_32FC1)
124  {
125  if(data.imageRaw().type() == CV_8UC3)
126  {
127  cv::cvtColor(data.imageRaw(), grey, CV_BGR2GRAY);
128  }
129  else
130  {
131  grey = data.imageRaw();
132  }
133 
134  grey.convertTo(grey_s16, CV_32F);
135  }
136  else
137  {
138  grey_s16 = data.imageRaw();
139  }
140 
141  // make sure all zeros are NAN
142  if(data.depthRaw().type() == CV_32FC1)
143  {
144  depth_float = data.depthRaw();
145  for(int i=0; i<depth_float.rows; ++i)
146  {
147  for(int j=0; j<depth_float.cols; ++j)
148  {
149  float & d = depth_float.at<float>(i,j);
150  if(d == 0.0f)
151  {
152  d = NAN;
153  }
154  }
155  }
156  }
157  else if(data.depthRaw().type() == CV_16UC1)
158  {
159  depth_float = cv::Mat(data.depthRaw().size(), CV_32FC1);
160  for(int i=0; i<data.depthRaw().rows; ++i)
161  {
162  for(int j=0; j<data.depthRaw().cols; ++j)
163  {
164  float d = float(data.depthRaw().at<unsigned short>(i,j))/1000.0f;
165  depth_float.at<float>(i, j) = d==0.0f?NAN:d;
166  }
167  }
168  }
169  else
170  {
171  UFATAL("Unknown depth format!");
172  }
173 
174  if(camera_ == 0)
175  {
176  dvo::core::IntrinsicMatrix intrinsics = dvo::core::IntrinsicMatrix::create(
177  data.cameraModels()[0].fx(),
178  data.cameraModels()[0].fy(),
179  data.cameraModels()[0].cx(),
180  data.cameraModels()[0].cy());
181  camera_ = new dvo::core::RgbdCameraPyramid(
182  data.cameraModels()[0].imageWidth(),
183  data.cameraModels()[0].imageHeight(),
184  intrinsics);
185  }
186 
187  dvo::core::RgbdImagePyramid * current = new dvo::core::RgbdImagePyramid(*camera_, grey_s16, depth_float);
188 
189  const Transform & localTransform = data.cameraModels()[0].localTransform();
190  cv::Mat covariance;
191  if(reference_ == 0)
192  {
193  reference_ = current;
194  if(!lost_)
195  {
196  t.setIdentity();
197  }
198  covariance = cv::Mat::eye(6,6,CV_64FC1) * 9999.0;
199  }
200  else
201  {
202  dvo::DenseTracker::Result result;
203  dvo_->match(*reference_, *current, result);
204  t = Transform::fromEigen3d(result.Transformation);
205 
206  if(result.Information(0,0) > 0.0 && result.Information(0,0) != 1.0)
207  {
208  lost_ = false;
209  cv::Mat information = cv::Mat::eye(6,6, CV_64FC1);
210  memcpy(information.data, result.Information.data(), 36*sizeof(double));
211  //copy only diagonal to avoid g2o/gtsam errors on graph optimization
212  covariance = cv::Mat::eye(6,6,CV_64FC1);
213  covariance = information.inv().mul(covariance);
214  //covariance *= 100.0; // to be in the same scale than loop closure detection
215 
216  Transform currentMotion = t;
217  t = motionFromKeyFrame_.inverse() * t;
218 
219  // TODO make parameters?
220  if(currentMotion.getNorm() > 0.01 || currentMotion.getAngle() > 0.01)
221  {
222  if(info)
223  {
224  info->keyFrameAdded = true;
225  }
226  // new keyframe
227  delete reference_;
228  reference_ = current;
230  }
231  else
232  {
233  delete current;
234  motionFromKeyFrame_ = currentMotion;
235  }
236  }
237  else
238  {
239  lost_ = true;
240  delete reference_;
241  delete current;
242  reference_ = 0; // this will make restart from the next frame
244  t.setNull();
246  covariance = cv::Mat::eye(6,6,CV_64FC1) * 9999.0;
247  UWARN("dvo failed to estimate motion, tracking will be reinitialized on next frame.");
248  }
249 
250  if(!t.isNull() && !t.isIdentity() && !localTransform.isIdentity() && !localTransform.isNull())
251  {
252  // from camera frame to base frame
254  {
255  t = previousLocalTransform_ * t * localTransform.inverse();
256  }
257  else
258  {
259  t = localTransform * t * localTransform.inverse();
260  }
261  previousLocalTransform_ = localTransform;
262  }
263  }
264 
265  if(info)
266  {
267  info->type = (int)kTypeDVO;
268  info->reg.covariance = covariance;
269  }
270 
271  UINFO("Odom update time = %fs", timer.elapsed());
272 
273 #else
274  UERROR("RTAB-Map is not built with DVO support! Select another visual odometry approach.");
275 #endif
276  return t;
277 }
278 
279 } // namespace rtabmap
d
Definition: UTimer.h:46
double elapsed()
Definition: UTimer.h:75
f
virtual void reset(const Transform &initialPose=Transform::getIdentity())
Definition: Odometry.cpp:191
virtual Transform computeTransform(SensorData &image, const Transform &guess=Transform(), OdometryInfo *info=0)
Definition: OdometryDVO.cpp:91
float getNorm() const
Definition: Transform.cpp:252
std::map< std::string, std::string > ParametersMap
Definition: Parameters.h:43
const cv::Mat & imageRaw() const
Definition: SensorData.h:164
#define UFATAL(...)
bool isIdentity() const
Definition: Transform.cpp:136
Wrappers of STL for convenient functions.
bool isNull() const
Definition: Transform.cpp:107
OdometryDVO(const rtabmap::ParametersMap &parameters=rtabmap::ParametersMap())
Definition: OdometryDVO.cpp:44
Transform previousLocalTransform_
Definition: OdometryDVO.h:63
const cv::Mat & depthOrRightRaw() const
Definition: SensorData.h:165
Transform motionFromKeyFrame_
Definition: OdometryDVO.h:62
static Transform fromEigen3d(const Eigen::Affine3d &matrix)
Definition: Transform.cpp:404
#define false
Definition: ConvertUTF.c:56
const std::vector< CameraModel > & cameraModels() const
Definition: SensorData.h:215
#define UERROR(...)
ULogger class and convenient macros.
#define UWARN(...)
virtual void reset(const Transform &initialPose=Transform::getIdentity())
Definition: OdometryDVO.cpp:65
float getAngle(float x=1.0f, float y=0.0f, float z=0.0f) const
Definition: Transform.cpp:245
RegistrationInfo reg
Definition: OdometryInfo.h:96
Transform inverse() const
Definition: Transform.cpp:178
cv::Mat depthRaw() const
Definition: SensorData.h:189
#define UINFO(...)


rtabmap
Author(s): Mathieu Labbe
autogenerated on Mon Dec 14 2020 03:34:59