OdometryFovis.cpp

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/*
Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
All rights reserved.

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      names of its contributors may be used to endorse or promote products
      derived from this software without specific prior written permission.

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#include "rtabmap/core/odometry/OdometryFovis.h"
#include "rtabmap/core/OdometryInfo.h"
#include "rtabmap/core/util2d.h"
#include "rtabmap/utilite/ULogger.h"
#include "rtabmap/utilite/UTimer.h"
#include "rtabmap/utilite/UStl.h"
#include <opencv2/imgproc/types_c.h>

#ifdef RTABMAP_FOVIS
#include <libfovis/fovis.hpp>
#endif

namespace rtabmap {

OdometryFovis::OdometryFovis(const ParametersMap & parameters) :
        Odometry(parameters)
#ifdef RTABMAP_FOVIS
    ,
        fovis_(0),
        rect_(0),
        stereoCalib_(0),
        depthImage_(0),
        stereoDepth_(0),
        lost_(false)
#endif
{
        fovisParameters_ = Parameters::filterParameters(parameters, "OdomFovis");
        if(parameters.find(Parameters::kOdomVisKeyFrameThr()) != parameters.end())
        {
                fovisParameters_.insert(*parameters.find(Parameters::kOdomVisKeyFrameThr()));
        }
}

OdometryFovis::~OdometryFovis()
{
#ifdef RTABMAP_FOVIS
        delete fovis_;
        delete rect_;
        delete stereoCalib_;
        delete depthImage_;
        delete stereoDepth_;
#endif
}

void OdometryFovis::reset(const Transform & initialPose)
{
        Odometry::reset(initialPose);
#ifdef RTABMAP_FOVIS
        if(fovis_)
        {
                delete fovis_;
                fovis_ = 0;
        }
        if(rect_)
        {
                delete rect_;
                rect_ = 0;
        }
        if(stereoCalib_)
        {
                delete stereoCalib_;
                stereoCalib_ = 0;
        }
        if(depthImage_)
        {
                delete depthImage_;
                depthImage_ = 0;
        }
        if(stereoDepth_)
        {
                delete stereoDepth_;
                stereoDepth_ = 0;
        }
        lost_ = false;
        previousLocalTransform_.setNull();
#endif
}

// return not null transform if odometry is correctly computed
Transform OdometryFovis::computeTransform(
                SensorData & data,
                const Transform & guess,
                OdometryInfo * info)
{
        UDEBUG("");
        Transform t;

#ifdef RTABMAP_FOVIS
        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()) ||
                (data.stereoCameraModel().isValidForProjection() &&
                        data.stereoCameraModel().left().isValidForReprojection() &&
                        data.stereoCameraModel().right().isValidForReprojection())))
        {
                UERROR("Invalid camera model! Mono cameras=%d (reproj=%d), Stereo camera=%d (reproj=%d|%d)",
                                (int)data.cameraModels().size(),
                                data.cameraModels().size() && data.cameraModels()[0].isValidForReprojection()?1:0,
                                data.stereoCameraModel().isValidForProjection()?1:0,
                                data.stereoCameraModel().left().isValidForReprojection()?1:0,
                                data.stereoCameraModel().right().isValidForReprojection()?1:0);
                return t;
        }

        cv::Mat gray;
        if(data.imageRaw().type() == CV_8UC3)
        {
                cv::cvtColor(data.imageRaw(), gray, CV_BGR2GRAY);
        }
        else if(data.imageRaw().type() == CV_8UC1)
        {
                gray = data.imageRaw();
        }
        else
        {
                UFATAL("Not supported color type!");
        }

        fovis::VisualOdometryOptions options;
        if(fovis_ == 0 || (data.cameraModels().size() != 1 && stereoDepth_ == 0))
        {
                options = fovis::VisualOdometry::getDefaultOptions();

                ParametersMap defaults = Parameters::getDefaultParameters("OdomFovis");
                options["feature-window-size"]           = uValue(fovisParameters_, Parameters::kOdomFovisFeatureWindowSize(), defaults.at(Parameters::kOdomFovisFeatureWindowSize()));
                options["max-pyramid-level"]             = uValue(fovisParameters_, Parameters::kOdomFovisMaxPyramidLevel(), defaults.at(Parameters::kOdomFovisMaxPyramidLevel()));
                options["min-pyramid-level"]             = uValue(fovisParameters_, Parameters::kOdomFovisMinPyramidLevel(), defaults.at(Parameters::kOdomFovisMinPyramidLevel()));
                options["target-pixels-per-feature"]     = uValue(fovisParameters_, Parameters::kOdomFovisTargetPixelsPerFeature(), defaults.at(Parameters::kOdomFovisTargetPixelsPerFeature()));
                options["fast-threshold"]                = uValue(fovisParameters_, Parameters::kOdomFovisFastThreshold(), defaults.at(Parameters::kOdomFovisFastThreshold()));
                options["use-adaptive-threshold"]        = uValue(fovisParameters_, Parameters::kOdomFovisUseAdaptiveThreshold(), defaults.at(Parameters::kOdomFovisUseAdaptiveThreshold()));
                options["fast-threshold-adaptive-gain"]  = uValue(fovisParameters_, Parameters::kOdomFovisFastThresholdAdaptiveGain(), defaults.at(Parameters::kOdomFovisFastThresholdAdaptiveGain()));
                options["use-homography-initialization"] = uValue(fovisParameters_, Parameters::kOdomFovisUseHomographyInitialization(), defaults.at(Parameters::kOdomFovisUseHomographyInitialization()));
                options["ref-frame-change-threshold"]    = uValue(fovisParameters_, Parameters::kOdomVisKeyFrameThr(), uNumber2Str(Parameters::defaultOdomVisKeyFrameThr()));

                  // OdometryFrame
                options["use-bucketing"]            = uValue(fovisParameters_, Parameters::kOdomFovisUseBucketing(), defaults.at(Parameters::kOdomFovisUseBucketing()));
                options["bucket-width"]             = uValue(fovisParameters_, Parameters::kOdomFovisBucketWidth(), defaults.at(Parameters::kOdomFovisBucketWidth()));
                options["bucket-height"]            = uValue(fovisParameters_, Parameters::kOdomFovisBucketHeight(), defaults.at(Parameters::kOdomFovisBucketHeight()));
                options["max-keypoints-per-bucket"] = uValue(fovisParameters_, Parameters::kOdomFovisMaxKeypointsPerBucket(), defaults.at(Parameters::kOdomFovisMaxKeypointsPerBucket()));
                options["use-image-normalization"]  = uValue(fovisParameters_, Parameters::kOdomFovisUseImageNormalization(), defaults.at(Parameters::kOdomFovisUseImageNormalization()));

                  // MotionEstimator
                options["inlier-max-reprojection-error"]       = uValue(fovisParameters_, Parameters::kOdomFovisInlierMaxReprojectionError(), defaults.at(Parameters::kOdomFovisInlierMaxReprojectionError()));
                options["clique-inlier-threshold"]             = uValue(fovisParameters_, Parameters::kOdomFovisCliqueInlierThreshold(), defaults.at(Parameters::kOdomFovisCliqueInlierThreshold()));
                options["min-features-for-estimate"]           = uValue(fovisParameters_, Parameters::kOdomFovisMinFeaturesForEstimate(), defaults.at(Parameters::kOdomFovisMinFeaturesForEstimate()));
                options["max-mean-reprojection-error"]         = uValue(fovisParameters_, Parameters::kOdomFovisMaxMeanReprojectionError(), defaults.at(Parameters::kOdomFovisMaxMeanReprojectionError()));
                options["use-subpixel-refinement"]             = uValue(fovisParameters_, Parameters::kOdomFovisUseSubpixelRefinement(), defaults.at(Parameters::kOdomFovisUseSubpixelRefinement()));
                options["feature-search-window"]               = uValue(fovisParameters_, Parameters::kOdomFovisFeatureSearchWindow(), defaults.at(Parameters::kOdomFovisFeatureSearchWindow()));
                options["update-target-features-with-refined"] = uValue(fovisParameters_, Parameters::kOdomFovisUpdateTargetFeaturesWithRefined(), defaults.at(Parameters::kOdomFovisUpdateTargetFeaturesWithRefined()));

                  // StereoDepth
                options["stereo-require-mutual-match"]        = uValue(fovisParameters_, Parameters::kOdomFovisStereoRequireMutualMatch(), defaults.at(Parameters::kOdomFovisStereoRequireMutualMatch()));
                options["stereo-max-dist-epipolar-line"]      = uValue(fovisParameters_, Parameters::kOdomFovisStereoMaxDistEpipolarLine(), defaults.at(Parameters::kOdomFovisStereoMaxDistEpipolarLine()));
                options["stereo-max-refinement-displacement"] = uValue(fovisParameters_, Parameters::kOdomFovisStereoMaxRefinementDisplacement(), defaults.at(Parameters::kOdomFovisStereoMaxRefinementDisplacement()));
                options["stereo-max-disparity"]               = uValue(fovisParameters_, Parameters::kOdomFovisStereoMaxDisparity(), defaults.at(Parameters::kOdomFovisStereoMaxDisparity()));
        }

        fovis::DepthSource * depthSource = 0;
        cv::Mat depth;
        cv::Mat right;
        Transform localTransform = Transform::getIdentity();
        if(data.cameraModels().size() == 1) //depth
        {
                UDEBUG("");
                fovis::CameraIntrinsicsParameters rgb_params;
                memset(&rgb_params, 0, sizeof(fovis::CameraIntrinsicsParameters));
                rgb_params.width = data.cameraModels()[0].imageWidth();
                rgb_params.height = data.cameraModels()[0].imageHeight();

                rgb_params.fx = data.cameraModels()[0].fx();
                rgb_params.fy = data.cameraModels()[0].fy();
                rgb_params.cx = data.cameraModels()[0].cx()==0.0?double(rgb_params.width) / 2.0:data.cameraModels()[0].cx();
                rgb_params.cy = data.cameraModels()[0].cy()==0.0?double(rgb_params.height) / 2.0:data.cameraModels()[0].cy();
                localTransform = data.cameraModels()[0].localTransform();

                if(rect_ == 0)
                {
                        UINFO("Init rgbd fovis: %dx%d fx=%f fy=%f cx=%f cy=%f", rgb_params.width, rgb_params.height, rgb_params.fx, rgb_params.fy, rgb_params.cx, rgb_params.cy);
                        rect_ = new fovis::Rectification(rgb_params);
                }

                if(depthImage_ == 0)
                {
                        depthImage_ = new fovis::DepthImage(rgb_params, rgb_params.width, rgb_params.height);
                }
                // make sure all zeros are NAN
                if(data.depthRaw().type() == CV_32FC1)
                {
                        depth = data.depthRaw();
                        for(int i=0; i<depth.rows; ++i)
                        {
                                for(int j=0; j<depth.cols; ++j)
                                {
                                        float & d = depth.at<float>(i,j);
                                        if(d == 0.0f)
                                        {
                                                d = NAN;
                                        }
                                }
                        }
                }
                else if(data.depthRaw().type() == CV_16UC1)
                {
                        depth = 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.at<float>(i, j) = d==0.0f?NAN:d;
                                }
                        }
                }
                else
                {
                        UFATAL("Unknown depth format!");
                }
                depthImage_->setDepthImage((float*)depth.data);
                depthSource = depthImage_;
        }
        else // stereo
        {
                UDEBUG("");
                // initialize left camera parameters
                fovis::CameraIntrinsicsParameters left_parameters;
                left_parameters.width = data.stereoCameraModel().left().imageWidth();
                left_parameters.height = data.stereoCameraModel().left().imageHeight();
                left_parameters.fx = data.stereoCameraModel().left().fx();
                left_parameters.fy = data.stereoCameraModel().left().fy();
                left_parameters.cx = data.stereoCameraModel().left().cx()==0.0?double(left_parameters.width) / 2.0:data.stereoCameraModel().left().cx();
                left_parameters.cy = data.stereoCameraModel().left().cy()==0.0?double(left_parameters.height) / 2.0:data.stereoCameraModel().left().cy();
                localTransform = data.stereoCameraModel().localTransform();

                if(rect_ == 0)
                {
                        UINFO("Init stereo fovis: %dx%d fx=%f fy=%f cx=%f cy=%f", left_parameters.width, left_parameters.height, left_parameters.fx, left_parameters.fy, left_parameters.cx, left_parameters.cy);
                        rect_ = new fovis::Rectification(left_parameters);
                }

                if(stereoCalib_ == 0)
                {
                        // initialize right camera parameters
                        fovis::CameraIntrinsicsParameters right_parameters;
                        right_parameters.width = data.stereoCameraModel().right().imageWidth();
                        right_parameters.height = data.stereoCameraModel().right().imageHeight();
                        right_parameters.fx = data.stereoCameraModel().right().fx();
                        right_parameters.fy = data.stereoCameraModel().right().fy();
                        right_parameters.cx = data.stereoCameraModel().right().cx()==0.0?double(right_parameters.width) / 2.0:data.stereoCameraModel().right().cx();
                        right_parameters.cy = data.stereoCameraModel().right().cy()==0.0?double(right_parameters.height) / 2.0:data.stereoCameraModel().right().cy();

                        // as we use rectified images, rotation is identity
                        // and translation is baseline only
                        fovis::StereoCalibrationParameters stereo_parameters;
                        stereo_parameters.left_parameters = left_parameters;
                        stereo_parameters.right_parameters = right_parameters;
                        stereo_parameters.right_to_left_rotation[0] = 1.0;
                        stereo_parameters.right_to_left_rotation[1] = 0.0;
                        stereo_parameters.right_to_left_rotation[2] = 0.0;
                        stereo_parameters.right_to_left_rotation[3] = 0.0;
                        stereo_parameters.right_to_left_translation[0] = -data.stereoCameraModel().baseline();
                        stereo_parameters.right_to_left_translation[1] = 0.0;
                        stereo_parameters.right_to_left_translation[2] = 0.0;

                        stereoCalib_ = new fovis::StereoCalibration(stereo_parameters);
                }

                if(stereoDepth_ == 0)
                {
                        stereoDepth_ = new fovis::StereoDepth(stereoCalib_, options);
                }
                if(data.rightRaw().type() == CV_8UC3)
                {
                        cv::cvtColor(data.rightRaw(), right, CV_BGR2GRAY);
                }
                else if(data.rightRaw().type() == CV_8UC1)
                {
                        right = data.rightRaw();
                }
                else
                {
                        UFATAL("Not supported color type!");
                }
                stereoDepth_->setRightImage(right.data);
                depthSource = stereoDepth_;
        }

        if(fovis_ == 0)
        {
                fovis_ = new fovis::VisualOdometry(rect_, options);
        }

        UDEBUG("");
        fovis_->processFrame(gray.data, depthSource);

        // get the motion estimate for this frame to the previous frame.
        t = Transform::fromEigen3d(fovis_->getMotionEstimate());

        cv::Mat covariance;
        fovis::MotionEstimateStatusCode statusCode = fovis_->getMotionEstimator()->getMotionEstimateStatus();
        if(statusCode > fovis::SUCCESS)
        {
                UWARN("Fovis error status: %s", fovis::MotionEstimateStatusCodeStrings[statusCode]);
                t.setNull();
                lost_ = true;
                covariance = cv::Mat::eye(6,6, CV_64FC1)*9999.0;
                previousLocalTransform_.setNull();
        }
        else if(lost_)
        {
                lost_ = false;
                // we are not lost anymore but we don't know where we are now according to last valid pose
                covariance = cv::Mat::eye(6,6, CV_64FC1)*9999.0;
                previousLocalTransform_.setNull();
        }
        else
        {
                const Eigen::MatrixXd& cov = fovis_->getMotionEstimator()->getMotionEstimateCov();
                if(cov.cols() == 6 && cov.rows() == 6 && cov(0,0) > 0.0)
                {
                        covariance = cv::Mat::eye(6,6, CV_64FC1);
                        memcpy(covariance.data, cov.data(), 36*sizeof(double));
                        covariance *= 100.0; // to be in the same scale than loop closure detection
                }
        }

        if(!t.isNull() && !t.isIdentity() && !localTransform.isIdentity() && !localTransform.isNull())
        {
                // from camera frame to base frame
                if(!previousLocalTransform_.isNull())
                {
                        t = previousLocalTransform_ * t * localTransform.inverse();
                }
                else
                {
                        t = localTransform * t * localTransform.inverse();
                }
                previousLocalTransform_ = localTransform;
        }

        if(info)
        {
                info->type = (int)kTypeFovis;
                info->keyFrameAdded = fovis_->getChangeReferenceFrames();
                info->features = fovis_->getTargetFrame()->getNumDetectedKeypoints();
                info->reg.matches = fovis_->getMotionEstimator()->getNumMatches();
                info->reg.inliers = fovis_->getMotionEstimator()->getNumInliers();
                info->reg.covariance = covariance;

                if(this->isInfoDataFilled())
                {
                        const fovis::FeatureMatch * matches = fovis_->getMotionEstimator()->getMatches();
                        int numMatches = fovis_->getMotionEstimator()->getNumMatches();
                        if(matches && numMatches>0)
                        {
                                info->refCorners.resize(numMatches);
                                info->newCorners.resize(numMatches);
                                info->cornerInliers.resize(numMatches);
                                int oi=0;
                                for (int i = 0; i < numMatches; ++i)
                                {
                                        info->refCorners[i].x = matches[i].ref_keypoint->base_uv[0];
                                        info->refCorners[i].y = matches[i].ref_keypoint->base_uv[1];
                                        info->newCorners[i].x = matches[i].target_keypoint->base_uv[0];
                                        info->newCorners[i].y = matches[i].target_keypoint->base_uv[1];
                                        info->cornerInliers[oi++] = i;
                                }
                                info->cornerInliers.resize(oi);
                        }
                }
        }

        UINFO("Odom update time = %fs status=%s", timer.elapsed(), fovis::MotionEstimateStatusCodeStrings[statusCode]);

#else
        UERROR("RTAB-Map is not built with FOVIS support! Select another visual odometry approach.");
#endif
        return t;
}

} // namespace rtabmap