OdometryVINS.cpp
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1 /*
2 Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
3 All rights reserved.
4 
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25 SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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27 
28 #include "rtabmap/core/odometry/OdometryVINS.h"
29 #include "rtabmap/core/OdometryInfo.h"
30 #include "rtabmap/core/util3d_transforms.h"
31 #include "rtabmap/utilite/ULogger.h"
32 #include "rtabmap/utilite/UTimer.h"
33 #include "rtabmap/utilite/UStl.h"
34 #include "rtabmap/utilite/UThread.h"
35 #include "rtabmap/utilite/UDirectory.h"
36 #include <opencv2/imgproc/types_c.h>
37 
38 #ifdef RTABMAP_VINS
39 #include <estimator/estimator.h>
40 #include <estimator/parameters.h>
41 #include <camodocal/camera_models/PinholeCamera.h>
42 #include <camodocal/camera_models/EquidistantCamera.h>
43 #include <utility/visualization.h>
44 #endif
45 
46 namespace rtabmap {
47 
48 #ifdef RTABMAP_VINS
49 class VinsEstimator: public Estimator
50 {
51 public:
52  VinsEstimator(
53  const Transform & imuLocalTransform,
54  const StereoCameraModel & model,
55  bool rectified) : Estimator()
56  {
57  MULTIPLE_THREAD = 0;
58  setParameter();
59 
60  //overwrite camera calibration only if received model is radtan, otherwise use config
61  UASSERT(NUM_OF_CAM >= 1 && NUM_OF_CAM <=2);
62 
63  if( (NUM_OF_CAM == 2 && model.left().D_raw().cols == 4 && model.right().D_raw().cols == 4) ||
64  (NUM_OF_CAM == 1 && model.left().D_raw().cols == 4))
65  {
66  UWARN("Overwriting VINS camera calibration config with received pinhole model... rectified=%d", rectified?1:0);
67  featureTracker.m_camera.clear();
68 
69  camodocal::PinholeCameraPtr camera( new camodocal::PinholeCamera );
70  camodocal::PinholeCamera::Parameters params(
71  model.name(),
72  model.left().imageWidth(), model.left().imageHeight(),
73  rectified?0:model.left().D_raw().at<double>(0,0),
74  rectified?0:model.left().D_raw().at<double>(0,1),
75  rectified?0:model.left().D_raw().at<double>(0,2),
76  rectified?0:model.left().D_raw().at<double>(0,3),
77  rectified?model.left().fx():model.left().K_raw().at<double>(0,0),
78  rectified?model.left().fy():model.left().K_raw().at<double>(1,1),
79  rectified?model.left().cx():model.left().K_raw().at<double>(0,2),
80  rectified?model.left().cy():model.left().K_raw().at<double>(1,2));
81  camera->setParameters(params);
82  featureTracker.m_camera.push_back(camera);
83 
84  if(NUM_OF_CAM == 2)
85  {
86  camodocal::PinholeCameraPtr camera( new camodocal::PinholeCamera );
87  camodocal::PinholeCamera::Parameters params(
88  model.name(),
89  model.right().imageWidth(), model.right().imageHeight(),
90  rectified?0:model.right().D_raw().at<double>(0,0),
91  rectified?0:model.right().D_raw().at<double>(0,1),
92  rectified?0:model.right().D_raw().at<double>(0,2),
93  rectified?0:model.right().D_raw().at<double>(0,3),
94  rectified?model.right().fx():model.right().K_raw().at<double>(0,0),
95  rectified?model.right().fy():model.right().K_raw().at<double>(1,1),
96  rectified?model.right().cx():model.right().K_raw().at<double>(0,2),
97  rectified?model.right().cy():model.right().K_raw().at<double>(1,2));
98  camera->setParameters(params);
99  featureTracker.m_camera.push_back(camera);
100  }
101  }
102  else if(rectified)
103  {
104  UWARN("Images are rectified but received calibration cannot be "
105  "used, make sure calibration in config file doesn't have "
106  "distortion or send raw images to VINS odometry.");
107  if(!featureTracker.m_camera.empty())
108  {
109  if(featureTracker.m_camera.front()->imageWidth() != model.left().imageWidth() ||
110  featureTracker.m_camera.front()->imageHeight() != model.left().imageHeight())
111  {
112  UERROR("Received images don't have same size (%dx%d) than in the config file (%dx%d)!",
113  model.left().imageWidth(),
114  model.left().imageHeight(),
115  featureTracker.m_camera.front()->imageWidth(),
116  featureTracker.m_camera.front()->imageHeight());
117  }
118  }
119  }
120 
121  Transform imuCam0 = imuLocalTransform.inverse() * model.localTransform();
122 
123  tic[0] = Vector3d(imuCam0.x(), imuCam0.y(), imuCam0.z());
124  ric[0] = imuCam0.toEigen4d().block<3,3>(0,0);
125 
126  if(NUM_OF_CAM == 2)
127  {
128  Transform cam0cam1;
129  if(rectified)
130  {
131  cam0cam1 = Transform(
132  1, 0, 0, model.baseline(),
133  0, 1, 0, 0,
134  0, 0, 1, 0);
135  }
136  else
137  {
138  cam0cam1 = model.stereoTransform().inverse();
139  }
140  UASSERT(!cam0cam1.isNull());
141  Transform imuCam1 = imuCam0 * cam0cam1;
142 
143  tic[1] = Vector3d(imuCam1.x(), imuCam1.y(), imuCam1.z());
144  ric[1] = imuCam1.toEigen4d().block<3,3>(0,0);
145  }
146 
147  for (int i = 0; i < NUM_OF_CAM; i++)
148  {
149  cout << " exitrinsic cam " << i << endl << ric[i] << endl << tic[i].transpose() << endl;
150  }
151  f_manager.setRic(ric);
152  ProjectionTwoFrameOneCamFactor::sqrt_info = FOCAL_LENGTH / 1.5 * Matrix2d::Identity();
153  ProjectionTwoFrameTwoCamFactor::sqrt_info = FOCAL_LENGTH / 1.5 * Matrix2d::Identity();
154  ProjectionOneFrameTwoCamFactor::sqrt_info = FOCAL_LENGTH / 1.5 * Matrix2d::Identity();
155  td = TD;
156  g = G;
157  cout << "set g " << g.transpose() << endl;
158  }
159 
160  // Copy of original inputImage() so that overridden processMeasurements() is used and threading is disabled.
161  void inputImage(double t, const cv::Mat &_img, const cv::Mat &_img1)
162  {
163  inputImageCnt++;
164  map<int, vector<pair<int, Eigen::Matrix<double, 7, 1>>>> featureFrame;
165  TicToc featureTrackerTime;
166  if(_img1.empty())
167  featureFrame = featureTracker.trackImage(t, _img);
168  else
169  featureFrame = featureTracker.trackImage(t, _img, _img1);
170  //printf("featureTracker time: %f\n", featureTrackerTime.toc());
171 
172  //if(MULTIPLE_THREAD)
173  //{
174  // if(inputImageCnt % 2 == 0)
175  // {
176  // mBuf.lock();
177  // featureBuf.push(make_pair(t, featureFrame));
178  // mBuf.unlock();
179  // }
180  //}
181  //else
182  {
183  mBuf.lock();
184  featureBuf.push(make_pair(t, featureFrame));
185  mBuf.unlock();
186  TicToc processTime;
187  processMeasurements();
188  UDEBUG("VINS process time: %f", processTime.toc());
189  }
190 
191  }
192 
193  // Copy of original inputIMU() but with publisher commented
194  void inputIMU(double t, const Vector3d &linearAcceleration, const Vector3d &angularVelocity)
195  {
196  mBuf.lock();
197  accBuf.push(make_pair(t, linearAcceleration));
198  gyrBuf.push(make_pair(t, angularVelocity));
199  //printf("input imu with time %f \n", t);
200  mBuf.unlock();
201 
202  fastPredictIMU(t, linearAcceleration, angularVelocity);
203  //if (solver_flag == NON_LINEAR)
204  // pubLatestOdometry(latest_P, latest_Q, latest_V, t);
205  }
206 
207  // Copy of original processMeasurements() but with publishers commented and threading disabled
208  void processMeasurements()
209  {
210  //while (1)
211  {
212  //printf("process measurments\n");
213  pair<double, map<int, vector<pair<int, Eigen::Matrix<double, 7, 1> > > > > feature;
214  vector<pair<double, Eigen::Vector3d>> accVector, gyrVector;
215  if(!featureBuf.empty())
216  {
217  feature = featureBuf.front();
218  curTime = feature.first + td;
219  //while(1)
220  //{
221  if (!((!USE_IMU || IMUAvailable(feature.first + td))))
222  //if ((!USE_IMU || IMUAvailable(feature.first + td)))
223  // break;
224  //else
225  {
226  printf("wait for imu ... \n");
227  //if (! MULTIPLE_THREAD)
228  return;
229  //std::chrono::milliseconds dura(5);
230  //std::this_thread::sleep_for(dura);
231  }
232  //}
233  mBuf.lock();
234  if(USE_IMU)
235  getIMUInterval(prevTime, curTime, accVector, gyrVector);
236 
237  featureBuf.pop();
238  mBuf.unlock();
239 
240  if(USE_IMU)
241  {
242  if(!initFirstPoseFlag)
243  initFirstIMUPose(accVector);
244  UDEBUG("accVector.size() = %d", accVector.size());
245  for(size_t i = 0; i < accVector.size(); i++)
246  {
247  double dt;
248  if(i == 0)
249  dt = accVector[i].first - prevTime;
250  else if (i == accVector.size() - 1)
251  dt = curTime - accVector[i - 1].first;
252  else
253  dt = accVector[i].first - accVector[i - 1].first;
254  processIMU(accVector[i].first, dt, accVector[i].second, gyrVector[i].second);
255  }
256  }
257 
258  processImage(feature.second, feature.first);
259 
260  prevTime = curTime;
261 
262  printStatistics(*this, 0);
263 
264  //std_msgs::Header header;
265  //header.frame_id = "world";
266  //header.stamp = ros::Time(feature.first);
267 
268  //pubOdometry(*this, header);
269  //pubKeyPoses(*this, header);
270  //pubCameraPose(*this, header);
271  //pubPointCloud(*this, header);
272  //pubKeyframe(*this);
273  //pubTF(*this, header);
274  }
275 
276  //if (! MULTIPLE_THREAD)
277  // break;
278 
279  //std::chrono::milliseconds dura(2);
280  //std::this_thread::sleep_for(dura);
281  }
282  }
283 };
284 #endif
285 
286 OdometryVINS::OdometryVINS(const ParametersMap & parameters) :
287  Odometry(parameters)
288 #ifdef RTABMAP_VINS
289  ,
290  vinsEstimator_(0),
291  initGravity_(false),
292  previousPose_(Transform::getIdentity())
293 #endif
294 {
295 #ifdef RTABMAP_VINS
296  // intialize
297  std::string configFilename;
298  Parameters::parse(parameters, Parameters::kOdomVINSConfigPath(), configFilename);
299  if(configFilename.empty())
300  {
301  UERROR("VINS config file is empty (%s=%s)!",
302  Parameters::kOdomVINSConfigPath().c_str(),
303  Parameters::kOdomVINSConfigPath().c_str());
304  }
305  else
306  {
307  readParameters(uReplaceChar(configFilename, '~', UDirectory::homeDir()));
308  }
309 #endif
310 }
311 
312 OdometryVINS::~OdometryVINS()
313 {
314 #ifdef RTABMAP_VINS
315  delete vinsEstimator_;
316 #endif
317 }
318 
319 void OdometryVINS::reset(const Transform & initialPose)
320 {
321  Odometry::reset(initialPose);
322 #ifdef RTABMAP_VINS
323  if(!initGravity_)
324  {
325  delete vinsEstimator_;
326  vinsEstimator_ = 0;
327  previousPose_.setIdentity();
328  lastImu_ = IMU();
329  previousLocalTransform_.setNull();
330  }
331  initGravity_ = false;
332 #endif
333 }
334 
335 // return not null transform if odometry is correctly computed
336 Transform OdometryVINS::computeTransform(
337  SensorData & data,
338  const Transform & guess,
339  OdometryInfo * info)
340 {
341  Transform t;
342 #ifdef RTABMAP_VINS
343  UTimer timer;
344 
345  if(USE_IMU!=0 && !data.imu().empty())
346  {
347  double t = data.stamp();
348  double dx = data.imu().linearAcceleration().val[0];
349  double dy = data.imu().linearAcceleration().val[1];
350  double dz = data.imu().linearAcceleration().val[2];
351  double rx = data.imu().angularVelocity().val[0];
352  double ry = data.imu().angularVelocity().val[1];
353  double rz = data.imu().angularVelocity().val[2];
354  Vector3d acc(dx, dy, dz);
355  Vector3d gyr(rx, ry, rz);
356 
357  UDEBUG("IMU update stamp=%f", data.stamp());
358 
359  if(vinsEstimator_ != 0)
360  {
361  vinsEstimator_->inputIMU(t, acc, gyr);
362  }
363  else
364  {
365  lastImu_ = data.imu();
366  UWARN("Waiting an image for initialization...");
367  }
368  }
369 
370  if(!data.imageRaw().empty() && !data.rightRaw().empty() && data.stereoCameraModels().size() == 1 && data.stereoCameraModels()[0].isValidForProjection())
371  {
372  if(USE_IMU==1 && lastImu_.localTransform().isNull())
373  {
374  UWARN("Waiting IMU for initialization...");
375  return t;
376  }
377  if(vinsEstimator_ == 0)
378  {
379  // intialize
380  vinsEstimator_ = new VinsEstimator(
381  lastImu_.localTransform().isNull()?Transform::getIdentity():lastImu_.localTransform(),
382  data.stereoCameraModels()[0],
383  this->imagesAlreadyRectified());
384  }
385 
386  UDEBUG("Image update stamp=%f", data.stamp());
387  cv::Mat left;
388  cv::Mat right;
389  if(data.imageRaw().type() == CV_8UC3)
390  {
391  cv::cvtColor(data.imageRaw(), left, CV_BGR2GRAY);
392  }
393  else if(data.imageRaw().type() == CV_8UC1)
394  {
395  left = data.imageRaw().clone();
396  }
397  else
398  {
399  UFATAL("Not supported color type!");
400  }
401  if(data.rightRaw().type() == CV_8UC3)
402  {
403  cv::cvtColor(data.rightRaw(), right, CV_BGR2GRAY);
404  }
405  else if(data.rightRaw().type() == CV_8UC1)
406  {
407  right = data.rightRaw().clone();
408  }
409  else
410  {
411  UFATAL("Not supported color type!");
412  }
413 
414  vinsEstimator_->inputImage(data.stamp(), left, right);
415 
416  if(vinsEstimator_->solver_flag == Estimator::NON_LINEAR)
417  {
418  Quaterniond tmp_Q;
419  tmp_Q = Quaterniond(vinsEstimator_->Rs[WINDOW_SIZE]);
420  Transform p(
421  vinsEstimator_->Ps[WINDOW_SIZE].x(),
422  vinsEstimator_->Ps[WINDOW_SIZE].y(),
423  vinsEstimator_->Ps[WINDOW_SIZE].z(),
424  tmp_Q.x(),
425  tmp_Q.y(),
426  tmp_Q.z(),
427  tmp_Q.w());
428 
429  if(!p.isNull())
430  {
431  if(!lastImu_.localTransform().isNull())
432  {
433  p = p * lastImu_.localTransform().inverse();
434  }
435 
436  if(this->getPose().rotation().isIdentity())
437  {
438  initGravity_ = true;
439  this->reset(this->getPose()*p.rotation());
440  }
441 
442  if(previousPose_.isIdentity())
443  {
444  previousPose_ = p;
445  }
446 
447  // make it incremental
448  Transform previousPoseInv = previousPose_.inverse();
449  t = previousPoseInv*p;
450  previousPose_ = p;
451 
452  if(info)
453  {
454  info->type = this->getType();
455  info->reg.covariance = cv::Mat::eye(6,6, CV_64FC1);
456  info->reg.covariance *= this->framesProcessed() == 0?9999:0.0001;
457 
458  // feature map
459  Transform fixT = this->getPose()*previousPoseInv;
460  for (auto &it_per_id : vinsEstimator_->f_manager.feature)
461  {
462  int used_num;
463  used_num = it_per_id.feature_per_frame.size();
464  if (!(used_num >= 2 && it_per_id.start_frame < WINDOW_SIZE - 2))
465  continue;
466  if (it_per_id.start_frame > WINDOW_SIZE * 3.0 / 4.0 || it_per_id.solve_flag != 1)
467  continue;
468  int imu_i = it_per_id.start_frame;
469  Vector3d pts_i = it_per_id.feature_per_frame[it_per_id.feature_per_frame.size()-1].point * it_per_id.estimated_depth;
470  Vector3d w_pts_i = vinsEstimator_->Rs[imu_i] * (vinsEstimator_->ric[0] * pts_i + vinsEstimator_->tic[0]) + vinsEstimator_->Ps[imu_i];
471 
472  cv::Point3f p;
473  p.x = w_pts_i(0);
474  p.y = w_pts_i(1);
475  p.z = w_pts_i(2);
476  p = util3d::transformPoint(p, fixT);
477  info->localMap.insert(std::make_pair(it_per_id.feature_id, p));
478 
479  if(this->imagesAlreadyRectified())
480  {
481  cv::Point2f pt;
482  data.stereoCameraModels()[0].left().reproject(pts_i(0), pts_i(1), pts_i(2), pt.x, pt.y);
483  info->reg.inliersIDs.push_back(info->newCorners.size());
484  info->newCorners.push_back(pt);
485  }
486  }
487  info->features = info->newCorners.size();
488  info->localMapSize = info->localMap.size();
489  }
490  UINFO("Odom update time = %fs p=%s", timer.elapsed(), p.prettyPrint().c_str());
491  }
492  }
493  else
494  {
495  UWARN("VINS not yet initialized... waiting to get enough IMU messages");
496  }
497  }
498  else if(!data.imageRaw().empty() && !data.depthRaw().empty())
499  {
500  UERROR("VINS-Fusion doesn't work with RGB-D data, stereo images are required!");
501  }
502  else if(!data.imageRaw().empty() && data.depthOrRightRaw().empty())
503  {
504  UERROR("VINS-Fusion requires stereo images!");
505  }
506  else if(data.imu().empty())
507  {
508  UERROR("VINS-Fusion requires stereo images (and only one stereo camera with valid calibration)!");
509  }
510 #else
511  UERROR("RTAB-Map is not built with VINS support! Select another visual odometry approach.");
512 #endif
513  return t;
514 }
515 
516 } // namespace rtabmap
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rtabmap
Author(s): Mathieu Labbe
autogenerated on Thu Jul 25 2024 02:50:13