OdometryViso2.cpp

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/*
Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
All rights reserved.
 
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      notice, this list of conditions and the following disclaimer.
    * Redistributions in binary form must reproduce the above copyright
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      documentation and/or other materials provided with the distribution.
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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/OdometryViso2.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_VISO2
#include <viso_stereo.h>
 
double computeFeatureFlow(const std::vector<Matcher::p_match>& matches)
  {
    double total_flow = 0.0;
    for (size_t i = 0; i < matches.size(); ++i)
    {
      double x_diff = matches[i].u1c - matches[i].u1p;
      double y_diff = matches[i].v1c - matches[i].v1p;
      total_flow += sqrt(x_diff * x_diff + y_diff * y_diff);
    }
    return total_flow / matches.size();
}
#endif
 
namespace rtabmap {
 
OdometryViso2::OdometryViso2(const ParametersMap & parameters) :
        Odometry(parameters),
#ifdef RTABMAP_VISO2
        viso2_(0),
        ref_frame_change_method_(0),
        ref_frame_inlier_threshold_(Parameters::defaultOdomVisKeyFrameThr()),
        ref_frame_motion_threshold_(5.0),
        lost_(false),
        keep_reference_frame_(false),
#endif
        reference_motion_(Transform::getIdentity())
{
#ifdef RTABMAP_VISO2
        Parameters::parse(parameters, Parameters::kOdomVisKeyFrameThr(), ref_frame_inlier_threshold_);
#endif
        viso2Parameters_ = Parameters::filterParameters(parameters, "OdomViso2");
}
 
OdometryViso2::~OdometryViso2()
{
#ifdef RTABMAP_VISO2
        delete viso2_;
#endif
}
 
void OdometryViso2::reset(const Transform & initialPose)
{
        Odometry::reset(initialPose);
#ifdef RTABMAP_VISO2
        if(viso2_)
        {
                delete viso2_;
                viso2_ = 0;
        }
        lost_ = false;
        reference_motion_.setIdentity();
        previousLocalTransform_.setNull();
#endif
}
 
// return not null transform if odometry is correctly computed
Transform OdometryViso2::computeTransform(
                SensorData & data,
                const Transform & guess,
                OdometryInfo * info)
{
        Transform t;
#ifdef RTABMAP_VISO2
        //based on https://github.com/srv/viso2/blob/indigo/viso2_ros/src/stereo_odometer.cpp
 
        UTimer timer;
 
        if(!data.depthRaw().empty())
        {
                UERROR("viso2 odometry doesn't support RGB-D data, only stereo. Aborting odometry update...");
                return t;
        }
 
        if(data.imageRaw().empty() ||
                data.imageRaw().rows != data.rightRaw().rows ||
                data.imageRaw().cols != data.rightRaw().cols)
        {
                UERROR("Not compatible left (%dx%d) or right (%dx%d) image.",
                                data.imageRaw().rows,
                                data.imageRaw().cols,
                                data.rightRaw().rows,
                                data.rightRaw().cols);
                return t;
        }
 
        if(!(data.stereoCameraModels().size() == 1 &&
                data.stereoCameraModels()[0].isValidForProjection()))
        {
                UERROR("Invalid stereo camera model!");
                return t;
        }
 
        cv::Mat leftGray;
        if(data.imageRaw().type() == CV_8UC3)
        {
                cv::cvtColor(data.imageRaw(), leftGray, CV_BGR2GRAY);
        }
        else if(data.imageRaw().type() == CV_8UC1)
        {
                leftGray = data.imageRaw();
        }
        else
        {
                UFATAL("Not supported color type!");
        }
        cv::Mat rightGray;
        if(data.rightRaw().type() == CV_8UC3)
        {
                cv::cvtColor(data.rightRaw(), rightGray, CV_BGR2GRAY);
        }
        else if(data.rightRaw().type() == CV_8UC1)
        {
                rightGray = data.rightRaw();
        }
        else
        {
                UFATAL("Not supported color type!");
        }
 
        int32_t dims[] = {leftGray.cols, leftGray.rows, leftGray.cols};
        cv::Mat covariance;
        if(viso2_ == 0)
        {
                VisualOdometryStereo::parameters params;
                params.base      = params.match.base = data.stereoCameraModels()[0].baseline();
                params.calib.cu  = params.match.cu = data.stereoCameraModels()[0].left().cx();
                params.calib.cv  = params.match.cv = data.stereoCameraModels()[0].left().cy();
                params.calib.f   = params.match.f = data.stereoCameraModels()[0].left().fx();
 
                Parameters::parse(viso2Parameters_, Parameters::kOdomViso2RansacIters(), params.ransac_iters);
                Parameters::parse(viso2Parameters_, Parameters::kOdomViso2InlierThreshold(), params.inlier_threshold);
                Parameters::parse(viso2Parameters_, Parameters::kOdomViso2Reweighting(), params.reweighting);
 
                Parameters::parse(viso2Parameters_, Parameters::kOdomViso2MatchNmsN(), params.match.nms_n);
                Parameters::parse(viso2Parameters_, Parameters::kOdomViso2MatchNmsTau(), params.match.nms_tau);
                Parameters::parse(viso2Parameters_, Parameters::kOdomViso2MatchBinsize(), params.match.match_binsize);
                Parameters::parse(viso2Parameters_, Parameters::kOdomViso2MatchRadius(), params.match.match_radius);
                Parameters::parse(viso2Parameters_, Parameters::kOdomViso2MatchDispTolerance(), params.match.match_disp_tolerance);
                Parameters::parse(viso2Parameters_, Parameters::kOdomViso2MatchOutlierDispTolerance(), params.match.outlier_disp_tolerance);
                Parameters::parse(viso2Parameters_, Parameters::kOdomViso2MatchOutlierFlowTolerance(), params.match.outlier_flow_tolerance);
                bool multistage = Parameters::defaultOdomViso2MatchMultiStage();
                bool halfResolution = Parameters::defaultOdomViso2MatchHalfResolution();
                Parameters::parse(viso2Parameters_, Parameters::kOdomViso2MatchMultiStage(), multistage);
                Parameters::parse(viso2Parameters_, Parameters::kOdomViso2MatchHalfResolution() , halfResolution);
                params.match.multi_stage = multistage?1:0;
                params.match.half_resolution = halfResolution?1:0;
                Parameters::parse(viso2Parameters_, Parameters::kOdomViso2MatchRefinement(), params.match.refinement);
 
                Parameters::parse(viso2Parameters_, Parameters::kOdomViso2BucketMaxFeatures(), params.bucket.max_features);
                Parameters::parse(viso2Parameters_, Parameters::kOdomViso2BucketWidth(), params.bucket.bucket_width);
                Parameters::parse(viso2Parameters_, Parameters::kOdomViso2BucketHeight(), params.bucket.bucket_height);
 
                viso2_ = new VisualOdometryStereo(params);
 
                viso2_->process(leftGray.data, rightGray.data, dims);
                t.setIdentity();
                covariance = cv::Mat::eye(6,6, CV_64FC1)*9999.0;
        }
        else
        {
                bool success = viso2_->process(leftGray.data, rightGray.data, dims, lost_ || keep_reference_frame_);
                if (success)
                {
                        Matrix motionViso = Matrix::inv(viso2_->getMotion());
                        Transform motion(motionViso.val[0][0], motionViso.val[0][1], motionViso.val[0][2],motionViso.val[0][3],
                                        motionViso.val[1][0], motionViso.val[1][1], motionViso.val[1][2],motionViso.val[1][3],
                                        motionViso.val[2][0], motionViso.val[2][1], motionViso.val[2][2], motionViso.val[2][3]);
                        Transform camera_motion;
 
                        if(lost_ || keep_reference_frame_)
                        {
                          camera_motion = reference_motion_.inverse() * motion;
                        }
                        else
                        {
                          camera_motion = motion;
                        }
                        reference_motion_ = motion; // store last motion as reference
 
                        t=camera_motion;
 
                        //based on values set in viso2_ros
                        covariance = cv::Mat::eye(6,6, CV_64FC1);
                        covariance.at<double>(0,0) = 0.002;
                        covariance.at<double>(1,1) = 0.002;
                        covariance.at<double>(2,2) = 0.05;
                        covariance.at<double>(3,3) = 0.09;
                        covariance.at<double>(4,4) = 0.09;
                        covariance.at<double>(5,5) = 0.09;
 
                        lost_=false;
                }
                else
                {
                        covariance = cv::Mat::eye(6,6, CV_64FC1)*9999.0;
                        lost_ = true;
                }
 
                if(success)
                {
                        // Proceed depending on the reference frame change method
                        if(ref_frame_change_method_==1)
                        {
                                // calculate current feature flow
                                double feature_flow = computeFeatureFlow(viso2_->getMatches());
                                keep_reference_frame_ = (feature_flow < ref_frame_motion_threshold_);
                        }
                        else
                        {
                                keep_reference_frame_ = ref_frame_inlier_threshold_==0 || viso2_->getNumberOfInliers() > ref_frame_inlier_threshold_;
                        }
                }
                else
                {
                        keep_reference_frame_ = false;
                }
        }
 
        const Transform & localTransform = data.stereoCameraModels()[0].localTransform();
        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)kTypeViso2;
                info->keyFrameAdded = !keep_reference_frame_;
                info->reg.matches = viso2_->getNumberOfMatches();
                info->reg.inliers = viso2_->getNumberOfInliers();
                if(covariance.cols == 6 && covariance.rows == 6 && covariance.type() == CV_64FC1)
                {
                        info->reg.covariance = covariance;
                }
 
                if(this->isInfoDataFilled())
                {
                        std::vector<Matcher::p_match> matches = viso2_->getMatches();
                        info->refCorners.resize(matches.size());
                        info->newCorners.resize(matches.size());
                        info->cornerInliers.resize(matches.size());
                        for (size_t i = 0; i < matches.size(); ++i)
                        {
                                info->refCorners[i].x = matches[i].u1p;
                                info->refCorners[i].y = matches[i].v1p;
                                info->newCorners[i].x = matches[i].u1c;
                                info->newCorners[i].y = matches[i].v1c;
                                info->cornerInliers[i] = i;
                        }
                }
        }
 
        UINFO("Odom update time = %fs lost=%s", timer.elapsed(), lost_?"true":"false");
 
#else
        UERROR("RTAB-Map is not built with VISO2 support! Select another visual odometry approach.");
#endif
        return t;
}
 
} // namespace rtabmap