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gfuse
2021-04-07 19:19:35 +02:00
parent e9256c9903
commit 651dcdfb2f
37 changed files with 786 additions and 310 deletions
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svo_ros/.idea/modules.xml
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svo_ros/.idea/svo_ros.iml
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svo_ros/CMakeLists.txt
-79
View File
@@ -1,79 +0,0 @@
SET(PROJECT_NAME svo_ros)
PROJECT(${PROJECT_NAME})
CMAKE_MINIMUM_REQUIRED (VERSION 2.8.3)
SET(CMAKE_BUILD_TYPE Release) # Release, RelWithDebInfo
SET(CMAKE_VERBOSE_MAKEFILE OFF)
SET(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${PROJECT_SOURCE_DIR}/CMakeModules/")
# Set build flags. Set IS_ARM on odroid board as environment variable
SET(CMAKE_CXX_FLAGS "-Wall -D_LINUX -D_REENTRANT -march=native -Wno-unused-variable -Wno-unused-but-set-variable -Wno-unknown-pragmas")
IF(DEFINED ENV{ARM_ARCHITECTURE})
SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -mfpu=neon -march=armv7-a")
ELSE()
SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -mmmx -msse -msse -msse2 -msse3 -mssse3")
ENDIF()
IF(CMAKE_COMPILER_IS_GNUCC)
SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x")
ELSE()
SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
ENDIF()
SET(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS} -O3 -fsee -fomit-frame-pointer -fno-signed-zeros -fno-math-errno -funroll-loops")
# Add catkin and required ROS packages
FIND_PACKAGE(catkin REQUIRED COMPONENTS
roscpp
cmake_modules
nav_msgs
std_msgs
visualization_msgs
sensor_msgs
image_transport
cv_bridge
tf
svo
svo_msgs
vikit_common
vikit_ros
)
# Add plain cmake packages
FIND_PACKAGE(OpenCV REQUIRED)
FIND_PACKAGE(Eigen REQUIRED)
FIND_PACKAGE(Sophus REQUIRED)
FIND_PACKAGE(Boost REQUIRED COMPONENTS thread)
# Describe catkin Project
catkin_package(
DEPENDS Eigen OpenCV Sophus Boost
CATKIN_DEPENDS roscpp nav_msgs std_msgs visualization_msgs sensor_msgs image_transport cv_bridge tf svo svo_msgs vikit_common vikit_ros
INCLUDE_DIRS include
LIBRARIES svo_visualizer
)
# Include dirs
INCLUDE_DIRECTORIES(
include
${Eigen_INCLUDE_DIRS}
${OpenCV_INCLUDE_DIRS}
${Sophus_INCLUDE_DIRS}
${Boost_INCLUDE_DIRS}
${catkin_INCLUDE_DIRS}
)
# Set link libraries
LIST(APPEND LINK_LIBS
${OpenCV_LIBS}
${Sophus_LIBRARIES}
${Boost_LIBRARIES}
${catkin_LIBRARIES}
)
# Create visualizer library
ADD_LIBRARY(svo_visualizer src/visualizer.cpp)
TARGET_LINK_LIBRARIES(svo_visualizer ${LINK_LIBS})
# Create Executables
ADD_EXECUTABLE(vo src/vo_node.cpp)
TARGET_LINK_LIBRARIES(vo svo_visualizer)
#ADD_EXECUTABLE(benchmark src/benchmark_node.cpp)
#TARGET_LINK_LIBRARIES(benchmark svo_visualizer)
svo_ros/include/svo_ros/dataset_img.h
-62
View File
@@ -1,62 +0,0 @@
// This file is part of SVO - Semi-direct Visual Odometry.
//
// Copyright (C) 2014 Christian Forster <forster at ifi dot uzh dot ch>
// (Robotics and Perception Group, University of Zurich, Switzerland).
//
// SVO is free software: you can redistribute it and/or modify it under the
// terms of the GNU General Public License as published by the Free Software
// Foundation, either version 3 of the License, or any later version.
//
// SVO is distributed in the hope that it will be useful, but WITHOUT ANY
// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
// FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details.
//
// You should have received a copy of the GNU General Public License
// along with this program. If not, see <http://www.gnu.org/licenses/>.
#ifndef DATASET_IMG_H
#define DATASET_IMG_H
namespace FileType {
#include <string>
#include <Eigen/Core>
#include <Eigen/Geometry>
using ::Eigen::Quaterniond;
using ::Eigen::Vector3d;
/// Specification of Dataset which contains: Camera Image, Gyroscope Rotation
class DatasetImg
{
public:
DatasetImg() {}
virtual ~DatasetImg() {}
double timestamp_;
std::string image_name_;
friend std::ostream& operator <<(std::ostream& out, const DatasetImg& pair);
friend std::istream& operator >>(std::istream& in, DatasetImg& pair);
};
std::ostream& operator <<(std::ostream& out, const DatasetImg& gt)
{
out
<< gt.timestamp_ << " "
<< gt.image_name_ << " "
<< std::endl;
return out;
}
std::istream& operator >>(std::istream& in, DatasetImg& gt)
{
in >> gt.timestamp_;
in >> gt.image_name_;
return in;
}
} // end namespace FileType
#endif /* DATASET_IMG_H */
svo_ros/include/svo_ros/visualizer.h
-79
View File
@@ -1,79 +0,0 @@
// This file is part of SVO - Semi-direct Visual Odometry.
//
// Copyright (C) 2014 Christian Forster <forster at ifi dot uzh dot ch>
// (Robotics and Perception Group, University of Zurich, Switzerland).
//
// SVO is free software: you can redistribute it and/or modify it under the
// terms of the GNU General Public License as published by the Free Software
// Foundation, either version 3 of the License, or any later version.
//
// SVO is distributed in the hope that it will be useful, but WITHOUT ANY
// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
// FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details.
//
// You should have received a copy of the GNU General Public License
// along with this program. If not, see <http://www.gnu.org/licenses/>.
#ifndef SVO_VISUALIZER_H_
#define SVO_VISUALIZER_H_
#include <queue>
#include <ros/ros.h>
#include <svo/global.h>
#include <visualization_msgs/Marker.h>
#include <visualization_msgs/MarkerArray.h>
#include <nav_msgs/Odometry.h>
#include <std_msgs/ColorRGBA.h>
#include <sensor_msgs/Image.h>
#include <sensor_msgs/CameraInfo.h>
#include <boost/lexical_cast.hpp>
#include <tf/transform_broadcaster.h>
#include <image_transport/image_transport.h>
#include <boost/thread.hpp>
#include <boost/shared_ptr.hpp>
#include <iostream>
namespace svo {
class Frame;
class Point;
class Map;
class FrameHandlerMono;
typedef boost::shared_ptr<Frame> FramePtr;
/// This class bundles all functions to publish visualisation messages.
class Visualizer
{
public:
ros::NodeHandle pnh_;
size_t trace_id_;
ros::Publisher pub_frames_;
ros::Publisher pub_points_;
ros::Publisher pub_pose_;
ros::Publisher pub_info_;
tf::TransformBroadcaster br_;
SE3 T_world_from_vision_;
Visualizer();
~Visualizer() {};
void publishMinimal(
const cv::Mat& img,
const FramePtr& frame,
const FrameHandlerMono& slam,
const double timestamp);
void visualizeMarkers(
const FramePtr& frame,
const set<FramePtr>& core_kfs,
const Map& map);
void removeDeletedPts(const Map& map);
};
} // end namespace svo
#endif /* SVO_VISUALIZER_H_ */
svo_ros/launch/Px30.launch
-21
View File
@@ -1,21 +0,0 @@
<launch>
<node pkg="svo_ros" type="vo" name="svo" clear_params="true" output="screen">
<!-- Camera topic to subscribe to -->
<param name="cam_topic" value="/CoreNode/grey_img" type="str" />
<!-- Camera calibration file -->
<rosparam file="$(find svo_ros)/param/camera_pinhole.yaml" />
<!-- Default parameter settings: choose between vo_fast and vo_accurate -->
<rosparam file="$(find svo_ros)/param/px30.yaml" />
<!-- Initial camera orientation, make it point downwards -->
<param name="init_rx" value="0.00" />
<param name="init_ry" value="0.00" />
<param name="init_rz" value="0.00" />
</node>
</launch>
svo_ros/launch/live.launch
-16
View File
@@ -1,16 +0,0 @@
<launch>
<node pkg="svo_ros" type="vo" name="svo" clear_params="true" output="screen">
<!-- Camera topic to subscribe to -->
<param name="cam_topic" value="/camera/image_raw" type="str" />
<!-- Camera calibration file -->
<rosparam file="$(find svo_ros)/param/camera_atan.yaml" />
<!-- Default parameter settings: choose between vo_fast and vo_accurate -->
<rosparam file="$(find svo_ros)/param/vo_fast.yaml" />
</node>
</launch>
svo_ros/launch/test.launch
-21
View File
@@ -1,21 +0,0 @@
<launch>
<node pkg="svo_ros" type="vo" name="svo" clear_params="true" output="screen">
<!-- Camera topic to subscribe to -->
<param name="cam_topic" value="/camera/image_raw" type="str" />
<!-- Camera calibration file -->
<rosparam file="$(find svo_ros)/param/camera_atan.yaml" />
<!-- Default parameter settings: choose between vo_fast and vo_accurate -->
<rosparam file="$(find svo_ros)/param/vo_fast.yaml" />
<!-- Initial camera orientation, make it point downwards -->
<param name="init_rx" value="3.14" />
<param name="init_ry" value="0.00" />
<param name="init_rz" value="0.00" />
</node>
</launch>
svo_ros/package.xml
-43
View File
@@ -1,43 +0,0 @@
<?xml version="1.0"?>
<package>
<name>svo_ros</name>
<version>0.1.0</version>
<description>
Monocular Visual Odometry - ROS Nodes
</description>
<author>Christian Forster</author>
<maintainer email="[email protected]">Christian Forster</maintainer>
<license>GPLv3</license>
<!-- Dependencies which this package needs to build itself. -->
<buildtool_depend>catkin</buildtool_depend>
<!-- Dependencies needed to compile this package. -->
<build_depend>roscpp</build_depend>
<build_depend>cmake_modules</build_depend> <!-- for FindEigen.cmake module -->
<build_depend>nav_msgs</build_depend>
<build_depend>std_msgs</build_depend>
<build_depend>visualization_msgs</build_depend>
<build_depend>sensor_msgs</build_depend>
<build_depend>image_transport</build_depend>
<build_depend>cv_bridge</build_depend>
<build_depend>tf</build_depend>
<build_depend>svo</build_depend>
<build_depend>svo_msgs</build_depend>
<build_depend>vikit_common</build_depend>
<build_depend>vikit_ros</build_depend>
<!-- Dependencies needed after this package is compiled. -->
<run_depend>roscpp</run_depend>
<run_depend>nav_msgs</run_depend>
<run_depend>std_msgs</run_depend>
<run_depend>visualization_msgs</run_depend>
<run_depend>sensor_msgs</run_depend>
<run_depend>image_transport</run_depend>
<run_depend>cv_bridge</run_depend>
<run_depend>tf</run_depend>
<run_depend>svo</run_depend>
<run_depend>svo_msgs</run_depend>
<run_depend>vikit_common</run_depend>
<run_depend>vikit_ros</run_depend>
</package>
svo_ros/param/camera_atan.yaml
-8
View File
@@ -1,8 +0,0 @@
cam_model: ATAN
cam_width: 752
cam_height: 480
cam_fx: 0.509326
cam_fy: 0.796651
cam_cx: 0.45905
cam_cy: 0.510056
cam_d0: 0.9320
svo_ros/param/camera_pinhole.yaml
-11
View File
@@ -1,11 +0,0 @@
cam_model: Pinhole
cam_width: 640
cam_height: 480
cam_fx: 789.860721
cam_fy: 790.097440
cam_cx: 305.323524
cam_cy: 260.464072
cam_d0: 0.027470
cam_d1: -0.051518
cam_d2: 0.004375
cam_d3: -0.004028
svo_ros/param/px30.yaml
-8
View File
@@ -1,8 +0,0 @@
cam_model: ATAN
cam_width: 640
cam_height: 480
cam_fx: 0.463632
cam_fy: 0.823661
cam_cx: 0.497465
cam_cy: 0.498443
cam_d0: 1.01687
svo_ros/param/vo_accurate.yaml
-4
View File
@@ -1,4 +0,0 @@
grid_size: 20
max_n_kfs: 50
loba_num_iter: 10
max_fts: 200
svo_ros/param/vo_fast.yaml
-3
View File
@@ -1,3 +0,0 @@
grid_size: 30
max_n_kfs: 10
loba_num_iter: 0
svo_ros/rqt.perspective
-293
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@@ -1,293 +0,0 @@
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"repr": "u'/cmd_vel'"
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svo_ros/rviz_config.rviz
-153
View File
@@ -1,153 +0,0 @@
Panels:
- Class: rviz/Displays
Help Height: 108
Name: Displays
Property Tree Widget:
Expanded:
- /Global Options1
- /Status1
- /TF1
- /Marker1
- /Marker2
- /Marker2/Namespaces1
- /Image1
Splitter Ratio: 0.5
Tree Height: 680
- Class: rviz/Selection
Name: Selection
- Class: rviz/Tool Properties
Expanded:
- /2D Pose Estimate1
- /2D Nav Goal1
- /Publish Point1
Name: Tool Properties
Splitter Ratio: 0.588679
- Class: rviz/Views
Expanded:
- /Current View1
Name: Views
Splitter Ratio: 0.5
- Class: rviz/Time
Experimental: false
Name: Time
SyncMode: 0
SyncSource: Image
Visualization Manager:
Class: ""
Displays:
- Alpha: 0.5
Cell Size: 1
Class: rviz/Grid
Color: 160; 160; 164
Enabled: true
Line Style:
Line Width: 0.03
Value: Lines
Name: Grid
Normal Cell Count: 0
Offset:
X: 0
Y: 0
Z: 0
Plane: XY
Plane Cell Count: 10
Reference Frame: <Fixed Frame>
Value: true
- Class: rviz/TF
Enabled: false
Frame Timeout: 15
Frames:
All Enabled: true
Marker Scale: 1
Name: TF
Show Arrows: true
Show Axes: true
Show Names: true
Tree:
{}
Update Interval: 0
Value: false
- Class: rviz/Marker
Enabled: true
Marker Topic: /svo/keyframes
Name: Marker
Namespaces:
cams: true
kfs: true
Queue Size: 100
Value: true
- Class: rviz/Marker
Enabled: true
Marker Topic: /svo/points
Name: Marker
Namespaces:
pts: true
trajectory: true
Queue Size: 100
Value: true
- Class: rviz/Image
Enabled: true
Image Topic: /svo/image
Max Value: 1
Median window: 5
Min Value: 0
Name: Image
Normalize Range: true
Queue Size: 2
Transport Hint: raw
Value: true
Enabled: true
Global Options:
Background Color: 255; 255; 255
Fixed Frame: /world
Name: root
Tools:
- Class: rviz/Interact
Hide Inactive Objects: true
- Class: rviz/MoveCamera
- Class: rviz/Select
- Class: rviz/FocusCamera
- Class: rviz/Measure
- Class: rviz/SetInitialPose
Topic: /initialpose
- Class: rviz/SetGoal
Topic: /move_base_simple/goal
- Class: rviz/PublishPoint
Single click: true
Topic: /clicked_point
Value: true
Views:
Current:
Class: rviz/Orbit
Distance: 5.48911
Focal Point:
X: 0.777511
Y: 0.689927
Z: -0.445833
Name: Current View
Near Clip Distance: 0.01
Pitch: 0.125204
Target Frame: <Fixed Frame>
Value: Orbit (rviz)
Yaw: 4.45215
Saved: ~
Window Geometry:
Displays:
collapsed: false
Height: 1416
Hide Left Dock: false
Hide Right Dock: true
Image:
collapsed: false
QMainWindow State: 000000ff00000000fd0000000400000000000002cc00000542fc0200000009fb0000001200530065006c0065006300740069006f006e00000000280000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000002800000355000000dd00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d0061006700650100000383000001e70000001600ffffff000000010000010f000003dafc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730000000028000003da000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000003ce0000003efc0100000002fb0000000800540069006d00650000000000000003ce000002f600fffffffb0000000800540069006d00650100000000000004500000000000000000000006fd0000054200000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
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Width: 2511
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svo_ros/src/benchmark_node.cpp
-272
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@@ -1,272 +0,0 @@
// This file is part of SVO - Semi-direct Visual Odometry.
//
// Copyright (C) 2014 Christian Forster <forster at ifi dot uzh dot ch>
// (Robotics and Perception Group, University of Zurich, Switzerland).
//
// SVO is free software: you can redistribute it and/or modify it under the
// terms of the GNU General Public License as published by the Free Software
// Foundation, either version 3 of the License, or any later version.
//
// SVO is distributed in the hope that it will be useful, but WITHOUT ANY
// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
// FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details.
//
// You should have received a copy of the GNU General Public License
// along with this program. If not, see <http://www.gnu.org/licenses/>.
#include <vector>
#include <string>
#include <iostream>
#include <sophus/se3.h>
#include <ros/ros.h>
#include <ros/package.h>
#include <opencv2/opencv.hpp>
#include <vikit/file_reader.h>
#include <vikit/params_helper.h>
#include <vikit/camera_loader.h>
#include <vikit/abstract_camera.h>
#include <vikit/blender_utils.h>
#include <vikit/sample.h>
#include <svo/config.h>
#include <svo/frame.h>
#include <svo/feature.h>
#include <svo/map.h>
#include <svo/point.h>
#include <svo/frame_handler_mono.h>
#include <svo/feature_detection.h>
#include <svo_ros/visualizer.h>
#include <svo_ros/dataset_img.h>
namespace svo {
class BenchmarkNode
{
svo::FrameHandlerMono* vo_;
svo::Visualizer visualizer_;
int frame_count_;
std::ofstream trace_est_pose_;
std::ofstream trace_trans_error_;
std::ofstream trace_rot_error_;
std::ofstream trace_depth_error_;
vk::AbstractCamera* cam_;
double img_noise_sigma_;
public:
BenchmarkNode(ros::NodeHandle& nh);
~BenchmarkNode();
void tracePose(const SE3& T_w_f, const double timestamp);
void tracePoseError(const SE3& T_f_gt, const double timestamp);
void traceDepthError(const FramePtr& frame, const cv::Mat& depthmap);
void addNoiseToImage(cv::Mat& img, double sigma);
void runBenchmark(const std::string& dataset_dir);
void runBlenderBenchmark(const std::string& dataset_dir);
};
BenchmarkNode::BenchmarkNode(ros::NodeHandle& nh) :
vo_(NULL),
frame_count_(0),
img_noise_sigma_(vk::getParam<double>("svo/dataset_noise_sigma", 0.0))
{
// Create Camera
if(!vk::camera_loader::loadFromRosNs("svo", cam_))
throw std::runtime_error("Camera model not correctly specified.");
// create pose tracefile
std::string trace_est_name(Config::traceDir() + "/traj_estimate.txt");
trace_est_pose_.open(trace_est_name.c_str());
if(trace_est_pose_.fail())
throw std::runtime_error("Could not create tracefile. Does folder exist?");
// Initialize VO
vo_ = new svo::FrameHandlerMono(cam_);
vo_->start();
}
BenchmarkNode::~BenchmarkNode()
{
delete vo_;
delete cam_;
}
void BenchmarkNode::tracePose(const SE3& T_w_f, const double timestamp)
{
Quaterniond q(T_w_f.unit_quaternion());
Vector3d p(T_w_f.translation());
trace_est_pose_.precision(15);
trace_est_pose_.setf(std::ios::fixed, std::ios::floatfield );
trace_est_pose_ << timestamp << " ";
trace_est_pose_.precision(6);
trace_est_pose_ << p.x() << " " << p.y() << " " << p.z() << " "
<< q.x() << " " << q.y() << " " << q.z() << " " << q.w() << std::endl;
}
void BenchmarkNode::tracePoseError(const SE3& T_f_gt, const double timestamp)
{
Vector3d et(T_f_gt.translation()); // translation error
trace_trans_error_.precision(15);
trace_trans_error_.setf(std::ios::fixed, std::ios::floatfield );
trace_trans_error_ << timestamp << " ";
trace_trans_error_.precision(6);
trace_trans_error_ << et.x() << " " << et.y() << " " << et.z() << " " << std::endl;
Vector3d er(vk::dcm2rpy(T_f_gt.rotation_matrix())); // rotation error in roll-pitch-yaw
trace_rot_error_.precision(15);
trace_rot_error_.setf(std::ios::fixed, std::ios::floatfield );
trace_rot_error_ << timestamp << " ";
trace_rot_error_.precision(6);
trace_rot_error_ << er.x() << " " << er.y() << " " << er.z() << " " << std::endl;
}
void BenchmarkNode::traceDepthError(const FramePtr& frame, const cv::Mat& depthmap)
{
trace_depth_error_.precision(6);
std::for_each(frame->fts_.begin(), frame->fts_.end(), [&](Feature* ftr){
if(ftr->point != NULL)
{
double depth_estimated = (ftr->point->pos_-frame->pos()).norm();
double depth_true = depthmap.at<float>((int) ftr->px[1], (int) ftr->px[0]);
trace_depth_error_ << frame->id_ << " "
<< depth_estimated-depth_true << std::endl;
}
});
}
void BenchmarkNode::runBenchmark(const std::string& dataset_dir)
{
// create image reader and load dataset
std::string filename_benchmark(dataset_dir + "/images.txt");
vk::FileReader<FileType::DatasetImg> dataset_reader(filename_benchmark);
dataset_reader.skipComments();
if(!dataset_reader.next()) {
SVO_ERROR_STREAM("Failed opening dataset: "<<filename_benchmark);
return;
}
std::vector<FileType::DatasetImg> dataset;
dataset_reader.readAllEntries(dataset);
// process dataset
int first_frame = vk::getParam<int>("svo/dataset_first_frame", 0);
for(auto it = dataset.begin(); it != dataset.end() && ros::ok(); ++it, ++frame_count_)
{
if(frame_count_ < first_frame)
continue;
std::string img_filename(dataset_dir + "/" + it->image_name_);
cv::Mat img(cv::imread(img_filename, 0));
if(img.empty()) {
SVO_ERROR_STREAM("Reading image "<<img_filename<<" failed.");
return;
}
vo_->addImage(img, it->timestamp_);
visualizer_.publishMinimal(img, vo_->lastFrame(), *vo_, it->timestamp_);
visualizer_.visualizeMarkers(vo_->lastFrame(), vo_->coreKeyframes(), vo_->map());
if(vo_->stage() == svo::FrameHandlerMono::STAGE_DEFAULT_FRAME)
tracePose(vo_->lastFrame()->T_f_w_.inverse(), it->timestamp_);
}
}
void BenchmarkNode::addNoiseToImage(cv::Mat& img, double sigma)
{
uint8_t* p = (uint8_t*) img.data;
uint8_t* p_end = img.ptr<uint8_t>(img.rows, img.cols);
while(p != p_end)
{
int val = *p + vk::Sample::gaussian(sigma) + 0.5;
*p = std::max(std::min(val, 255), 0);
++p;
}
}
void BenchmarkNode::runBlenderBenchmark(const std::string& dataset_dir)
{
// create image reader and load dataset
std::string filename_benchmark(dataset_dir + "/trajectory.txt");
vk::FileReader<vk::blender_utils::file_format::ImageNameAndPose> dataset_reader(filename_benchmark);
dataset_reader.skipComments();
if(!dataset_reader.next()) {
SVO_ERROR_STREAM("Failed opening dataset: "<<filename_benchmark);
return;
}
std::vector<vk::blender_utils::file_format::ImageNameAndPose> dataset;
dataset_reader.readAllEntries(dataset);
// create tracefiles
trace_trans_error_.open(Config::traceDir() + "/translation_error.txt");
trace_rot_error_.open(Config::traceDir() + "/orientation_error.txt");
trace_depth_error_.open(Config::traceDir() + "/depth_error.txt");
if(trace_trans_error_.fail() || trace_rot_error_.fail() || trace_depth_error_.fail())
throw std::runtime_error("Could not create tracefile. Does folder exist?");
// process dataset
for(auto it = dataset.begin(); it != dataset.end() && ros::ok(); ++it, ++frame_count_)
{
// Read image, ground-truth depth-map and ground-truth pose
std::string img_filename(dataset_dir + "/img/" + it->image_name_ + "_0.png");
cv::Mat img(cv::imread(img_filename, 0));
if(img.empty()) {
SVO_ERROR_STREAM("Reading image "<<img_filename<<" failed.");
return;
}
if(img_noise_sigma_ > 0)
addNoiseToImage(img, img_noise_sigma_);
cv::Mat depthmap;
vk::blender_utils::loadBlenderDepthmap(
dataset_dir+"/depth/"+it->image_name_+"_0.depth", *cam_, depthmap);
Sophus::SE3 T_w_gt(it->q_, it->t_);
// Set reference frame with depth
if(frame_count_ == 0)
{
// set reference frame at ground-truth pose
FramePtr frame_ref(new Frame(cam_, img, it->timestamp_));
frame_ref->T_f_w_ = T_w_gt.inverse();
// extract features, generate features with 3D points
svo::feature_detection::FastDetector detector(
cam_->width(), cam_->height(), svo::Config::gridSize(), svo::Config::nPyrLevels());
detector.detect(frame_ref.get(), frame_ref->img_pyr_, svo::Config::triangMinCornerScore(), frame_ref->fts_);
std::for_each(frame_ref->fts_.begin(), frame_ref->fts_.end(), [&](Feature* ftr) {
Eigen::Vector3d pt_pos_cur = ftr->f*depthmap.at<float>(ftr->px[1], ftr->px[0]);
Eigen::Vector3d pt_pos_world = frame_ref->T_f_w_.inverse()*pt_pos_cur;
svo::Point* point = new svo::Point(pt_pos_world, ftr);
ftr->point = point;
});
SVO_INFO_STREAM("Added "<<frame_ref->nObs()<<" 3d pts to the reference frame.");
vo_->setFirstFrame(frame_ref);
SVO_INFO_STREAM("Set reference frame.");
}
else
{
SVO_DEBUG_STREAM("Processing image "<<it->image_name_<<".");
vo_->addImage(img, it->timestamp_);
visualizer_.publishMinimal(img, vo_->lastFrame(), *vo_, it->timestamp_);
visualizer_.visualizeMarkers(vo_->lastFrame(), vo_->coreKeyframes(), vo_->map());
}
if(vo_->stage() != svo::FrameHandlerMono::STAGE_DEFAULT_FRAME)
{
SVO_ERROR_STREAM("SVO failed before entire dataset could be processed.");
break;
}
// Compute pose error and trace to file
Sophus::SE3 T_f_gt(vo_->lastFrame()->T_f_w_*T_w_gt);
tracePoseError(T_f_gt, it->timestamp_);
tracePose(vo_->lastFrame()->T_f_w_.inverse(), it->timestamp_);
traceDepthError(vo_->lastFrame(), depthmap);
}
}
} // namespace svo
int main(int argc, char** argv)
{
ros::init(argc, argv, "svo");
ros::NodeHandle nh;
svo::BenchmarkNode benchmark(nh);
std::string benchmark_dir(vk::getParam<std::string>("svo/dataset_directory"));
if(vk::getParam<bool>("svo/dataset_is_blender", false))
benchmark.runBlenderBenchmark(benchmark_dir);
else
benchmark.runBenchmark(benchmark_dir);
printf("BenchmarkNode finished.\n");
return 0;
}
svo_ros/src/visualizer.cpp
-128
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@@ -1,128 +0,0 @@
// This file is part of SVO - Semi-direct Visual Odometry.
//
// Copyright (C) 2014 Christian Forster <forster at ifi dot uzh dot ch>
// (Robotics and Perception Group, University of Zurich, Switzerland).
//
// SVO is free software: you can redistribute it and/or modify it under the
// terms of the GNU General Public License as published by the Free Software
// Foundation, either version 3 of the License, or any later version.
//
// SVO is distributed in the hope that it will be useful, but WITHOUT ANY
// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
// FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details.
//
// You should have received a copy of the GNU General Public License
// along with this program. If not, see <http://www.gnu.org/licenses/>.
#include <svo_ros/visualizer.h>
#include <svo/frame_handler_mono.h>
#include <svo/frame.h>
#include <svo/point.h>
#include <svo/map.h>
#include <svo/feature.h>
#include <svo_msgs/Info.h>
#include <geometry_msgs/PoseWithCovarianceStamped.h>
#include <vikit/timer.h>
#include <vikit/output_helper.h>
#include <deque>
namespace svo {
Visualizer::
Visualizer() :
pnh_("~"),
trace_id_(0),
T_world_from_vision_(Matrix3d::Identity(), Vector3d::Zero())
{
// Init ROS Marker Publishers
pub_frames_ = pnh_.advertise<visualization_msgs::Marker>("keyframes", 10);
pub_points_ = pnh_.advertise<visualization_msgs::Marker>("points", 1000);
pub_pose_ = pnh_.advertise<geometry_msgs::PoseWithCovarianceStamped>("pose",10);
pub_info_ = pnh_.advertise<svo_msgs::Info>("info", 10);
}
void Visualizer::publishMinimal(
const cv::Mat& img,
const FramePtr& frame,
const FrameHandlerMono& slam,
const double timestamp)
{
++trace_id_;
std_msgs::Header header_msg;
header_msg.frame_id = "/cam";
header_msg.seq = trace_id_;
header_msg.stamp = ros::Time(timestamp);
// publish info msg.
if(pub_info_.getNumSubscribers() > 0)
{
svo_msgs::Info msg_info;
msg_info.header = header_msg;
msg_info.processing_time = slam.lastProcessingTime();
msg_info.keyframes.reserve(slam.map().keyframes_.size());
for(list<FramePtr>::const_iterator it=slam.map().keyframes_.begin(); it!=slam.map().keyframes_.end(); ++it)
msg_info.keyframes.push_back((*it)->id_);
msg_info.stage = static_cast<int>(slam.stage());
msg_info.tracking_quality = static_cast<int>(slam.trackingQuality());
if(frame != NULL)
msg_info.num_matches = slam.lastNumObservations();
else
msg_info.num_matches = 0;
pub_info_.publish(msg_info);
}
if(pub_pose_.getNumSubscribers() > 0 && slam.stage() == FrameHandlerBase::STAGE_DEFAULT_FRAME)
{
Quaterniond q;
Vector3d p;
Matrix<double,6,6> Cov;
// publish cam in world frame (Estimated odometry in the worls frame)
SE3 T_world_from_cam(T_world_from_vision_*frame->T_f_w_.inverse());// do not confused with inverse. the T_f_w_ is the from camera to initial position with reference of camera
q = Quaterniond(T_world_from_cam.rotation_matrix()*T_world_from_vision_.rotation_matrix().transpose());
p = T_world_from_cam.translation();
Cov = T_world_from_cam.Adj()*frame->Cov_*T_world_from_cam.inverse().Adj();
geometry_msgs::PoseWithCovarianceStampedPtr msg_pose(new geometry_msgs::PoseWithCovarianceStamped);
msg_pose->header = header_msg;
msg_pose->pose.pose.position.x = p[0];
msg_pose->pose.pose.position.y = p[1];
msg_pose->pose.pose.position.z = p[2];
msg_pose->pose.pose.orientation.x = q.x();
msg_pose->pose.pose.orientation.y = q.y();
msg_pose->pose.pose.orientation.z = q.z();
msg_pose->pose.pose.orientation.w = q.w();
for(size_t i=0; i<36; ++i)
msg_pose->pose.covariance[i] = Cov(i%6, i/6);
pub_pose_.publish(msg_pose);
}
}
void Visualizer::visualizeMarkers(
const FramePtr& frame,
const set<FramePtr>& core_kfs,
const Map& map)
{
if(frame == NULL)
return;
vk::output_helper::publishTfTransform(
frame->T_f_w_*T_world_from_vision_.inverse(),
ros::Time(frame->timestamp_), "cam_pos", "world", br_);
if(pub_frames_.getNumSubscribers() > 0 || pub_points_.getNumSubscribers() > 0)
{
vk::output_helper::publishPointMarker(
pub_points_, T_world_from_vision_*frame->pos(), "trajectory",
ros::Time::now(), trace_id_, 0, 0.006, Vector3d(0.,0.,0.5));
removeDeletedPts(map);
}
}
void Visualizer::removeDeletedPts(const Map& map)
{
if(pub_points_.getNumSubscribers() > 0)
{
for(list<Point*>::const_iterator it=map.trash_points_.begin(); it!=map.trash_points_.end(); ++it)
vk::output_helper::publishPointMarker(pub_points_, Vector3d(), "pts", ros::Time::now(), (*it)->id_, 2, 0.006, Vector3d());
}
}
} // end namespace svo
svo_ros/src/vo_node.cpp
-128
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@@ -1,128 +0,0 @@
// This file is part of SVO - Semi-direct Visual Odometry.
//
// Copyright (C) 2014 Christian Forster <forster at ifi dot uzh dot ch>
// (Robotics and Perception Group, University of Zurich, Switzerland).
//
// SVO is free software: you can redistribute it and/or modify it under the
// terms of the GNU General Public License as published by the Free Software
// Foundation, either version 3 of the License, or any later version.
//
// SVO is distributed in the hope that it will be useful, but WITHOUT ANY
// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
// FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details.
//
// You should have received a copy of the GNU General Public License
// along with this program. If not, see <http://www.gnu.org/licenses/>.
#include <ros/package.h>
#include <string>
#include <svo/frame_handler_mono.h>
#include <svo/map.h>
#include <svo_ros/visualizer.h>
#include <vikit/params_helper.h>
#include <sensor_msgs/Image.h>
#include <sensor_msgs/Imu.h>
#include <std_msgs/String.h>
#include <message_filters/synchronizer.h>
#include <image_transport/image_transport.h>
#include <boost/thread.hpp>
#include <cv_bridge/cv_bridge.h>
#include <Eigen/Core>
#include <vikit/abstract_camera.h>
#include <vikit/camera_loader.h>
#include <vikit/user_input_thread.h>
namespace svo {
/// SVO Interface
class VoNode
{
public:
svo::FrameHandlerMono* vo_;
svo::Visualizer visualizer_;
bool publish_markers_; //!< publish only the minimal amount of info (choice for embedded devices)
vk::AbstractCamera* cam_;
FILE* logtime;
bool quit_;
VoNode();
~VoNode();
void imgCb(const sensor_msgs::ImageConstPtr& msg);
};
VoNode::VoNode() :
vo_(NULL),
publish_markers_(vk::getParam<bool>("svo/publish_markers", true)),
cam_(NULL),
quit_(false)
{
// Create Camera
if(!vk::camera_loader::loadFromRosNs("svo", cam_))
throw std::runtime_error("Camera model not correctly specified.");
// Get initial position and orientation
visualizer_.T_world_from_vision_ = Sophus::SE3(
vk::rpy2dcm(Vector3d(vk::getParam<double>("svo/init_rx", 0.0),
vk::getParam<double>("svo/init_ry", 0.0),
vk::getParam<double>("svo/init_rz", 0.0))),
Eigen::Vector3d(vk::getParam<double>("svo/init_tx", 0.0),
vk::getParam<double>("svo/init_ty", 0.0),
vk::getParam<double>("svo/init_tz", 0.0)));
// Init VO and start
vo_ = new svo::FrameHandlerMono(cam_);
vo_->start();
logtime = fopen((std::string(getenv("HOME"))+"/Project/time.txt").c_str(), "w+");
}
VoNode::~VoNode()
{
fclose(logtime);
delete logtime;
delete vo_;
delete cam_;
}
void VoNode::imgCb(const sensor_msgs::ImageConstPtr& msg)
{
auto start=std::chrono::steady_clock::now();
try {
cv::Mat img;
img = cv_bridge::toCvShare(msg, "mono8")->image;
vo_->addImage(img, msg->header.stamp.toSec());
visualizer_.publishMinimal(img, vo_->lastFrame(), *vo_, msg->header.stamp.toSec());
if(publish_markers_ && vo_->stage() != FrameHandlerBase::STAGE_PAUSED)
visualizer_.visualizeMarkers(vo_->lastFrame(), vo_->coreKeyframes(), vo_->map());
if(vo_->stage() == FrameHandlerMono::STAGE_PAUSED)
usleep(100000);
fprintf(logtime, "%s\n",std::to_string(std::chrono::duration<double>(std::chrono::steady_clock::now()-start).count()).c_str());
} catch (cv_bridge::Exception& e) {
ROS_ERROR("cv_bridge exception: %s", e.what());
}
}
} // namespace svo
int main(int argc, char **argv)
{
ros::init(argc, argv, "svo");
ros::NodeHandle nh;
std::cout << "create vo_node" << std::endl;
svo::VoNode vo_node;
// subscribe to cam msgs
image_transport::ImageTransport it(nh);
image_transport::Subscriber it_sub = it.subscribe(vk::getParam<std::string>("svo/cam_topic", "camera/image_raw"), 5, &svo::VoNode::imgCb, &vo_node);
// start processing callbacks
while(ros::ok() && !vo_node.quit_)
{
ros::spinOnce();
// TODO check when last image was processed. when too long ago. publish warning that no msgs are received!
}
printf("SVO terminated.\n");
return 0;
}