diff --git a/README.md b/README.md index 859a90e..aaf8b86 100644 --- a/README.md +++ b/README.md @@ -29,159 +29,15 @@ If you use SVO in an academic context, please cite the following publication: } -Documentation -------------- +#### Documentation The API is documented here: http://uzh-rpg.github.io/rpg_svo/doc/ -Installation Instructions -------------------------- +#### Instructions -SVO can be used conveniently with ROS (www.ros.org). -We use two workspaces, one for the plain CMake projects `Sophus`, `Fast` and optionally `g2o` and another workspace for the ROS-Catkin projects `rpg_vikit` and `rpg_svo`. Make sure to clone in the right folder. +See the Wiki for more instructions. https://github.com/uzh-rpg/rpg_svo/wiki -#### Sophus - Lie groups - -Sophus by Hauke Strasdat implements Lie groups that we need to describe rigid body transformations. Checkout in your workspace for plain CMake projects. - - cd workspace - git clone https://github.com/strasdat/Sophus.git - cd Sophus - git checkout a621ff - mkdir build - cd build - cmake .. - make - -You don't need to install the library since `cmake ..` writes the package location to `~.cmake/packages/` where CMake can later find it. - -#### Fast - Corner Detector - -The Fast detector by Edward Rosten is used to detect corners. -To simplify installation we provide a CMake package that contains the fast detector from the libCVD library (http://www.edwardrosten.com/cvd/). - - cd workspace - git clone https://github.com/uzh-rpg/fast.git - cd fast - mkdir build - cd build - cmake .. - make - -#### g2o - General Graph Optimization _OPTIONAL_ - -Only required if you want to run bundle adjustment. It is not necessary for visual odometry. In fact, we don't run it on our MAVs. -g2o requires the following system dependencies: `cmake, libeigen3-dev, libsuitesparse-dev, libqt4-dev, qt4-qmake, libqglviewer-qt4-dev`, install them with `apt-get` - -I suggest an out-of-source build of g2o: - - cd workspace - git clone https://github.com/RainerKuemmerle/g2o.git - cd g2o - mkdir build - cd build - cmake .. - make - sudo make install - -If you don't want to make a system install, then you can replace the cmake command with `cmake .. -DCMAKE_INSTALL_PREFIX:PATH=$HOME/installdir` - -#### vikit - Some useful tools that we need - -vikit for contains camera models, some math and interpolation functions that SVO needs. -vikit is a catkin project, therefore, download it into your catkin workspace source folder. - - cd catkin_ws/src - git clone https://github.com/uzh-rpg/rpg_vikit.git - -#### ROS dependencies - -Sometimes `cmake-modules` is missing (required for including Eigen in ROS Indigo): - - sudo apt-get install ros-hydro-cmake-modules - -(replace `hydro` with your distribution). - -#### SVO - -Now we are ready to build SVO. -Clone it into your catkin workspace - - cd catkin_ws/src - git clone https://github.com/uzh-rpg/rpg_svo.git - -If you installed g2o then set `HAVE_G2O` in `svo/CMakeLists.txt` to TRUE. - -Finally, build: - - catkin_make - - -Run SVO on a Dataset -------------------------- - -Download this example dataset: [rpg.ifi.uzh.ch/datasets/airground_rig_s3_2013-03-18_21-38-48.bag](http://rpg.ifi.uzh.ch/datasets/airground_rig_s3_2013-03-18_21-38-48.bag) - -Open a new console and start SVO with the prepared launchfile: - - roslaunch svo_ros test_rig3.launch - -Now you are ready to start the rosbag. Open a new console and change to the directory where you have downloaded the example dataset. Then type: - - rosbag play airground_rig_s3_2013-03-18_21-38-48.bag - -Now you should see the video with tracked features (green) and in RViz how the camera moves. -If you want to see the number of tracked features, fps and tracking quality, run the GUI. - -SVO GUI -------- - -Type `rosrun rqt_svo rqt_svo` to run the SVO widget that displays the number of tracked features, the frame rate and provides some interface buttons. - -If the widget is not found, try this: - - rm ~/.config/ros.org/rqt_gui.ini - rosrun rqt_svo rqt_svo - - -Keyboard Shortcuts ------------------- - -Make sure to active the console window when pressing the keys. - -* `s` Start/Restart -* `q` Quit -* `r` Reset - -Camera Calibration ------------------- - -You need a calibrated camera to run SVO. We use the Matrix Vision Bluefox cameras in our lab, which have VGA resolution and global shutter. -SVO supports three camera models: - -1. The `ATAN` model - our preference - which is also used by _PTAM_. This model uses the _FOV_ distortion model of "Devernay and Faugeras, Straight lines have to be straight, 2001". You can calibrate your camera with this model by using the calibration tool in this package: https://github.com/ethz-asl/ethzasl_ptam We prefer this model because the projection and unprojection can be computed faster than with the other models. Further, the industrial cameras that we use have neglectable tangential distortion. -2. The `Pinhole` model with three radial and two tangential distortion parameters. This model is standard in OpenCV and ROS. You can use the ROS camera calibration tool: http://wiki.ros.org/camera_calibration -3. The `Ocam` model by Davide Scaramuzza which can be used to model cameras with high field of view or even omnidirectional cameras. Use the OCamCalib toolbox to calibrate your camera: http://rpg.ifi.uzh.ch/software_datasets.html -Although SVO can be used with this camera model, the algorithm does not work yet with omnidirectional cameras. - -We save the calibration in _YAML_ format (see examples in `svo_ros/param`) and include it in the launchfiles (see examples in `svo_ros/launch`). - -Parameter Settings ------------------- - -A description of all parameters which can be set via the launchfile is provided in `svo/include/config.h`. The default parameters can be viewed in `svo/src/config.cpp`. Moreover, some additional parameters (mainly rostopic names etc.) are read from the ros parameter server in `svo_ros/vo_node.cpp`. - -#### Forward motions - -The current keyframe selection criterion is designed for downward looking cameras. This is one reason why SVO does not work well for forward motions (e.g., to be used on a car). - -#### Image resolution - -The current parameters are tuned for WVGA resolution. If you use a higher resolution camera, then the pyramid levels should be increased as well as the reprojection error thresholds. - - -Contributing ------------- +#### Contributing You are very welcome to contribute to SVO by opening a pull request via Github. I try to follow the ROS C++ style guide http://wiki.ros.org/CppStyleGuide