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Merge branch 'master' of gitlab.vision.in.tum.de:slam/basalt

This commit is contained in:
Vladyslav Usenko 2019-10-02 16:33:30 +02:00
parent 61d9e67d48 255604c72e
commit 7496e95eec
5 changed files with 56 additions and 12 deletions
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4
doc/Realsense.md
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@ -84,7 +84,7 @@ To perform the calibration follow these steps:
* `init_cam_extr` initialize transformations between multiple cameras.
* `init_opt` initialize optimization.
* `opt_until_converge` optimize until convergence.
* `opt_cam_poses` some initial poses computed from the initialized intrinsics can be far from optimum and not converge to the right minimum. To improve the final result we can re-initialize poses with optimized intrinsics.
* `init_cam_poses` some initial poses computed from the initialized intrinsics can be far from optimum and not converge to the right minimum. To improve the final result we can re-initialize poses with optimized intrinsics.
* `init_opt` initialize optimization with new initial poses.
* `opt_until_converge` optimize until convergence.
* `compute_vign` after optimizing geometric models compute the vignetting of the cameras.
@ -141,7 +141,7 @@ You should be able to see that, despite some noise, rotational velocity computed
You can also switch to the error function plot and see that there is a clear minimum corresponding to the computed time offset.
![t265_time_align_error](/doc/img/t265_time_align_error.png)
**Note:** If you want to run the time alignment again you should delete the `~/t265_calib_data/sequence0/mav/gt` folder first.
**Note:** If you want to run the time alignment again you should delete the `~/t265_calib_data/sequence0/mav/gt` folder first. If GT data already exist you will see the `save_aligned_dataset(disabled)` button which will **NOT** overwrite it.
## Running Visual-Inertial Odometry
Now we can run the visual-inertial odometry on the recorded dataset:

3
include/basalt/io/dataset_io.h
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@ -148,7 +148,8 @@ typedef std::shared_ptr<DatasetIoInterface> DatasetIoInterfacePtr;
class DatasetIoFactory {
public:
static DatasetIoInterfacePtr getDatasetIo(const std::string &dataset_type);
static DatasetIoInterfacePtr getDatasetIo(const std::string &dataset_type,
bool load_mocap_as_gt = false);
};
} // namespace basalt

8
include/basalt/io/dataset_io_euroc.h
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@ -148,7 +148,7 @@ class EurocVioDataset : public VioDataset {
class EurocIO : public DatasetIoInterface {
public:
EurocIO() {}
EurocIO(bool load_mocap_as_gt) : load_mocap_as_gt(load_mocap_as_gt) {}
void read(const std::string &path) {
if (!fs::exists(path))
@ -163,9 +163,10 @@ class EurocIO : public DatasetIoInterface {
read_imu_data(path + "/mav0/imu0/");
if (file_exists(path + "/mav0/state_groundtruth_estimate0/data.csv")) {
if (!load_mocap_as_gt &&
file_exists(path + "/mav0/state_groundtruth_estimate0/data.csv")) {
read_gt_data_state(path + "/mav0/state_groundtruth_estimate0/");
} else if (file_exists(path + "/mav0/gt/data.csv")) {
} else if (!load_mocap_as_gt && file_exists(path + "/mav0/gt/data.csv")) {
read_gt_data_pose(path + "/mav0/gt/");
} else if (file_exists(path + "/mav0/mocap0/data.csv")) {
read_gt_data_pose(path + "/mav0/mocap0/");
@ -304,6 +305,7 @@ class EurocIO : public DatasetIoInterface {
}
std::shared_ptr<EurocVioDataset> data;
bool load_mocap_as_gt;
}; // namespace basalt
} // namespace basalt

4
src/io/dataset_io.cpp
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@ -42,10 +42,10 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
namespace basalt {
DatasetIoInterfacePtr DatasetIoFactory::getDatasetIo(
const std::string &dataset_type) {
const std::string &dataset_type, bool load_mocap_as_gt) {
if (dataset_type == "euroc") {
// return DatasetIoInterfacePtr();
return DatasetIoInterfacePtr(new EurocIO);
return DatasetIoInterfacePtr(new EurocIO(load_mocap_as_gt));
} else if (dataset_type == "bag") {
return DatasetIoInterfacePtr(new RosbagIO);
} else if (dataset_type == "uzh") {

51
src/time_alignment.cpp
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@ -1,3 +1,37 @@
/**
BSD 3-Clause License
This file is part of the Basalt project.
https://gitlab.com/VladyslavUsenko/basalt.git
Copyright (c) 2019, Vladyslav Usenko, Michael Loipführer and Nikolaus Demmel.
All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
* Redistributions of source code must retain the above copyright notice, this
list of conditions and the following disclaimer.
* Redistributions in binary form must reproduce the above copyright notice,
this list of conditions and the following disclaimer in the documentation
and/or other materials provided with the distribution.
* Neither the name of the copyright holder nor the names of its
contributors may be used to endorse or promote products derived from
this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
#include <pangolin/display/image_view.h>
#include <pangolin/gl/gldraw.h>
@ -137,7 +171,7 @@ int main(int argc, char **argv) {
}
basalt::DatasetIoInterfacePtr dataset_io =
basalt::DatasetIoFactory::getDatasetIo(dataset_type);
basalt::DatasetIoFactory::getDatasetIo(dataset_type, true);
dataset_io->read(dataset_path);
vio_dataset = dataset_io->get_data();
@ -380,11 +414,18 @@ int main(int argc, char **argv) {
pangolin::Var<bool> show_error("ui.show_error", false, false, true);
pangolin::Var<std::function<void(void)>> save_aligned_dataset(
"ui.save_aligned_dataset", [&]() {
std::string save_button_name = "ui.save_aligned_dataset";
// Disable save_aligned_dataset button if GT data already exists
if (fs::exists(fs::path(dataset_path + "mav0/gt/data.csv"))) {
std::cout << "Aligned grount truth data already exists, skipping."
<< std::endl;
save_button_name += "(disabled)";
}
pangolin::Var<std::function<void(void)>> save_aligned_dataset(
save_button_name, [&]() {
if (fs::exists(fs::path(dataset_path + "mav0/gt/data.csv"))) {
std::cout << "Aligned ground-truth data already exists, skipping. "
"If you want to run the calibration again delete "
<< dataset_path << "mav0/gt/ folder." << std::endl;
return;
}
std::cout << "Saving aligned dataset in "