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Added aprilgrid configuration

This commit is contained in:
Vladyslav Usenko 2019-07-08 18:53:39 +02:00
parent ba4af7efb3
commit c33adbb2a5
11 changed files with 191 additions and 105 deletions
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1
CMakeLists.txt
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@ -202,6 +202,7 @@ include_directories(include)
add_library(basalt SHARED
src/io/dataset_io.cpp
src/io/marg_data_io.cpp
src/calibration/aprilgrid.cpp
src/calibration/cam_calib.cpp
src/calibration/cam_imu_calib.cpp
src/calibration/calibraiton_helper.cpp

6
data/aprilgrid_6x6.json Normal file
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@ -0,0 +1,6 @@
{
"tagCols": 6,
"tagRows": 6,
"tagSize": 0.088,
"tagSpacing": 0.3
}

9
doc/Calibration.md
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@ -15,12 +15,13 @@ wget http://vision.in.tum.de/tumvi/calibrated/512_16/dataset-calib-imu1_512_16.b
### Camera calibration
Run the camera calibration:
```
basalt_calibrate --dataset-path ~/tumvi_calib_data/dataset-calib-cam3_512_16.bag --dataset-type bag --result-path ~/tumvi_calib_result/ --cam-types ds ds
basalt_calibrate --dataset-path ~/tumvi_calib_data/dataset-calib-cam3_512_16.bag --dataset-type bag --aprilgrid /usr/etc/basalt/aprilgrid_6x6.json --result-path ~/tumvi_calib_result/ --cam-types ds ds
```
The command line options have the following meaning:
* `--dataset-path` path to the dataset.
* `--dataset-type` type of the datset. Currently only `bag` and `euroc` formats of the datasets are supported.
* `--result-path` path to the folder where the resulting calibration and intermediate results will be stored.
* `--aprilgrid` path to the configuration file for the aprilgrid.
* `--cam-types` camera models for the image streams in the dataset. For more detais see [arXiv:1807.08957](https://arxiv.org/abs/1807.08957).
After that, you should see the calibration GUI:
@ -51,7 +52,7 @@ You can also control the process using the following buttons:
### Camera + IMU + Mocap calibration
After calibrating the camera you can run the camera + IMU + Mocap calibration. The result path should point to the **same folder as before**:
```
basalt_calibrate_imu --dataset-path ~/tumvi_calib_data/dataset-calib-imu1_512_16.bag --dataset-type bag --result-path ~/tumvi_calib_result/ --gyro-noise-std 0.000282 --accel-noise-std 0.016 --gyro-bias-std 0.0001 --accel-bias-std 0.001
basalt_calibrate_imu --dataset-path ~/tumvi_calib_data/dataset-calib-imu1_512_16.bag --dataset-type bag --aprilgrid /usr/etc/basalt/aprilgrid_6x6.json --result-path ~/tumvi_calib_result/ --gyro-noise-std 0.000282 --accel-noise-std 0.016 --gyro-bias-std 0.0001 --accel-bias-std 0.001
```
The command line options for the IMU noise are continous-time and defined as in [Kalibr](https://github.com/ethz-asl/kalibr/wiki/IMU-Noise-Model):
* `--gyro-noise-std` gyroscope white noise.
@ -106,13 +107,13 @@ wget http://robotics.ethz.ch/~asl-datasets/ijrr_euroc_mav_dataset/calibration_da
### Camera calibration
Run the camera calibration:
```
basalt_calibrate --dataset-path ~/euroc_calib_data/cam_april.bag --dataset-type bag --result-path ~/euroc_calib_result/ --cam-types ds ds
basalt_calibrate --dataset-path ~/euroc_calib_data/cam_april.bag --dataset-type bag --aprilgrid /usr/etc/basalt/aprilgrid_6x6.json --result-path ~/euroc_calib_result/ --cam-types ds ds
```
![euroc_cam_calib](/doc/img/euroc_cam_calib.png)
### Camera + IMU calibration
After calibrating the camera you can run the camera + IMU calibration. The result-path should point to the same folder as before:
```
basalt_calibrate_imu --dataset-path ~/euroc_calib_data/imu_april.bag --dataset-type bag --result-path ~/euroc_calib_result/ --gyro-noise-std 0.000282 --accel-noise-std 0.016 --gyro-bias-std 0.0001 --accel-bias-std 0.001
basalt_calibrate_imu --dataset-path ~/euroc_calib_data/imu_april.bag --dataset-type bag --aprilgrid /usr/etc/basalt/aprilgrid_6x6.json --result-path ~/euroc_calib_result/ --gyro-noise-std 0.000282 --accel-noise-std 0.016 --gyro-bias-std 0.0001 --accel-bias-std 0.001
```
![euroc_imu_calib](/doc/img/euroc_imu_calib.png)

99
include/basalt/calibration/aprilgrid.h
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@ -39,99 +39,16 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
namespace basalt {
struct AprilGrid {
AprilGrid() {
const int tagCols = 6; // number of apriltags
const int tagRows = 6; // number of apriltags
const double tagSize = 0.088; // size of apriltag, edge to edge [m]
const double tagSpacing = 0.3; // ratio of space between tags to tagSize
double x_corner_offsets[4] = {0, tagSize, tagSize, 0};
double y_corner_offsets[4] = {0, 0, tagSize, tagSize};
aprilgrid_corner_pos_3d.resize(tagCols * tagRows * 4);
for (int y = 0; y < tagCols; y++) {
for (int x = 0; x < tagRows; x++) {
int tag_id = tagRows * y + x;
double x_offset = x * tagSize * (1 + tagSpacing);
double y_offset = y * tagSize * (1 + tagSpacing);
for (int i = 0; i < 4; i++) {
int corner_id = (tag_id << 2) + i;
Eigen::Vector4d &pos_3d = aprilgrid_corner_pos_3d[corner_id];
pos_3d[0] = x_offset + x_corner_offsets[i];
pos_3d[1] = y_offset + y_corner_offsets[i];
pos_3d[2] = 0;
pos_3d[3] = 1;
}
}
}
size_t num_vign_points = 5;
size_t num_blocks = tagCols * tagRows * 2;
aprilgrid_vignette_pos_3d.resize((num_blocks + tagCols + tagRows) *
num_vign_points);
for (size_t k = 0; k < num_vign_points; k++) {
for (size_t i = 0; i < tagCols * tagRows; i++) {
// const Eigen::Vector3d p0 = aprilgrid_corner_pos_3d[4 * i + 0];
const Eigen::Vector4d p1 = aprilgrid_corner_pos_3d[4 * i + 1];
const Eigen::Vector4d p2 = aprilgrid_corner_pos_3d[4 * i + 2];
const Eigen::Vector4d p3 = aprilgrid_corner_pos_3d[4 * i + 3];
double coeff = double(k + 1) / double(num_vign_points + 1);
aprilgrid_vignette_pos_3d[k * num_blocks + 2 * i + 0] =
(p1 + coeff * (p2 - p1));
aprilgrid_vignette_pos_3d[k * num_blocks + 2 * i + 1] =
(p2 + coeff * (p3 - p2));
aprilgrid_vignette_pos_3d[k * num_blocks + 2 * i + 0][0] +=
tagSize * tagSpacing / 2;
aprilgrid_vignette_pos_3d[k * num_blocks + 2 * i + 1][1] +=
tagSize * tagSpacing / 2;
}
}
size_t curr_idx = num_blocks * num_vign_points;
for (size_t k = 0; k < num_vign_points; k++) {
for (size_t i = 0; i < tagCols; i++) {
const Eigen::Vector4d p0 = aprilgrid_corner_pos_3d[4 * i + 0];
const Eigen::Vector4d p1 = aprilgrid_corner_pos_3d[4 * i + 1];
double coeff = double(k + 1) / double(num_vign_points + 1);
aprilgrid_vignette_pos_3d[curr_idx + k * tagCols + i] =
(p0 + coeff * (p1 - p0));
aprilgrid_vignette_pos_3d[curr_idx + k * tagCols + i][1] -=
tagSize * tagSpacing / 2;
}
}
curr_idx += tagCols * num_vign_points;
for (size_t k = 0; k < num_vign_points; k++) {
for (size_t i = 0; i < tagRows; i++) {
const Eigen::Vector4d p0 = aprilgrid_corner_pos_3d[4 * i * tagCols + 0];
const Eigen::Vector4d p3 = aprilgrid_corner_pos_3d[4 * i * tagCols + 3];
double coeff = double(k + 1) / double(num_vign_points + 1);
aprilgrid_vignette_pos_3d[curr_idx + k * tagCols + i] =
(p0 + coeff * (p3 - p0));
aprilgrid_vignette_pos_3d[curr_idx + k * tagCols + i][0] -=
tagSize * tagSpacing / 2;
}
}
}
AprilGrid(const std::string &config_path);
Eigen::vector<Eigen::Vector4d> aprilgrid_corner_pos_3d;
Eigen::vector<Eigen::Vector4d> aprilgrid_vignette_pos_3d;
private:
int tagCols; // number of apriltags
int tagRows; // number of apriltags
double tagSize; // size of apriltag, edge to edge [m]
double tagSpacing; // ratio of space between tags to tagSize
};
} // namespace basalt

11
include/basalt/calibration/cam_calib.h
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@ -60,9 +60,9 @@ class PosesOptimization;
class CamCalib {
public:
CamCalib(const std::string &dataset_path, const std::string &dataset_type,
const std::string &cache_path, const std::string &cache_dataset_name,
int skip_images, const std::vector<std::string> &cam_types,
bool show_gui = true);
const std::string &aprilgrid_path, const std::string &cache_path,
const std::string &cache_dataset_name, int skip_images,
const std::vector<std::string> &cam_types, bool show_gui = true);
~CamCalib();
@ -108,8 +108,6 @@ class CamCalib {
// typedef Calibration::Ptr CalibrationPtr;
AprilGrid april_grid;
VioDatasetPtr vio_dataset;
// CalibrationPtr calib;
@ -128,6 +126,9 @@ class CamCalib {
std::string dataset_path;
std::string dataset_type;
AprilGrid april_grid;
std::string cache_path;
std::string cache_dataset_name;

7
include/basalt/calibration/cam_imu_calib.h
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@ -61,7 +61,7 @@ class SplineOptimization;
class CamImuCalib {
public:
CamImuCalib(const std::string &dataset_path, const std::string &dataset_type,
const std::string &cache_path,
const std::string &aprilgrid_path, const std::string &cache_path,
const std::string &cache_dataset_name, int skip_images,
const std::vector<double> &imu_noise, bool show_gui = true);
@ -109,8 +109,6 @@ class CamImuCalib {
private:
static constexpr int UI_WIDTH = 300;
AprilGrid april_grid;
VioDatasetPtr vio_dataset;
tbb::concurrent_unordered_map<TimeCamId, CalibCornerData> calib_corners;
@ -126,6 +124,9 @@ class CamImuCalib {
std::string dataset_path;
std::string dataset_type;
AprilGrid april_grid;
std::string cache_path;
std::string cache_dataset_name;

7
src/calibrate.cpp
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@ -45,6 +45,7 @@ int main(int argc, char **argv) {
std::string dataset_path;
std::string dataset_type;
std::string aprilgrid_path;
std::string result_path;
std::vector<std::string> cam_types;
std::string cache_dataset_name = "calib-cam";
@ -58,6 +59,10 @@ int main(int argc, char **argv) {
app.add_option("--dataset-type", dataset_type, "Dataset type (euroc, bag)")
->required();
app.add_option("--aprilgrid", aprilgrid_path,
"Path to Aprilgrid config file)")
->required();
app.add_option("--cache-name", cache_dataset_name,
"Name to save cached files");
@ -72,7 +77,7 @@ int main(int argc, char **argv) {
return app.exit(e);
}
basalt::CamCalib cv(dataset_path, dataset_type, result_path,
basalt::CamCalib cv(dataset_path, dataset_type, aprilgrid_path, result_path,
cache_dataset_name, skip_images, cam_types);
cv.renderingLoop();

8
src/calibrate_imu.cpp
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@ -47,6 +47,7 @@ int main(int argc, char **argv) {
std::string dataset_path;
std::string dataset_type;
std::string aprilgrid_path;
std::string result_path;
std::string cache_dataset_name = "calib-cam-imu";
int skip_images = 1;
@ -64,6 +65,10 @@ int main(int argc, char **argv) {
app.add_option("--dataset-type", dataset_type, "Dataset type (euroc, bag)")
->required();
app.add_option("--aprilgrid", aprilgrid_path,
"Path to Aprilgrid config file)")
->required();
app.add_option("--gyro-noise-std", gyro_noise_std, "Gyroscope noise std");
app.add_option("--accel-noise-std", accel_noise_std,
"Accelerometer noise std");
@ -85,7 +90,8 @@ int main(int argc, char **argv) {
}
basalt::CamImuCalib cv(
dataset_path, dataset_type, result_path, cache_dataset_name, skip_images,
dataset_path, dataset_type, aprilgrid_path, result_path,
cache_dataset_name, skip_images,
{accel_noise_std, gyro_noise_std, accel_bias_std, gyro_bias_std});
cv.renderingLoop();

144
src/calibration/aprilgrid.cpp Normal file
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@ -0,0 +1,144 @@
/**
BSD 3-Clause License
This file is part of the Basalt project.
https://gitlab.com/VladyslavUsenko/basalt.git
Copyright (c) 2019, Vladyslav Usenko 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 <fstream>
#include <basalt/calibration/aprilgrid.h>
#include <cereal/archives/json.hpp>
namespace basalt {
AprilGrid::AprilGrid(const std::string &config_path) {
std::ifstream is(config_path);
if (is.is_open()) {
cereal::JSONInputArchive ar(is);
ar(cereal::make_nvp("tagCols", tagCols));
ar(cereal::make_nvp("tagRows", tagRows));
ar(cereal::make_nvp("tagSize", tagSize));
ar(cereal::make_nvp("tagSpacing", tagSpacing));
} else {
std::cerr << "Could not open aprilgrid configuration: " << config_path
<< std::endl;
std::abort();
}
double x_corner_offsets[4] = {0, tagSize, tagSize, 0};
double y_corner_offsets[4] = {0, 0, tagSize, tagSize};
aprilgrid_corner_pos_3d.resize(tagCols * tagRows * 4);
for (int y = 0; y < tagCols; y++) {
for (int x = 0; x < tagRows; x++) {
int tag_id = tagRows * y + x;
double x_offset = x * tagSize * (1 + tagSpacing);
double y_offset = y * tagSize * (1 + tagSpacing);
for (int i = 0; i < 4; i++) {
int corner_id = (tag_id << 2) + i;
Eigen::Vector4d &pos_3d = aprilgrid_corner_pos_3d[corner_id];
pos_3d[0] = x_offset + x_corner_offsets[i];
pos_3d[1] = y_offset + y_corner_offsets[i];
pos_3d[2] = 0;
pos_3d[3] = 1;
}
}
}
int num_vign_points = 5;
int num_blocks = tagCols * tagRows * 2;
aprilgrid_vignette_pos_3d.resize((num_blocks + tagCols + tagRows) *
num_vign_points);
for (int k = 0; k < num_vign_points; k++) {
for (int i = 0; i < tagCols * tagRows; i++) {
// const Eigen::Vector3d p0 = aprilgrid_corner_pos_3d[4 * i + 0];
const Eigen::Vector4d p1 = aprilgrid_corner_pos_3d[4 * i + 1];
const Eigen::Vector4d p2 = aprilgrid_corner_pos_3d[4 * i + 2];
const Eigen::Vector4d p3 = aprilgrid_corner_pos_3d[4 * i + 3];
double coeff = double(k + 1) / double(num_vign_points + 1);
aprilgrid_vignette_pos_3d[k * num_blocks + 2 * i + 0] =
(p1 + coeff * (p2 - p1));
aprilgrid_vignette_pos_3d[k * num_blocks + 2 * i + 1] =
(p2 + coeff * (p3 - p2));
aprilgrid_vignette_pos_3d[k * num_blocks + 2 * i + 0][0] +=
tagSize * tagSpacing / 2;
aprilgrid_vignette_pos_3d[k * num_blocks + 2 * i + 1][1] +=
tagSize * tagSpacing / 2;
}
}
size_t curr_idx = num_blocks * num_vign_points;
for (int k = 0; k < num_vign_points; k++) {
for (int i = 0; i < tagCols; i++) {
const Eigen::Vector4d p0 = aprilgrid_corner_pos_3d[4 * i + 0];
const Eigen::Vector4d p1 = aprilgrid_corner_pos_3d[4 * i + 1];
double coeff = double(k + 1) / double(num_vign_points + 1);
aprilgrid_vignette_pos_3d[curr_idx + k * tagCols + i] =
(p0 + coeff * (p1 - p0));
aprilgrid_vignette_pos_3d[curr_idx + k * tagCols + i][1] -=
tagSize * tagSpacing / 2;
}
}
curr_idx += tagCols * num_vign_points;
for (int k = 0; k < num_vign_points; k++) {
for (int i = 0; i < tagRows; i++) {
const Eigen::Vector4d p0 = aprilgrid_corner_pos_3d[4 * i * tagCols + 0];
const Eigen::Vector4d p3 = aprilgrid_corner_pos_3d[4 * i * tagCols + 3];
double coeff = double(k + 1) / double(num_vign_points + 1);
aprilgrid_vignette_pos_3d[curr_idx + k * tagCols + i] =
(p0 + coeff * (p3 - p0));
aprilgrid_vignette_pos_3d[curr_idx + k * tagCols + i][0] -=
tagSize * tagSpacing / 2;
}
}
}
} // namespace basalt

2
src/calibration/cam_calib.cpp
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@ -50,11 +50,13 @@ namespace basalt {
CamCalib::CamCalib(const std::string &dataset_path,
const std::string &dataset_type,
const std::string &aprilgrid_path,
const std::string &cache_path,
const std::string &cache_dataset_name, int skip_images,
const std::vector<std::string> &cam_types, bool show_gui)
: dataset_path(dataset_path),
dataset_type(dataset_type),
april_grid(aprilgrid_path),
cache_path(ensure_trailing_slash(cache_path)),
cache_dataset_name(cache_dataset_name),
skip_images(skip_images),

2
src/calibration/cam_imu_calib.cpp
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@ -45,11 +45,13 @@ namespace basalt {
CamImuCalib::CamImuCalib(const std::string &dataset_path,
const std::string &dataset_type,
const std::string &aprilgrid_path,
const std::string &cache_path,
const std::string &cache_dataset_name, int skip_images,
const std::vector<double> &imu_noise, bool show_gui)
: dataset_path(dataset_path),
dataset_type(dataset_type),
april_grid(aprilgrid_path),
cache_path(ensure_trailing_slash(cache_path)),
cache_dataset_name(cache_dataset_name),
skip_images(skip_images),